void Update()
{
for (var i = 0; i < NumBoids; i++)
{
_boidSwarm[i].velocity = _boids[i].Direction * Boid.Speed;
_boids[i].Position = _boidSwarm[i].position;
_boidSwarm[i].transform.LookAt(_boids[i].Position + _boids[i].Direction);
for (var k = 0; k < NumBoids; k++)
{
//Cycle through all boids, if x y and z values of the boids are within the index i boid's radius, add them to an array,
//then get the average heading of all of them, apply that heading to the current boid
if (k == i)
{
continue;
}
if (((_boids[k].Position.x - _boids[i].Position.x) * (_boids[k].Position.x - _boids[i].Position.x)) +
((_boids[k].Position.y - _boids[i].Position.y) * (_boids[k].Position.y - _boids[i].Position.y)) +
((_boids[k].Position.z - _boids[i].Position.z) * (_boids[k].Position.z - _boids[i].Position.z)) <
Boid.ViewRadius) //( x-cx ) ^2 + (y-cy) ^2 + (z-cz) ^ 2 < r^2 LIES INSIDE SPHERE
{
_boids[i].ObservedBoids[k] = _boids[k];
_boids[i].Direction = Boid.AverageHeading(_boids[i].ObservedBoids);
}
else
{
_boids[i].Direction = Vector3.forward;
_boids[i].Status[k] = 0;
}
}
// print(_boids[i].Direction);
_boids[i].ObstacleAvoid(_boids[i].Position, _boids[i].CollisionDirections(), _boidLayer);
if (_boids[i].DetectObstacle())
{
// _boids[i].Direction = _boids[i].ClearPath(_boids[i].Position, _boidLayer);
averageHeading = Vector3.up;
}
}
Debug.DrawLine(new Vector3(0, 0, 0), _boids[0].Position * 1.5f, Color.white);
}