private List<DynamicMovement> InitBoidMovements(List<DynamicCharacter> characters, IEnumerable<GameObject> obstacles)
{
List<DynamicMovement> avoidObstacleMovement = new List<DynamicMovement>();
foreach (var obstacle in obstacles)
{
avoidObstacleMovement.Add(new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaxLookAhead = MAX_LOOK_AHEAD,
MovementDebugColor = Color.magenta
});
}
var cohesion = new DynamicCohesion()
{
Flock = this.Flock,
MaxSpeed = MAX_SPEED,
MaxAcceleration = MAX_ACCELERATION,
StopRadius = 0.0F,
SlowRadius = 6.0F,
FlockRadius = COHESION_RADIUS,
FanAngle = FAN_ANGLE,
MovementDebugColor = Color.red
};
var separation = new DynamicSeparation()
{
Flock = this.Flock,
FlockRadius = SEPARATION_RADIUS,
MaxAcceleration = MAX_ACCELERATION,
SeparationFactor = SEPARATION_FACTOR,
MovementDebugColor = Color.blue
};
var matchVelocity = new DynamicFlockVelocityMatch()
{
Flock = this.Flock,
MaxAcceleration = MAX_ACCELERATION,
FlockRadius = COHESION_RADIUS,
FanAngle = FAN_ANGLE,
MovementDebugColor = Color.green
};
var followMouse = new DynamicFollowMouse()
{
MaxSpeed = MAX_SPEED,
MaxAcceleration = MAX_ACCELERATION,
StopRadius = STOP_RADIUS,
SlowRadius = SLOW_RADIUS,
Arrived = new HashSet<KinematicData>(),
MovementDebugColor = Color.gray
};
FollowMouseMovement = new MovementWithWeight(followMouse, 0);
var blended = new BlendedMovement();
blended.Movements.Add(new MovementWithWeight(cohesion, COHESION_WEIGHT));
blended.Movements.Add(new MovementWithWeight(separation, SEPARATION_WEIGHT));
blended.Movements.Add(new MovementWithWeight(matchVelocity, VELOCITY_MATCH_WEIGHT));
blended.Movements.Add(FollowMouseMovement);
var allMovements = new List<DynamicMovement>();
allMovements.AddRange(avoidObstacleMovement);
allMovements.Add(blended);
return allMovements;
}
private void InitializeSecondaryCharacter(DynamicCharacter character, GameObject[] obstacles)
{
var priority = new PriorityMovement
{
Character = character.KinematicData
};
foreach (var obstacle in obstacles)
{
//TODO: add your AvoidObstacle movement here
var avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
avoidDistance = AVOID_MARGIN,
lookAhead = MAX_LOOK_AHEAD,
Character = this.RedCharacter.KinematicData,
whiskersLookAhead = WHISKER_LOOK_AHEAD,
MovementDebugColor = Color.magenta
};
var AvoidObjects = new BlendedMovement();
AvoidObjects.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 1.0f));
priority.Movements.Add(AvoidObjects);
}
var FlockMovement = new BlendedMovement();
var boidseparation = new DynamicSeparation(Characters)
{
Character = this.RedCharacter.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
SeparationFactor = SEPARATION_FACTOR,
Radius = RADIUS,
MovementDebugColor = Color.green
};
FlockMovement.Movements.Add(new MovementWithWeight(boidseparation, 5.0f));
var boidcohesion = new DynamicCohesion(Characters)
{
Character = this.RedCharacter.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
FanAngle = FAN_ANGLE,
Radius = RADIUS,
MovementDebugColor = Color.red
};
FlockMovement.Movements.Add(new MovementWithWeight(boidcohesion, 10.0f));
var boidvelocity = new DynamicFlockVelocityMatching(Characters)
{
Character = this.RedCharacter.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
FanAngle = FAN_ANGLE,
Radius = RADIUS,
MovementDebugColor = Color.black
};
FlockMovement.Movements.Add(new MovementWithWeight(boidvelocity, 3.0f));
var mouse = new DynamicMouseSeek
{
Character = this.RedCharacter.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.blue,
};
FlockMovement.Movements.Add(new MovementWithWeight(mouse, 8.0f));
priority.Movements.Add(FlockMovement);
character.Movement = priority;
}
private void InitializeCharacter(DynamicCharacter character, GameObject[] obstacles)
{
BlendedMovement Blended;
Blended = new BlendedMovement
{
Character = character.KinematicData
};
foreach (var obstacle in obstacles)
{
var avoidObstacleMovement = new DynamicAvoidObstacle()
{
