/// <summary>
/// Function that will be executed in parallel to calculate steerings
/// </summary>
/// <param name="item"></param>
private void ParallelSteering(KeyValuePair <int, List <Boid> > item)
{
List <Boid> list = item.Value;
if (list == null || list.Count <= 0)
{
return;
}
int numBoidsInCell = list.Count;
Vector3 cellAlignment = Vector3.zero;
Vector3 cellSeparation = Vector3.zero;
for (int i = 0; i < numBoidsInCell; i++)
{
Boid b = list[i];
cellAlignment += b.Fwd;
cellSeparation += b.Pos;
}
Vector3 avgCellPos = cellSeparation / numBoidsInCell;
FindNearest(obstacles, avgCellPos, out BoidInterestPos nearestObstacle, out float nearestObstacleDist);
FindNearest(targets, avgCellPos, out BoidInterestPos nearestTarget, out float nearestTargetDist);
for (int i = numBoidsInCell - 1; i >= 0; i--)
{
Boid b = list[i];
Vector3 fwd = b.Fwd;
Vector3 pos = b.Pos;
Vector3 obstacleSteering = pos - nearestObstacle.Pos;
Vector3 avoidObstacleHeading = (nearestObstacle.Pos + Vector3.Normalize(obstacleSteering) * obstacleAversionDistance) - pos;
Vector3 targetHeading = targetWeight * Vector3.Normalize(nearestTarget.Pos - pos);
float nearestObstacleDistanceFromRadius = nearestObstacleDist - obstacleAversionDistance;
Vector3 alignmentResult = alignmentWeight * Vector3.Normalize((cellAlignment / numBoidsInCell) - fwd);
Vector3 separationResult = separationWeight * Vector3.Normalize((pos * numBoidsInCell) - cellSeparation);
Vector3 normalHeading = Vector3.Normalize(alignmentResult + separationResult + targetHeading);
Vector3 targetForward = nearestObstacleDistanceFromRadius < 0.0 ? avoidObstacleHeading : normalHeading;
Vector3 nextHeading = Vector3.Normalize(fwd + dt * (targetForward - fwd));
Vector3 nextPos = pos + (nextHeading * (moveSpeed * dt));
b.Fwd = nextHeading;
b.Pos = nextPos;
Quaternion rot = Quaternion.LookRotation(nextHeading, Vector3.up);
matrices[b.OuterBatchesIndex][b.InnerBatchesIndex].SetTRS(nextPos, rot, Vector3.one);
list.RemoveAt(i);
}
boidsDictConcurrent.PushList(list);
}
