Roblox 布娃娃物理架构深度解析：BallSocketConstraint、碰撞滤波与平滑起身机制

--!strict
local Players = game:GetService("Players")
local PhysicsService = game:GetService("PhysicsService")

local RagdollManager = {}
RagdollManager.__index = RagdollManager

type RagdollRig = {
    character: Model,
    humanoid: Humanoid,
    rootPart: BasePart,
    motors: { Motor6D },
    constraints: { BallSocketConstraint },
}

function RagdollManager.SetupRig(character: Model): RagdollRig
    local humanoid = character:WaitForChild("Humanoid") :: Humanoid
    local rootPart = character:WaitForChild("HumanoidRootPart") :: BasePart
    local motors: { Motor6D } = {}
    local constraints: { BallSocketConstraint } = {}
    
    for _, desc in ipairs(character:GetDescendants()) do
        if desc:IsA("Motor6D") and desc.Name ~= "Root" then
            table.insert(motors, desc)
            
            local part0 = desc.Part0
            local part1 = desc.Part1
            if part0 and part1 then
                -- 预建连接点
                local att0 = Instance.new("Attachment")
                att0.CFrame = desc.C0
                att0.Name = "RagdollAtt_" .. desc.Name
                att0.Parent = part0
                
                local att1 = Instance.new("Attachment")
                att1.CFrame = desc.C1
                att1.Name = "RagdollAtt_" .. desc.Name
                att1.Parent = part1
                
                -- 球窝铰链约束
                local bsc = Instance.new("BallSocketConstraint")
                bsc.Attachment0 = att0
                bsc.Attachment1 = att1
                bsc.LimitsEnabled = true
                bsc.UpperAngle = 45
                bsc.TwistLimitsEnabled = true
                bsc.TwistLowerAngle = -30
                bsc.TwistUpperAngle = 30
                bsc.Enabled = false
                bsc.Parent = part0
                table.insert(constraints, bsc)
                
                -- 相邻肢体防穿模排斥
                local ncc = Instance.new("NoCollisionConstraint")
                ncc.Part0 = part0
                ncc.Part1 = part1
                ncc.Parent = part0
            end
        end
    end
    
    return {
        character = character,
        humanoid = humanoid,
        rootPart = rootPart,
        motors = motors,
        constraints = constraints,
    }
end

function RagdollManager.EnableRagdoll(rig: RagdollRig)
    rig.humanoid:ChangeState(Enum.HumanoidStateType.Physics)
    rig.rootPart.CanCollide = false
    
    for _, motor in ipairs(rig.motors) do
        motor.Enabled = false
    end
    for _, bsc in ipairs(rig.constraints) do
        bsc.Enabled = true
    end
end

function RagdollManager.DisableRagdoll(rig: RagdollRig)
    for _, bsc in ipairs(rig.constraints) do
        bsc.Enabled = false
    end
    for _, motor in ipairs(rig.motors) do
        motor.Enabled = true
    end
    
    rig.rootPart.CanCollide = true
    rig.humanoid:ChangeState(Enum.HumanoidStateType.GettingUp)
end

return RagdollManager