private void ApplySeparationBehavior(BoidAgent boid)
{
var tooCloseBoids = GetBoidsInRange(boid, _boidSettings.avoidanceRange);
var avoidanceMove = GetAvoidanceMove(boid.transform.position, tooCloseBoids);
ApplyAvoidanceMove(boid, avoidanceMove, _boidSettings.moveSpeed);
}
public override Vector2 calculateGoalPosition(BoidAgent agent)
{
// return Vector2.zero;
return((Cohesion(agent) * cohesionWeight + Alignment(agent) * alignmentWeight +
Avoidance(agent) * avoidanceWeight + RandomMove(agent) * randomWeight +
FearOfUnknown(agent) * fearOfUnknownWeight).normalized);
}
public override Vector2 CalculateMove(BoidAgent agent, List <Transform> context, Boid boid)
{
// Handle data mismatch
if (weights.Length != behaviours.Length)
{
throw new UnityException("Length mismatch in behaviour array");
}
// Set up move
Vector2 move = Vector2.zero;
// Iterate through behaviours
for (int i = 0; i < behaviours.Length; ++i)
{
Vector2 partialMove = behaviours[i].CalculateMove(agent, context, boid) * weights[i];
if (partialMove != Vector2.zero)
{
// Clamp the movement to the weight of the behaviour
if (partialMove.sqrMagnitude > weights[i] * weights[i])
{
partialMove.Normalize();
partialMove *= weights[i];
}
move += partialMove;
}
}
return(move);
}
public override Vector2 CalculateMove(BoidAgent agent, List <Transform> context, Boid boid)
{
// If there are no neighbors, do not calculate the move
if (context.Count == 0)
{
return(Vector2.zero);
}
// Add all points and average
Vector3 avoidanceMove = Vector3.zero;
int boidsToAvoid = 0;
foreach (Transform neighbor in context)
{
if (Vector2.SqrMagnitude(neighbor.position - agent.transform.position) < boid.SqrAvoidanceRadius)
{
boidsToAvoid++;
avoidanceMove += agent.transform.position - neighbor.position;
}
}
if (boidsToAvoid > 0)
{
avoidanceMove /= boidsToAvoid;
}
return(avoidanceMove);
}
private Quaternion GetAverageAlignment(BoidAgent boid, Collider[] neighbouringBoids)
{
Quaternion averageAlignmnent = new Quaternion();
//TODO: continue scripting
return(averageAlignmnent);
}
private void ApplyCohesionBehavior(BoidAgent boid)
{
var neighbouringBoids = GetBoidsInRange(boid, _boidSettings.neighborsRange);
var cohesionMoveVector = GetCohesionMove(boid.transform.position, neighbouringBoids);
Debug.DrawRay(boid.transform.position, cohesionMoveVector);
ApplyCohesionMove(boid, cohesionMoveVector, _boidSettings.moveSpeed);
}
private Collider[] GetBoidsInRange(BoidAgent boid, float range)
{
var boidsInRange = Physics.OverlapSphere(boid.transform.position, range, boidsLayerMask);
boidsInRange = boidsInRange.Where(val => val.gameObject != boid.gameObject).ToArray();
Debug.Log(boidsInRange.Length);
return(boidsInRange);
}
private void Awake()
{
for (int i = 0; i < numberOfAgents; i++)
{
Vector3 pos = transform.position + Random.insideUnitSphere * spawnRadius;
BoidAgent agentInst = Instantiate(agent, pos, Quaternion.identity);
agentInst.transform.forward = Random.insideUnitSphere;
}
}
private Vector2 FearOfUnknown(BoidAgent agent)
{
Vector2 centerOffset = Vector2.zero - (Vector2)agent.transform.position;
float radiusCloseness = centerOffset.magnitude / radius;
if (radiusCloseness > 0.9f)
{
return(radiusCloseness * radiusCloseness * centerOffset);
}
return(Vector2.zero);
}
protected void SpawnBoids()
{
for (int i = 0; i < _boidCount; i++)
{
Vector3 spawnPosition = transform.position + Random.onUnitSphere * _spawnRadius;
// Debug.Log($"spawn position: {spawnPosition}");
// Vector3 spawnPosition = spawnPos;
boid = Instantiate(_boidPrefab, spawnPosition, Quaternion.identity);
Boids.Add(boid);
}
}
// In order to get the neighbors boids, we can iterate through every boid in the scene
// and check which are close to the current boid.
