WIP: Added boundary
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@ -3,4 +3,9 @@ Library
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Assets/Settings
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Logs
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Temp
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UserSettings
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UserSettings
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Assets/DefaultVolumeProfile.asset
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Assets/DefaultVolumeProfile.asset.meta
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Assets/UniversalRenderPipelineGlobalSettings.asset
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Assets/UniversalRenderPipelineGlobalSettings.asset.meta
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NanoBrain-Unity.slnx
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@ -1,7 +1,8 @@
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using UnityEngine;
|
||||
|
||||
|
||||
public class Boid : MonoBehaviour {
|
||||
public class Boid : MonoBehaviour
|
||||
{
|
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public float speed = 0.2f;
|
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public int neighbourCount = 0;
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public float inertia = 0.2f;
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@ -15,6 +16,8 @@ public class Boid : MonoBehaviour {
|
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public Vector3 velocity = Vector3.zero;
|
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public Vector3 acceleration = Vector3.zero;
|
||||
|
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private Bounds bounds;
|
||||
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readonly Collider[] results = new Collider[10];
|
||||
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public NeuroidNetwork neuroidNet = new();
|
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@ -23,20 +26,25 @@ public class Boid : MonoBehaviour {
|
||||
public Neuroid alignment;
|
||||
public Neuroid separation;
|
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public Neuroid target;
|
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public Neuroid boundary;
|
||||
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public Neuroid totalForce;
|
||||
|
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public int id;
|
||||
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void Awake() {
|
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void Awake()
|
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{
|
||||
this.id = this.GetInstanceID();
|
||||
|
||||
sc = FindFirstObjectByType<SwarmControl>();
|
||||
|
||||
bounds = new(sc.transform.position, sc.spaceSize - 2 * sc.boundaryWidth);
|
||||
|
||||
cohesion = new(neuroidNet) { name = "Cohesion", mode = Neuroid.Mode.Sum };
|
||||
alignment = new(neuroidNet) { name = "Alignment", mode = Neuroid.Mode.Average };
|
||||
separation = new(neuroidNet) { name = "Separation", mode = Neuroid.Mode.Sum };
|
||||
target = new(neuroidNet) { name = "Target", mode = Neuroid.Mode.Sum };
|
||||
boundary = new(neuroidNet) { name = "Boundary", mode = Neuroid.Mode.Sum };
|
||||
|
||||
|
||||
totalForce = new(neuroidNet) { name = "Total force", mode = Neuroid.Mode.Sum };
|
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@ -44,9 +52,11 @@ public class Boid : MonoBehaviour {
|
||||
totalForce.GetInputFrom(cohesion, sc.cohesionForce);
|
||||
totalForce.GetInputFrom(separation, sc.separationForce);
|
||||
totalForce.GetInputFrom(target, sc.bodyForce);
|
||||
totalForce.GetInputFrom(boundary, sc.boundaryForce);
|
||||
}
|
||||
|
||||
void Update() {
|
||||
void Update()
|
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{
|
||||
Physics.OverlapSphereNonAlloc(this.transform.position, 10, results);
|
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neighbourCount = 0;
