void ComputeWeightAndAccelerations(BoidR currentBoid, BoidR otherBoid, Vector3 collision, Vector3 velocityMatch, Vector3 centering)
{
float visualFieldWeight = ComputeVisualFieldWeight(currentBoid, otherBoid);
Vector3 distance = GetDistanceBetweenBoids(currentBoid, otherBoid);
float distanceWeight = ComputeDistanceWeight(distance);
collision = AddCollisionForce(collision, visualFieldWeight, distanceWeight, distance);
velocityMatch = AddVelocityForce(velocityMatch, visualFieldWeight, distanceWeight, currentBoid, otherBoid);
centering = AddCenteringForce(centering, visualFieldWeight, distanceWeight, distance);
}
void ComputePosition(Vector3 acceleration, BoidR boid, int i, int j, int k)
{
Vector3 tempPosition = boid.transform.position;
float deltaTimeSquared = (Time.fixedDeltaTime * Time.fixedDeltaTime);
//Euler's integration
Vector3 newPosition = (2.0f * boid.transform.position) - boid.LastPosition + (deltaTimeSquared * acceleration);
boid.transform.position = newPosition;
boid.LastPosition = tempPosition;
}
float ComputeVisualFieldWeight(BoidR thisBoid, BoidR thatBoid)
{
float binocularAngleOverTwo = thisBoid.BinocularAreaRangeAngle / 2;
float fullVisionAngleOverTwo = thisBoid.FullVisionAngle / 2;
float visualAngleMagnitude = Vector3.Angle(thisBoid.Velocity, thatBoid.transform.position);
if (visualAngleMagnitude > fullVisionAngleOverTwo)
{
return(0);
}
if ((binocularAngleOverTwo <= visualAngleMagnitude) && (visualAngleMagnitude < fullVisionAngleOverTwo))
{
return((fullVisionAngleOverTwo - visualAngleMagnitude) / (fullVisionAngleOverTwo - binocularAngleOverTwo));
}
if ((binocularAngleOverTwo < visualAngleMagnitude) && (visualAngleMagnitude < binocularAngleOverTwo))
{
return(1.0f);
}
return(-1);
}
Vector3 GetDistanceBetweenBoids(BoidR currentBoid, BoidR otherBoid)
{
return(otherBoid.gameObject.transform.position - currentBoid.gameObject.transform.position);
}
Vector3 AddVelocityForce(Vector3 velocityMatch, float fieldWeight, float distanceWeight, BoidR currBoid, BoidR otherBoid)
{
velocityMatch += fieldWeight * distanceWeight * (kVelocityScale * (otherBoid.Velocity - currBoid.Velocity));
return(velocityMatch);
}
Vector3 ComputeVelocity(Vector3 acceleration, BoidR boid)
{
return(acceleration * Time.fixedDeltaTime + boid.Velocity);
}
void UpdateBoidPositions()
{
BoidR currentBoid;
Vector3 currentBoidPosition;
List <GameObject> boidNeighbours = new List <GameObject>();
for (int i = 0; i < flySpace; i++)
{
for (int j = 0; j < flySpace; j++)
{
for (int k = 0; k < flySpace; k++)
{
if (VoxelEmpty(i, j, k))
{
continue;
}
int boidCountAtVoxel = VoxelCount(i, j, k);
int neighbourCount;
//init forces
Vector3 collision = Vector3.zero;
Vector3 velocityMatch = Vector3.zero;
Vector3 centering = Vector3.zero;
for (int boidVoxelIndex = 0; boidVoxelIndex < boidCountAtVoxel; boidVoxelIndex++)
{
currentBoid = GetBoid(i, j, k, boidVoxelIndex);
currentBoidPosition = GetBoidPosition(i, j, k, boidVoxelIndex);
boidNeighbours = GetBoidNeighbours(i, j, k);
neighbourCount = boidNeighbours.Count;
for (int neighbourIndex = 0; neighbourIndex < neighbourCount; neighbourIndex++)
{
int currentBoidID = currentBoid.GetInstanceID();
int boidNeighbourID = boidNeighbours[boidVoxelIndex].GetInstanceID();
if (currentBoidID == boidNeighbourID)
{
continue;
}
BoidR otherBoid = boidNeighbours[neighbourIndex].GetComponent <BoidR>();
ComputeWeightAndAccelerations(currentBoid, otherBoid, collision, velocityMatch, centering);
}
Vector3 acceleration = GetAccelerationPrioritization(collision, velocityMatch, centering);
currentBoid.Velocity = ComputeVelocity(acceleration, currentBoid);
ComputePosition(acceleration, currentBoid, i, j, k);
//Vector3 temp = currentBoidPosition;
//spatialGrid[i, j, k][boidVoxelIndex].transform.position =
// (2.0f * currentBoidPosition) - currentBoid.LastPosition + ((Time.deltaTime * Time.deltaTime) * (acceleration));
//currentBoid.LastPosition = temp;
boidNeighbours.Clear();
}
}
}
}
foreach (var list in spatialGrid)
{
list.Clear();
}
//int gridTotalLength = spatialGrid.GetLength(0) * spatialGrid.GetLength(1) * spatialGrid.GetLength(2);
//System.Array.Clear(spatialGrid, 0, gridTotalLength);
}