96 lines
3.4 KiB
C#
96 lines
3.4 KiB
C#
using UnityEngine;
|
|
|
|
[RequireComponent(typeof(NanoBrain))]
|
|
public class Boid : MonoBehaviour {
|
|
public const int BoundaryType = 1;
|
|
public const int BoidType = 2;
|
|
|
|
public SwarmControl sc;
|
|
public Vector3 velocity = Vector3.zero;
|
|
public Vector3 acceleration = Vector3.zero;
|
|
|
|
private Bounds innerBounds;
|
|
private Bounds outerBounds;
|
|
|
|
//public NeuroidNetwork neuroidNet = new();
|
|
public NanoBrain neuroidNet;
|
|
public Perception perception;
|
|
|
|
public Nucleus behaviour;
|
|
|
|
public Neuroid totalForce;
|
|
|
|
public int id;
|
|
|
|
void Awake() {
|
|
neuroidNet = GetComponent<NanoBrain>();
|
|
|
|
this.id = this.GetInstanceID();
|
|
|
|
sc = FindFirstObjectByType<SwarmControl>();
|
|
|
|
innerBounds = new(sc.transform.position, sc.spaceSize - 2 * sc.boundaryWidth);
|
|
outerBounds = new(sc.transform.position, sc.spaceSize);
|
|
|
|
perception = new Perception(neuroidNet);
|
|
|
|
//behaviour = new Roaming(neuroidNet, perception, sc);
|
|
behaviour = new Swarming(neuroidNet, perception, sc);
|
|
|
|
totalForce = new(neuroidNet, "Total");
|
|
behaviour.AddReceiver(totalForce);
|
|
}
|
|
|
|
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;
|
|
|
|
Vector3 localPosition = neighbour.transform.position - this.transform.position;
|
|
|
|
int thingId = neighbour.GetInstanceID();
|
|
perception.ProcessStimulus(thingId, BoidType, localPosition, neighbour.gameObject.name);
|
|
}
|
|
}
|
|
|
|
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);
|
|
perception.ProcessStimulus(777, BoundaryType, desiredLocalSpace, "Boundary");
|
|
}
|
|
|
|
Vector3 worldForce = this.transform.TransformDirection(totalForce.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;
|
|
|
|
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 * 2f); // Adjust the speed of rotation
|
|
}
|
|
|
|
neuroidNet.UpdateNeurons();
|
|
}
|
|
|
|
Vector3 ClosestPointOnBoundsSurface(Bounds b, Vector3 p) {
|
|
if (!b.Contains(p)) return b.ClosestPoint(p);
|
|
Vector3 d = p - b.center;
|
|
Vector3 ext = b.extents;
|
|
float sx = ext.x / Mathf.Abs(d.x);
|
|
float sy = ext.y / Mathf.Abs(d.y);
|
|
float sz = ext.z / Mathf.Abs(d.z);
|
|
float m = Mathf.Min(sx, Mathf.Min(sy, sz));
|
|
return b.center + d * m;
|
|
}
|
|
}
|