MaxAcceleration = MAX_ACCELERATION,
AvoidDistance = AVOID_MARGIN,
LookAhead = MAX_LOOK_AHEAD,
Character = character.KinematicData,
Obstacle = obstacle,
MovementDebugColor = Color.magenta
};
Blended.Movements.Add(new MovementWithWeight(avoidObstacleMovement, (obstacles.Length + this.Flock.Count) * AVOIDOB));
}
var DynamicSeparationMovement = new DynamicSeparation()
{
Character = character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.blue,
Flock = this.Flock,
SeparationFactor = FLOCK_SEPARATION_FACTOR,
Radius = FLOCK_SEPARATION_RADIUS
};
Blended.Movements.Add(new MovementWithWeight(DynamicSeparationMovement, (obstacles.Length + this.Flock.Count) * SEPARATIONB));
var DynamicCohesionMovement = new DynamicCohesion()
{
Character = character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.blue,
Flock = this.Flock,
FanAngle = FLOCK_COHESION_FAN_ANGLE,
radius = FLOCK_COHESION_RADIUS
};
Blended.Movements.Add(new MovementWithWeight(DynamicCohesionMovement, (obstacles.Length + this.Flock.Count) * COHESIONB));
var DynamicFlockVelocityMatchMovement = new DynamicFlockVelocityMatch()
{
Character = character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.blue,
Flock = this.Flock,
FanAngle = FLOCK_VELOCITYMATCHING_FAN_ANGLE,
radius = FLOCK_VELOCITYMATCHING_RADIUS
};
Blended.Movements.Add(new MovementWithWeight(DynamicFlockVelocityMatchMovement, (obstacles.Length + this.Flock.Count) * ALIGNB));
character.Movement = Blended;
}
private void InitializeCharacter(DynamicCharacter character, GameObject[] obstacles)
{
var blended = new BlendedMovement
{
Character = character.KinematicData
};
foreach (var obstacle in obstacles)
{
DynamicAvoidObstacle avoidObstacleMovement = new DynamicAvoidObstacle(obstacle, true)
{
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaxLookAhead = MAX_LOOK_AHEAD,
Character = character.KinematicData,
MovementDebugColor = Color.magenta
};
blended.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 15.0f));
}
DynamicCohesion cohesion = new DynamicCohesion(Characters)
{
MaxAcceleration = MAX_ACCELERATION,
MaxSpeed = MAX_SPEED,
MovementDebugColor = Color.cyan,
Character = character.KinematicData,
Radius = 15f,
FanAngle = MathConstants.MATH_PI_4
};
blended.Movements.Add(new MovementWithWeight(cohesion, 8.0f));
DynamicSeparation separation = new DynamicSeparation(Characters)
{
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.green,
Character = character.KinematicData,
Radius = 10f,
SeparationFactor = MAX_ACCELERATION * 1.3f
};
blended.Movements.Add(new MovementWithWeight(separation, 10.0f));
DynamicFlockVelocityMatch velocityMatching = new DynamicFlockVelocityMatch(Characters)
{
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.black,
Character = character.KinematicData,
Radius = 20f,
FanAngle = MathConstants.MATH_PI_4
};
blended.Movements.Add(new MovementWithWeight(velocityMatching, 8.0f));
DynamicGoToPosition goToPosition = new DynamicGoToPosition()
{
MaxAcceleration = MAX_ACCELERATION,
MaxSpeed = MAX_SPEED,
Character = character.KinematicData,
MovementDebugColor = Color.blue,
Radius = 10.0f
};
blended.Movements.Add(new MovementWithWeight(goToPosition, 8.0f));
GoToPositionMovements.Add(goToPosition);
if (soloMove)
{
if (useWander)
{
var wander = new DynamicWander
{
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.yellow,
Character = character.KinematicData,
TurnAngle = MathConstants.MATH_PI_4 / 2,
WanderRadius = 2f,
WanderOffset = 3f
};
blended.Movements.Add(new MovementWithWeight(wander, 4.0f));
}
else
{
var straightAhead = new DynamicStraightAhead
{
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.yellow,
Character = character.KinematicData
};
blended.Movements.Add(new MovementWithWeight(straightAhead, 4.0f));
}
}
character.Movement = blended;
}
private BlendedMovement GenerateBlendingMovementFor(DynamicCharacter character)
{
var blending = new BlendedMovement
{
MaxAcceleration = this.MaximumAcceleration,
Character = character.KinematicData
