Vector3 CalculateSceneAvoidanceForce(FeelerInfo info)
{
Vector3 force = Vector3.zero;
Vector3 fromTarget = fromTarget = transform.position - info.point;
float dist = Vector3.Distance(transform.position, info.point);
switch (forceType)
{
case ForceType.normal:
force = info.normal * (forwardFeelerDepth * scale / dist);
break;
case ForceType.incident:
fromTarget.Normalize();
force -= Vector3.Reflect(fromTarget, info.normal) * (forwardFeelerDepth / dist);
break;
case ForceType.up:
force += Vector3.up * (forwardFeelerDepth * scale / dist);
break;
case ForceType.braking:
force += fromTarget * (forwardFeelerDepth / dist);
break;
}
return(force);
}
void UpdateFeeler(int feelerNum, Quaternion localRotation, float baseDepth, FeelerInfo.FeelerType feelerType)
{
Vector3 direction = localRotation * transform.rotation * Vector3.forward;
float depth = baseDepth + ((boid.velocity.magnitude / boid.maxSpeed) * baseDepth);
RaycastHit info;
bool collided = Physics.SphereCast(transform.position, feelerRadius, direction, out info, depth, mask.value);
Vector3 feelerEnd = collided ? info.point : (transform.position + direction * depth);
feelers[feelerNum] = new FeelerInfo(feelerEnd, info.normal, collided, feelerType);
}
public override Vector3 Calculate()
{
force = Vector3.zero;
for (int i = 0; i < feelers.Length; i++)
{
FeelerInfo info = feelers[i];
if (info.collided)
{
force += CalculateSceneAvoidanceForce(info);
}
}
return(force);
}
System.Collections.IEnumerator UpdateFrontFeelers()
{
yield return(new WaitForSeconds(Random.Range(0.0f, 0.5f)));
while (true)
{
RaycastHit info;
float forwardFeelerDepth = this.forwardFeelerDepth + ((boid.velocity.magnitude / boid.maxSpeed) * this.forwardFeelerDepth);
// Forward feeler
//int mask.value = 1 << 9;
bool collided = Physics.SphereCast(transform.position, feelerRadius, boid.TransformDirection(Vector3.forward), out info, forwardFeelerDepth, mask.value);
feelers[0] = new FeelerInfo(info.point, info.normal
, collided, FeelerInfo.FeeelerType.front);
yield return(new WaitForSeconds(1.0f / frontFeelerUpdatesPerSecond));
}
}
System.Collections.IEnumerator UpdateSideFeelers()
{
yield return(new WaitForSeconds(Random.Range(0.0f, 0.5f)));
while (true)
{
Vector3 feelerDirection;
RaycastHit info;
bool collided;
float sideFeelerDepth = this.sideFeelerDepth + ((boid.velocity.magnitude / boid.maxSpeed) * this.sideFeelerDepth);
// Left feeler
feelerDirection = Vector3.forward;
feelerDirection = Quaternion.AngleAxis(-45, Vector3.up) * feelerDirection;
collided = Physics.SphereCast(transform.position, feelerRadius, transform.TransformDirection(feelerDirection), out info, sideFeelerDepth, mask.value);
feelers[1] = new FeelerInfo(info.point, info.normal,
collided, FeelerInfo.FeeelerType.side);
// Right feeler
feelerDirection = Vector3.forward;
feelerDirection = Quaternion.AngleAxis(-45, Vector3.up) * feelerDirection;
collided = Physics.SphereCast(transform.position, 2, transform.TransformDirection(feelerDirection), out info, sideFeelerDepth, mask.value);
feelers[2] = new FeelerInfo(info.point, info.normal
, collided, FeelerInfo.FeeelerType.side);
// Up feeler
feelerDirection = Vector3.forward;
feelerDirection = Quaternion.AngleAxis(45, Vector3.right) * feelerDirection;
collided = Physics.SphereCast(transform.position, 2, transform.TransformDirection(feelerDirection), out info, sideFeelerDepth, mask.value);
feelers[3] = new FeelerInfo(info.point, info.normal
, collided, FeelerInfo.FeeelerType.side);
// Down feeler
feelerDirection = Vector3.forward;
feelerDirection = Quaternion.AngleAxis(-45, Vector3.right) * feelerDirection;
collided = Physics.SphereCast(transform.position, 2, transform.TransformDirection(feelerDirection), out info, sideFeelerDepth, mask.value);
feelers[4] = new FeelerInfo(info.point, info.normal
, collided, FeelerInfo.FeeelerType.side);
yield return(new WaitForSeconds(1.0f / sideFeelerUpdatesPerSecond));
}
}
