forked from BilalY/Rasagar
406 lines
15 KiB
C#
406 lines
15 KiB
C#
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// Buoyancy.cs
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// by Alex Zhdankin
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// Version 2.1
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//
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// http://forum.unity3d.com/threads/72974-Buoyancy-script
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//
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// Terms of use: do whatever you like
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//
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// Further tweaks by Andre McGrail
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//
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//
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using System;
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using System.Collections.Generic;
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using UnityEngine;
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using Unity.Collections;
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using Unity.Mathematics;
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namespace WaterSystem
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{
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public class BuoyantObject : MonoBehaviour
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{
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public BuoyancyType _buoyancyType; // type of buoyancy to calculate
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public float density; // density of the object, this is calculated off it's volume and mass
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public float volume; // volume of the object, this is calculated via it's colliders
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public float voxelResolution = 0.51f; // voxel resolution, represents the half size of a voxel when creating the voxel representation
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private Bounds _voxelBounds; // bounds of the voxels
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public Vector3 centerOfMass = Vector3.zero; // Center Of Mass offset
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public float waterLevelOffset = 0f;
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private const float Dampner = 0.005f;
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private const float WaterDensity = 1000;
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private float _baseDrag; // reference to original drag
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private float _baseAngularDrag; // reference to original angular drag
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private int _guid; // GUID for the height system
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private float3 _localArchimedesForce;
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private Vector3[] _voxels; // voxel position
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private NativeArray<float3> _samplePoints; // sample points for height calc
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[NonSerialized] public float3[] Heights; // water height array(only size of 1 when simple or non-physical)
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private float3[] _normals; // water normal array(only used when non-physical and size of 1 also when simple)
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private float3[] _velocity; // voxel velocity for buoyancy
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[SerializeField] Collider[] colliders; // colliders attatched ot this object
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private Rigidbody _rb;
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private DebugDrawing[] _debugInfo; // For drawing force gizmos
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[NonSerialized] public float PercentSubmerged;
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[ContextMenu("Initialize")]
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private void Init()
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{
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_voxels = null;
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switch (_buoyancyType)
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{
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case BuoyancyType.NonPhysical:
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SetupVoxels();
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SetupData();
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break;
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case BuoyancyType.NonPhysicalVoxel:
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SetupColliders();
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SetupVoxels();
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SetupData();
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break;
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case BuoyancyType.Physical:
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SetupVoxels();
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SetupData();
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SetupPhysical();
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break;
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case BuoyancyType.PhysicalVoxel:
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SetupColliders();
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SetupVoxels();
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SetupData();
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SetupPhysical();
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break;
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default:
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throw new ArgumentOutOfRangeException();
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}
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}
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private void SetupVoxels()
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{
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if (_buoyancyType == BuoyancyType.NonPhysicalVoxel || _buoyancyType == BuoyancyType.PhysicalVoxel)
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{
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SliceIntoVoxels();
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}
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else
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{
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_voxels = new Vector3[1];
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_voxels[0] = centerOfMass;
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}
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}
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private void SetupData()
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{
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_debugInfo = new DebugDrawing[_voxels.Length];
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Heights = new float3[_voxels.Length];
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_normals = new float3[_voxels.Length];
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_samplePoints = new NativeArray<float3>(_voxels.Length, Allocator.Persistent);
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}
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private void OnEnable()
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{
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_guid = gameObject.GetInstanceID();
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Init();
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LocalToWorldConversion();
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}
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private void SetupColliders()
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{
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// The object must have a Collider
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colliders = GetComponentsInChildren<Collider>();
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if (colliders.Length != 0) return;
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colliders = new Collider[1];
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colliders[0] = gameObject.AddComponent<BoxCollider>();
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Debug.LogError($"Buoyancy:Object \"{name}\" had no coll. BoxCollider has been added.");
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}
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private void Update()
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{
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switch (_buoyancyType)
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{
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case BuoyancyType.NonPhysical:
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{
