void GetNearBoid()
{
float m = Mathf.Infinity;
nearBoid = null;
foreach (Boid b in boidGroup.boids)
{
float sm = (b.position - position).sqrMagnitude;
if (sm != 0 && sm < m)
{
m = sm;
nearBoid = b;
}
}
m = Mathf.Infinity;
target = null;
foreach (BoidTarget bt in boidGroup.targets)
{
float sm = (bt.transform.position - position).sqrMagnitude / bt.strength;
if (sm < m)
{
m = sm;
target = bt;
}
}
}
// Use this for initialization
void Start () {
firstTarget = CreateTarget(0);
BoidTarget prevTarget = firstTarget;
for (int i = 1; i < count; i++) {
BoidTarget t = CreateTarget(i);
t.nextTarget = prevTarget;
prevTarget = t;
}
firstTarget.nextTarget = prevTarget;
}
public void CreateBoid(Vector3 position, Vector3 launchDirection, BoidTarget target = null) {
BoidBehaviour boid = (BoidBehaviour)Instantiate(boidPrefab, position, Quaternion.identity);
boid.transform.parent = transform;
boid.SoundManager = soundManager;
boid.Launch(launchDirection);
boid.target = target;
activeBoids.Add(boid);
}
private BoidTarget SelectGroupTarget(ref Dictionary<BoidTarget, int> counts, BoidTarget curTarget, BoidTarget newTarget) {
int curTargetCount;
if (curTarget != null && counts.ContainsKey(curTarget)) {
curTargetCount = counts[curTarget];
} else {
curTargetCount = 0;
}
int newTargetCount;
if (counts.ContainsKey(newTarget)) {
newTargetCount = counts[newTarget] + 1;
counts[newTarget] = newTargetCount;
} else {
newTargetCount = 1;
counts.Add(newTarget, newTargetCount);
}
if (newTargetCount > curTargetCount) {
return newTarget;
} else {
return curTarget;
}
}
private void FlyUpdate(Vector3 playerPosition, Vector3 playerVelocity) {
Vector3 toPlayer = playerPosition - transform.position;
float toPlayerDist = toPlayer.magnitude;
// modifications based on proximity to player
float noise = Mathf.PerlinNoise(Time.time, noiseOffset) * 2f - 1f;
float frameSpeed = maxSpeed * (1f + noise * speedVariance);
bool targetPlayer = false;
// find flock
Collider[] colliders = Physics.OverlapSphere(transform.position, sensorRadius, sensorLayerMask, QueryTriggerInteraction.Ignore);
// get flock center and velocity
Vector3 flockCenter = Vector3.zero;
Vector3 flockVelocity = Vector3.zero;
Vector3 avoidance = Vector3.zero;
int count = 0;
scratch.Clear();
if (target != null) {
target = SelectGroupTarget(ref scratch, target, target);
}
for (int i = 0; i < colliders.Length; i++) {
BoidBehaviour boid = GetComponentCache.Instance.GetComponent<BoidBehaviour>(colliders[i]);
if (boid != null && boid != this && boid.type == type) {
flockCenter += boid.transform.position;
flockVelocity += boid.velocity;
count++;
Vector3 toBoid = boid.transform.position - transform.position;
float toBoidDist = toBoid.magnitude;
if (toBoidDist < avoidanceDist) {
avoidance -= (toBoid / toBoidDist) * (avoidanceDist - toBoidDist);
}
if (boid.target != null) {
target = SelectGroupTarget(ref scratch, target, boid.target);
}
// also avoid segments
if (type == BoidType.Giant) {
SegmentBehaviour[] boidSegments = boid.Segments;
for (int j = 0; j < boidSegments.Length; j++) {
Vector3 toSegment = boidSegments[j].transform.position - transform.position;
float toSegmentDist = toSegment.magnitude;
if (toSegmentDist < avoidanceDist) {
avoidance -= (toSegment / toSegmentDist) * (avoidanceDist - toSegmentDist);
}
}
}
continue;
}
}
// special case: consider player a boid
