public override Vector2 CalculateSteering(Vehicle agent, List <Vehicle> targets)
{
List <Vehicle> neighbors = new List <Vehicle>();
foreach (Vehicle v in Vehicle.AllVehicles)
{
if (v != agent && (v.position - agent.position).magnitude < neighborRadius)
{
neighbors.Add(v);
}
}
Vector2 sepSteering = Steering.Separation(agent, neighbors) * separation;
Vector2 aliSteering = Steering.Alignment(agent, neighbors) * alignment;
Vector2 cohSteering = Steering.Cohesion(agent, neighbors) * cohesion;
Vector2 wanSteering = Steering.Wander(agent, 2f, 2f, 1f);
Vector2 steering = Vector2.zero;
if (AccumulateForce(agent, sepSteering, ref steering) && AccumulateForce(agent, cohSteering, ref steering) &&
AccumulateForce(agent, aliSteering, ref steering) && AccumulateForce(agent, wanSteering, ref steering))
{
return(steering);
}
return(steering);
}
protected void Flock <T>(HashSet <T> flockMates)
where T : Component
{
var vel = Vector3.zero;
//flockmates contains this object aswell
if (flockMates.Count > 1)
{
Vector3 cohesionTarget;
var cohesionVel = Steering.Cohesion(gameObject, flockMates, out cohesionTarget);
var alignmentVel = Steering.Alignment(gameObject, flockMates) * FlockingOptions.AlignmentWeight;
vel += alignmentVel;
var sqrDistance = (cohesionTarget - transform.position).sqrMagnitude;
if (sqrDistance > FlockingOptions.MaxDispersionSquared)
{
if (sqrDistance > FlockingOptions.MaxDispersionSquared * 2)
{
vel += cohesionVel * 1.5f;
}
else
{
vel += cohesionVel;
}
}
else if (sqrDistance < FlockingOptions.MinDispersionSquared)
{
if (sqrDistance < FlockingOptions.MinDispersionSquared / 2)
{
vel += -cohesionVel * .75f;
}
else
{
vel += -cohesionVel * .25f;
}
}
}
vel += Steering.Wander(gameObject, ref WanderParameters) * FlockingOptions.WanderWeight;
//vel += Steering.Cohesion(gameObject, m_FlockMates) * .5f;
if (vel == Vector3.zero)
{
vel = transform.forward;
}
//Use velocity so that physics continues to work
transform.rotation = Quaternion.RotateTowards(transform.rotation, Quaternion.LookRotation(vel, transform.up), 5f);
Rigidbody.velocity = vel.normalized * BaseSpeed;
}
