OldBlueWater/BlueWater/Assets/02.Scripts/Boid.cs

using System.Collections;
using System.Collections.Generic;
using System.Linq;
using Sirenix.OdinInspector;
using UnityEngine;
using Random = UnityEngine.Random;

// ReSharper disable once CheckNamespace
namespace BlueWaterProject
{
    public class Boid : MonoBehaviour
    {
        [Title("개체 설정")]
        [SerializeField] private float obstacleDistance = 10;
        [SerializeField] private float viewAngle = 120;
        [SerializeField] private int maxNeighbourCount = 10;
        [SerializeField] private float neighbourDistance = 6;
        [SerializeField] private float avoidAdditionalSpeed = 10;

        [Title("ETC")]
        [SerializeField] private LayerMask boidUnitLayer;
        [SerializeField] private LayerMask obstacleLayer;
        
        private Boids myBoids;
        private List<Boid> neighbours = new();
        private Collider[] hitColliders;
        
        private Coroutine findNeighbourCoroutine;
        private Coroutine calculateEgoVectorCoroutine;
        private Vector3 targetPos;
        private Vector3 egoVector;
        private float moveSpeed;
        private float additionalSpeed = 0;
        
        public void Init(Boids boids, float speed)
        {
            myBoids = boids;
            moveSpeed = speed;
            hitColliders = new Collider[maxNeighbourCount];

            findNeighbourCoroutine = StartCoroutine("FindNeighbourCoroutine");
            calculateEgoVectorCoroutine = StartCoroutine("CalculateEgoVectorCoroutine");
        }

        private void OnDrawGizmosSelected()
        {
            foreach (var neighbour in neighbours)
            {
                var myPos = transform.position;
                
                Gizmos.color = Color.red;
                Gizmos.DrawLine(myPos, neighbour.transform.position);
                Gizmos.color = Color.blue;
                Gizmos.DrawLine(myPos, myPos + targetPos);
            }
        }

        private void Update()
        {
            if (additionalSpeed > 0)
                additionalSpeed -= Time.deltaTime;
            
            var cohesionPos = CalculateCohesionPos() * myBoids.CohesionWeight;
            var alignmentPos = CalculateAlignmentPos() * myBoids.AlignmentWeight;
            var separationPos = CalculateSeparationPos() * myBoids.SeparationWeight;
            var boundsPos = CalculateBoundsVector() * myBoids.BoundsWeight;
            var obstaclePos = CalculateObstacleVector() * myBoids.ObstacleWeight;
            var egoPos = egoVector * myBoids.EgoWeight;

            targetPos = cohesionPos + alignmentPos + separationPos + boundsPos + obstaclePos + egoPos;
            
            targetPos = Vector3.Lerp(transform.forward, targetPos, Time.deltaTime);
            targetPos = targetPos.normalized;
            
            if (targetPos == Vector3.zero)
                targetPos = egoVector;

            transform.rotation = Quaternion.LookRotation(targetPos);
            transform.position += targetPos * ((moveSpeed + additionalSpeed) * Time.deltaTime);
        }
        
        private IEnumerator CalculateEgoVectorCoroutine()
        {
            moveSpeed = Random.Range(myBoids.RandomSpeedRange.x, myBoids.RandomSpeedRange.y);
            egoVector = Random.insideUnitSphere;
            yield return new WaitForSeconds(Random.Range(1, 3f));
            calculateEgoVectorCoroutine = StartCoroutine("CalculateEgoVectorCoroutine");
        }
        
        private IEnumerator FindNeighbourCoroutine()
        {
            neighbours.Clear();

            var size = Physics.OverlapSphereNonAlloc(transform.position, neighbourDistance, hitColliders, boidUnitLayer);
            for (var i = 0; i < size; i++)
            {
                if (Vector3.Angle(transform.forward, hitColliders[i].transform.position - transform.position) <= viewAngle)
                {
                    neighbours.Add(hitColliders[i].GetComponent<Boid>());
                }
            }
            yield return new WaitForSeconds(Random.Range(0.5f, 2f));
            findNeighbourCoroutine = StartCoroutine("FindNeighbourCoroutine");
        }
        
        private Vector3 CalculateCohesionPos()
        {
            var cohesionPos = Vector3.zero;
            if (neighbours.Count > 0)
            {
                cohesionPos = neighbours.Aggregate(cohesionPos, (current, neighbour) => current + neighbour.transform.position);
            }
            else
            {
                return cohesionPos;
            }
            
            cohesionPos /= neighbours.Count;
            cohesionPos -= transform.position;
            cohesionPos.Normalize();
            return cohesionPos;
        }

        private Vector3 CalculateAlignmentPos()
        {
            var alignmentPos = transform.forward;
            if (neighbours.Count > 0)
            {
                alignmentPos = neighbours.Aggregate(alignmentPos, (current, neighbour) => current + neighbour.transform.forward);
            }
            else
            {
                return alignmentPos;
            }

            alignmentPos /= neighbours.Count;
            alignmentPos.Normalize();
            return alignmentPos;
        }

        private Vector3 CalculateSeparationPos()
        {
            var separationPos = Vector3.zero;
            if (neighbours.Count > 0)
            {
                separationPos = neighbours.Aggregate(separationPos, (current, neighbour) => current + (transform.position - neighbour.transform.position));
            }
            else
            {
                return separationPos;
            }
            separationPos /= neighbours.Count;
            separationPos.Normalize();
            return separationPos;
        }

        private Vector3 CalculateBoundsVector()
        {
            var myPos = transform.position;
            var offsetToCenter = myBoids.BoundMeshRenderer.transform.position - myPos;
            var insideBounds = myBoids.BoundMeshRenderer.bounds.Contains(myPos);
            return insideBounds ? Vector3.zero : offsetToCenter.normalized;
        }

        private Vector3 CalculateObstacleVector()
        {
            var obstaclePos = Vector3.zero;
            if (Physics.Raycast(transform.position,transform.forward, out var hit, obstacleDistance, obstacleLayer))
            {
                Debug.DrawLine(transform.position, hit.point, Color.black);
                obstaclePos = hit.normal;
                additionalSpeed = avoidAdditionalSpeed;
            }
            return obstaclePos;
        }
    }
}