// However we can use Unity's physics system to return all boids which collide with the current boid.
List <Transform> GetNearbyBoids(BoidAgent agent)
{
List <Transform> context = new List <Transform>();
Collider2D[] contextColliders = Physics2D.OverlapCircleAll(agent.transform.position, neighborRadius);
foreach (Collider2D c in contextColliders)
{
if (c != agent.AgentCollider)
{
context.Add(c.transform);
}
}
return(context);
}
private Vector2 Avoidance(BoidAgent agent)
{
List <Transform> neighbors = agent.fov.objectsInView;
Vector2 avoidanceMove = Vector2.zero;
if (neighbors.Count == 0)
{
return(avoidanceMove);
}
foreach (var neighbor in neighbors)
{
avoidanceMove += (Vector2)(agent.transform.position - neighbor.position);
}
avoidanceMove /= neighbors.Count;
return(avoidanceMove);
}
private Vector2 Alignment(BoidAgent agent)
{
List <Transform> neighbors = agent.fov.objectsInView;
Vector2 alignmentMove = Vector2.zero;
if (neighbors.Count == 0)
{
return(agent.transform.up);
}
foreach (var neighbor in neighbors)
{
alignmentMove += (Vector2)neighbor.up;
}
alignmentMove /= neighbors.Count;
return(alignmentMove);
}
public override Vector2 CalculateMove(BoidAgent agent, List <Transform> context, Boid boid)
{
// Calculate the distance from the boid to the center of the circle
// This circle corresponds with the center of the viewpoint
Vector2 centerOffset = center - (Vector2)agent.transform.position;
float t = centerOffset.magnitude / radius;
if (t < radiusThreshold)
{
return(Vector2.zero);
}
else
{
return(centerOffset * t * t);
}
}
// Start is called before the first frame update
void Start()
{
innovationIndexer = gameObject.AddComponent <InnovationIndexer>();
for (int i = 0; i < numBoids; i++)
{
BoidAgent boidAgent = Instantiate(
agentPrefab,
density * numBoids * Random.insideUnitCircle,
Quaternion.Euler(Vector3.forward * Random.Range(0f, 360f)),
transform);
boidAgent.name = "Boid" + i;
const int numInputs = 3;
const int numOutputs = 2;
boidAgent.genome = new Genome(numInputs, numOutputs, innovationIndexer);;
agents.Add(boidAgent);
}
}
private Vector2 Cohesion(BoidAgent agent)
{
List <Transform> neighbors = agent.fov.objectsInView;
Vector2 cohesionMove = Vector2.zero;
if (neighbors.Count == 0)
{
return(cohesionMove);
}
foreach (var neighbor in neighbors)
{
cohesionMove += (Vector2)neighbor.position;
}
cohesionMove /= neighbors.Count;
cohesionMove -= (Vector2)agent.transform.position;
cohesionMove = Vector2.SmoothDamp(agent.transform.up, cohesionMove, ref currentVelocity, 0.5f);
return(cohesionMove * 10);
}
public override Vector2 CalculateVelocity(BoidAgent boid)
{
Vector2 separationMove = Vector2.zero;
if (boid.Neighbours.Count == 0)
{
return(boid.transform.up);
}
foreach (BoidAgent neighbourBoid in boid.Neighbours)
{
if (Mathf.Abs(Vector2.Distance(boid.transform.position, neighbourBoid.transform.position)) < _separationRange)
{
separationMove += (Vector2)(boid.transform.position - neighbourBoid.transform.position);
}
}
return(separationMove);
}
// Start is called before the first frame update
void Start()
{
squareMaxSpeed = maxSpeed * maxSpeed;
squareNeighborRadius = squareNeighborRadius * squareNeighborRadius;
squareAvoidanceRadius = squareNeighborRadius * avoidanceRadiusMultiplier * avoidanceRadiusMultiplier;
for (int i = 0; i < startingCount; i++)
{
BoidAgent newAgent = Instantiate(
agentPrefab,
Random.insideUnitCircle * startingCount * AgentDensity,
