29 lines
1022 B
C#
29 lines
1022 B
C#
public class Swarming : Nucleus {
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//public Perception perception;
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public Neuroid cohesion;
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public Neuroid alignment;
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public Neuroid avoidance;
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public Neuroid boundary;
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public const int BoundaryType = 1;
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public const int BoidType = 2;
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public Swarming(NeuroidNetwork neuroidNet, Perception perception, SwarmControl sc) : base(neuroidNet) {
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cohesion = new(neuroidNet, "Cohesion");
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perception.SendPositions(cohesion, 1.0f, BoidType);
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alignment = new(neuroidNet, "Alignment") { average = true };
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perception.SendVelocities(alignment);
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avoidance = new(neuroidNet, "Separation") { inverse = true };
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perception.SendPositions(avoidance, sc.avoidanceForce);
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boundary = new(neuroidNet, "Boundary");
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output.GetInputFrom(alignment, sc.alignmentForce);
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output.GetInputFrom(cohesion, sc.cohesionForce);
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output.GetInputFrom(avoidance, -sc.avoidanceForce);
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output.GetInputFrom(boundary, sc.boundaryForce);
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}
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} |