//////////////////////// LEADER WALKING METHODS ////////////////////////
// RandomWalk: Leader walks around randomly
public void RandomWalk(List <Vector3> listPositions, float velocity, float minDistance, float AreaMin, float AreaMax)
{
Vector3 leaderPosition = leader.transform.position;
Vector3 randomDirection = CM.RandomVector(velocity);
Vector3 newPosition = leaderPosition + randomDirection;
if (!CM.OutsideBoundaries(newPosition, AreaMin, AreaMax) &&
!CM.WillCollide(minDistance, leaderPosition, newPosition, listPositions))
{
leader.transform.Translate(randomDirection);
this.Position = newPosition;
}
else if (CM.OutsideBoundaries(newPosition, AreaMin, AreaMax))
{
Vector3 back = CM.BackToBoundaries(leaderPosition, velocity, AreaMin, AreaMax);
leader.transform.Translate(back);
this.Position = leaderPosition + back;
}
else
{
Vector3 colidingAgent = CM.ClosestAgent(leaderPosition, listPositions);
Vector3 awayFromAgent = leaderPosition - colidingAgent;
Vector3 correctiveVector = (awayFromAgent).normalized * velocity;
leader.transform.Translate(correctiveVector);
this.Position = leaderPosition + correctiveVector;
}
}
//////////////////////// MESSAGE PROPAGATION ////////////////////////
//MessagePropagation: Agents stop when they enter the area of Influence of a transmitting agent and become transmitters themselves.
// Communication simulated using blinking colors
IEnumerator MessagePropagation()
{
bool toggle = true;
while (true)
{
toggle = !toggle;
for (int i = 0; i < listAgents.Count; i++)
{
if (listAgents[i].tag == "Moving")
{
Vector3 agentPosition = listAgents[i].transform.position;
Vector3 newDirection = CM.PerlinVector(steeringForces[i], agentPosition, velocity);
Vector3 newPosition = agentPosition + newDirection;
List <Vector3> agentPositions = listAgents.Select(a => a.transform.position).ToList();
if (CM.Colliding(AreaInfluence, agentPosition, staticAgents))
{
listAgents[i].GetComponent <Renderer>().material = blueGlowMaterial;
listAgents[i].tag = "Transmitting";
staticAgents.Add(agentPosition);
}
else
if (!CM.WillCollide(minDistance, agentPosition, newPosition, agentPositions) &&
!CM.OutsideBoundaries(newPosition, AreaMin, AreaMax))
{
listAgents[i].transform.Translate(newDirection);
steeringForces[i] = newDirection;
}
else if (CM.OutsideBoundaries(newPosition, AreaMin, AreaMax))
{
Vector3 correctiveVector = newDirection * 0.2f + CM.BackToBoundaries(agentPosition, newDirection, velocity, AreaMin, AreaMax) * 0.8f; // Use repellingForce too?
listAgents[i].transform.Translate(correctiveVector);
steeringForces[i] = correctiveVector;
}
else
{
Vector3 colidingAgent = CM.ClosestAgent(agentPosition, agentPositions);
float distanceToColidingAgent = Vector3.Distance(newPosition, colidingAgent);
Vector3 perpendicularToAgent = CM.AvoidObstacle(agentPosition, colidingAgent, newDirection, velocity);
float repellingForce = distanceToColidingAgent / AreaInfluence;
Vector3 correctiveVector = newDirection * repellingForce + perpendicularToAgent * (1 - repellingForce);
listAgents[i].transform.Translate(correctiveVector);
steeringForces[i] = correctiveVector;
}
}
if (listAgents[i].tag == "Transmitting")
{
var renderer = listAgents[i].GetComponent <Renderer>();
renderer.material = toggle ? redGlowMaterial : blueGlowMaterial;
}
}
yield return(new WaitForSeconds(0.1f));
}
}