if (flockWithPlayer && toPlayerDist < playerSensorRadius) {
if (!flockedWithPlayerLastFrame) {
PlaySound(true);
flockedWithPlayerLastFrame = true;
}
flockCenter += playerPosition;
flockVelocity += playerVelocity;
count++;
if (toPlayerDist < avoidanceDist) {
avoidance -= (toPlayer / toPlayerDist) * (avoidanceDist - toPlayerDist);
}
// new max speed
float playerSpeed = playerVelocity.magnitude * (1f + noise * speedVariance);
frameSpeed = Mathf.Max(frameSpeed, Mathf.Lerp(playerSpeed, playerSpeed * playerSpeedMult,
Mathf.Clamp01(Mathf.InverseLerp(playerSensorRadius, avoidanceDist, toPlayerDist))));
targetPlayer = targetPlayerWhenClose;
} else {
flockedWithPlayerLastFrame = false;
}
// avoid phys collisions
RaycastHit hit;
if (Physics.SphereCast(transform.position, boidRadius, transform.forward, out hit, rayCastDist, collisionLayerMask)) {
Vector3 avoidDir = Vector3.ProjectOnPlane(hit.normal, transform.forward).normalized;
Vector3 avoidForce = Mathf.InverseLerp(rayCastDist, 0f, hit.distance) * avoidDir * physAvoidanceMultiplier;
avoidance += avoidForce;
Debug.DrawLine(hit.point, hit.point + avoidForce, Color.magenta);
}
// calc new velocity
Vector3 newVelocity = Vector3.zero;
// avoid other boids and obstacles
newVelocity += avoidance * avoidanceWeight;
if (count > 0) {
flockCenter /= count;
flockVelocity /= count;
// move toward center of flock
newVelocity += (flockCenter - transform.position) * centeringWeight;
// match velocity
newVelocity += flockVelocity * steeringWeight;
}
if (targetPlayer) {
newVelocity += (playerPosition - transform.position) * targettingWeight;
} else if (target != null) {
if (target.InRange(transform.position)) {
target = target.nextTarget;
}
newVelocity += (target.transform.position - transform.position) * targettingWeight;
}
// rotate towards new direction
newVelocity = newVelocity.normalized * frameSpeed;
float maxAngle = rotSpeed * Time.deltaTime;
float goalAngle = Vector3.Angle(velocity, newVelocity);
Quaternion newRotation;
if (goalAngle > maxAngle) {
newRotation = Quaternion.RotateTowards(Quaternion.LookRotation(velocity), Quaternion.LookRotation(newVelocity), maxAngle);
} else {
newRotation = Quaternion.LookRotation(newVelocity);
}
// find y rotation for roll calc
float yRot = transform.rotation.eulerAngles.y - newRotation.eulerAngles.y;
if (yRot < -180f) {
yRot += 360f;
} else if (yRot > 180f) {
yRot -= 360f;
}
float rollGoal = Mathf.Clamp((yRot / Time.deltaTime) * rollCoef, -maxRoll, maxRoll);
roll = Mathf.SmoothDampAngle(roll, rollGoal, ref rollVelocity, rollTime, rotSpeed);
transform.rotation = newRotation;
velocity = transform.forward * frameSpeed;
transform.position += velocity * Time.deltaTime;
// add roll
Debug.DrawLine(transform.position, transform.position + transform.up * 2f, Color.green);
transform.Rotate(0f, 0f, roll, Space.Self);
Debug.DrawLine(transform.position, transform.position + transform.up * 2f, Color.green);
}
void GetNearBoid()
{
float m = Mathf.Infinity;
nearBoid = null;
foreach(Boid b in boidGroup.boids){
float sm = (b.position - position).sqrMagnitude;
if(sm != 0 && sm < m){
m = sm;
nearBoid = b;
}
}
m = Mathf.Infinity;
target = null;
foreach(BoidTarget bt in boidGroup.targets){
float sm = (bt.transform.position - position).sqrMagnitude/bt.strength;
if(sm < m){
m = sm;
target = bt;
}
}
}