public void Execute(int index)
{
var v = velocities[index];
var accel = accelerations[index];
Float3 velocity;
velocity.X = v.X + accel.X * dt;
velocity.Y = v.Y + accel.Y * dt;
velocity.Z = v.Z + accel.Z * dt;
var speed = Float3.Magnitude(ref velocity);
velocity.Scale(1f / speed);
var r = Quaternion.LookRotation(velocity, Vector3.up);
speed = MathFast.Clamp(speed, minSpeed, maxSpeed);
velocity.Scale(speed);
var pos = positions[index];
pos.Add(velocity.X * dt, velocity.Y * dt, velocity.Z * dt);
positions[index] = pos;
accel.Set(0f, 0f, 0f);
accelerations[index] = accel;
velocities[index] = velocity;
matrices[index] = Matrix4x4.TRS(pos, r, scale);
}
/// <summary>
/// Our worker callback for processing entities.
/// Important: always use static methods as workers - you cant touch any instance data except method parameters.
/// </summary>
void Worker(EcsFilter <BoidEntityData> filter, int from, int to)
{
// Important: you can't iterate over filter with foreach-loop
// and should use for-loop with "from" / "to" bounds.
var dt = _timeSystem.DeltaTime;
var minSpeed = MinSpeed;
var maxSpeed = MaxSpeed;
var scale = BoidScale;
var wallScale = WallScale;
var thresh = WallDistance;
var weight = WallWeight;
var prodThresh = NeighborFov;
var distThresh = NeighborDistance;
var separationWeight = SeparationWeight;
var alignmentWeight = AlignmentWeight;
var cohesionWeight = CohesionWeight;
Float3 velocity = Float3.Zero;
Vector3 up = Vector3.up;
for (var i = from; i < to; i++)
{
var c = filter.Components1[i];
Wall(c, wallScale, thresh, weight);
var neighbours = Neighbours[i];
var currentCount = DetectNeighbour(c, distThresh, prodThresh, filter.Components1, filter.EntitiesCount, neighbours);
if (currentCount > 0)
{
Separation(c, separationWeight, currentCount, neighbours);
Alignment(c, alignmentWeight, currentCount, neighbours);
Cohesion(c, cohesionWeight, currentCount, neighbours);
}
velocity.X = c.velocity.X + c.acceleration.X * dt;
velocity.Y = c.velocity.Y + c.acceleration.Y * dt;
velocity.Z = c.velocity.Z + c.acceleration.Z * dt;
var speed = Float3.Magnitude(ref velocity);
velocity.Scale(1f / speed);
var r = Quaternion.LookRotation(velocity, up);
speed = MathFast.Clamp(speed, minSpeed, maxSpeed);
velocity.Scale(speed);
c.position.Add(velocity.X * dt, velocity.Y * dt, velocity.Z * dt);
c.acceleration.Set(0f, 0f, 0f);
c.velocity = velocity;
BoidsVisualisationSystem2._matrices[i] = Matrix4x4.TRS(c.position, r, scale);
}
}