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var t = transform;
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var vec = t.position;
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vec.y = Heights[0].y + waterLevelOffset;
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t.position = vec;
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t.up = Vector3.Slerp(t.up, _normals[0], Time.deltaTime);
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break;
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}
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case BuoyancyType.NonPhysicalVoxel:
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// do the voxel non-physical
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break;
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case BuoyancyType.Physical:
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LocalToWorldJob.CompleteJob(_guid);
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GetVelocityPoints();
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break;
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case BuoyancyType.PhysicalVoxel:
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LocalToWorldJob.CompleteJob(_guid);
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GetVelocityPoints();
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break;
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default:
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throw new ArgumentOutOfRangeException();
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}
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GerstnerWavesJobs.UpdateSamplePoints(ref _samplePoints, _guid);
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GerstnerWavesJobs.GetData(_guid, ref Heights, ref _normals);
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}
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private void FixedUpdate()
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{
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var submergedAmount = 0f;
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switch (_buoyancyType)
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{
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case BuoyancyType.PhysicalVoxel:
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{
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LocalToWorldJob.CompleteJob(_guid);
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//Debug.Log("new pass: " + gameObject.name);
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Physics.autoSyncTransforms = false;
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for (var i = 0; i < _voxels.Length; i++)
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BuoyancyForce(_samplePoints[i], _velocity[i], Heights[i].y + waterLevelOffset, ref submergedAmount, ref _debugInfo[i]);
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Physics.SyncTransforms();
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Physics.autoSyncTransforms = true;
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UpdateDrag(submergedAmount);
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break;
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}
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case BuoyancyType.Physical:
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//LocalToWorldJob.CompleteJob(_guid);
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BuoyancyForce(Vector3.zero, _velocity[0], Heights[0].y + waterLevelOffset, ref submergedAmount, ref _debugInfo[0]);
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//UpdateDrag(submergedAmount);
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break;
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case BuoyancyType.NonPhysical:
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break;
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case BuoyancyType.NonPhysicalVoxel:
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break;
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default:
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throw new ArgumentOutOfRangeException();
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}
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}
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private void LateUpdate() { LocalToWorldConversion(); }
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private void OnDestroy()
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{
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CleanUp();
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}
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void CleanUp()
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{
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if (_buoyancyType == BuoyancyType.Physical || _buoyancyType == BuoyancyType.PhysicalVoxel)
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{
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LocalToWorldJob.Cleanup(_guid);
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}
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else
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{
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_samplePoints.Dispose();
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}
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}
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private void LocalToWorldConversion()
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{
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if (_buoyancyType != BuoyancyType.Physical && _buoyancyType != BuoyancyType.PhysicalVoxel) return;
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var transformMatrix = transform.localToWorldMatrix;
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LocalToWorldJob.ScheduleJob(_guid, transformMatrix);
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}
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private void BuoyancyForce(Vector3 position, float3 velocity, float waterHeight, ref float submergedAmount, ref DebugDrawing debug)
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{
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debug.Position = position;
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debug.WaterHeight = waterHeight;
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debug.Force = Vector3.zero;
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if (!(position.y - voxelResolution < waterHeight)) return;
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var k = math.clamp(waterHeight - (position.y - voxelResolution), 0f, 1f);
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submergedAmount += k / _voxels.Length;
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var localDampingForce = Dampner * _rb.mass * -velocity;
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var force = localDampingForce + math.sqrt(k) * _localArchimedesForce;
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_rb.AddForceAtPosition(force, position);
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debug.Force = force; // For drawing force Gizmos
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//Debug.Log(string.Format("Position: {0:f1} -- Force: {1:f2} -- Height: {2:f2}\nVelocity: {3:f2} -- Damp: {4:f2} -- Mass: {5:f1} -- K: {6:f2}", wp, force, waterLevel, velocity, localDampingForce, RB.mass, localArchimedesForce));
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}
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private void UpdateDrag(float submergedAmount)
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{
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PercentSubmerged = math.lerp(PercentSubmerged, submergedAmount, 0.25f);
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_rb.linearDamping = _baseDrag + _baseDrag * (PercentSubmerged * 10f);
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_rb.angularDamping = _baseAngularDrag + PercentSubmerged * 0.5f;
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}
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private void GetVelocityPoints()
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{
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for (var i = 0; i < _voxels.Length; i++) { _velocity[i] = _rb.GetPointVelocity(_samplePoints[i]); }
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}
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private void SliceIntoVoxels()
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{
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var t = transform;
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var rot = t.rotation;
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var pos = t.position;
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var size = t.localScale;
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t.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
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t.localScale = Vector3.one;
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_voxels = null;
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var points = new List<Vector3>();
