Vector3 Cohesion(List <SwarmMember> neighboursShortList)
{
Vector3 cohesionVector = new Vector3();
int countMembers = 0;
var neighbours = controller.GetNeighboursUsingShortList(neighboursShortList, this, conf.cohesionRadius);
if (neighbours.Count == 0)
{
return(cohesionVector);
}
foreach (var member in neighbours)
{
if (IsInFOV(rigidBody.position))
{
cohesionVector += (Vector3)member.rigidBody.position;
countMembers++;
}
}
if (countMembers == 0)
{
return(cohesionVector);
}
cohesionVector /= countMembers;
cohesionVector = cohesionVector - (Vector3)rigidBody.position;
cohesionVector = Vector3.Normalize(cohesionVector);
return(cohesionVector);
}
