101 lines
3.9 KiB
C#
101 lines
3.9 KiB
C#
using UnityEngine;
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//[RequireComponent(typeof(NanoBrain))]
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[RequireComponent(typeof(NanoBrainComponent))]
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public class Boid : MonoBehaviour {
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public static int BoundaryType = 1;
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public static int BoidType = 2;
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public static int BoidVelocityType =3;
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public SwarmControl sc;
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public Vector3 velocity = Vector3.zero;
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public Vector3 acceleration = Vector3.zero;
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private Bounds innerBounds;
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public NanoBrainComponent nanoBrain;
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public Receptor boundaryReceptor;
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public Receptor boidReceptor;
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public Receptor boidVelocityReceptor;
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public int id;
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public Material red;
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public Material gray;
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void Awake() {
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this.id = this.GetInstanceID();
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nanoBrain = GetComponent<NanoBrainComponent>();
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boundaryReceptor = Perceptoid.GetReceptor(nanoBrain.brain, BoundaryType);
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boidReceptor = Perceptoid.GetReceptor(nanoBrain.brain, BoidType);
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boidVelocityReceptor = Perceptoid.GetReceptor(nanoBrain.brain, BoidVelocityType);
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sc = FindFirstObjectByType<SwarmControl>();
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innerBounds = new(sc.transform.position, sc.spaceSize - 2 * sc.boundaryWidth);
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}
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void Update() {
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Collider[] results = Physics.OverlapSphere(this.transform.position, sc.perceptionDistance);
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foreach (Collider c in results) {
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if (c as CapsuleCollider != null) {
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Boid neighbour = c.GetComponentInParent<Boid>();
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if (neighbour == null || neighbour == this)
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continue;
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Vector3 localPosition = this.transform.InverseTransformPoint(neighbour.transform.position);
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//localPosition = localPosition.normalized * (localPosition.magnitude - sc.separationDistance);
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//Debug.DrawRay(this.transform.position, this.transform.TransformDirection(localPosition), Color.magenta);
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Vector3 localVelocity = this.transform.InverseTransformVector(neighbour.velocity);
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int thingId = neighbour.GetInstanceID();
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boidReceptor?.ProcessStimulus(thingId, localPosition);
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boidVelocityReceptor?.ProcessStimulus(thingId, localVelocity);
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}
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}
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if (!innerBounds.Contains(this.transform.position)) {
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Vector3 point = this.transform.position;
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Vector3 pointOnBounds = innerBounds.ClosestPoint(point);
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Vector3 desiredWorldSpace = (pointOnBounds - point).normalized * sc.speed;
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Vector3 desiredLocalSpace = -this.transform.InverseTransformPoint(desiredWorldSpace);
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boundaryReceptor.ProcessStimulus(777, desiredLocalSpace);
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}
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Vector3 worldForce = this.transform.TransformDirection(nanoBrain.root.outputValue.ToVector3());
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this.velocity = (1 - sc.inertia) * (worldForce * Time.deltaTime) + sc.inertia * velocity;
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if (this.velocity.magnitude > 0)
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this.velocity = this.velocity.normalized * sc.speed;
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else
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this.velocity = this.transform.forward * sc.speed;
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//Debug.DrawRay(this.transform.position, this.velocity, Color.blue);
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this.transform.position += this.velocity * Time.deltaTime;
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if (this.velocity != Vector3.zero) {
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Quaternion targetRotation = Quaternion.LookRotation(this.velocity);
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transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * 5f); // Adjust the speed of rotation
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}
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nanoBrain.brain.UpdateNuclei();
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// Renderer renderer = GetComponentInChildren<Renderer>();
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// results = Physics.OverlapSphere(this.transform.position, 0.1f);
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// if (results.Length > 1) {
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// // string s= this.name;
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// // foreach (Collider c in results)
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// // s += " " + c.transform.parent.gameObject.name;
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// // Debug.Log(s);
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// renderer.sharedMaterial = red;
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// }
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// else {
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// renderer.sharedMaterial = gray;
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// }
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}
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}
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