public Vector3 GetNewPos(PolyAgent me)
{
Vector3 v1 = Cohesion(me);
Vector3 v2 = Separation(me);
return(v1 + v2);
}
public KeyValuePair <PolyAgent, Vector3> NextAgentAndCustomer(List <PolyAgent> agents)
{
if (customers.Count == 0)
{
throw new UnassignedReferenceException("customers list is empty");
}
Vector3 ret = Vector3.zero;
float minCost = -1;
int j = -1;
PolyAgent closestAgent = null;
foreach (PolyAgent agent in agents)
{
for (int i = 0; i < customers.Count; i++)
{
float cost = Dist(customers[i], agent);
if (minCost == -1 || cost < minCost)
{
minCost = cost;
j = i;
ret = customers[i];
closestAgent = agent;
}
}
}
customers.RemoveAt(j);
return(new KeyValuePair <PolyAgent, Vector3> (closestAgent, ret));
}
public void SetPath(List <Vector3> path, PolyAgent agent, List <Line> lines)
{
this.path = path;
this.agent = agent;
collision = new PolyCollision(lines);
}
public LeaderFollower(string agentId, Vector3 agentPos,
LeaderFollower parent, List <Vector3> wp = null)
{
agent = new PolyAgent(agentId, agentPos, Vector3.zero, 5, modelType);
agent.agent.renderer.material.color = Color.black;
leaderWP = wp;
children = new List <LeaderFollower>();
children.Add(new LeaderFollower());
children.Add(new LeaderFollower());
this.parent = parent;
}
private float Dist(Vector3 customer, PolyAgent agent)
{
float first = Mathf.Abs(customer.x - agent.agent.transform.position.x)
+ Mathf.Abs(customer.z - agent.agent.transform.position.z);
float second = Mathf.Abs(agent.end.x - customer.x)
+ Mathf.Abs(agent.end.z - customer.z);
if (customers.Count / size > 0.5)
{
return(first);
}
return(first + second);
}
Vector3 Cohesion(PolyAgent me)
{
Vector3 avg = me.agent.transform.position;
foreach (PolyAgent agent in agents)
{
if (agent != me)
{
avg = avg + agent.agent.transform.position;
}
}
avg = avg / (agents.Count - 2);
return(avg - me.agent.transform.position);
}
Vector3 Separation(PolyAgent me)
{
Vector3 c = Vector3.zero;
foreach (PolyAgent agent in agents)
{
if (agent != me)
{
if (Vector3.Distance(agent.agent.transform.position,
me.agent.transform.position) < sepDist)
{
c = c - (agent.agent.transform.position - me.agent.transform.position);
}
}
}
return(c * 5);
}
Vector3 Tendency(PolyAgent me, Vector3 to)
{
return((to - me.agent.transform.position) / 1);
}
