private void FollowerMovement(float attraction, float repulsionStrength, float repulsionDistance)
{
Copter leader = myArena.GetLeader();
foreach (CircleCopter thisCopter in myArena.GetAllCopters())
{
//Attraction:
Vector2 toLeader = leader.Position() - thisCopter.Position();
Vector2 toLeaderNormed = toLeader / (Vector2.Distance(leader.Position(), thisCopter.Position()));
Vector2 attractionMovement = toLeaderNormed * attraction;
//Repulsion from leader:
Vector2 repulsionFromLeader = repulsionStrength * Mathf.Exp(-0.5f * (toLeader.magnitude * toLeader.magnitude) / (repulsionDistance * repulsionDistance)) * toLeader;
//Attraction to and repulsion from other copters:
Vector2 repulsionMovement = new Vector2(0.0f, 0.0f);
foreach (CircleCopter otherCopter in myArena.GetAllCopters())
{
if (thisCopter != otherCopter)
{
CollisionResult cr = thisCopter.CollidesWithCopter(otherCopter);
Vector2 repulsionDirection = cr.CollisionPointThisObject - cr.CollisionPointOtherObject;
Vector2 repulsionVector = repulsionStrength * Mathf.Exp(-0.5f * cr.Distance * cr.Distance / (repulsionDistance * repulsionDistance)) * repulsionDirection;
repulsionMovement += repulsionVector - attraction * repulsionDirection;
}
}
//Position update:
Vector2 update = (attractionMovement + repulsionFromLeader + repulsionMovement).normalized * 0.05f;
thisCopter.SetPosition(thisCopter.Position() + update);
}
}
public static Vector2 AttractToTarget(Copter thisCopter, Vector2 target, float attractionMagnitude)
{
Vector2 direction = target - thisCopter.Position();
Vector2 normedDirection = direction / (Mathf.Max(direction.magnitude, 1.0f));
return(normedDirection * attractionMagnitude);
}
public static Vector2 Function3(Copter thisCopter, Vector2 otherCopter, float a, float b, float c)
{
Vector2 direction = thisCopter.Position() - otherCopter;
float attraction = a;
float repulsion = b * ((float)Math.Exp(-(direction.magnitude * direction.magnitude) / c));
return(-direction * (attraction - repulsion));
}
public static void LeaderMovement(TunnelArena myArena, float speed)
{
Copter leader = myArena.GetLeader();
Vector2 movementVector = new Vector2(0.0f, 0.0f);
movementVector += SwarmingFormulas.AttractToTarget(leader, myArena.GetTarget(), 0.5f);
movementVector += AvoidWalls(leader, myArena, 1, 0.1f);
if (movementVector.magnitude > 1.0f)
{
movementVector.Normalize();
}
leader.SetPosition(leader.Position() + (movementVector * speed));
}
public static Vector2 RepelWhenClose(Copter thisCopter, Vector2 otherPoint, float repulsionMagnitude, float repulsionRadius)
{
return(RepelWhenClose(thisCopter.Position(), otherPoint, repulsionMagnitude, repulsionRadius));
}
public static Vector2 Function3(Copter thisCopter, Copter otherCopter, float a, float b, float c)
{
return(Function3(thisCopter, otherCopter.Position(), a, b, c));
}