protected Vector3 separation()
{
Vector3 force = Vector3.zero;
int neighborCount = 0;
for (int i = 0; i < neighbors.Length; i++)
{
BOIDS b = neighbors[i];
if (b != this && distance(b.transform.position, this.transform.position) <= SEPARATION_RADIUS)
{
force.x += b.transform.position.x - this.transform.position.x;
force.z += b.transform.position.z - this.transform.position.z;
neighborCount++;
}
}
if (neighborCount != 0)
{
force.x /= neighborCount;
force.z /= neighborCount;
force *= -1;
}
force.Normalize();
force *= MAX_SEPARATION;
return(force);
}
protected Vector3 followLeader(BOIDS leader)
{
Vector3 tv = new Vector3(leader.velocity.x, leader.velocity.y, leader.velocity.z);
Vector3 force = Vector3.zero;
tv.Normalize();
tv *= LEADER_BEHIND_DIST;
ahead = leader.transform.position + tv;
tv *= -1;
behind = leader.transform.position + tv;
if (distance(leader.transform.position, this.transform.position) <= LEADER_BEHIND_DIST)
{
force += (evade(leader));
force *= 0.5f;
}
else
{
force += (arrive(behind, LEADER_BEHIND_DIST));
}
force += separation();
//Vector3 Offset from leader = x * transform.Right + y * transform.Forward
//Offset + position of leader = target position
Debug.DrawLine(leader.transform.position, behind);
return(force);
}
void Update()
{
getNeighbors();
GetAllNeighbours();
steering *= 0;
if (leader)
{
steering = steering + arrive(Target.transform.position, 3);
TurnToTarget(Target.transform.position);
}
else
{
if (Leader)
{
BOIDS l = Leader.GetComponent <BOIDS>();;
//steering = steering + followLeader(l);
//Formation(l);
steering = steering + Formation(l);
TurnToTarget(l.transform.position);
}
}
Vector3.ClampMagnitude(steering, MAX_FORCE);
steering *= (1 / rbody.mass);
velocity = velocity + steering;
rbody.velocity = velocity;
}
protected Vector3 evade(BOIDS target)
{
Vector3 distance = target.transform.position - transform.position;
float updatesNeeded = distance.magnitude / MAX_VELOCITY;
Vector3 tv = new Vector3(target.velocity.x, target.velocity.y, target.velocity.z);
tv *= updatesNeeded;
Vector3 targetFuturePosition = new Vector3(target.transform.position.x, target.transform.position.y, target.transform.position.z);
targetFuturePosition += tv;
return(flee(targetFuturePosition));
}
Vector3 Formation(BOIDS leader)
{
int counter = -1;
int zoffset = -1;
float xoffset = 0.25f;
Vector3 tv = new Vector3(leader.velocity.x, leader.velocity.y, leader.velocity.z);
Vector3 force = Vector3.zero;
tv.Normalize();
tv *= LEADER_BEHIND_DIST;
Vector3 ahead = leader.transform.position + tv;
tv *= -1;
Vector3 behind = leader.transform.position + tv;
Vector3 targetposition = behind;
float perline = 2;
float startz = targetposition.z;
if (distance(leader.transform.position, this.transform.position) <= LEADER_BEHIND_DIST)
{
force += (evade(leader));
force *= 0.5f;
}
else
{
for (int i = 0; i < neighbors.Length; i++)
{
counter++;
zoffset++;
if (zoffset > 1)
{
zoffset = 1;
}
targetposition = new Vector3(targetposition.x, targetposition.y, targetposition.z + (zoffset * 2.0f));
//targetposition.z = targetposition.z + (zoffset * 2.0f);
if (counter == Mathf.Floor(perline))
{
counter = 0;
targetposition.z = startz; //-= 1 + 0.25f;
targetposition.x -= 1 + xoffset; //startx;
}
// Neighbours[i].transform.position = Vector3.MoveTowards(Neighbours[i].transform.position, targetposition, 2);
//steering = steering + arrive(behind, 5);
force += arrive(targetposition, LEADER_BEHIND_DIST);
}
}
Debug.Log(targetposition);
Debug.DrawLine(leader.transform.position, targetposition, Color.red);
Debug.DrawLine(leader.transform.position, behind, Color.yellow);
return(force);
}
Vector3 FollowLeader(BOIDS leader)
{
Vector3 tv = new Vector3(leader.velocity.x, leader.velocity.y, leader.velocity.z);
Vector3 force = Vector3.zero;
tv.Normalize();
tv *= LEADER_BEHIND_DIST;
Vector3 ahead = leader.transform.position + tv;
tv *= -1;
Vector3 behind = leader.transform.position + tv;
int counter = -1;
int zoffset = -1;
float xoffset = 0.25f;
Vector3 targetposition = behind;
float perline = 2;
float startz = targetposition.z;
if (distance(leader.transform.position, this.transform.position) <= LEADER_BEHIND_DIST)
{
force += (evade(leader));
force *= 0.5f;
}
else
{
//force += (arrive(behind, LEADER_BEHIND_DIST));
for (int i = 0; i < neighbors.Length; i++)
{
counter++;
zoffset++;
if (zoffset > 1)
{
zoffset = 1;
}
//targetpositon = new Vector3(targetpositon.x + (xoffset * 2.0f), targetpositon.y, targetpositon.z);
targetposition.z = targetposition.z + (zoffset * 2.0f);
if (counter == Mathf.Floor(perline))
{
counter = 0;
targetposition.z = startz; //-= 1 + 0.25f;
targetposition.x -= 1 + xoffset; //startx;
}
Debug.Log(targetposition);
force += arrive(targetposition, LEADER_BEHIND_DIST);
}
}
force += separation();
//Vector3 Offset from leader = x * transform.Right + y * transform.Forward
//Offset + position of leader = target position
// Vector3.ClampMagnitude(velocity, (!leader ? MAX_VELOCITY * (0.3f + Random.Range(0.1f, 0.5f)) : MAX_VELOCITY));
return(force);
}
