/// <summary>
/// Assigning the target group and the fringe group
/// </summary>
private void UpdateActiveGroups(List <Boid> boidList)
{
targetGroup.Clear();
fringeGroup.Clear();
if (boidList == null || boidList.Count == 0)
{
return;
}
//find the nearest boid and form the target group from it and its neighbours
Boid nearestBoid = BoidUtility.GetNearest(boidList, Position);
targetGroup.Add(nearestBoid);
foreach (var boid in nearestBoid.Neighbours)
{
targetGroup.Add(boid);
}
//form the fringe group from the neighbours of the target group that arent in the target group
foreach (var boid in targetGroup)
{
foreach (var neighbour in boid.Neighbours)
{
if (!targetGroup.Contains(neighbour) && !fringeGroup.Contains(neighbour))
{
fringeGroup.Add(neighbour);
}
}
}
}
/// <summary>
/// Vector away from the average heading of the target group.
/// We use a timer to track how long we have been attempting an attack, and based on this we
/// decide how strongly we should be withdrawing.
/// </summary>
private Vector3 CalculateAttemptWithdrawal(List <Boid> boids, float currentWithdrawalWeight)
{
if (boids == null || boids.Count == 0)
{
return(Vector3.zero);
}
return((Position - BoidUtility.GetAveragePosition(boids)).normalized * currentWithdrawalWeight);
}
/// <summary>
/// Vector towards the average position of the targets.
/// By directing to the center of the group, we can achieve maximum
/// fragmentation of the group and hopefully futher isolate target boids.
/// </summary>
private Vector3 CalculateGroupDisruption(HashSet <Boid> targets, float currentWithdrawalWeight)
{
if (targets == null || targets.Count == 0)
{
return(Vector3.zero);
}
return((BoidUtility.GetAveragePosition(targets) - Position).normalized * (1f - currentWithdrawalWeight));
}
/// <summary>
/// Vector towards the the average position of the fringes.
/// By directing to the position of the fringe group, we act to cut off
/// the target group from reconnecting with the main flock.
/// </summary>
private Vector3 CalculateFlockSeparation(HashSet <Boid> fringes, float currentWithdrawalWeight)
{
if (fringes == null || fringes.Count == 0)
{
return(Vector3.zero);
}
return((BoidUtility.GetAveragePosition(fringes) - Position).normalized * (1f - currentWithdrawalWeight));
}
/// <summary>
/// Vector towards the nearest target.
/// This is the actual attack of a particular boid. As we get closer to a boid,
/// our tendency to attack it increases.
/// </summary>
private Vector3 CalculateAttackEagerness(HashSet <Boid> targets, float currentWithdrawalWeight)
{
if (targets == null || targets.Count == 0)
{
return(Vector3.zero);
}
var toNearestBoid = BoidUtility.GetNearest(targets, Position).Position - Position;
var weight = 1f - Mathf.Clamp01(toNearestBoid.sqrMagnitude / attackRadiusSqr); //weight nearer boids most heavily
return(toNearestBoid.normalized * weight * (1f - currentWithdrawalWeight));
}
/// <summary>
/// Vector away from other predators.
/// This prevents the predator from targeting boids that are also
/// being targeted by other predators.
/// </summary>
private Vector3 CalculateIndependence(List <BoidPredator> predators)
{
HashSet <BoidPredator> others = new HashSet <BoidPredator>(predators);
others.Remove(this);
if (others.Count > 0)
{
var toNearestPred = BoidUtility.GetNearest(others, Position).Position - Position;
var weight = 1f - Mathf.Clamp01(toNearestPred.sqrMagnitude / viewRadius); //weight nearer predators most heavily
return(-toNearestPred.normalized * weight);
}
return(Vector3.zero);
}
private bool CheckForTargetCapture()
{
if (targetGroup == null || targetGroup.Count == 0)
{
return(false);
}
var nearestBoid = BoidUtility.GetNearest(targetGroup, Position);
if ((nearestBoid.Position - Position).sqrMagnitude <= captureRadiusSqr)
{
nearestBoid.Kill();
killCount++;
return(true);
}
return(false);
}
private void OnDrawGizmosSelected()
{
if (!showDebug)
{
return;
}
//Targets
Gizmos.color = Color.red;
///draw average position of target group
var avgTargetPos = BoidUtility.GetAveragePosition(targetGroup);
if (avgTargetPos != Vector3.zero)
{
Gizmos.DrawSphere(avgTargetPos, 0.33f);
}
///draw position of each target
foreach (var b in targetGroup)
{
Gizmos.DrawWireSphere(b.Position, 0.25f);
}
//Fringes
Gizmos.color = Color.yellow;
///draw average position of fringe group
var avgFringePos = BoidUtility.GetAveragePosition(fringeGroup);
if (avgFringePos != Vector3.zero)
{
Gizmos.DrawSphere(avgFringePos, 0.33f);
}
///draw position of each fringe boid
foreach (var b in fringeGroup)
{
Gizmos.DrawWireSphere(b.Position, 0.25f);
}
//Withdrawal
float currentWithdrawlWeighting = Mathf.InverseLerp(withdrawalStartTime, withdrawalEndTime, timeSinceAttackStarted);
if (currentWithdrawlWeighting <= 0.5f)
{
Gizmos.color = Color.Lerp(Color.green, Color.yellow, currentWithdrawlWeighting * 2);
}
else
{
Gizmos.color = Color.Lerp(Color.yellow, Color.red, 2 * currentWithdrawlWeighting - 1f);
}
Gizmos.DrawCube(Position + Vector3.up * 0.2f, Vector3.one * 0.4f);
var separation = flockSeparation * separationWeightNorm;
var disruption = groupDisruption * disruptionWeightNorm;
var eagerness = attackEagerness * eagernessWeightNorm;
var withdrawal = attemptWithdrawal * withdrawalWeightNorm;
var independence = huntIndependence * independenceWeightNorm;
Gizmos.color = Color.white;
Gizmos.DrawLine(Position, Position + separation * 5);
Gizmos.color = Color.cyan;
Gizmos.DrawLine(Position, Position + disruption * 5);
Gizmos.color = Color.magenta;
Gizmos.DrawLine(Position, Position + eagerness * 5);
Gizmos.color = Color.blue;
Gizmos.DrawLine(Position, Position + withdrawal * 5);
Gizmos.color = Color.black;
Gizmos.DrawLine(Position, Position + independence * 5);
}
/// <summary>
/// Flock Cohesion
/// </summary>
private Vector3 CalculateCohesion(List <Boid> neighbours)
{
return((Vector3.Lerp(BoidUtility.GetAveragePosition(neighbours), Position, 0.5f) - Position).normalized);
}
/// <summary>
/// Velocity Alignment
/// </summary>
private Vector3 CalculateAlignment(List <Boid> neighbours)
{
return(BoidUtility.GetAverageHeading(neighbours, Position, controller.ViewRadiusSqr, VelocityNormalized));
}