public void Execute(ArchetypeChunk chunk, int chunkIndex, int firstEntityIndex)
{
NativeArray <Entity> entityArray = chunk.GetNativeArray(entityType);
BufferAccessor <ReynoldsNearbyFlockPos> nearbyPosBuffers = chunk.GetBufferAccessor <ReynoldsNearbyFlockPos>(nearbyPosBufferType);
BufferAccessor <ReynoldsNearbyFlockVel> nearbyVelBuffers = chunk.GetBufferAccessor <ReynoldsNearbyFlockVel>(nearbyVelBufferType);
NativeArray <Translation> transArray = chunk.GetNativeArray(translationType);
NativeArray <ReynoldsFlockBehaviour> flockArray = chunk.GetNativeArray(flockType);
NativeArray <PreviousMovement> preVelArray = chunk.GetNativeArray(preVelType);
NativeArray <ReynoldsMovementValues> movementArray = chunk.GetNativeArray(reynoldsMovementValuesType);
for (int i = 0; i < chunk.Count; i++)
{
Entity entity = entityArray[i];
DynamicBuffer <ReynoldsNearbyFlockPos> posBuffer = nearbyPosBuffers[i];
DynamicBuffer <ReynoldsNearbyFlockVel> velBuffer = nearbyVelBuffers[i];
Translation trans = transArray[i];
ReynoldsFlockBehaviour flockBehaviour = flockArray[i];
PreviousMovement preVel = preVelArray[i];
ReynoldsMovementValues movement = movementArray[i];
float3 agentPosition = trans.Value; // the position of the seeker
DynamicBuffer <float3> nearCrowdPosList = posBuffer.Reinterpret <float3>(); // reinterpret the buffer so that it is used like a buffer of float3s
nearCrowdPosList.Clear();
DynamicBuffer <float3> nearCrowdVelList = velBuffer.Reinterpret <float3>(); // reinterpret the buffer so that it is used like a buffer of float3s
nearCrowdVelList.Clear();
float searchRadius = math.max(flockBehaviour.CohesionRadius, flockBehaviour.AvoidanceRadius); // Choose the farther radius
int hashMapKey = MovingQuadrantSystem.GetPositionHashMapKey(trans.Value); // Calculate the hash key of the seeker in question
FindCrowdAgents(hashMapKey, agentPosition, entity, ref nearCrowdPosList, ref nearCrowdVelList, ref searchRadius); // Seach the quadrant that the seeker is in
FindCrowdAgents(hashMapKey + 1, agentPosition, entity, ref nearCrowdPosList, ref nearCrowdVelList, ref searchRadius); // search the quadrant to the right
FindCrowdAgents(hashMapKey - 1, agentPosition, entity, ref nearCrowdPosList, ref nearCrowdVelList, ref searchRadius); // search the quadrant to the left
FindCrowdAgents(hashMapKey + MovingQuadrantSystem.quadrantYMultiplier, agentPosition, entity, ref nearCrowdPosList, ref nearCrowdVelList, ref searchRadius); // quadrant above
FindCrowdAgents(hashMapKey - MovingQuadrantSystem.quadrantYMultiplier, agentPosition, entity, ref nearCrowdPosList, ref nearCrowdVelList, ref searchRadius); // quadrant below
FindCrowdAgents(hashMapKey + 1 + MovingQuadrantSystem.quadrantYMultiplier, agentPosition, entity, ref nearCrowdPosList, ref nearCrowdVelList, ref searchRadius); // up right
FindCrowdAgents(hashMapKey - 1 + MovingQuadrantSystem.quadrantYMultiplier, agentPosition, entity, ref nearCrowdPosList, ref nearCrowdVelList, ref searchRadius); // up left
FindCrowdAgents(hashMapKey + 1 - MovingQuadrantSystem.quadrantYMultiplier, agentPosition, entity, ref nearCrowdPosList, ref nearCrowdVelList, ref searchRadius); // down right
FindCrowdAgents(hashMapKey - 1 - MovingQuadrantSystem.quadrantYMultiplier, agentPosition, entity, ref nearCrowdPosList, ref nearCrowdVelList, ref searchRadius); // down left
movementArray[i] = GetFlockingBehaviour(ref trans, ref preVel.value, ref nearCrowdPosList, ref nearCrowdVelList, ref flockBehaviour, movement);
}
}
// Calculate the avoidance using a buffer
private float3 CalculateAvoidance(ref float3 agentPosition, ref DynamicBuffer <float3> context, /*[ReadOnly]*/ ref ReynoldsFlockBehaviour flockBehaviour)
