110 lines
4.6 KiB
C#
110 lines
4.6 KiB
C#
using UnityEngine;
|
|
|
|
//[RequireComponent(typeof(NanoBrain))]
|
|
[RequireComponent(typeof(NanoBrainComponent))]
|
|
public class Boid : MonoBehaviour {
|
|
public static int BoundaryType = 1;
|
|
public static int BoidType = 2;
|
|
public static int BoidVelocityType =3;
|
|
|
|
public SwarmControl sc;
|
|
public Vector3 velocity = Vector3.zero;
|
|
public Vector3 acceleration = Vector3.zero;
|
|
|
|
private Bounds innerBounds;
|
|
|
|
public NanoBrainComponent nanoBrain;
|
|
public Receptor boundaryReceptor;
|
|
public Receptor boidReceptor;
|
|
public Receptor boidVelocityReceptor;
|
|
|
|
public int id;
|
|
|
|
public Material red;
|
|
public Material gray;
|
|
|
|
void Awake() {
|
|
this.id = this.GetInstanceID();
|
|
|
|
nanoBrain = GetComponent<NanoBrainComponent>();
|
|
// boundaryReceptor = Receptor.GetReceptor(nanoBrain.brain, BoundaryType);
|
|
// boidReceptor = Receptor.GetReceptor(nanoBrain.brain, BoidType);
|
|
// boidVelocityReceptor = Receptor.GetReceptor(nanoBrain.brain, BoidVelocityType);
|
|
boundaryReceptor = Receptor.CreateReceptor(nanoBrain.brain, "Avoidance");
|
|
boundaryReceptor.name = "Boundary";
|
|
boundaryReceptor.receivers[0].synapses[0].weight = -1;
|
|
boidReceptor = Receptor.CreateReceptor(nanoBrain.brain, "Boid");
|
|
boidVelocityReceptor = Receptor.CreateReceptor(nanoBrain.brain, "Alignment");
|
|
|
|
sc = FindFirstObjectByType<SwarmControl>();
|
|
|
|
innerBounds = new(sc.transform.position, sc.spaceSize - 2 * sc.boundaryWidth);
|
|
}
|
|
|
|
void Update() {
|
|
Collider[] results = Physics.OverlapSphere(this.transform.position, sc.perceptionDistance);
|
|
foreach (Collider c in results) {
|
|
if (c as CapsuleCollider != null) {
|
|
Boid neighbour = c.GetComponentInParent<Boid>();
|
|
if (neighbour == null || neighbour == this)
|
|
continue;
|
|
|
|
int thingId = neighbour.GetInstanceID();
|
|
|
|
Vector3 localPosition = this.transform.InverseTransformPoint(neighbour.transform.position);
|
|
float d = localPosition.magnitude;
|
|
if (d <= sc.separationDistance)
|
|
localPosition = localPosition.normalized * 0.01f;
|
|
else
|
|
localPosition = localPosition.normalized * (localPosition.magnitude - sc.separationDistance);
|
|
if (localPosition.sqrMagnitude > 0)
|
|
boidReceptor?.ProcessStimulus(thingId, localPosition, neighbour.name);
|
|
|
|
Vector3 localVelocity = this.transform.InverseTransformVector(neighbour.velocity);
|
|
if (localVelocity.sqrMagnitude > 0)
|
|
boidVelocityReceptor?.ProcessStimulus(thingId, localVelocity);
|
|
}
|
|
}
|
|
|
|
if (!innerBounds.Contains(this.transform.position)) {
|
|
Vector3 point = this.transform.position;
|
|
Vector3 pointOnBounds = innerBounds.ClosestPoint(point);
|
|
Vector3 desiredWorldSpace = (pointOnBounds - point).normalized * sc.speed;
|
|
Vector3 desiredLocalSpace = -this.transform.InverseTransformPoint(desiredWorldSpace);
|
|
boundaryReceptor.ProcessStimulus(777, desiredLocalSpace);
|
|
}
|
|
|
|
Vector3 worldForce = this.transform.TransformDirection(nanoBrain.root.outputValue);
|
|
|
|
this.velocity = (1 - sc.inertia) * (worldForce * Time.deltaTime) + sc.inertia * velocity;
|
|
if (this.velocity.magnitude > 0)
|
|
this.velocity = this.velocity.normalized * sc.speed;
|
|
else
|
|
this.velocity = this.transform.forward * sc.speed;
|
|
//Debug.DrawRay(this.transform.position, this.velocity, Color.blue);
|
|
|
|
this.transform.position += this.velocity * Time.deltaTime;
|
|
|
|
if (this.velocity != Vector3.zero) {
|
|
Quaternion targetRotation = Quaternion.LookRotation(this.velocity);
|
|
transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * 5f); // Adjust the speed of rotation
|
|
}
|
|
|
|
nanoBrain.brain.UpdateNuclei();
|
|
|
|
// Renderer renderer = GetComponentInChildren<Renderer>();
|
|
// results = Physics.OverlapSphere(this.transform.position, 0.1f);
|
|
// if (results.Length > 1) {
|
|
// // string s= this.name;
|
|
// // foreach (Collider c in results)
|
|
// // s += " " + c.transform.parent.gameObject.name;
|
|
// // Debug.Log(s);
|
|
// renderer.sharedMaterial = red;
|
|
// }
|
|
// else {
|
|
// renderer.sharedMaterial = gray;
|
|
// }
|
|
}
|
|
|
|
}
|