path: root/Assets/Scripts/Physics/PhysicsWorld.cs

 using System.Collections;
using System.Collections.Generic;
using UnityEngine;

/// <summary>
/// primitive分类
/// </summary>
public enum PhysicsGroup
{
    Character, // 角色
    Prop,      // 物体
    Ground,    // 地面
    Wall,      // 墙面

	HitBox,    // hitbox 
	HurtBox,   // hurtbox

	GroupCount,
}

/// <summary>
/// primitive标记
/// </summary>
public enum PhysicsTag
{
	Null = 0,
	Player = 1,      // 从属于玩家
	Oponent = 1 << 1, // 从属于对手
}

/// <summary>
/// 物理子系统
/// </summary>
public class PhysicsWorld : Singleton<PhysicsWorld>
{
    public delegate void Callback();

    public Callback onBeforeUpdate;
    public Callback onUpdate;

    private int m_UpdateRate = 60;
    // 重力加速度
    private readonly Vector3 m_Gravity = new Vector3(0, -30f, 0);
    // 当前管理的碰撞体
    private List<PhysicsPrimitive> m_Primitives = new List<PhysicsPrimitive>();
    private float m_TimeCount;

	private const int _ = 0;
	private readonly int[] m_CollisionTable = {
		   //  hurtbox      hitBox     wall    ground    prop    character
/*character*/     0,          0,         1,       1,       1,       1,
/*prop     */     0,          0,         1,       1,       0,       _,
/*ground   */     0,          0,         0,       0,       _,       _,
/*wall     */     0,          0,         0,       _,       _,       _, 
/*hitbox   */	  1,		  0,         _,       _,       _,       _,
/*hurtbox  */	  0,          _,         _,       _,       _,       _,
	};

	private List<Animator> m_Animators = new List<Animator>();
#if UNITY_EDITOR
    private List<Vector3> m_Contacts = new List<Vector3>();
#endif

    private List<PhysicsCollisionInfo> m_CollisionInfo = new List<PhysicsCollisionInfo>();

	public const float Ground = 0.1f;

    // 所有碰撞
    public List<PhysicsCollisionInfo> Collisions
    {
        get
        {
            return m_CollisionInfo;
        }
    }

    public void Init()
    {
        m_TimeCount = Time.time;
    }

    public void AddPrimitive(PhysicsPrimitive prim)
    {
        if (prim == null)
            return;
        if(m_Primitives.Contains(prim))
        {
            Debug.LogError("PhysicsWorld已经存在此碰撞体，ID=" + prim.ID + ", 类型=" + prim.Tag);
            return;
        }
        m_Primitives.Add(prim);
    }

    public void RemovePrimitive(PhysicsPrimitive prim)
    {
        if (prim == null)
            return;
        m_Primitives.Remove(prim);
    }

	public void AddAnimator(Animator animator)
	{
		if (m_Animators.Contains(animator))
			return;
		m_Animators.Add(animator);
	}

	public void RemoveAnimator(Animator animator)
	{
		if (m_Animators.Contains(animator))
			m_Animators.Remove(animator);
	}

    /// <summary>
    /// 物理系统以稳定的逻辑帧率执行
    /// </summary>
    public void Update()
    {
        float preTime = m_TimeCount;
        m_TimeCount = Time.time;
        float deltaTime = m_TimeCount - preTime;
        while (deltaTime > 1f / m_UpdateRate)
        {
            BeforeTick();
            onBeforeUpdate?.Invoke();
            Tick();
            onUpdate?.Invoke();
            deltaTime -= 1f / m_UpdateRate;
        }
        m_TimeCount -= deltaTime;
    }

	// 更新之前
	private void BeforeTick()
	{
		m_CollisionInfo.Clear();
	}

	public void DrawGizmos()
	{
#if UNITY_EDITOR
        if (m_Contacts.Count == 0)
			return;

		for(int i = 0; i < m_Contacts.Count; ++i)
		{
			Vector3 center = m_Contacts[i];
			Gizmos.DrawSphere(center, 0.05f);
		}
#endif
    }


	void Tick()
    {
		float deltaTime = 1f / m_UpdateRate;
		// animator -> OnAnimatorMove() -> physics
		//UpdateAnimator(deltaTime);
		UpdatePrimitives(deltaTime);
    }

	// 更新动画，并处理OnAnimatorMove()
	void UpdateAnimator(float deltaTime)
	{
		for (int i = 0; i < m_Animators.Count; ++i)
		{
			Animator animator = m_Animators[i];
			animator.speed = 1;
			animator.Update(deltaTime);
			animator.speed = 0;
		}
	}

	// 更新物理系统
	void UpdatePrimitives(float deltaTime)
	{
#if UNITY_EDITOR
        m_Contacts.Clear();
#endif

        PhysicsCollisionInfo info = new PhysicsCollisionInfo();

        // 1) 处理刚体的动力学
        for (int i = 0; i < m_Primitives.Count; ++i)
        {
            PhysicsPrimitive prim = m_Primitives[i];
            PhysicsBody body = prim.Body;
            if (body == null)
                continue;
            HandleDynamics(prim, deltaTime);
        }

