public void Execute(ArchetypeChunk batchInChunk, int batchIndex)
{
var wanderChunk = batchInChunk.GetNativeArray(wanderTypeHandle);
var boidChunk = batchInChunk.GetNativeArray(boidTypeHandle);
var translationsChunk = batchInChunk.GetNativeArray(translationTypeHandle);
var rotationsChunk = batchInChunk.GetNativeArray(rotationTypeHandle);
var seperationChunk = batchInChunk.GetNativeArray(seperationTypeHandle);
var cohesionChunk = batchInChunk.GetNativeArray(cohesionTypeHandle);
var alignmentChunk = batchInChunk.GetNativeArray(alignmentTypeHandle);
var constrainChunk = batchInChunk.GetNativeArray(constrainTypeHandle);
var oaChunk = batchInChunk.GetNativeArray(obstacleTypeHandle);
for (int i = 0; i < batchInChunk.Count; i++)
{
Wander w = wanderChunk[i];
Translation p = translationsChunk[i];
Rotation r = rotationsChunk[i];
Boid b = boidChunk[i];
Seperation s = seperationChunk[i];
Cohesion c = cohesionChunk[i];
Alignment a = alignmentChunk[i];
Constrain con = constrainChunk[i];
ObstacleAvoidance oa = oaChunk[i];
b.force = AccululateForces(ref b, ref oa, ref s, ref a, ref c, ref w, ref con) * b.weight;
b.force = Vector3.ClampMagnitude(b.force, b.maxForce);
Vector3 newAcceleration = (b.force * b.weight) * (1.0f / b.mass);
newAcceleration.y *= limitUpAndDown;
b.acceleration = Vector3.Lerp(b.acceleration, newAcceleration, dT);
b.velocity += b.acceleration * dT;
b.velocity = Vector3.ClampMagnitude(b.velocity, b.maxSpeed);
float speed = b.velocity.magnitude;
speeds[b.boidId] = speed;
if (speed > 0)
{
Vector3 tempUp = Vector3.Lerp(b.up, (Vector3.up) + (b.acceleration * banking), dT * 3.0f);
rotations[b.boidId] = Quaternion.LookRotation(b.velocity, tempUp);
b.up = rotations[b.boidId] * Vector3.up;
positions[b.boidId] += b.velocity * dT;
b.velocity *= (1.0f - (damping * dT));
}
b.force = Vector3.zero;
boidChunk[i] = b;
}
}
public void Execute(ArchetypeChunk batchInChunk, int batchIndex)
{
var boidChunk = batchInChunk.GetNativeArray(boidTypeHandle);
var translationsChunk = batchInChunk.GetNativeArray(translationTypeHandle);
var seperationChunk = batchInChunk.GetNativeArray(seperationTypeHandle);
for (int i = 0; i < batchInChunk.Count; i++)
{
Vector3 force = Vector3.zero;
Translation p = translationsChunk[i];
Seperation s = seperationChunk[i];
Boid b = boidChunk[i];
for (int j = 0; j < b.taggedCount; j++)
{
int neighbourStartIndex = maxNeighbours * b.boidId;
Vector3 myPosition = positions[b.boidId];
int neighbourId = neighbours[neighbourStartIndex + j];
if (neighbourId == b.boidId)
{
continue;
}
Vector3 toNeighbour = positions[b.boidId] - positions[neighbourId];
float mag = toNeighbour.magnitude;
if (mag > 0) // Need this check otherwise this behaviour can return NAN
{
force += (Vector3.Normalize(toNeighbour) / mag);
}
else
{
// same position, so generate a random force
Vector3 f = random.NextFloat3Direction();
force += f * b.maxForce;
}
}
s.force = force * weight;
seperationChunk[i] = s;
}
}
private Vector3 AccululateForces(ref Boid b, ref ObstacleAvoidance oa, ref Seperation s, ref Alignment a, ref Cohesion c, ref Wander w, ref Constrain con)
{
Vector3 force = Vector3.zero;
force += oa.force;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
force += b.fleeForce;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
force += s.force;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
force += a.force;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
force += c.force;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
force += w.force;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
force += con.force;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
force += b.seekForce;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
return(force);
}