{
//if no neighbours, return no adjustment
if (context.Length == 0)
{
return(float3.zero);
}
//add all points together and average
float3 avoidanceMove = float3.zero;
int nAvoid = 0; //number of neighbours to avoid
foreach (float3 item in context)
{
//if the item is within the avoidance radius
if (math.distancesq(item, agentPosition) < flockBehaviour.AvoidanceRadius * flockBehaviour.AvoidanceRadius)
{
avoidanceMove += (agentPosition - item);
//add the vector from the projected position to item's position into the average
//this makes it relative to the agent as well
nAvoid++; //increment the number of neighbours to avoid
}
}
if (nAvoid > 0)
{
avoidanceMove /= nAvoid;
}
return(avoidanceMove);
}
// Calculate the cohesion using a buffer
private float3 CalculateCohesion(ref float3 agentPosition, ref float3 preVelocity, ref DynamicBuffer <float3> context, ref DynamicBuffer <float3> contextVelocity, ref ReynoldsFlockBehaviour flockBehaviour)
{
//if no neighbours, return no adjustment
if (context.Length == 0)
{
return(float3.zero);
}
int count = 0;
//add all points together and average
float3 cohesionMove = float3.zero;
for (int i = 0; i < context.Length; i++)
{
float3 item = context[i];
float3 velocity = contextVelocity[i];
float angle = math.degrees(math.acos(math.dot(velocity, math.normalize(preVelocity))));
//Debug.Log("Angle: " + angle);
//Debug.Log("Is a number? " + (angle == angle));
if (angle == angle)
{
if (math.distancesq(item, agentPosition) < flockBehaviour.CohesionRadius * flockBehaviour.CohesionRadius && angle < 45)
{
cohesionMove += item;
count++;
}
}
}
if (count > 0)
{
cohesionMove /= count;
}
//create offset from agent position
cohesionMove -= agentPosition;
return(cohesionMove);
}
// Apply the flocking behaviour using a buffer
private ReynoldsMovementValues GetFlockingBehaviour(ref Translation agentTranslation, ref float3 preVelocity, ref DynamicBuffer <float3> nearbyCrowdPosList, ref DynamicBuffer <float3> nearbyCrowdVelList, ref ReynoldsFlockBehaviour flockBehaviour, ReynoldsMovementValues movement)
{
float3 move = float3.zero; // where the agent will move
// Calculate Avoidance first
float3 avoidance = CalculateAvoidance(ref agentTranslation.Value, ref nearbyCrowdPosList, ref flockBehaviour);
//if the avoidance is not zero
if (!avoidance.Equals(float3.zero))
{
avoidance = math.normalize(avoidance);
avoidance *= flockBehaviour.AvoidanceWeight;
move += avoidance;
//Debug.Log("Move after avoid: " +move);
}
// Calculate cohesion
float3 cohesion = CalculateCohesion(ref agentTranslation.Value, ref preVelocity, ref nearbyCrowdPosList, ref nearbyCrowdVelList, ref flockBehaviour);
if (!cohesion.Equals(float3.zero))
{
//Debug.Log("Cohes Dst Sq: " +math.distancesq(float3.zero,cohesion));
//if the avoidance is not normalized (The square of the length of the position is greater than the square of the weights)
if (math.distancesq(float3.zero, cohesion) > flockBehaviour.CohesionWeight * flockBehaviour.CohesionWeight)
{
//normalize the movement vector
cohesion = math.normalize(cohesion);
cohesion *= flockBehaviour.CohesionWeight;
}
move += cohesion;
//Debug.Log("Move after cohes: " +move);
}
// May want to calculate alignment after, but not at time of writing this
ReynoldsMovementValues movementValues = new ReynoldsMovementValues {
flockMovement = move,
seekMovement = movement.seekMovement,
fleeMovement = movement.fleeMovement
};
//Debug.Log("Flock stored: " +movementValues.flockMovement);
return(movementValues);
//movement.flockMovement = move;
//float moveSpeed = 5f; //movement speed
//agentTranslation.Value += move * moveSpeed * Time.deltaTime; //add movement to the translation
//return move;
}
