public void Execute(ref Transform3D transform3D, ref BoidState boidState)
{
if (boidState.IsDied)
{
return;
}
var len = obstaclePositions.m_Length;
if (len == 0)
{
return;
}
var ptr = obstaclePositions.GetPointer(0);
for (int i = 0; i < len; ++i, ++ptr)
{
var dist = (transform3D.Position - ptr->Position).sqrMagnitude;
var sqrScale = ptr->Scale * ptr->Scale;
if (dist < MinSqrMagnitude * sqrScale)
{
boidState.IsDied = true;
boidState.IsScored = false;
boidState.SinkTimer = SinkTime;
boidState.Killer = obstacleIdxs[i];
}
}
}
public void Execute(ref Transform3D transform3D, ref BoidState boidState)
{
if (!boidState.IsDied)
{
return;
}
boidState.SinkTimer -= DeltaTime;
transform3D.Position += SinkOffset;
}
public void Execute(int index, ref Transform3D transform3D, ref BoidState boidState)
{
if (boidState.IsDied)
{
return;
}
var forward = transform3D.Forward;
var currentPosition = transform3D.Position;
var cellIndex = CellDatas.GetPointer(index)->Index;
var ptr = CellDatas.GetPointer(cellIndex);
var neighborCount = ptr->Count;
var alignment = ptr->Alignment;
var separation = ptr->Separation;
var nearestObstacleDistance = ptr->ObstacleDistance;
var nearestObstaclePositionIndex = ptr->ObstaclePositionIndex;
var nearestTargetPositionIndex = ptr->TargetPositionIndex;
var nearestObstaclePosition = *(ObstaclePositions.GetPointer(nearestObstaclePositionIndex));
var nearestTargetPosition = *(TargetPositions.GetPointer(nearestTargetPositionIndex));
// steering calculations based on the boids algorithm
var obstacleSteering = currentPosition - nearestObstaclePosition;
var avoidObstacleHeading = (nearestObstaclePosition + math.normalizesafe(obstacleSteering)
* Settings.ObstacleAversionDistance) - currentPosition;
var targetHeading = Settings.TargetWeight
* math.normalizesafe(nearestTargetPosition - currentPosition);
var nearestObstacleDistanceFromRadius = nearestObstacleDistance - Settings.ObstacleAversionDistance;
var alignmentResult = Settings.AlignmentWeight
* math.normalizesafe((alignment / neighborCount) - forward);
var separationResult = Settings.SeparationWeight
* math.normalizesafe((currentPosition * neighborCount) - separation);
var normalHeading = math.normalizesafe(alignmentResult + separationResult + targetHeading);
var targetForward = math.select(normalHeading, avoidObstacleHeading,
nearestObstacleDistanceFromRadius < 0);
var nextHeading = math.normalizesafe(forward + DeltaTime * (targetForward - forward));
// updates based on the new heading
transform3D.Position = transform3D.Position + (nextHeading * (Settings.MoveSpeed * DeltaTime));
transform3D.Forward = nextHeading;
}
private int _GetOffsetOfBoidState_Killer()
{
var tempObj = new BoidState(); BoidState *ptr = &tempObj; var filedPtr = &(ptr->Killer); return((int)((long)filedPtr - (long)ptr));
}
private int _GetOffsetOfBoidState_IsScored()
{
var tempObj = new BoidState(); BoidState *ptr = &tempObj; var filedPtr = &(ptr->IsScored); return((int)((long)filedPtr - (long)ptr));
}
