//Finds the middle point between neighbours and tries to move there
public override Vector3 CalculateMove(FlockAgent3D agent, List <Transform> context, Flock3D flock)
{
//If no neighbors return no adjustment
if (context.Count == 0)
{
return(Vector3.zero);
}
//Add all points together and avarage
Vector3 cohesionMove = Vector3.zero;
List <Transform> fiteredContex = (filter == null) ? context : filter.Filter(agent, context);
foreach (Transform item in fiteredContex)
{
cohesionMove += item.position;
}
cohesionMove /= context.Count;
//create offset from agent position
cohesionMove -= (Vector3)agent.transform.position;
return(cohesionMove);
}
public override Vector3 CalculateMove(FlockAgent3D agent, List <Transform> context, Flock3D flock)
{
//How far is the agent from the center and steer towards th center
Vector3 centerOffset = center - agent.transform.position;
//tells us where we are, if t i 0 we are at the center if t is 1 we are at the end of the radius.
float t = centerOffset.magnitude / (radius * 3.14f);
//if we are iside the 0.9 radius let the agent continue their journey
if (t < 0.9f)
{
return(Vector3.zero);
}
return(centerOffset * t * t / radius);
}
public override List <Transform> Filter(FlockAgent3D agent, List <Transform> original)
{
List <Transform> Filtered = new List <Transform>();
foreach (Transform item in original)
{
//if the item is on one of the mask layers.
if (mask == (mask | (1 << item.gameObject.layer)))
{
Filtered.Add(item);
}
}
return(Filtered);
}
List <Transform> GetNearbyObjects(FlockAgent3D agent)
{
List <Transform> context = new List <Transform>();
//gets all nearby objects inside the a circle of the agent. To do this in 3d Use collider 3d and a overlapSphereall
Collider[] contextCollider = Physics.OverlapSphere(agent.transform.position, neighborRadius);
//Put all the colliders found inside the circle and put itside the list
foreach (Collider c in contextCollider)
{
//if the collider isnt our own collider
if (c != agent.AgentCollider)
{
//adds the transform of the collider found inside the neighborRadius
context.Add(c.transform);
}
}
return(context);
}
public override List <Transform> Filter(FlockAgent3D agent, List <Transform> original)
{
List <Transform> Filtered = new List <Transform>();
foreach (Transform item in original)
{
FlockAgent3D itemAgent = item.GetComponent <FlockAgent3D>();
//If there are a flock component attached and they are in the same flock then add it to the fiterd list
if (itemAgent != null && itemAgent.AgentFlock3D == agent.AgentFlock3D)
{
Filtered.Add(item);
}
}
return(Filtered);
}
//Finds the middle point between neighbours and tries to move there
public override Vector3 CalculateMove(FlockAgent3D agent, List <Transform> context, Flock3D flock)
{
//If no neighbors, maintain current heading
if (context.Count == 0)
{
return(agent.transform.up);
}
//Add all points together and avarage
Vector3 AlignmentMove = Vector3.zero;
List <Transform> fiteredContex = (filter == null) ? context : filter.Filter(agent, context);
foreach (Transform item in fiteredContex)
{
AlignmentMove += item.transform.up;
}
//returns a normalized value
AlignmentMove /= context.Count;
return(AlignmentMove);
}
// Start is called before the first frame update
void Start()
{
squareMaxSpeed = maxSpeed * maxSpeed;
squareNeighborRadius = neighborRadius * neighborRadius;
squareAvoidanceRadius = squareNeighborRadius * avoidanceRadiusMultiplier * avoidanceRadiusMultiplier;
for (int i = 0; i < startingCount; i++)
{
FlockAgent3D NewAgent = Instantiate(
agentPrefab,
(Random.insideUnitSphere * startingCount * AgentDenstity),
Quaternion.Euler(Random.Range(0, 360), Random.Range(0, 360), Random.Range(0, 360)),
transform
);
NewAgent.name = "Agent" + i;
//Now it knows what flock it belong to
NewAgent.initialize(this);
agents3D.Add(NewAgent);
}
}
//Finds the middle point between neighbours and tries to move there
public override Vector3 CalculateMove(FlockAgent3D agent, List <Transform> context, Flock3D flock)
{
//If no neighbors return no adjustment
if (context.Count == 0)
{
return(Vector3.zero);
}
//Add all points together and avarage
Vector3 AvoidanceMove = Vector3.zero;
//How many inside the avodance radius.
int nAvoid = 0;
List <Transform> fiteredContex = (filter == null) ? context : filter.Filter(agent, context);
foreach (Transform item in fiteredContex)
{
Vector3 closestPoint = item.gameObject.GetComponent <Collider>().ClosestPoint(agent.transform.position);
//squared distance between the item and the agent
if (Vector3.SqrMagnitude(closestPoint - agent.transform.position) < flock.SquareAvoidanceRadius)
{
//gives the offset
AvoidanceMove += (agent.transform.position - closestPoint);
//adds
nAvoid++;
}
}
if (nAvoid > 0)
{
AvoidanceMove /= nAvoid;
}
return(AvoidanceMove);
}
public override Vector3 CalculateMove(FlockAgent3D agent, List <Transform> context, Flock3D flock)
{
//Handle data missmatch
if (weights.Length != behaviours.Length)
{
Debug.Log("Error: Data missmactch in" + name, this);
return(Vector3.zero);
}
// setup Move
Vector3 move = Vector3.zero;
//iterate through behaviours
for (int i = 0; i < behaviours.Length; i++)
{
//middle man passing through the different beaviours
Vector3 partialMove = behaviours[i].CalculateMove(agent, context, flock) * weights[i];
//is some movement being returned?
if (partialMove != Vector3.zero)
{
//does this movent exceed the wieight?
if (partialMove.sqrMagnitude > weights[i] * weights[i])
{
//if it does, normalize it back to magnitude of 1 and multiply it by the weigth so it set perfectly at the maximum of the weight
partialMove.Normalize();
partialMove *= weights[i];
}
move += partialMove;
}
}
return(move);
}
public abstract Vector3 CalculateMove(FlockAgent3D agent3D, List <Transform> context3D, Flock3D flock3D);
public abstract List <Transform> Filter(FlockAgent3D agent, List <Transform> original);
