// Update is called once per frame
void FixedUpdate()
{
// timer to control change in wander and digestion applications
if (Time.time > timer)
{
timer = Time.time + thinktime;
float rndm_angle = 360 * Random.value;
radrndm_angle = Mathf.Deg2Rad * rndm_angle;
fed = Mathf.Min(((fed * digestionrate) + food), appettite);
hunger = (1f - (fed / appettite));
food = 0;
}
//set wander direction
float x = (wander_circlediameter / 2) * Mathf.Cos(radrndm_angle) + (transform.position.x + Mathf.Clamp(transform.GetComponent <Rigidbody>().velocity.x, -maxvel, maxvel));
float y = (wander_circlediameter / 2) * Mathf.Sin(radrndm_angle) + (transform.position.y + Mathf.Clamp(transform.GetComponent <Rigidbody>().velocity.y, -maxvel, maxvel));
float z = (wander_circlediameter / 2) * Mathf.Sin(radrndm_angle) + (transform.position.z + Mathf.Clamp(transform.GetComponent <Rigidbody>().velocity.z, -maxvel, maxvel));
wander_dir.Set(x, (y), z);
//////// find boids to hunt
if (boids == null)
{
boids = GameObject.FindGameObjectsWithTag("boid");
}
for (int boid_index = 0; boid_index < boids.Length; boid_index++)
{
Vector3 fishpos = boids [boid_index].transform.position;
if (closestfish == null)
{
closestfish = boids [boid_index];
}
boid_script r = (boid_script)boids [boid_index].GetComponent(typeof(boid_script));
// if state not dead hunt
if (r.returnstate() != 2)
{
if (Vector3.Distance(transform.position, fishpos) < Vector3.Distance(transform.position, closestfish.transform.position))
{
closestfish = boids [boid_index];
}
}
}
// sets fsm to hunt if hungry
if (hunger > hungerlimit)
{
val = 1;
}
else
{
val = 0;
}
////////////////////////// fsm
switch (fsmArray [currentState, val + 1])
{
case 0:
Debug.Log("Wander");
currentState = 0;
break;
case 1:
Debug.Log("Hunt");
currentState = 1;
break;
default:
break;
}
// if hunting moves towards fish and attacks
if (currentState == 1)
{
boid_script r = (boid_script)closestfish.GetComponent(typeof(boid_script));
if (r.returnstate() != 2)
{
Vector3 fishpredpos = closestfish.transform.position + 0.5f * Vector3.Distance(transform.position, closestfish.transform.position) * closestfish.GetComponent <Rigidbody>().velocity;
GetComponent <Rigidbody>().AddForce(fishpredpos - transform.position, ForceMode.Force);
Debug.DrawLine(transform.position, closestfish.transform.position, Color.magenta);
Debug.DrawLine(closestfish.transform.position, fishpredpos, Color.cyan);
if (Vector3.Distance(transform.position, closestfish.transform.position) < attackdistance)
{
food = r.eaten();
}
}
// otherwise apply wander force
}
else if (currentState == 0)
{
GetComponent <Rigidbody>().AddForce(wander_dir - transform.position, ForceMode.Force);
}
/////////////////////////////////////////////////////////////////////////////////
// if the boids list is null
if (sharkboids == null)
{
// get the other boids
sharkboids = GameObject.FindGameObjectsWithTag("shark");
}
else
{
// deal with the boid escape case - must stay within simulation_radius
if (Vector3.Distance(simulation_centre, transform.position) > simulation_radius - 2)
{
if (Vector3.Distance(simulation_centre, transform.position) > simulation_radius)
{
}
float radius_scalar = Vector3.Distance(simulation_centre, transform.position) - (simulation_radius - 2) / 2;
GetComponent <Rigidbody>().AddForce(Vector3.ClampMagnitude(simulation_centre - transform.position * radius_scalar, max_wallvel), ForceMode.Force);
}
}
// swarm control for shark boids
for (int boid_index = 0; boid_index < sharkboids.Length; boid_index++)
{
// position of boid at index
Vector3 pos = sharkboids [boid_index].transform.position;
Quaternion rot = sharkboids [boid_index].transform.rotation;
// the distance
float dist = Vector3.Distance(transform.position, pos);
