private Vector3 Alignment(AgentBoid boid)
{
// Set velocity to zero.
Vector3 alignment = Vector3.zero;
int iterator = 0;
for (int i = 0; i < flockSize; i++)
{
// Returns the distance between a and b.
// Use this to find the distance between a boid and it's neighbour.
float distance = Vector3.Distance(boids[i].transform.localPosition, boid.transform.localPosition);
// If the distance between the two is greater than zero and less than the radius
// defined in the AgentBoid script, then:
if (distance > 0 && distance < boid.neighbourRad)
{
// Set the velocity.
alignment += boids[i].boidRB.velocity;
iterator++;
}
}
// Return the alignment. Do not forget to normalize this!
if (iterator > 0)
{
return((alignment / (flockSize - 1)).normalized);
}
else
{
return(Vector3.zero);
}
}
private Vector3 Separation(AgentBoid boid)
{
Vector3 separation = Vector3.zero;
int iterator = 0;
for (int i = 0; i < flockSize; i++)
{
// Returns the distance between a and b.
// Use this to find the distance between a boid and it's neighbour.
float distance = Vector3.Distance(boids[i].transform.localPosition, boid.transform.localPosition);
if (distance > 0 && distance < boid.separationBound)
{
separation -= (boids[i].transform.localPosition - boid.transform.localPosition).normalized / distance;
iterator++;
}
}
// Return the separation vector. Do not forget to normalize this!
if (iterator > 0)
{
return((separation / (flockSize - 1)).normalized);
}
else
{
return(Vector3.zero);
}
}
private Vector3 Cohesion(AgentBoid boid)
{
Vector3 cohesion = Vector3.zero;
int iterator = 0;
for (int i = 0; i < flockSize; i++)
{
// Returns the distance between a and b.
// Use this to find the distance between a boid and it's neighbour.
float distance = Vector3.Distance(boids[i].transform.localPosition, boid.transform.localPosition);
if (distance > 0 && distance < boid.neighbourRad)
{
// Set the velocity.
cohesion += boids[i].transform.localPosition;
iterator++;
}
}
// Return the cohesion vector. Do not forget to normalize this!
if (iterator > 0)
{
return(((cohesion / (flockSize - 1)) - boid.transform.localPosition).normalized);
}
else
{
return(Vector3.zero);
}
}
private void FixedUpdate()
{
for (int i = 0; i < flockSize; i++)
{
// Select an individual boid.
AgentBoid boid = boids[i];
// If the boid is not equal to null and the rigidbody is not equal to null:
if (boid != null && boid.boidRB != null)
{
// Set the rules of the Reynolds algorithm by accessing the corresponding functions.
Vector3 parsedAlignment = Alignment(boid) * alignmentWeight * Time.deltaTime;
Vector3 parsedCohesion = Cohesion(boid) * cohesionWeight * Time.deltaTime;
Vector3 parsedSeparation = Separation(boid) * separationWeight * Time.deltaTime;
// Where the magic happens. Sum the vectors together.
boid.boidRB.velocity += (parsedAlignment + parsedCohesion + parsedSeparation);
}
}
}
