// basic flocking
public Vector3 SteerToFlock()
{
const float separationRadius = 5.0f;
const float separationAngle = -0.707f;
const float separationWeight = 12.0f;
const float alignmentRadius = 7.5f;
const float alignmentAngle = 0.7f;
const float alignmentWeight = 8.0f;
const float cohesionRadius = 9.0f;
const float cohesionAngle = -0.15f;
const float cohesionWeight = 8.0f;
float maxRadius = Math.Max(separationRadius, Math.Max(alignmentRadius, cohesionRadius));
// find all flockmates within maxRadius using proximity database
neighbors.Clear();
proximityToken.FindNeighbors(Position, maxRadius, ref neighbors);
// determine each of the three component behaviors of flocking
Vector3 separation = SteerForSeparation(separationRadius, separationAngle, neighbors);
Vector3 alignment = SteerForAlignment(alignmentRadius, alignmentAngle, neighbors);
Vector3 cohesion = SteerForCohesion(cohesionRadius, cohesionAngle, neighbors);
// apply weights to components (save in variables for annotation)
Vector3 separationW = separation * separationWeight;
Vector3 alignmentW = alignment * alignmentWeight;
Vector3 cohesionW = cohesion * cohesionWeight;
Vector3 avoidance = SteerToAvoidObstacles(Boid.AvoidancePredictTimeMin, AllObstacles);
// saved for annotation
bool Avoiding = (avoidance != Vector3.Zero);
Vector3 steer = separationW + alignmentW + cohesionW;
if (Avoiding)
{
steer = avoidance;
System.Diagnostics.Debug.WriteLine(String.Format("Avoiding: [{0}, {1}, {2}]", avoidance.X, avoidance.Y, avoidance.Z));
}
#if IGNORED
// annotation
const float s = 0.1f;
AnnotationLine(Position, Position + (separationW * s), Color.Red);
AnnotationLine(Position, Position + (alignmentW * s), Color.Orange);
AnnotationLine(Position, Position + (cohesionW * s), Color.Yellow);
#endif
return(steer);
}
// basic flocking
public Vector3 SteerToFlock()
{
const float separationRadius = 5.0f;
const float separationAngle = -0.707f;
const float separationWeight = 12.0f;
const float alignmentRadius = 7.5f;
const float alignmentAngle = 0.7f;
const float alignmentWeight = 8.0f;
const float cohesionRadius = 9.0f;
const float cohesionAngle = -0.15f;
const float cohesionWeight = 8.0f;
float maxRadius = Math.Max(separationRadius, Math.Max(alignmentRadius, cohesionRadius));
// find all flockmates within maxRadius using proximity database
neighbors.Clear();
proximityToken.FindNeighbors(Position, maxRadius, ref neighbors);
// determine each of the three component behaviors of flocking
Vector3 separation = SteerForSeparation(separationRadius, separationAngle, neighbors);
Vector3 alignment = SteerForAlignment(alignmentRadius, alignmentAngle, neighbors);
Vector3 cohesion = SteerForCohesion(cohesionRadius, cohesionAngle, neighbors);
// apply weights to components (save in variables for annotation)
Vector3 separationW = separation * separationWeight;
Vector3 alignmentW = alignment * alignmentWeight;
Vector3 cohesionW = cohesion * cohesionWeight;
#if IGNORED
// annotation
const float s = 0.1f;
AnnotationLine(Position, Position + (separationW * s), Color.Red);
AnnotationLine(Position, Position + (alignmentW * s), Color.Orange);
AnnotationLine(Position, Position + (cohesionW * s), Color.Yellow);
#endif
return(separationW + alignmentW + cohesionW);
}