// if not this boid
if (dist > 0f)
{
// if within separation
if (dist <= separation_distance)
{
// compute the scale of separationt
float scale = separation_strength / dist;
// add a separation force between this boid and its neighbour
GetComponent <Rigidbody>().AddForce(Vector3.Normalize(transform.position - pos) * scale, ForceMode.Force);
//Debug.DrawLine (transform.position, transform.position + Vector3.Normalize (transform.position - pos), Color.white);
}
if (dist < cohesion_distance && dist > separation_distance) // if within cohesive distance but not separation
// compute the cohesive position
{
cohesive_number++;
cohesion_pos = cohesion_pos + pos;
// alignment - small rotations are applied based on the alignments of the neighbours
transform.rotation = Quaternion.RotateTowards(transform.rotation, rot, 1f);
}
}
}
if (cohesive_number > 1)
{
cohesion_pos = cohesion_pos * (1 / cohesive_number);
//add cohesive force
// compute the scale
cohesive_force = (cohesion_strength / Vector3.Distance(cohesion_pos, transform.position)) * (cohesion_pos - transform.position);
// apply force
GetComponent <Rigidbody>().AddForce(cohesive_force, ForceMode.Force);
Debug.DrawLine(transform.position, cohesion_pos, Color.yellow);
// zero the cohesion vector
cohesion_pos = transform.position;
cohesive_number = 1;
}
// clamp magitude and rotate towards center of velocity
transform.GetComponent <Rigidbody>().velocity = Vector3.ClampMagnitude(transform.GetComponent <Rigidbody>().velocity, maxvel);
Debug.DrawLine(transform.position, wander_dir, Color.blue);
Debug.DrawLine(transform.position, transform.position + transform.GetComponent <Rigidbody>().velocity, Color.red);
transform.rotation = Quaternion.RotateTowards(transform.rotation, Quaternion.LookRotation(transform.position + transform.GetComponent <Rigidbody>().velocity), 20f);
}
void FixedUpdate()
{
//fsm to control fish states
switch (fsmArray [currentState, val + 1])
{
case 0:
Debug.Log("Wander");
currentState = 0;
GetComponent <Renderer>().material.color = Color.gray;
break;
case 1:
Debug.Log("Flee");
currentState = 1;
GetComponent <Renderer>().material.color = Color.white;
break;
case 2:
Debug.Log("Dead");
currentState = 2;
GetComponent <Renderer>().material.color = Color.black;
break;
default:
break;
}
//when fish is dead controls actions
if (currentState == 2)
{
if (Time.time < deadtimer)
{
return;
}
else
{
val = 2;
return;
}
}
///////////////////////////////////////////////////////////////////////////
//deals with each shark determining fear and if action should be taken
if (sharkboids == null)
{
sharkboids = GameObject.FindGameObjectsWithTag("shark");
if (fears == null)
{
fears = new float[sharkboids.Length];
}
}
else
{
for (int sharkboid_index = 0; sharkboid_index < sharkboids.Length; sharkboid_index++)
{
Vector3 sharkpos = sharkboids [sharkboid_index].transform.position;
fears [sharkboid_index] = Mathf.Min(comfortdistance / Vector3.Distance(transform.position, sharkpos), 1);
if (fears [sharkboid_index] == 1)
{
val = 0;
}
else
{
val = 1;
}
if (currentState == 1)
{
//determines predator predicated pos and adds force away from position
Vector3 predator_predicted_pos = sharkpos + .5f * Vector3.Distance(transform.position, sharkpos) * sharkboids [sharkboid_index].GetComponent <Rigidbody>().velocity;
GetComponent <Rigidbody>().AddForce(Vector3.ClampMagnitude(predator_predicted_pos - transform.position, 50f), ForceMode.Force);
Debug.DrawLine(sharkpos, predator_predicted_pos, Color.white);
}
// }
}
}
/////////////////////////////////////////////////////////////////////////////////
// if the boids list is null
if (boids == null)
{
// get the other boids
boids = GameObject.FindGameObjectsWithTag("boid");
