void MoveTo(BoidNode currentWaypoint)
{
node = boid.node;
// Influence of next checkpoint
Vector3 steeringFromTarget = boid.VelocityTowards(currentWaypoint.position, 0, 0.5f);
neighbourUnits = Grid.instance.GetUnitNeighbours(boid, false, 3);
Vector3 steeringFromUnits = Flocker.ComputeSeparationForce(boid, neighbourUnits, radius, 1);
Vector3 steeringFromSurroundings = ComputeSteeringFromObstacles(node, 1, 10);
// Compose
Vector3 steering = Vector3.ClampMagnitude(steeringFromTarget + steeringFromUnits + steeringFromSurroundings, steeringFromTarget.magnitude);
steering = steering / boid.mass;
// Floor influence
float movementRatio = 1 - node.boidNode.penalty;
boid.velocity = Vector3.ClampMagnitude(boid.velocity + steering, boid.maxSpeed * movementRatio);
Grid.instance.RemoveUnit(boid);
boid.position = boid.predictPosition(Time.deltaTime);
Grid.instance.RegisterUnit(boid);
transform.position = boid.position;
}