};
var cohesion = new DynamicCohesion(this)
{
Character = character.KinematicData,
MaxAcceleration = this.MaximumAcceleration,
MaxSpeed = this.MaximumSpeed,
FlockRadius = this.FlockRadius,
MovementDebugColor = Color.yellow
};
var separation = new DynamicSeparation(this)
{
Character = character.KinematicData,
MaxAcceleration = this.MaximumAcceleration,
FlockRadius = this.FlockRadius,
SeparationFactor = this.SeparationFactor,
MovementDebugColor = Color.red
};
var velocityMatch = new DynamicFlockVelocityMatching(this)
{
Character = character.KinematicData,
MaxAcceleration = this.MaximumAcceleration,
FlockRadius = this.FlockRadius,
MovementDebugColor = Color.green
};
var collisionDetection = new PriorityMovement
{
Character = character.KinematicData,
MovementDebugColor = Color.magenta
};
foreach (var obstacle in this.Obstacles)
{
var avoidMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = this.MaximumAcceleration,
AvoidMargin = 4.0f,
MaxLookAhead = 10.0f,
};
collisionDetection.Movements.Add(avoidMovement);
}
var flockSeek = new DynamicFlockTarget(this)
{
Character = character.KinematicData,
MaxAcceleration = this.MaximumAcceleration,
MovementDebugColor = Color.cyan
};
blending.Movements.Add(new MovementWithWeight(cohesion));
blending.Movements.Add(new MovementWithWeight(separation,2.0f));
blending.Movements.Add(new MovementWithWeight(velocityMatch));
blending.Movements.Add(new MovementWithWeight(collisionDetection,1000.0f));
blending.Movements.Add(new MovementWithWeight(flockSeek));
return blending;
}
private void InitializeSecondaryCharacter(DynamicCharacter character, bool isPriority)
{
var priority = new PriorityMovement
{
Character = character.KinematicData
};
var blended = new BlendedMovement
{
Character = character.KinematicData,
};
var avoidObstacleMovement = new DynamicAvoidObstacle()
{
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaxLookAhead = MAX_LOOK_AHEAD,
Character = character.KinematicData,
MovementDebugColor = Color.magenta,
Obstacles = obstacles
};
blended.Movements.Add(new MovementWithWeight(avoidObstacleMovement, OBSTACLE_AVOIDANCE_WEIGHT));
priority.Movements.Add(avoidObstacleMovement);
var clickArrive = new DynamicClickArrive()
{
Character = character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovingTarget = new KinematicData(),
SlowRadius = 5f,
StopRadius = 3.5f,
TimeToTargetSpeed = 1.0f,
Target = new KinematicData(),
};
blended.Movements.Add(new MovementWithWeight(clickArrive, CLICK_ARRIVE_WEIGHT));
priority.Movements.Add(clickArrive);
var cohesionCharacter = new DynamicCohesion()
{
Character = character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.yellow,
MovingTarget = new KinematicData(),
SlowRadius = 5f,
StopRadius = 3.5f,
TimeToTargetSpeed = 1.0f,
Target = new KinematicData(),
FanAngle = FAN_ANGLE,
Radius = COHESION_RADIUS,
Flock = CharactersKinData
};
blended.Movements.Add(new MovementWithWeight(cohesionCharacter, COHESION_WEIGHT));
priority.Movements.Add(cohesionCharacter);
var separationCharacter = new DynamicSeparation()
{
Character = character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.blue,
Target = new KinematicData(),
Flock = CharactersKinData,
Radius = SEPARATION_RADIUS,
SeparationFactor = SEPARATION_FACTOR
};
blended.Movements.Add(new MovementWithWeight(separationCharacter, SEPARATION_WEIGHT));
priority.Movements.Add(separationCharacter);
var flockVelocityMatch = new DynamicFlockVelocityMatching()
{
Character = character.KinematicData,
FanAngle = FAN_ANGLE,
Flock = CharactersKinData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.black,
MovingTarget = new KinematicData(),
Radius = COHESION_RADIUS,
Target = new KinematicData(),
TimeToTargetSpeed = 1.5f
};
blended.Movements.Add(new MovementWithWeight(flockVelocityMatch, MATCH_SPEED_WEIGHT));
priority.Movements.Add(flockVelocityMatch);
if (isPriority)
character.Movement = priority;
else character.Movement = blended;
}