WIP: Added boundary

.gitignore

@@ -4,3 +4,8 @@ Assets/Settings
 Logs
 Temp
 UserSettings
+Assets/DefaultVolumeProfile.asset
+Assets/DefaultVolumeProfile.asset.meta
+Assets/UniversalRenderPipelineGlobalSettings.asset
+Assets/UniversalRenderPipelineGlobalSettings.asset.meta
+NanoBrain-Unity.slnx

Assets/Scenes/Boids/Boids.unity

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Assets/Scenes/Boids/Scripts/Boid.cs

@@ -1,7 +1,8 @@
 using UnityEngine;
 
 
-public class Boid : MonoBehaviour {
+public class Boid : MonoBehaviour
+{
     public float speed = 0.2f;
     public int neighbourCount = 0;
     public float inertia = 0.2f;
@@ -15,6 +16,8 @@ public class Boid : MonoBehaviour {
     public Vector3 velocity = Vector3.zero;
     public Vector3 acceleration = Vector3.zero;
 
+    private Bounds bounds;
+
     readonly Collider[] results = new Collider[10];
 
     public NeuroidNetwork neuroidNet = new();
@@ -23,20 +26,25 @@ public class Boid : MonoBehaviour {
     public Neuroid alignment;
     public Neuroid separation;
     public Neuroid target;
+    public Neuroid boundary;
 
     public Neuroid totalForce;
 
     public int id;
 
-    void Awake() {
+    void Awake()
+    {
         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 };
@@ -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()
+    {
         Physics.OverlapSphereNonAlloc(this.transform.position, 10, results);
         neighbourCount = 0;
 
@@ -54,10 +64,13 @@ public class Boid : MonoBehaviour {
         alignment.ResetWeights();
         separation.ResetWeights();
 
-        foreach (Collider c in results) {
+        foreach (Collider c in results)
-            if (c == null || c as CapsuleCollider == null)
+        {
+            if (c == null)
                 continue;
 
+            if (c as CapsuleCollider != null)
+            {
                 Boid neighbour = c.GetComponentInParent<Boid>();
                 if (neighbour == null || neighbour == this)
                     continue;
@@ -71,11 +84,36 @@ public class Boid : MonoBehaviour {
                 // which is equivalent to -(localPosition.normalized / localPosition.magnitude)
 
                 separation.SetInput(id, separationForce, sc.separationDistance);
-            cohesion.SetInput(id, localPosition);
+                cohesion.SetInput(id, localPosition, sc.cohesionForce);
-            alignment.SetInput(id, relativeVelocity);
+                alignment.SetInput(id, relativeVelocity, sc.alignmentForce);
 
                 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;
         //Debug.DrawRay(this.transform.position, totalForceVector, Color.magenta);
@@ -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        
         }

Assets/Scenes/Boids/Scripts/SwarmControl.cs

@@ -11,4 +11,8 @@ public class SwarmControl : MonoBehaviour
     public float separationForce = 5.0f;
     public float separationDistance = 0.5f;
     public float bodyForce = 20;
+
+    public float boundaryForce = 2.0f;
+    public Vector3 spaceSize = new (10, 10, 10);
+    public Vector3 boundaryWidth = Vector3.one * 1.0f;
 }

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