}
else
{
// deal with the boid escape case - must stay within simulation_radius
if (Vector3.Distance(simulation_centre, transform.position) > simulation_radius - 2)
{
if (Vector3.Distance(simulation_centre, transform.position) > simulation_radius)
{
}
//push boids back into simulation the closer to the wall the more force is given
float radius_scalar = Vector3.Distance(simulation_centre, transform.position) - (simulation_radius - 2) / 2;
GetComponent <Rigidbody>().AddForce(Vector3.ClampMagnitude(simulation_centre - transform.position * radius_scalar, max_wallvel), ForceMode.Force);
}
}
for (int boid_index = 0; boid_index < boids.Length; boid_index++)
{
boid_script r = (boid_script)boids [boid_index].GetComponent(typeof(boid_script));
if (r.returnstate() != 2)
{
// position of boid at index
Vector3 pos = boids [boid_index].transform.position;
Quaternion rot = boids [boid_index].transform.rotation;
// the distance
float dist = Vector3.Distance(transform.position, pos);
// if not this boid
if (dist > 0f)
{
// if within separation
if (dist <= separation_distance)
{
// compute the scale of separationt
float scale = separation_strength / dist;
// add a separation force between this boid and its neighbour
GetComponent <Rigidbody>().AddForce(Vector3.Normalize(transform.position - pos) * scale, ForceMode.Force);
//Debug.DrawLine (transform.position, transform.position + Vector3.Normalize (transform.position - pos), Color.white);
}
if (dist < cohesion_distance && dist > separation_distance) // if within cohesive distance but not separation
// compute the cohesive position
{
cohesive_number++;
cohesion_pos = cohesion_pos + pos;
// alignment - small rotations are applied based on the alignments of the neighbours
transform.rotation = Quaternion.RotateTowards(transform.rotation, rot, 1f);
} //else if(dist >= cohesion_distance){
}
}
}
if (cohesive_number > 1)
{
cohesion_pos = cohesion_pos * (1 / cohesive_number);
//add cohesive force
// compute the scale
cohesive_force = (cohesion_strength / Vector3.Distance(cohesion_pos, transform.position)) * (cohesion_pos - transform.position);
// apply force
GetComponent <Rigidbody>().AddForce(cohesive_force, ForceMode.Force);
Debug.DrawLine(transform.position, cohesion_pos, Color.yellow);
// zero the cohesion vector
cohesion_pos = transform.position;
cohesive_number = 1;
}
//timer controls creates random angle
if (Time.time > timer)
{
timer = Time.time + fishthinktime;
float rndm_angle = 360 * Random.value;
radrndm_angle = Mathf.Deg2Rad * rndm_angle;
}
//sets coords for wander circle
float x = (wander_circlediameter / 2) * Mathf.Cos(radrndm_angle) + (transform.position.x + Mathf.Clamp(transform.GetComponent <Rigidbody>().velocity.x, -maxvel, maxvel));
float y = (wander_circlediameter / 2) * Mathf.Sin(radrndm_angle) + (transform.position.y + Mathf.Clamp(transform.GetComponent <Rigidbody>().velocity.y, -maxvel, maxvel));
float z = (wander_circlediameter / 2) * Mathf.Sin(radrndm_angle) + (transform.position.z + Mathf.Clamp(transform.GetComponent <Rigidbody>().velocity.z, -maxvel, maxvel));
wander_dir.Set(x, (y), z);
// adds force for wander
GetComponent <Rigidbody>().AddForce(wander_dir - transform.position, ForceMode.Force);
Debug.DrawLine(transform.position, wander_dir, Color.blue);
Debug.DrawLine(transform.position, transform.position + transform.GetComponent <Rigidbody>().velocity, Color.red);
transform.rotation = Quaternion.RotateTowards(transform.rotation, Quaternion.LookRotation(transform.position + transform.GetComponent <Rigidbody>().velocity), 6f);
// clamps velocity of fish
transform.GetComponent <Rigidbody>().velocity = Vector3.ClampMagnitude(transform.GetComponent <Rigidbody>().velocity, maxvel);
}