public static Vector3 AntiPenetrate(Vehicle3D me, Vehicle3D[] neighbors, int nNeighbors, float radius)
{
var v = Vector3.zero;
if (neighbors.FindInRadius(me.position, radius, nNeighbors).Count() > 0) {
v = Random.insideUnitCircle * me.maxSpeed;
}
return v;
}
public static Vector3 Cohere(Vehicle3D me, Vehicle3D[] neighbors, int nNeighbors, float radius, float minRadius)
{
var v = Vector3.zero;
var count = 0;
var sqrMinRadius = minRadius * minRadius;
foreach (var f in neighbors.FindInRadius(me.position, radius, nNeighbors)) {
var distvec = f.position - me.position;
if (distvec.sqrMagnitude < sqrMinRadius)
continue;
v += f.position;
count++;
}
if (count > 0) {
v = v / count - me.position;
}
return v;
}
public static Vector3 Separate(Vehicle3D me, Vehicle3D[] neighbors, int nNeighbors, float radius)
{
var v = Vector3.zero;
foreach (var f in neighbors.FindInRadius(me.position, radius, nNeighbors)) {
var distvec = f.position - me.position;
v -= distvec;
}
return v;
}
