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--git a/Samples/Breitenberg/Scripts/Sensor.cs b/Samples/Breitenberg/Scripts/Sensor.cs new file mode 100644 index 0000000..752d306 --- /dev/null +++ b/Samples/Breitenberg/Scripts/Sensor.cs @@ -0,0 +1,37 @@ +using UnityEngine; + +namespace Breitenberg { + + public class Sensor : MonoBehaviour { + public float sensorRange = 10f; + public LayerMask senseLayer; // layer for "light" objects + + public float output {get; protected set; } + + protected virtual void FixedUpdate() { + output = SampleSensor(this.transform); + } + + protected virtual float SampleSensor(Transform sensor) { + // Cast a short set of rays in a cone and accumulate "brightness" from hits. + int rays = 7; + float halfAngle = 30f; + float total = 0f; + + for (int i = 0; i < rays; i++) { + float t = rays == 1 ? 0.5f : (float)i / (rays - 1); + float angle = Mathf.Lerp(-halfAngle, halfAngle, t); + Vector3 dir = Quaternion.AngleAxis(angle, sensor.up) * sensor.forward; + + Debug.DrawRay(sensor.position, dir * sensorRange); + if (Physics.Raycast(sensor.position, dir, out RaycastHit hit, sensorRange, senseLayer)) { + // Strength inversely proportional to distance, clamped to [0,1] + float str = 1f - (hit.distance / sensorRange); + // You can also sample material emission or color here if desired + total += Mathf.Clamp01(str); + } + } + return Mathf.Clamp01(total / rays); + } + } +} \ No newline at end of file diff --git a/Samples/Breitenberg/Scripts/Sensor.cs.meta b/Samples/Breitenberg/Scripts/Sensor.cs.meta new file mode 100644 index 0000000..7702dd8 --- /dev/null +++ b/Samples/Breitenberg/Scripts/Sensor.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: b3d0457beca5df1bba076ac65df90b59 \ No newline at end of file diff --git a/Samples/Breitenberg/Scripts/Vehicle.cs b/Samples/Breitenberg/Scripts/Vehicle.cs new file mode 100644 index 0000000..3a59005 --- /dev/null +++ b/Samples/Breitenberg/Scripts/Vehicle.cs @@ -0,0 +1,45 @@ +using UnityEngine; + +namespace Breitenberg { + + public class Vehicle : MonoBehaviour { + [Header("Sensors")] + public Sensor sensorLeft; + public Sensor sensorRight; + + [Header("Motors")] + public float baseSpeed = 0f; // optional forward bias + public float gain = 5f; // motor response strength + public bool crossWiring = false; // false = same-side wiring (excitatory); true = cross + + [Header("Physics")] + public Rigidbody rb; + public float turnTorque = 5f; // rotational influence + + void FixedUpdate() { + float sL = sensorLeft.output; + float sR = sensorRight.output; + + // Wiring: same-side (default) maps sL->left motor, sR->right motor. + // crossWiring = true maps sL->right motor (crossed). + float leftInput = crossWiring ? sR : sL; + float rightInput = crossWiring ? sL : sR; + + float leftSpeed = baseSpeed + gain * leftInput; + float rightSpeed = baseSpeed + gain * rightInput; + + // Convert differential wheel speeds into forward force and torque. + float forward = (leftSpeed + rightSpeed) * 0.5f; + float rotation = (rightSpeed - leftSpeed) * 0.5f; + + // Apply forward force at center + Vector3 force = transform.forward * forward; + rb.AddForce(force, ForceMode.Acceleration); + + // Apply torque around Y axis + rb.AddTorque(Vector3.up * rotation * turnTorque, ForceMode.Acceleration); + + } + } + +} \ No newline at end of file diff --git a/Samples/Breitenberg/Scripts/Vehicle.cs.meta b/Samples/Breitenberg/Scripts/Vehicle.cs.meta new file mode 100644 index 0000000..e2b64cb --- /dev/null +++ b/Samples/Breitenberg/Scripts/Vehicle.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: a8d53357b6673864d91bbc5c595d48b9 \ No newline at end of file