Initial commit of ongoing work

2024-10-28 19:48:45 -07:00
parent 63aed8ab7c
commit 8a3b2a0206
40 changed files with 3448 additions and 0 deletions
@@ -0,0 +1,233 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class BoidComponent : MonoBehaviour
+{
+    private float centerInfluence;
+    private float boidInfluence = 0.5f;
+    private float speed = 50;
+    private float corneringSpeed = 0.001f; 
+    private Vector3 closestCenter;
+    [SerializeField] public float visionConeAngle;
+    [SerializeField] public float movementConeAngle;
+    List <Collider> collisions;
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        collisions = new List<Collider>();
+    }
+
+    
+    void FixedUpdate()
+    {
+        Move();
+        //Debug.DrawLine(transform.position, transform.forward + transform.position);
+    }
+
+    public void setCenterInfluence(float centerInfluence)
+    {
+        this.centerInfluence = centerInfluence; 
+    }
+
+    public void setSpeed(float boidSpeed)
+    {
+        speed = boidSpeed;
+    }
+
+    public void setCorneringSpeed(float corneringSpeed)
+    {
+        this.corneringSpeed = corneringSpeed;
+    }
+
+    private void OnTriggerEnter(Collider collision)
+    {
+        
+    }
+
+    private void OnTriggerStay(Collider collision)
+    {
+        if (!collisions.Contains(collision))
+        {
+            collisions.Add(collision);
+        }
+    }
+
+    private void OnTriggerExit(Collider collision)
+    {
+        collisions.Remove(collision);
+    }
+
+    public void Move()
+    {
+        Vector3 targetDir = -(calcCloseBoidInteractionsV3() * boidInfluence);
+
+        //Debug.Log(targetDir);
+        if(!targetDir.Equals(transform.forward))
+        {
+            targetDir += calcCenterInfluenceV3(closestCenter) * centerInfluence; 
+        }
+        else
+        {
+            targetDir = calcCenterInfluenceV3(closestCenter) * centerInfluence;
+        }
+
+        Quaternion directionRotation = Quaternion.LookRotation(-targetDir);
+
+        transform.rotation = Quaternion.Slerp(transform.rotation, directionRotation, corneringSpeed);
+
+        transform.position += transform.forward * (1/(101 - speed));
+    }
+
+    private Vector3 calcCloseBoidInteractionsV3()
+    {
+        Vector3 desiredDirectionToLook = Vector3.zero;
+
+        float centerX = 0;
+        float centerY = 0; 
+        float centerZ = 0;
+        int boidCounter = 0;
+
+        foreach (Collider collision in collisions)
+        {
+            GameObject obstacle = collision.gameObject;
+            if(obstacle.tag == "boid")
+            {
+                centerX += obstacle.transform.position.x;
+                centerY += obstacle.transform.position.y;
+                centerZ += obstacle.transform.position.z;
+                boidCounter++;
+            }
+
+            //Debug.Log("DIST: " + Vector3.Distance(transform.position, collision.transform.position));
+            float dist = Vector3.Distance(transform.position, collision.transform.position);
+            if (dist > 0)
+            {
+                //Find angle between objects 
+                Vector3 targetDir = obstacle.transform.position - transform.position;
+
+                float angleBetweenObjects = Vector3.Angle(targetDir, transform.forward);
+                
+
+                if (angleBetweenObjects < visionConeAngle)
+                {
+                    //align
+                    if(obstacle.layer == 0 && obstacle.tag == "boid")
+                    {
+                        desiredDirectionToLook += (obstacle.transform.forward);
+                    }
+
+                    //Find angle between forward vectors 
+                    /*Vector3 contact = obstacle.transform.forward;
+                    float angleBetweenForwards = Vector3.Dot(transform.forward, contact);
+
+                    if (angleBetweenForwards != 0)
+                    {
+                        angleBetweenForwards = Mathf.Rad2Deg * Mathf.Acos(angleBetweenObjects / (transform.forward.magnitude * contact.magnitude));
+                    }*/
+
+                    if (collision.gameObject.layer == 0 && angleBetweenObjects < 180 - movementConeAngle)
+                    {
+                        //Debug.Log(dist);
+                        //avoid
+                        /*
+                        Vector3 avoid = new Vector3();
+                        avoid.x = targetDir.x * (1 / dist);
+                        avoid.y = targetDir.y * (1 / dist);
+                        avoid.z = targetDir.z * (1 / dist);
+
+                        Debug.DrawLine(transform.position, -targetDir);
+                        */
+
+                        Vector3 avoid = (-targetDir.normalized * 5) / (dist);
+
+                        desiredDirectionToLook += avoid;
+                        Debug.DrawLine(transform.position, transform.position + avoid);
+                        Debug.Log(avoid.magnitude);
+                    }
+                }
+            }
+            
+        }
+
+        if(boidCounter > 0)
+        {
+            centerX /= boidCounter;
+            centerY /= boidCounter;
+            centerZ /= boidCounter;
+
+            closestCenter = new Vector3(centerX, centerY, centerZ);
+        }
+
+        if(desiredDirectionToLook.Equals(Vector3.zero))
+        {
+            return transform.forward;
+        }
+        return desiredDirectionToLook.normalized;
+    }
+
+    private Quaternion calcCloseBoidInteractions()
+    {
+        Quaternion rotation = Quaternion.identity; 
+
+        foreach (Collider collision in collisions)
+        {
+            //Find angle between objects 
+            Vector3 targetDir = collision.gameObject.transform.position - transform.position;
+            
+            float angleBetweenObjects = Vector3.Angle(targetDir, transform.forward);
+            
+            if (angleBetweenObjects < 180 - visionConeAngle)
+            {
+                //Debug.Log(angleBetweenObjects);
+                //Find angle between forward vectors 
+                Vector3 contact = collision.gameObject.transform.forward;
+                float angleBetweenForwards = Vector3.Dot(transform.forward, contact);
+
+                if (angleBetweenForwards != 0)
+                {
+                    angleBetweenForwards = Mathf.Rad2Deg * Mathf.Acos(angleBetweenObjects / (transform.forward.magnitude * contact.magnitude));
+                }
+
+
+                //align
+
+
+                Quaternion temp = Quaternion.LookRotation((collision.gameObject.transform.forward)/2);
+                //Debug.Log("T: " + collision.gameObject.transform.forward + " B: " + transform.forward);
+                
+
+                rotation *= Quaternion.Slerp(transform.rotation, temp, boidInfluence);
+                
+                if(collision.gameObject.layer == 0 && angleBetweenObjects < 180 - movementConeAngle)
+                {
+                    //Debug.Log(angleBetweenObjects);
+                }
+            }
+        }
+        if(rotation.Equals(Quaternion.identity))
+        {
+            return transform.rotation;
+        }
+        return rotation;
+    }
+
+    private Vector3 calcCenterInfluenceV3(Vector3 center)
+    {
+        Debug.DrawLine(transform.position, center);
+        return (transform.position - center).normalized;
+    }
+
+    private Quaternion calcCenterInfluence(Vector3 center)
+    {
+        Vector3 newDirection = (transform.position - center).normalized;
+
+        Quaternion directionRotation = Quaternion.LookRotation(newDirection);
+
+        return Quaternion.Slerp(transform.rotation, directionRotation, centerInfluence);
+
+        //return -(newDirection * centerInfluence);
+    }
+}