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