114 lines
4.2 KiB
C#
114 lines
4.2 KiB
C#
using UnityEngine;
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[RequireComponent(typeof(NanoBrain))]
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public class Boid : MonoBehaviour {
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public const int BoundaryType = 1;
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public const int BoidType = 2;
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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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private Bounds outerBounds;
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//public NeuroidNetwork neuroidNet = new();
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public NanoBrain neuroidNet;
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public Perception perception;
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public Nucleus behaviour;
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public Neuroid totalForce;
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public int id;
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void Awake() {
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neuroidNet = GetComponent<NanoBrain>();
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this.id = this.GetInstanceID();
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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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outerBounds = new(sc.transform.position, sc.spaceSize);
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perception = new Perception(neuroidNet);
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//behaviour = new Roaming(neuroidNet, perception, sc);
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behaviour = new Swarming(neuroidNet, perception, sc);
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totalForce = new(neuroidNet, "Total");
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behaviour.AddReceiver(totalForce);
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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 = neighbour.transform.position - this.transform.position;
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int thingId = neighbour.GetInstanceID();
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perception.ProcessStimulus(thingId, BoidType, localPosition); //, neighbour.gameObject.name);
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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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perception.ProcessStimulus(777, BoundaryType, desiredLocalSpace, "Boundary");
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}
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else {
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perception.RemoveStimulus(777);
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}
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Vector3 worldForce = this.transform.TransformDirection(totalForce.outputValue);
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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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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 * 2f); // Adjust the speed of rotation
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}
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neuroidNet.Update();
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}
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Vector3 ClosestPointOnBoundsSurface(Bounds b, Vector3 p) {
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if (!b.Contains(p)) return b.ClosestPoint(p);
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Vector3 d = p - b.center;
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Vector3 ext = b.extents;
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float sx = ext.x / Mathf.Abs(d.x);
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float sy = ext.y / Mathf.Abs(d.y);
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float sz = ext.z / Mathf.Abs(d.z);
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float m = Mathf.Min(sx, Mathf.Min(sy, sz));
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return b.center + d * m;
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}
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void OnDrawGizmosSelected() {
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if (sc == null)
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return;
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Gizmos.DrawWireSphere(this.transform.position, sc.perceptionDistance);
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Gizmos.color = Color.yellow;
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Vector3 worldForce = this.transform.TransformDirection(totalForce.outputValue);
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Gizmos.DrawRay(transform.position, worldForce * 10);
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// Gizmos.color = Color.magenta;
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// Gizmos.DrawRay(transform.position, this.transform.TransformDirection(avoidance.outputValue) * 10);
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// Debug.Log($"Avoidance {roaming.avoidance.outputValue} Roaming {roaming.output.outputValue} Total {totalForce.outputValue}");
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// Debug.Log($"WorldForce {worldForce} velocity {velocity} inertia {sc.inertia}");
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Gizmos.color = Color.blue;
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Gizmos.DrawRay(transform.position, this.velocity * 10);
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}
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}
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