private List <DynamicMovement> InitBoidMovements(List <DynamicCharacter> characters, IEnumerable <GameObject> obstacles)
{
List <DynamicMovement> avoidObstacleMovement = new List <DynamicMovement>();
foreach (var obstacle in obstacles)
{
avoidObstacleMovement.Add(new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaxLookAhead = MAX_LOOK_AHEAD,
MovementDebugColor = Color.magenta
});
}
var cohesion = new DynamicCohesion()
{
Flock = this.Flock,
MaxSpeed = MAX_SPEED,
MaxAcceleration = MAX_ACCELERATION,
StopRadius = 0.0F,
SlowRadius = 6.0F,
FlockRadius = COHESION_RADIUS,
FanAngle = FAN_ANGLE,
MovementDebugColor = Color.red
};
var separation = new DynamicSeparation()
{
Flock = this.Flock,
FlockRadius = SEPARATION_RADIUS,
MaxAcceleration = MAX_ACCELERATION,
SeparationFactor = SEPARATION_FACTOR,
MovementDebugColor = Color.blue
};
var matchVelocity = new DynamicFlockVelocityMatch()
{
Flock = this.Flock,
MaxAcceleration = MAX_ACCELERATION,
FlockRadius = COHESION_RADIUS,
FanAngle = FAN_ANGLE,
MovementDebugColor = Color.green
};
var followMouse = new DynamicFollowMouse()
{
MaxSpeed = MAX_SPEED,
MaxAcceleration = MAX_ACCELERATION,
StopRadius = STOP_RADIUS,
SlowRadius = SLOW_RADIUS,
Arrived = new HashSet <KinematicData>(),
MovementDebugColor = Color.gray
};
FollowMouseMovement = new MovementWithWeight(followMouse, 0);
var blended = new BlendedMovement();
blended.Movements.Add(new MovementWithWeight(cohesion, COHESION_WEIGHT));
blended.Movements.Add(new MovementWithWeight(separation, SEPARATION_WEIGHT));
blended.Movements.Add(new MovementWithWeight(matchVelocity, VELOCITY_MATCH_WEIGHT));
blended.Movements.Add(FollowMouseMovement);
var allMovements = new List <DynamicMovement>();
allMovements.AddRange(avoidObstacleMovement);
allMovements.Add(blended);
return(allMovements);
}
private void InitializeCharacters(DynamicCharacter character, GameObject[] obstacles)
{
var Blended = new BlendedMovement
{
Character = character.KinematicData
};
foreach (var obstacle in obstacles)
{
var avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaxLookAhead = MAX_LOOK_AHEAD,
Character = character.KinematicData,
WhiskersLength = MAX_WHISKERS_LOOK_AHEAD,
WhiskersSpan = MAX_WHISKERS_SPAN,
MovementDebugColor = Color.magenta
};
Blended.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 7));
}
var separation = new DynamicSeparation()
{
Character = character.KinematicData,
flock = this.flock,
maxAcceleration = MAX_ACCELERATION,
radius = RADIUS,
separationFactor = SEPARATION_FACTOR
};
var flockVelocityMatching = new DynamicFlockVelocityMatching()
{
Character = character.KinematicData,
flock = this.flock,
radius = RADIUS,
fanAngle = FAN_ANGLE,
MaxAcceleration = MAX_ACCELERATION
};
var cohesion = new DynamicCohesion()
{
Character = character.KinematicData,
flock = this.flock,
MaxAcceleration = MAX_ACCELERATION,
radius = RADIUS,
fanAngle = FAN_ANGLE
};
var straightAhead = new DynamicStraightAhead
{
MaxAcceleration = MAX_ACCELERATION,
Character = character.KinematicData,
MovementDebugColor = Color.yellow
};
Blended.Movements.Add(new MovementWithWeight(straightAhead, 3));
Blended.Movements.Add(new MovementWithWeight(separation, 4));
Blended.Movements.Add(new MovementWithWeight(flockVelocityMatching, 3));
Blended.Movements.Add(new MovementWithWeight(cohesion, 3));
character.Movement = Blended;
}
public void InitializeMovement(GameObject[] obstacles, List <DynamicCharacter> characters)
{
target = new KinematicData();
foreach (var obstacle in obstacles)
{
//TODO: add your AvoidObstacle movement here
var avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
MaxLookAhead = MAX_LOOK_AHEAD,
AvoidMargin = AVOID_MARGIN,
Character = this.character.KinematicData,
DebugColor = Color.magenta
};
this.blendedMovement.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 1000000000000000000000000000000000000.0f));
}
//foreach (var boid in characters)
//{
//TODO: add your AvoidObstacle movement here
var separationMovement = new DynamicSeparation()
{
MaxAcceleration = MAX_ACCELERATION,
Character = this.character.KinematicData,
Radius = RADIUS_SEPARATION,
Flock = characters,
SeparationFactor = SEPARATION_FACTOR
};
this.blendedMovement.Movements.Add(new MovementWithWeight(separationMovement, 5.0f));
var cohesionMovement = new DynamicCohesion()
{