|
||||
|
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@ -54,27 +64,55 @@ public class Boid : MonoBehaviour {
|
||||
alignment.ResetWeights();
|
||||
separation.ResetWeights();
|
||||
|
||||
foreach (Collider c in results) {
|
||||
if (c == null || c as CapsuleCollider == null)
|
||||
foreach (Collider c in results)
|
||||
{
|
||||
if (c == null)
|
||||
continue;
|
||||
|
||||
Boid neighbour = c.GetComponentInParent<Boid>();
|
||||
if (neighbour == null || neighbour == this)
|
||||
continue;
|
||||
if (c as CapsuleCollider != null)
|
||||
{
|
||||
Boid neighbour = c.GetComponentInParent<Boid>();
|
||||
if (neighbour == null || neighbour == this)
|
||||
continue;
|
||||
|
||||
Vector3 localPosition = neighbour.transform.position - this.transform.position;
|
||||
Vector3 relativeVelocity = neighbour.velocity - this.velocity;
|
||||
Vector3 localPosition = neighbour.transform.position - this.transform.position;
|
||||
Vector3 relativeVelocity = neighbour.velocity - this.velocity;
|
||||
|
||||
int id = neighbour.GetInstanceID();
|
||||
int id = neighbour.GetInstanceID();
|
||||
|
||||
Vector3 separationForce = -localPosition / localPosition.sqrMagnitude;
|
||||
// which is equivalent to -(localPosition.normalized / localPosition.magnitude)
|
||||
Vector3 separationForce = -localPosition / localPosition.sqrMagnitude;
|
||||
// which is equivalent to -(localPosition.normalized / localPosition.magnitude)
|
||||
|
||||
separation.SetInput(id, separationForce, sc.separationDistance);
|
||||
cohesion.SetInput(id, localPosition);
|
||||
alignment.SetInput(id, relativeVelocity);
|
||||
separation.SetInput(id, separationForce, sc.separationDistance);
|
||||
cohesion.SetInput(id, localPosition, sc.cohesionForce);
|
||||
alignment.SetInput(id, relativeVelocity, sc.alignmentForce);
|
||||
|
||||
neighbourCount++;
|
||||
neighbourCount++;
|
||||
}
|
||||
}
|
||||
|
||||
//Vector3 spaceLocalPosition = sc.transform.InverseTransformPoint(this.transform.position);
|
||||
if (!bounds.Contains(this.transform.position))
|
||||
{
|
||||
Vector3 point = this.transform.position;
|
||||
// Vector3 distanceOutside = Vector3.Max(bounds.min - this.transform.position, this.transform.position - bounds.max);
|
||||
// // Ensure value is > 0 (but isn't this already)
|
||||
// Vector3 outside = distanceOutside; // Vector3.Max(Vector3.zero, distanceOutside);
|
||||
|
||||
Vector3 below = bounds.min - point; // positive where point < min
|
||||
Vector3 above = point - bounds.max; // positive where point > max
|
||||
|
||||
// outside distances per axis (0 if inside on that axis)
|
||||
Vector3 outside = Vector3.Max(Vector3.zero, Vector3.Max(below, above));
|
||||
Vector3 dir = Vector3.zero;
|
||||
dir.x = (below.x > 0f) ? 1f : ((above.x > 0f) ? -1f : 0f);
|
||||
dir.y = (below.y > 0f) ? 1f : ((above.y > 0f) ? -1f : 0f);
|
||||
dir.z = (below.z > 0f) ? 1f : ((above.z > 0f) ? -1f : 0f);
|
||||
|
||||
outside = Vector3.Scale(outside, dir);
|
||||
|
||||
boundary.SetInput(id, outside, sc.boundaryForce);
|
||||
Debug.Log($"boundary {this.transform.position} {outside} force = {outside * sc.boundaryForce}");
|
||||
}
|
||||
|
||||
Vector3 totalForceVector = totalForce.outputValue;
|
||||
@ -85,7 +123,8 @@ public class Boid : MonoBehaviour {
|
||||
|
||||
this.transform.position += this.velocity * Time.deltaTime;
|
||||
|
||||
if (this.velocity != Vector3.zero) {
|
||||
if (this.velocity != Vector3.zero)
|
||||
{
|
||||
Quaternion targetRotation = Quaternion.LookRotation(this.velocity);
|
||||
transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * 2f); // Adjust the speed of rotation
|
||||
}
|
||||
|
||||
@ -11,4 +11,8 @@ public class SwarmControl : MonoBehaviour
|
||||
public float separationForce = 5.0f;
|
||||
public float separationDistance = 0.5f;
|
||||
public float bodyForce = 20;
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Loading…
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Reference in New Issue
Block a user