private float calcScore(FlockControl.UnityState us, BirdControl me)
{
float score = 0;
float gd = (us.goal.transform.position - transform.position).magnitude;
score += GOAL_CONST * Mathf.Min(ASYMPTOTE, 1 / Mathf.Sqrt(gd));
if (!me.Moving)
{
return(score);
}
foreach (BirdControl b in us.birds)
{
if (b.Equals(me) || !b.Moving)
{
continue;
}
float d = me.GetDistance(b).dist;
score += BIRD_CONST * Mathf.Min(ASYMPTOTE, 1 / Mathf.Sqrt(d));
}
for (int i = 0; i < us.walls.Length; i++)
{
float d = me.WallDistance(i).dist;
score += WALL_CONST * Mathf.Min(ASYMPTOTE, 1 / Mathf.Sqrt(d));
}
return(score);
}
private Vector2 obstacle(GameObject[] walls, BirdControl me)
{
Vector2 force = Vector2.zero;
for (int i = 0; i < walls.Length; i++)
{
BirdControl.CachedDelta cd = me.WallDistance(i);
if (cd.dist > genome.Obstacle.Distance)
{
continue;
}
force += calcForce(-1 * cd.norm, cd.dist, genome.Cohesion);
}
return(force);
}