Using velocity receptor

Assets/Scenes/Boids/Boids.unity

@@ -374,9 +374,10 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: Assembly-CSharp::SwarmControl
   speed: 1
-  inertia: 0.8
-  alignmentForce: 9
+  inertia: 0.7
+  alignmentForce: 0
   cohesionForce: 4
+  separationForce: -5
   avoidanceForce: 5
   separationDistance: 0.3
   perceptionDistance: 2

Assets/Scenes/Boids/Materials/Red.mat

@@ -0,0 +1,84 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
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Assets/Scenes/Boids/Materials/Red.mat.meta

@@ -0,0 +1,8 @@
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Assets/Scenes/Boids/Prefabs/Boid.prefab

@@ -165,6 +165,8 @@ MonoBehaviour:
   acceleration: {x: 0, y: 0, z: 0}
   nanoBrain: {fileID: 0}
   id: 0
+  red: {fileID: 2100000, guid: 2a7557e54580b6a8b976f12aa6cc761c, type: 2}
+  gray: {fileID: 2100000, guid: a79ccc131cb43254cb8575d1cedb537e, type: 2}
 --- !u!114 &85370558829139006
 MonoBehaviour:
   m_ObjectHideFlags: 0

Assets/Scenes/Boids/Scripts/Boid.cs

@@ -5,6 +5,7 @@ using UnityEngine;
 public class Boid : MonoBehaviour {
     public static int BoundaryType = 1;
     public static int BoidType = 2;
+    public static int BoidVelocityType =3;
 
     public SwarmControl sc;
     public Vector3 velocity = Vector3.zero;
@@ -15,15 +16,20 @@ public class Boid : MonoBehaviour {
     public NanoBrainComponent nanoBrain;
     public Receptor boundaryReceptor;
     public Receptor boidReceptor;
+    public Receptor boidVelocityReceptor;
 
     public int id;
 
+    public Material red;
+    public Material gray;
+
     void Awake() {
         this.id = this.GetInstanceID();
 
         nanoBrain = GetComponent<NanoBrainComponent>();
         boundaryReceptor = Perceptoid.GetReceptor(nanoBrain.brain, BoundaryType);
         boidReceptor = Perceptoid.GetReceptor(nanoBrain.brain, BoidType);
+        boidVelocityReceptor = Perceptoid.GetReceptor(nanoBrain.brain, BoidVelocityType);
 
         sc = FindFirstObjectByType<SwarmControl>();
 
@@ -39,11 +45,14 @@ public class Boid : MonoBehaviour {
                     continue;
 
                 Vector3 localPosition = this.transform.InverseTransformPoint(neighbour.transform.position);
-                localPosition = localPosition.normalized * (localPosition.magnitude - sc.separationDistance);
+                //localPosition = localPosition.normalized * (localPosition.magnitude - sc.separationDistance);
                 //Debug.DrawRay(this.transform.position, this.transform.TransformDirection(localPosition), Color.magenta);
 
+                Vector3 localVelocity = this.transform.InverseTransformVector(neighbour.velocity);
+
                 int thingId = neighbour.GetInstanceID();
                 boidReceptor?.ProcessStimulus(thingId, localPosition);
+                boidVelocityReceptor?.ProcessStimulus(thingId, localVelocity);
             }
         }
 
@@ -55,6 +64,7 @@ public class Boid : MonoBehaviour {
             boundaryReceptor.ProcessStimulus(777, desiredLocalSpace);
         }
 
+
         Vector3 worldForce = this.transform.TransformDirection(nanoBrain.root.outputValue.ToVector3());
 
         this.velocity = (1 - sc.inertia) * (worldForce * Time.deltaTime) + sc.inertia * velocity;
@@ -72,6 +82,19 @@ public class Boid : MonoBehaviour {
         }
 
         nanoBrain.brain.UpdateNuclei();
+
+        Renderer renderer = GetComponentInChildren<Renderer>();
+        results = Physics.OverlapSphere(this.transform.position, 0.1f);
+        if (results.Length > 1) {
+            // string s= this.name;
+            // foreach (Collider c in results)
+            //     s += " " + c.transform.parent.gameObject.name;
+            // Debug.Log(s);
+            renderer.sharedMaterial = red;
+        }
+        else {
+            renderer.sharedMaterial = gray;
+        }
     }
 
 }

Assets/Scenes/Boids/Scripts/Editor/SwarmControl_Editor.cs

@@ -15,7 +15,7 @@ public class SwarmControl_Editor : Editor {
             foreach (NanoBrainObj brain in nanoBrains) {
                 UpdateWeight(brain, "Avoidance", swarmControl.avoidanceForce);
                 UpdateWeight(brain, "Cohesion", swarmControl.cohesionForce);
-                //UpdateWeight(brain, "Separation", swarmControl.separationDistance);
+                UpdateWeight(brain, "Separation", swarmControl.separationForce);
                 UpdateWeight(brain, "Alignment", swarmControl.alignmentForce);
             }
             Debug.Log("Updated weights");

Assets/Scenes/Boids/Scripts/SwarmControl.cs

@@ -8,6 +8,7 @@ public class SwarmControl : MonoBehaviour
     public float inertia = 0.1f;
     public float alignmentForce = 0.0f;
     public float cohesionForce = 10.0f;
+    public float separationForce = 5.0f;
     public float avoidanceForce = 5.0f;
     public float separationDistance = 0.5f;
     // public float bodyForce = 20;