private void FollowingMovement()
{
// If follower is waiting (tactile contact with tandem leader) do not update movement
if (ShouldTandemFollowerWait() == true)
{
return;
}
// If the follower has line of sight of the leader (within antennal contact range) then turn to face them
if (ant.LineOfSight(ant.leader) == true)
{
WalkToGameObject(ant.leader.gameObject, false);
ResetTurnParameters(moreFrequentTurns: true);
}
// Update direction only if the required time has elapsed
if (simulation.TotalElapsedSimulatedTime("s") >= nextTurnTime)
{
// If this is the first follower movement estimated leader position is not yet set, move ant towards leader
if (ant.estimateNewLeaderPos == Vector3.zero)
{
ant.estimateNewLeaderPos = ant.leader.transform.position;
}
// The follower must walk towards where they predict the leader is
float predictedLeaderAngle = AngleToFacePosition(ant.estimateNewLeaderPos);
float newDirection = RandomGenerator.Instance.NormalRandom(predictedLeaderAngle, maxVarFollower);
TurnAnt(newDirection);
ResetTurnParameters(moreFrequentTurns: true);
}
// Move forward at the required speed (if there are no obstructions)
MoveForward(Speed.v[Speed.TandemRunFollow], false);//?
}
private bool CanOtherAntBeRecruited()
{
// Assessing and following ants can't be recruited
// The other ant cannot be recruited if:
// - It is in the assessing or following state
// - It already has the same nest allegiance as this ant
// - Cannot be seen by this ant
if (otherAnt.state == BehaviourState.Assessing ||
otherAnt.state == BehaviourState.Following ||
otherAnt.myNest == ant.myNest ||
ant.LineOfSight(otherAnt) == false)
{
return(false);
}
// If the other ant is a recruiter, use the probability parameters to test if it can be recruited.
if (otherAnt.state == BehaviourState.Recruiting || otherAnt.state == BehaviourState.Reversing)
{
float r = RandomGenerator.Instance.Range(0f, 1f);
float probability = AntScales.Other.tandRecSwitchProb;
if (otherAnt.IsQuorumReached())
{
probability = AntScales.Other.carryRecSwitchProb;
}
if (r < probability)
{
return(true);
}
else
{
return(false);
}
}
// All remaining cases are eligible for recruitment, but passive ants can only be carried
return(true);
}