public override SteeringOutput GetSteering()
{
if (this.ownKS == null)
{
this.ownKS = GetComponent <KinematicState>();
}
return(Cohesion.GetSteering(this.ownKS, this.idTag, this.cohesionThreshold));
}
public override SteeringOutput GetSteering()
{
if (this.ownKS == null)
{
this.ownKS = GetComponent <KinematicState>();
}
SteeringOutput result = Cohesion.GetSteering(this.ownKS, this.idTag, this.cohesionThreshold);
base.applyRotationalPolicy(rotationalPolicy, result, null);
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKS, string idTag = "BOID",
float cohesionThreshold = 40f, float repulsionThreshold = 10f,
float wanderRate = 10f,
float vmWeight = 0.08f, float rpWeight = 0.46f, float coWeight = 0.23f, float wdWeight = 0.23f)
{
float distanceToBoid;
KinematicState boidKS;
Vector3 averageVelocity = Vector3.zero;
int count = 0;
SteeringOutput result = new SteeringOutput();
// get all the other boids
GameObject [] boids = GameObject.FindGameObjectsWithTag(idTag);
// ... and iterate to find average velocity
foreach (GameObject boid in boids)
{
// skip yourself
if (boid == ownKS.gameObject)
{
continue;
}
boidKS = boid.GetComponent <KinematicState> ();
if (boidKS == null)
{
// this should never happen but you never know
Debug.Log("Incompatible mate in flocking. Flocking mates must have a kinematic state attached: " + boid);
continue;
}
// disregard distant boids
distanceToBoid = (boidKS.position - ownKS.position).magnitude;
if (distanceToBoid > Math.Max(cohesionThreshold, repulsionThreshold))
{
continue;
}
averageVelocity = averageVelocity + boidKS.linearVelocity;
count++;
} // end of iteration to find average velocity
if (count > 0)
{
averageVelocity = averageVelocity / count;
}
else
{
// if no boid is close enough (count==0) there's no flocking to be performed so return NULL_STEERING
// or just apply some wandering...
return(NaiveWander.GetSteering(ownKS, wanderRate));
}
SURROGATE_TARGET.GetComponent <KinematicState> ().linearVelocity = averageVelocity;
SteeringOutput vm = VelocityMatching.GetSteering(ownKS, SURROGATE_TARGET); // (in normal conditions) this does NOT return NULL_STEERING
SteeringOutput rp = LinearRepulsion.GetSteering(ownKS, idTag, repulsionThreshold); // this MAY return NULL_STEERING
SteeringOutput co = Cohesion.GetSteering(ownKS, idTag, cohesionThreshold); // this MAY return NULL_STEERING
result.linearAcceleration = vm.linearAcceleration * vmWeight +
rp.linearAcceleration * rpWeight + // if rp==NULL_STEERING linearAcceleration is Vector3.zero
co.linearAcceleration * coWeight; // id for co.
// and now let's add some wandering to make things less predictable (yet more stable)
SteeringOutput wd = NaiveWander.GetSteering(ownKS, wanderRate);
result.linearAcceleration += wd.linearAcceleration * wdWeight;
// adjust to maxAcceleration
result.linearAcceleration = result.linearAcceleration.normalized * ownKS.maxAcceleration;
return(result);
}
public static SteeringOutput GetSteering(KinematicState ownKS, string idTag = "BOID",
float cohesionThreshold = 40f, float repulsionThreshold = 10f,
float wanderRate = 10f)
{
float distanceToBoid;
KinematicState boid;
Vector3 averageVelocity = Vector3.zero;
int count = 0;
// get all the other boids
GameObject [] boids = GameObject.FindGameObjectsWithTag(idTag);
// ... and iterate to find average velocity
for (int i = 0; i < boids.Length; i++)
{
// skip yourself
if (boids[i] == ownKS.gameObject)
{
continue;
}
boid = boids [i].GetComponent <KinematicState> ();
if (boid == null)
{
// this should never happen but you never know
Debug.Log("Incompatible mate in flocking. Flocking mates must have a kinematic state attached: " + boids[i]);
continue;
}
// disregard distant boids
distanceToBoid = (boid.position - ownKS.position).magnitude;
if (distanceToBoid > Math.Max(cohesionThreshold, repulsionThreshold))
{
continue;
}
averageVelocity = averageVelocity + boid.linearVelocity;
count++;
} // end of iteration to find average velocity
if (count > 0)
{
averageVelocity = averageVelocity / count;
}
else
{
return(null);
}
// if no boid is close enough (count==0) there's no flocking to be performed so return null
// could also apply some wandering
if (surrogateTarget == null)
{
surrogateTarget = new GameObject("surrogate target for Flocking");
surrogateKS = surrogateTarget.AddComponent <KinematicState> ();
}
surrogateKS.linearVelocity = averageVelocity;
SteeringOutput vm = VelocityMatching.GetSteering(ownKS, surrogateTarget); // (in normal conditions) this does NOT return null
SteeringOutput rp = LinearRepulsion.GetSteering(ownKS, idTag, repulsionThreshold); // this MAY return null
SteeringOutput co = Cohesion.GetSteering(ownKS, idTag, cohesionThreshold); // this MAY return null
// avoid nasty problems due to null references
if (rp == null)
{
rp = new SteeringOutput();
}
if (co == null)
{
co = new SteeringOutput();
}
SteeringOutput result = new SteeringOutput();
result.linearAcceleration = vm.linearAcceleration * 0.4f +
rp.linearAcceleration * 2f +
co.linearAcceleration * 1f;
// and now let's add some wandering to make things less predictable
SteeringOutput wd = VeryNaiveWander.GetSteering(ownKS, wanderRate);
result.linearAcceleration += wd.linearAcceleration * 1f;
// clip if necessary
if (result.linearAcceleration.magnitude > ownKS.maxAcceleration)
{
result.linearAcceleration = result.linearAcceleration.normalized * ownKS.maxAcceleration;
}
return(result);
}
