public void Execute(int index, [ReadOnly] ref LocalToWorld localToWorld)
{
var floorVal = math.floor(localToWorld.Position / cellRadius);
var hash = (int)Unity.Mathematics.math.hash(floorVal);
hashMap.Add(hash, index);
}
public void Execute(int index, [ReadOnly] ref LocalToWorld localToWorld)
{
var ptr = cellPtr0.GetPointer(index);
ptr->Separation = localToWorld.Position;
ptr->Alignment = localToWorld.Forward;
ptr->Count = 1;
}
public void Execute(int index, ref LocalToWorld localToWorld)
{
var forward = localToWorld.Forward;
var currentPosition = localToWorld.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
localToWorld.Position = localToWorld.Position + (nextHeading * (settings.MoveSpeed * DeltaTime));
localToWorld.Forward = nextHeading;
}
public void Execute(Entity *entity, ref LocalToWorld localToWorld)
{
}