unity中群组行为

由三个简单的 转向行为组成，描述了个人如何基于其附近的群体的位置和速度进行动作：
分离separation：避免拥挤当地的群体
分离图
群组alignment：转向周围群体的平均航向
群组图
聚集cohesion：引导移动到周围同类的平均位置
聚集图

代码示例:

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

///<summary>
///群组行为
///<summary>
public class boids : MonoBehaviour
{
    //public Transform target;
    public float speed = 3;
    public Vector3 velocity = Vector3.forward*2;  //速度
    public Vector3 startVelocity;
    public float m = 1f;   //质量
    public Vector3 sumForce = Vector3.zero;   //合力

    public float separationDistance = 3f;//分离范围距离
    public float separationWeirht = 1F;   //分离权重
    public List<GameObject> separationNeighors = new List<GameObject>();
    public Vector3 separatoinForce = Vector3.zero;//分离的力

    public float alignmentDistance = 6f;  //队列距离
    public float alignmentWeight = 1f;  //队列权重

    public List<GameObject> alignmentNeighbors = new List<GameObject>();
    public Vector3 alignmentForce = Vector3.zero;//队列的力

    public List<GameObject> cohesionNeighbors = new List<GameObject>();
    public float cohesionWeight = 1f;
    public Vector3 cohesionForce = Vector3.zero;//聚合的力


    public float checkInterval = 0.2f;   //调用间隔

    private void Start()
    {
        startVelocity = velocity;
        InvokeRepeating("CalcForce", 0, checkInterval);
    }

    void CalcForce()
    {
        //使力归零
        sumForce = Vector3.zero;
        separatoinForce = Vector3.zero;//分离的力
        alignmentForce = Vector3.zero;//队列的力
        cohesionForce = Vector3.zero;//聚合的力

        separationNeighors.Clear();  //清空集合
        Collider[] colliders =  Physics.OverlapSphere(transform.position, separationDistance);
        foreach(Collider c in colliders)
        {
            if(c!=null && c.gameObject!=this.gameObject) //c不为空且不为自身
            {
                separationNeighors.Add(c.gameObject);
            }
        }
        //计算分离的力
        foreach (GameObject neignbor in separationNeighors)
        {
            Vector3 dir = transform.position - neignbor.transform.position;
            separatoinForce += dir.normalized / dir.magnitude;
        }
        if (separationNeighors.Count > 0)
        {
            separatoinForce *= separationWeirht;
            sumForce += separatoinForce;
        }

        //计算队列的力
        alignmentNeighbors.Clear();
        colliders = Physics.OverlapSphere(transform.position, alignmentDistance);
        foreach (Collider c in colliders)
        {
            if (c != null && c.gameObject != this.gameObject) //c不为空且不为自身
            {
                alignmentNeighbors.Add(c.gameObject);
            }
        }
        Vector3 avgDir = Vector3.zero;
        foreach (GameObject n in alignmentNeighbors)
        {
            avgDir += n.transform.forward;
        }
        if (alignmentNeighbors.Count > 0)
        {
            avgDir = avgDir / alignmentNeighbors.Count;
            alignmentForce = avgDir - transform.forward;
            alignmentForce *= alignmentWeight;
            sumForce += alignmentForce;
        }

        //计算聚合的力
        //若有分离力或者队伍为空则不施加聚合力
        if ( alignmentNeighbors.Count>0)
        {
            Vector3 centor = Vector3.zero;
            foreach (GameObject n in alignmentNeighbors)
            {
                centor += n.transform.position;
            }
            centor /= alignmentNeighbors.Count;
            Vector3 dirToCenter = centor - transform.position;  //自身到中心点向量
            cohesionForce += dirToCenter;
            cohesionForce *= cohesionWeight;
            sumForce += cohesionForce;
            //sumForce += alignmentForce;
        }

        //保持恒定飞行速度的力
        Vector3 engineForce = startVelocity - velocity;
        sumForce += engineForce;

        //设定飞行目标的sumForce
        //Vector3 targetDir = target.position - transform.position;
        //sumForce = (targetDir.normalized - transform.forward) * speed;

    }

    private void Update()
    {
        Vector3 a = sumForce / m;
        velocity += a * Time.deltaTime;
        transform.rotation = Quaternion.Slerp(transform.rotation, Quaternion.LookRotation(velocity),Time.deltaTime);  //绕运动方向旋转
        transform.Translate(velocity * Time.deltaTime, Space.World);
       // transform.Translate(transform.forward*Time.deltaTime, Space.World);
    }
}