        // 2) 处理碰撞
        for (int i = 0; i < m_Primitives.Count; ++i)
		{
			PhysicsPrimitive prim1 = m_Primitives[i];
			if (!prim1.IsActive)
				continue;

			for (int j = i + 1; j < m_Primitives.Count; ++j)
			{
				PhysicsPrimitive prim2 = m_Primitives[j];

				int minGroup = Mathf.Min((int)prim1.Group, (int)prim2.Group);
				int maxGroup = Mathf.Max((int)prim1.Group, (int)prim2.Group);
                int index = minGroup * (int)PhysicsGroup.GroupCount + (int)PhysicsGroup.GroupCount - maxGroup - 1;
                if (m_CollisionTable[index] == 0)
					continue;

				if (prim1.Label == prim2.Label)
					continue;

				if (PhysicsHelper.PrimvsPrim(prim1, prim2, ref info))
				{
					SolveCollision(prim1, info, deltaTime);
					SolveCollision(prim2, info, deltaTime);
					m_CollisionInfo.Add(info);

#if UNITY_EDITOR
                    m_Contacts.Add(info.contact);
#endif
                }
			}
		}

        // 3) 处理刚体的约束，必须在最后处理
        for (int i = 0; i < m_Primitives.Count; ++i)
        {
            PhysicsPrimitive prim = m_Primitives[i];
            PhysicsBody body = prim.Body;
            if (body == null)
                continue;
            HandleConstrain(prim, deltaTime);
        }

    }

    /// <summary>
    /// 处理动力学
    /// </summary>
    /// <param name="prim"></param>
    /// <param name="deltaTime"></param>
	void HandleDynamics(PhysicsPrimitive prim, float deltaTime)
	{
		PhysicsBody body = prim.Body;
		if (body == null)
			return;

		Vector3 position = body.transform.position;
		Vector3 velocity = body.Velocity;

        // 重力
        if(body.UseGravity)
        {
		    velocity += m_Gravity * deltaTime;
        }

        // 受力（冲量）
        Vector3 impluse = body.Force * deltaTime;
        Vector3 deltaV = impluse / body.Weight;
        velocity += deltaV;

        if (prim.IsOnGround)
        {
            // 地面摩擦力
            if (body.Velocity.x != 0 && body.GroundFriction != 0)
            {
                float dv = body.GroundFriction * deltaTime;
                dv = Mathf.Min(dv, Mathf.Abs(body.Velocity.x));
                dv = body.Velocity.x > 0 ? -dv : dv;
                velocity.x += dv;
            }
        }

        if (prim.IsInAir)
        {
            // 空气阻力
            if(body.Velocity.x != 0 && body.AirFriction != 0)
            {
                float dv = body.AirFriction * deltaTime;
                dv = Mathf.Min(dv, Mathf.Abs(body.Velocity.x));
                dv = body.Velocity.x > 0 ? -dv : dv;
                velocity.x += dv;
            }
        }

        position += velocity * deltaTime;

        body.Velocity = velocity;
        body.transform.position = position;
        body.SetForce(Vector3.zero);
    }

    /// <summary>
    /// 处理物体的环境（地面、墙体）约束
    /// </summary>
    /// <param name="prim"></param>
    /// <param name="deltaTime"></param>
    void HandleConstrain(PhysicsPrimitive prim, float deltaTime)
    {
        PhysicsBody body = prim.Body;
        if (body == null)
            return;

        Vector3 position = body.transform.position;
        Vector3 velocity = body.Velocity;

        if (prim.IsOnGround)
        {
            position.y = PhysicsWorld.Ground;
            velocity.y = 0;
        }

        body.transform.position = position;
        body.Velocity = velocity;
    }

    void SolveCollision(PhysicsPrimitive prim, PhysicsCollisionInfo collision, float deltaTime)
	{
        PhysicsPrimitive other = collision.prim1 == prim ? collision.prim2 : collision.prim1;

        // 1. 对于刚体，根据碰撞对位置进行约束
        if(prim.Body != null)
        {
            Vector3 pos = prim.Body.transform.position;
            if(collision.size.x <= collision.size.y)
            {
                float offsetX = Mathf.Min(collision.size.x / 2f, 0.8f);
                pos.x += prim.Position.x > collision.contact.x ? offsetX : -offsetX;
            }
            else
            {
                float offsetY = Mathf.Min(collision.size.y / 2f, 0.1f);
                pos.y += prim.Position.y > collision.contact.y ? offsetY : -offsetY;
            }
            prim.Body.transform.position = pos;
        }

        return;
	}

	// prim在当前帧是否有碰撞
	public bool HasCollision(PhysicsPrimitive prim)
	{
		for(int i  = 0; i < m_CollisionInfo.Count; ++i)
		{
			PhysicsCollisionInfo info = m_CollisionInfo[i];
			if(info.prim1 == prim || info.prim2 == prim)
			{
				return true;
			}
		}
		return false;
	}

}