void FixedUpdate()
{
if (!m_updatePosition)
{
return;
}
// Sort boids into cells
SortBoidsIntoCells();
// Find boids neighbours
PerformNeighbourSearch();
for (int i = 0; i < m_boids.Length; ++i)
{
Boid boid = m_boids[i];
Vector3 newVelocity = Vector3.zero;
// 1) SEPARATION
Vector3 separation = Vector3.zero;
if (m_enableSeparation)
{
separation = CalculateSeparation(i);
if (m_drawSeparationDebugRays &&
separation.sqrMagnitude > 0.0f)
{
DrawRedRay(boid, separation);
}
newVelocity += separation * m_separationFactor;
}
// 2) ALIGNMENT
Vector3 alignment = Vector3.zero;
if (m_enableAlignment)
{
alignment = CalculateAlignment(i);
if (m_drawAlignmentDebugRays &&
alignment.sqrMagnitude > 0.0f)
{
DrawRay(boid, alignment, Color.blue);
}
newVelocity += alignment * m_alignmentFactor;
}
// 3) COHESION
Vector3 cohesion = Vector3.zero;
if (m_enableCohesion)
{
cohesion = CalculateCohesion(i);
if (m_drawCohesionDebugRays &&
cohesion.sqrMagnitude > 0.0f)
{
DrawRay(boid, cohesion, Color.green);
}
newVelocity += cohesion * m_cohesionFactor;
}
// 4) AVOIDANCE
if (m_obstacles.Length > 0)
{
Vector3 avoidance = Vector3.zero;
if (m_enableAvoidance)
{
avoidance = CalculateAvoidance(i);
if (m_drawAvoidanceDebugRays &&
avoidance.sqrMagnitude > 0.0f)
{
DrawRay(boid, avoidance, Color.yellow);
}
newVelocity += avoidance * m_avoidanceFactor;
}
}
if (m_drawBoidAxis)
{
boid.DrawDebugAxis();
}
if (newVelocity.sqrMagnitude > 0)
{
boid.SetBoidVelocity(newVelocity);
}
boid.UpdatePosition();
boid.ClearNeighbours();
}
}