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var rawBounds = VoxelBounds();
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_voxelBounds = rawBounds;
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_voxelBounds.size = RoundVector(rawBounds.size, voxelResolution);
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for (var ix = -_voxelBounds.extents.x; ix < _voxelBounds.extents.x; ix += voxelResolution)
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{
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for (var iy = -_voxelBounds.extents.y; iy < _voxelBounds.extents.y; iy += voxelResolution)
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{
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for (var iz = -_voxelBounds.extents.z; iz < _voxelBounds.extents.z; iz += voxelResolution)
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{
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var x = (voxelResolution * 0.5f) + ix;
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var y = (voxelResolution * 0.5f) + iy;
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var z = (voxelResolution * 0.5f) + iz;
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var p = new Vector3(x, y, z) + _voxelBounds.center;
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var inside = false;
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foreach (var t1 in colliders)
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{
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if (PointIsInsideCollider(t1, p))
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{
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inside = true;
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}
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}
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if(inside)
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points.Add(p);
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}
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}
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}
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_voxels = points.ToArray();
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t.SetPositionAndRotation(pos, rot);
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t.localScale = size;
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var voxelVolume = Mathf.Pow(voxelResolution, 3f) * _voxels.Length;
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var rawVolume = rawBounds.size.x * rawBounds.size.y * rawBounds.size.z;
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volume = Mathf.Min(rawVolume, voxelVolume);
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density = gameObject.GetComponent<Rigidbody>().mass / volume;
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}
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private Bounds VoxelBounds()
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{
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var bounds = new Bounds();
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foreach (var nextCollider in colliders)
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{
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bounds.Encapsulate(nextCollider.bounds);
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}
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return bounds;
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}
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private static Vector3 RoundVector(Vector3 vec, float rounding)
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{
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return new Vector3(Mathf.Ceil(vec.x / rounding) * rounding, Mathf.Ceil(vec.y / rounding) * rounding, Mathf.Ceil(vec.z / rounding) * rounding);
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}
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private bool PointIsInsideCollider(Collider c, Vector3 p)
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{
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var cp = Physics.ClosestPoint(p, c, Vector3.zero, Quaternion.identity);
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return Vector3.Distance(cp, p) < 0.01f;
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}
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private void SetupPhysical()
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{
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if (!TryGetComponent(out _rb))
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{
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_rb = gameObject.AddComponent<Rigidbody>();
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Debug.LogError($"Buoyancy:Object \"{name}\" had no Rigidbody. Rigidbody has been added.");
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}
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_rb.centerOfMass = centerOfMass + _voxelBounds.center;
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_baseDrag = _rb.linearDamping;
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_baseAngularDrag = _rb.angularDamping;
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_velocity = new float3[_voxels.Length];
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var archimedesForceMagnitude = WaterDensity * Mathf.Abs(Physics.gravity.y) * volume;
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_localArchimedesForce = new float3(0, archimedesForceMagnitude, 0) / _voxels.Length;
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LocalToWorldJob.SetupJob(_guid, _voxels, ref _samplePoints);
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}
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private void OnDrawGizmosSelected()
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{
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const float gizmoSize = 0.05f;
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var t = transform;
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var matrix = Matrix4x4.TRS(t.position, t.rotation, t.lossyScale);
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if (_voxels != null)
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{
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Gizmos.color = Color.yellow;
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foreach (var p in _voxels)
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{
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Gizmos.DrawCube(p, new Vector3(gizmoSize, gizmoSize, gizmoSize));
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}
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}
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Gizmos.matrix = matrix;
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if (voxelResolution >= 0.1f)
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{
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Gizmos.DrawWireCube(_voxelBounds.center, _voxelBounds.size);
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Vector3 center = _voxelBounds.center;
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float y = center.y - _voxelBounds.extents.y;
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for (float x = -_voxelBounds.extents.x; x < _voxelBounds.extents.x; x += voxelResolution)
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{
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Gizmos.DrawLine(new Vector3(x, y, -_voxelBounds.extents.z + center.z), new Vector3(x, y, _voxelBounds.extents.z + center.z));
|
|||
|
|
}
|
|||
|
|
for (float z = -_voxelBounds.extents.z; z < _voxelBounds.extents.z; z += voxelResolution)
|
|||
|
|
{
|
|||
|
|
Gizmos.DrawLine(new Vector3(-_voxelBounds.extents.x, y, z + center.z), new Vector3(_voxelBounds.extents.x, y, z + center.z));
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
_voxelBounds = VoxelBounds();
|
|||
|
|
|
|||
|
|
Gizmos.color = Color.red;
|
|||
|
|
Gizmos.DrawSphere(_voxelBounds.center + centerOfMass, 0.2f);
|
|||
|
|
|
|||
|
|
Gizmos.matrix = Matrix4x4.identity;Gizmos.matrix = Matrix4x4.identity;
|
|||
|
|
|
|||
|
|
if (_debugInfo != null)
|
|||
|
|
{
|
|||
|
|
foreach (DebugDrawing debug in _debugInfo)
|
|||
|
|
{
|
|||
|
|
Gizmos.color = Color.cyan;
|
|||
|
|
Gizmos.DrawCube(debug.Position, new Vector3(gizmoSize, gizmoSize, gizmoSize)); // drawCenter
|
|||
|
|
var water = debug.Position;
|
|||
|
|
water.y = debug.WaterHeight;
|
|||
|
|
Gizmos.DrawLine(debug.Position, water); // draw the water line
|
|||
|
|
Gizmos.DrawSphere(water, gizmoSize * 4f);
|
|||
|
|
if(_buoyancyType == BuoyancyType.Physical || _buoyancyType == BuoyancyType.PhysicalVoxel)
|
|||
|
|
{
|
|||
|
|
Gizmos.color = Color.red;
|
|||
|
|
Gizmos.DrawRay(debug.Position, debug.Force / _rb.mass); // draw force
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private struct DebugDrawing
|
|||
|
|
{
|
|||
|
|
public Vector3 Force;
|
|||
|
|
public Vector3 Position;
|
|||
|
|
public float WaterHeight;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public enum BuoyancyType
|
|||
|
|
{
|
|||
|
|
NonPhysical,
|
|||
|
|
NonPhysicalVoxel,
|
|||
|
|
Physical,
|
|||
|
|
PhysicalVoxel
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|