MaxAcceleration = MAX_ACCELERATION,
Character = this.character.KinematicData,
radius = RADIUS_COHESION,
flock = characters,
fanAngle = FAN_ANGLE,
Target = target
};
this.blendedMovement.Movements.Add(new MovementWithWeight(cohesionMovement, 0.2f));
var velocityMatchingMovement = new FlockVelocityMatching()
{
MaxAcceleration = MAX_ACCELERATION,
Character = this.character.KinematicData,
Radius = RADIUS_VELOCITY_MATCHING,
Flock = characters,
FanAngle = FAN_ANGLE,
Target = target
};
this.blendedMovement.Movements.Add(new MovementWithWeight(velocityMatchingMovement, 0.5f));
//}
this.character.Movement = this.blendedMovement;
}
public void InitializeMovement(GameObject[] obstacles, List <DynamicCharacter> characters)
{
List <DynamicCharacter> otherCharacters = characters.Where(b => b != character).ToList();
foreach (var obstacle in obstacles)
{
var avoid = new DynamicAvoidShort
{
Character = this.character.KinematicData,
avoidDistance = 10.0f,
lookAhead = 13.0f,
collisionDetector = obstacle.GetComponent <Collider>(),
MaxAcceleration = MAX_ACCELERATION,
whiskerLength = 6.5f
};
this.blendedMovement.Movements.Add(new MovementWithWeight(avoid, 22.0f));
}
var cohesion = new DynamicCohesion(otherCharacters)
{
Character = this.character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
StopRadius = 5f,
SlowRadius = 10f,
MaxSpeed = this.character.MaxSpeed,
Radius = 15f,
FanAngle = MathConstants.MATH_PI_4
};
this.blendedMovement.Movements.Add(new MovementWithWeight(cohesion, 6.0f));
var velocity = new FlockVelocityMatching(otherCharacters)
{
Character = this.character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
Radius = 20f,
FanAngle = MathConstants.MATH_PI_4
};
this.blendedMovement.Movements.Add(new MovementWithWeight(velocity, 10.0f));
var separation = new DynamicSeparation(otherCharacters)
{
Character = this.character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
Radius = SEP_RADIUS,
SeparationFactor = MAX_ACCELERATION * 1.5f
};
this.blendedMovement.Movements.Add(new MovementWithWeight(separation, 12.0f));
var wander = new DynamicStraightAhead
{
Character = this.character.KinematicData,
MaxAcceleration = MAX_ACCELERATION
};
this.blendedMovement.Movements.Add(new MovementWithWeight(wander, 1.0f));
var seekMouse = new DynamicSeekMouse
{
Character = this.character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MaxSpeed = this.character.MaxSpeed,
StopRadius = 1f,
SlowRadius = 10f
};
this.blendedMovement.Movements.Add(new MovementWithWeight(seekMouse, 4.0f));
this.character.Movement = this.blendedMovement;
}
private BlendedMovement GenerateBlendingMovementFor(DynamicCharacter character)
{
var blending = new BlendedMovement
{
MaxAcceleration = this.MaximumAcceleration,
Character = character.KinematicData
};
var cohesion = new DynamicCohesion(this)
{
Character = character.KinematicData,
MaxAcceleration = this.MaximumAcceleration,
MaxSpeed = this.MaximumSpeed,
FlockRadius = this.FlockRadius,
MovementDebugColor = Color.yellow
};
var separation = new DynamicSeparation(this)
{
Character = character.KinematicData,
MaxAcceleration = this.MaximumAcceleration,
FlockRadius = this.FlockRadius,
SeparationFactor = this.SeparationFactor,
MovementDebugColor = Color.red
};
var velocityMatch = new DynamicFlockVelocityMatching(this)
{
Character = character.KinematicData,
MaxAcceleration = this.MaximumAcceleration,
FlockRadius = this.FlockRadius,
MovementDebugColor = Color.green
};
var collisionDetection = new PriorityMovement
{
Character = character.KinematicData,
MovementDebugColor = Color.magenta
};
foreach (var obstacle in this.Obstacles)
{
var avoidMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = this.MaximumAcceleration,
AvoidMargin = 4.0f,
MaxLookAhead = 10.0f,
};
collisionDetection.Movements.Add(avoidMovement);
}
var flockSeek = new DynamicFlockTarget(this)
{
Character = character.KinematicData,
MaxAcceleration = this.MaximumAcceleration,
MovementDebugColor = Color.cyan
};
blending.Movements.Add(new MovementWithWeight(cohesion));
blending.Movements.Add(new MovementWithWeight(separation,2.0f));
blending.Movements.Add(new MovementWithWeight(velocityMatch));
blending.Movements.Add(new MovementWithWeight(collisionDetection,1000.0f));
blending.Movements.Add(new MovementWithWeight(flockSeek));
return blending;
}