Quaternion.Euler(Vector3.forward * Random.Range(0f, 360f)),
transform
);
newAgent.name = "UnInfected: " + i;
agents.Add(newAgent);
}
}
public override Vector2 CalculateMove(BoidAgent agent, List <Transform> context, Boid boid)
{
// If there are no neighbors, maintain current heading
if (context.Count == 0)
{
return(agent.transform.up);
}
// Add all points and average
Vector3 alignmentMove = Vector3.zero;
foreach (Transform neighbor in context)
{
alignmentMove += neighbor.transform.up;
}
alignmentMove /= context.Count;
return(alignmentMove);
}
private void ApplyBoidBehavior(BoidAgent boid)
{
//Todo: optimize the algorithm
if (separationBehavior)
{
ApplySeparationBehavior(boid);
}
if (cohesionBehavior)
{
ApplyCohesionBehavior(boid);
}
if (alignmentBehavior)
{
ApplyAlignmentBehavior(boid);
}
if (moveForwards)
{
ApplyForwardsMotion(boid);
}
}
public override Vector2 CalculateVelocity(BoidAgent boid)
{
Vector2 cohesionMove = Vector2.zero;
if (boid.Neighbours.Count == 0)
{
return(boid.transform.up);
}
foreach (BoidAgent neighbourBoid in boid.Neighbours)
{
cohesionMove += (Vector2)neighbourBoid.transform.position;
}
if (boid.Neighbours.Count > 0)
{
cohesionMove /= boid.Neighbours.Count;
}
return(cohesionMove);
}
public override Vector2 CalculateMove(BoidAgent agent, List <Transform> context, Boid boid)
{
// If there are no neighbors, do not calculate the move
if (context.Count == 0)
{
return(Vector2.zero);
}
// Add all points and average
Vector3 cohesionMove = Vector3.zero;
foreach (Transform neighbor in context)
{
cohesionMove += neighbor.position;
}
cohesionMove /= context.Count;
// Create offset from agent position
cohesionMove -= agent.transform.position;
return(cohesionMove);
}
public override Vector2 CalculateVelocity(BoidAgent boid)
{
Vector2 alignmentMove = Vector2.zero;
if (boid.Neighbours.Count == 0)
{
return(boid.transform.up);
}
foreach (BoidAgent neighbourBoid in boid.Neighbours)
{
alignmentMove += neighbourBoid.GetComponent <Rigidbody2D>().velocity;
}
if (boid.Neighbours.Count > 0)
{
alignmentMove /= boid.Neighbours.Count;
alignmentMove -= boid.GetComponent <Rigidbody2D>().velocity;
}
return(alignmentMove);
}
public abstract Vector3 CalculateMove(BoidAgent agent, List <Transform> context, Boid boid);
public override Vector2 calculateGoalPosition(BoidAgent agent) {
var position = agent.transform.position;
List<float> inputs = new List<float>{position.x, position.y, position.z};
return agent.genome.Evaluate(inputs).normalized;
}
/// <summary> /// Should return a normalized Vector2 indicating the direction /// in which the boid should move this step. /// </summary> /// <param name="boidAgent"></param> /// <returns></returns> public abstract Vector2 calculateGoalPosition(BoidAgent boidAgent);
private void ApplyCohesionMove(BoidAgent boid, Vector3 moveVector, float force)
{
boid.Rigidbody.AddForce(moveVector * (force * Time.deltaTime), ForceMode.Impulse);
}
private void ApplyAvoidanceMove(BoidAgent boid, Vector3 direction, float force)
{
boid.Rigidbody.AddForce(direction * (force * Time.deltaTime), ForceMode.Impulse);
}
private void ApplyAlignmentBehavior(BoidAgent boid)
{
var neighbouringBoids = GetBoidsInRange(boid, _boidSettings.neighborsRange);
var averageNeighboursAlignment = GetAverageAlignment(boid, neighbouringBoids);
}
private void ApplyForwardsMotion(BoidAgent boid)
{
boid.Rigidbody.AddForce(boid.transform.forward * (_boidSettings.moveSpeed * Time.deltaTime), ForceMode.Impulse);
}
