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} + // } Velocity = Velocity.normalized * Speed; @@ -89,29 +91,28 @@ private void Update() { } private Vector3 GetAcceleration(List neighbours) { - if (!_collisionBound) { - return Separation(neighbours) * Multipliers.Separation + - Alignment(neighbours) * Multipliers.Alignment + - Cohesion(neighbours) * Multipliers.Cohesion + - Pathfinding() * Multipliers.Pathfinding; - } - - return _avoidance * Multipliers.Avoidance; + return Separation(neighbours) * Multipliers.Separation + + Alignment(neighbours) * Multipliers.Alignment + + Cohesion(neighbours) * Multipliers.Cohesion + + Pathfinding() * Multipliers.Pathfinding + _avoidance * Multipliers.Avoidance; } private void FixedUpdate() { _avoidance = Vector3.zero; var ray = new Ray(transform.position, Velocity.normalized); if (Physics.Raycast(ray, out var hit, perception, 1 << LayerMask.NameToLayer("Terrain"))) { - _avoidance = Vector3.ProjectOnPlane(Velocity, hit.normal).normalized * Speed; + _avoidance = Vector3.ProjectOnPlane(Velocity, hit.normal).normalized; + // _avoidance = Vector3.Reflect(Velocity, hit.normal + (Random.insideUnitSphere / 3)); + + _avoidance = _avoidance.normalized * Speed; + _avoidance -= Velocity; + // _avoidance = _avoidance.normalized; _collisionBound = true; - Debug.Log($"{hit.transform.name} hit"); } else { _collisionBound = false; } - - _avoidance = Vector3.ClampMagnitude(_avoidance, .2f); + } private Vector3 Pathfinding() { @@ -123,9 +124,9 @@ private Vector3 Pathfinding() { var pathfinding = personal + global; + pathfinding = pathfinding.normalized * Speed; pathfinding -= Velocity; - // pathfinding = pathfinding.normalized * Speed; - pathfinding = Vector3.ClampMagnitude(pathfinding, .2f); + pathfinding = Vector3.ClampMagnitude(pathfinding, .25f); return pathfinding; } @@ -141,9 +142,10 @@ private Vector3 Alignment(List neighbours) { if (neighbours.Count - 1 > 0) { alignment /= neighbours.Count - 1; - // alignment = alignment.normalized * Speed; + alignment = alignment.normalized * Speed; alignment -= Velocity; - alignment = Vector3.ClampMagnitude(alignment, .2f); + // alignment = alignment.normalized; + alignment = Vector3.ClampMagnitude(alignment, .25f); } return alignment.normalized; @@ -160,9 +162,10 @@ private Vector3 Cohesion(List neighbours) { if (neighbours.Count - 1 > 0) { cohesion /= neighbours.Count - 1; cohesion = cohesion - transform.position; - // cohesion = cohesion.normalized * Speed; + cohesion = cohesion.normalized * Speed; cohesion -= Velocity; - cohesion = Vector3.ClampMagnitude(cohesion, .2f); + // cohesion = cohesion.normalized; + cohesion = Vector3.ClampMagnitude(cohesion, .25f); } return cohesion; @@ -181,10 +184,11 @@ private Vector3 Separation(List neighbours) { if (neighbours.Count - 1 > 0) { separation /= neighbours.Count - 1; // separation = separation.normalized * Speed; + separation = separation.normalized * Speed; separation -= Velocity; - separation = Vector3.ClampMagnitude(separation, .2f); + separation = Vector3.ClampMagnitude(separation, .25f); } - + return separation; } } diff --git a/Assets/Scripts/Waypoints/Waypoint.cs b/Assets/Scripts/Waypoints/Waypoint.cs index bf79c3c..2a22d9f 100644 --- a/Assets/Scripts/Waypoints/Waypoint.cs +++ b/Assets/Scripts/Waypoints/Waypoint.cs @@ -1,3 +1,4 @@ +using System; using Interfaces; using UnityEngine; @@ -9,6 +10,13 @@ public class Waypoint : MonoBehaviour { private Collider[] _boids; public bool IsActive { private get; set; } + private void OnDrawGizmos() { + if (IsActive) { + Gizmos.color = Color.green; + Gizmos.DrawWireSphere(transform.position, radius); + } + } + private void Start() { _boids = new Collider[numBoids]; }