/// <summary>
/// Update boid using the 3 rules:
/// - Separation
/// - Alignment
/// - Cohesion
/// </summary>
/// <param name="boids"> List of all boids in the scene.</param>
/// <param name="T"> Threshold determining neighborhood distance. </param>
public void UpdateBoid(Boid boid, List <Boid> boids, float T)
{
// =====================
// Check bounds
// =====================
boid.CheckBounds(worldExtents);
// =====================
// Check sickness
// =====================
bool justSick = boid.justGotSick;
if (justSick)
{
boid.ResetSicknesProbability();
}
// =====================
// Get neighboors
// =====================
foreach (Boid b in boids)
{
float dist = Vector3.Magnitude(b.transform.position - boid.transform.position);
if (dist < T && dist > Mathf.Epsilon)
{
neighbors.Add(b);
}
if (justSick)
{
b.ResetSicknesProbability();
}
}
// ==============
// Obstacles
// ==============
Vector3 alignment = Vector3.zero;
Vector3 separation = Vector3.zero;
Vector3 cohesion = Vector3.zero;
// Vector3 avoidObstaclesVel = boid.AvoidObstaclesDir(rayCastLength);
Vector3 avoidObstaclesVel = Vector3.zero;
if (this.HealingCircle.gameObject.activeSelf)
{
avoidObstaclesVel = boid.AvoidObstaclesDir(this.HealingCircle.transform.position);
avoidObstaclesVel = boid.Steer(avoidObstaclesVel.normalized * maxSpeed, maxForce);
}
if (neighbors.Count == 0)
{
// boid.ApplyAcceleration(alignment, wAlignment, separation, wSeparation, cohesion, wCohesion, avoidObstaclesVel, wAvoidObst, maxSpeed);
// Clean up neighbors
this.neighbors.Clear();
return;
}
// ============================
// 3 RULES
// ============================
// =====================
// Alignment - direction
// =====================
foreach (Boid b in neighbors)
{
Vector3 rb_vel = b.velocity;
alignment += rb_vel;
}
alignment /= boids.Count;
alignment = boid.Steer(alignment.normalized * maxSpeed, maxForce);
// =====================
// Separation
// =====================
float half = T * this.separatorNeighborsPercent;
foreach (Boid b in neighbors)
{
Vector3 dir = boid.transform.position - b.transform.position;
float dist = Vector3.Magnitude(dir);
if (dist < half)
{
separation += dir.normalized / dist;
// Push sickness prob if Im sick
if (justSick)
{
b.PushSicknessProbability(T * 2 - dist);
}
}
}
separation = boid.Steer(separation.normalized * maxSpeed, maxForce);
// =====================
// Cohesion
// =====================
Vector3 centroid = Vector3.zero;
float halfCohesion = T * (0.5f);
int count = 0;
foreach (Boid b in neighbors)
{
Vector3 dir = boid.transform.position - b.transform.position;
float dist = Vector3.Magnitude(dir);
if (dist < halfCohesion)
{
centroid += b.transform.position;
count++;
}
}
if (count == 0)
{
cohesion = Vector3.zero;
}
else
{
centroid /= count;//neighbors.Count;
cohesion = boid.Steer((centroid - boid.transform.position).normalized * maxSpeed, maxForce);
}
// =====================
// Apply
// =====================
boid.ApplyAcceleration(alignment, wAlignment, separation, currentSeparationWeight, cohesion, wCohesion, avoidObstaclesVel, wAvoidObst, maxSpeed);
// boid.ApplyAcceleration(alignment, wAlignment, separation, wSeparation, cohesion, wCohesion, Vector3.zero, wAvoidObst, maxSpeed);
// Clean up neighbors
this.neighbors.Clear();
// ==================
// Pay if using separation
// ==================
if (separateMode)
{
GameManager.Instance.UseSeparator();
}
}
