Initial breitenberg example
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PrefabImporter:
|
||||
externalObjects: {}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
8
Samples/Breitenberg/Scripts.meta
Normal file
8
Samples/Breitenberg/Scripts.meta
Normal file
@ -0,0 +1,8 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 9d1bf7f1dfd618e82b9d7d0351d94fb1
|
||||
folderAsset: yes
|
||||
DefaultImporter:
|
||||
externalObjects: {}
|
||||
userData:
|
||||
assetBundleName:
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||||
assetBundleVariant:
|
||||
37
Samples/Breitenberg/Scripts/Sensor.cs
Normal file
37
Samples/Breitenberg/Scripts/Sensor.cs
Normal file
@ -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);
|
||||
}
|
||||
}
|
||||
}
|
||||
2
Samples/Breitenberg/Scripts/Sensor.cs.meta
Normal file
2
Samples/Breitenberg/Scripts/Sensor.cs.meta
Normal file
@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: b3d0457beca5df1bba076ac65df90b59
|
||||
45
Samples/Breitenberg/Scripts/Vehicle.cs
Normal file
45
Samples/Breitenberg/Scripts/Vehicle.cs
Normal file
@ -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);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
2
Samples/Breitenberg/Scripts/Vehicle.cs.meta
Normal file
2
Samples/Breitenberg/Scripts/Vehicle.cs.meta
Normal file
@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: a8d53357b6673864d91bbc5c595d48b9
|
||||
Loading…
x
Reference in New Issue
Block a user