public void Execute(ArchetypeChunk batchInChunk, int batchIndex)
{
var boidChunk = batchInChunk.GetNativeArray(boidTypeHandle);
var translationsChunk = batchInChunk.GetNativeArray(translationTypeHandle);
var ltwChunk = batchInChunk.GetNativeArray(ltwTypeHandle);
var obstacleAvoidanceChunk = batchInChunk.GetNativeArray(obstacleAvoidanceTypeHandle);
var rotationChunk = batchInChunk.GetNativeArray(rotationTypeHandle);
for (int i = 0; i < batchInChunk.Count; i++)
{
float3 force = Vector3.zero;
Translation p = translationsChunk[i];
ObstacleAvoidance oa = obstacleAvoidanceChunk[i];
LocalToWorld ltw = ltwChunk[i];
Boid b = boidChunk[i];
Rotation r = rotationChunk[i];
oa.normal = Vector3.zero;
oa.point = Vector3.zero;
float3 forward = math.mul(r.Value, Vector3.forward);
forward = math.normalize(forward);
var input = new RaycastInput()
{
Start = p.Value,
End = p.Value + (forward * oa.forwardFeelerDepth),
//Filter = CollisionFilter.Default
Filter = new CollisionFilter {
BelongsTo = ~0u,
CollidesWith = ~0u,
GroupIndex = 0
}
};
oa.start = input.Start;
oa.end = input.End;
Unity.Physics.RaycastHit hit;
if (collisionWorld.CastRay(input, out hit))
{
Debug.Log("Collides");
float dist = math.distance(hit.Position, p.Value);
force += hit.SurfaceNormal * (oa.forwardFeelerDepth / dist);
oa.normal = hit.SurfaceNormal;
oa.point = hit.Position;
}
oa.force = force;
obstacleAvoidanceChunk[i] = oa;
}
}
public void Execute(ArchetypeChunk batchInChunk, int batchIndex)
{
var wanderChunk = batchInChunk.GetNativeArray(wanderTypeHandle);
var boidChunk = batchInChunk.GetNativeArray(boidTypeHandle);
var translationsChunk = batchInChunk.GetNativeArray(translationTypeHandle);
var rotationsChunk = batchInChunk.GetNativeArray(rotationTypeHandle);
var seperationChunk = batchInChunk.GetNativeArray(seperationTypeHandle);
var cohesionChunk = batchInChunk.GetNativeArray(cohesionTypeHandle);
var alignmentChunk = batchInChunk.GetNativeArray(alignmentTypeHandle);
var constrainChunk = batchInChunk.GetNativeArray(constrainTypeHandle);
var oaChunk = batchInChunk.GetNativeArray(obstacleTypeHandle);
for (int i = 0; i < batchInChunk.Count; i++)
{
Wander w = wanderChunk[i];
Translation p = translationsChunk[i];
Rotation r = rotationsChunk[i];
Boid b = boidChunk[i];
Seperation s = seperationChunk[i];
Cohesion c = cohesionChunk[i];
Alignment a = alignmentChunk[i];
Constrain con = constrainChunk[i];
ObstacleAvoidance oa = oaChunk[i];
b.force = AccululateForces(ref b, ref oa, ref s, ref a, ref c, ref w, ref con) * b.weight;
b.force = Vector3.ClampMagnitude(b.force, b.maxForce);
Vector3 newAcceleration = (b.force * b.weight) * (1.0f / b.mass);
newAcceleration.y *= limitUpAndDown;
b.acceleration = Vector3.Lerp(b.acceleration, newAcceleration, dT);
b.velocity += b.acceleration * dT;
b.velocity = Vector3.ClampMagnitude(b.velocity, b.maxSpeed);
float speed = b.velocity.magnitude;
speeds[b.boidId] = speed;
if (speed > 0)
{
Vector3 tempUp = Vector3.Lerp(b.up, (Vector3.up) + (b.acceleration * banking), dT * 3.0f);
rotations[b.boidId] = Quaternion.LookRotation(b.velocity, tempUp);
b.up = rotations[b.boidId] * Vector3.up;
positions[b.boidId] += b.velocity * dT;
b.velocity *= (1.0f - (damping * dT));
}
b.force = Vector3.zero;
boidChunk[i] = b;
}
}
private Vector3 AccululateForces(ref Boid b, ref ObstacleAvoidance oa, ref Seperation s, ref Alignment a, ref Cohesion c, ref Wander w, ref Constrain con)
{
Vector3 force = Vector3.zero;
force += oa.force;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
force += b.fleeForce;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
force += s.force;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
force += a.force;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
force += c.force;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
force += w.force;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
force += con.force;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
force += b.seekForce;
if (force.magnitude >= b.maxForce)
{
force = Vector3.ClampMagnitude(force, b.maxForce);
return(force);
}
return(force);
}
