Unity 3D AI鸟群算法 AI鱼群算法

天空鸟群模拟,海底鱼群模拟效果

每个单独的鱼都会有独立的行为:

1.自由移动行为,
2.躲避前方范围物体的行为(包括鱼)
3.跟随鱼并保持距离的行为(形成鱼群)
4.随时跟随最近的鱼群(分离与对齐)

躲避行为算法效果图

核心代码:

(仅提供算法参考,无法使其单独运行)

public class Boid : MonoBehaviour {BoidSettings settings;// State[HideInInspector]public Vector3 position;[HideInInspector]public Vector3 forward;Vector3 velocity;// To update:Vector3 acceleration;[HideInInspector]public Vector3 avgFlockHeading;[HideInInspector]public Vector3 avgAvoidanceHeading;[HideInInspector]public Vector3 centreOfFlockmates;[HideInInspector]public int numPerceivedFlockmates;// CachedMaterial material;Transform cachedTransform;Transform target;void Awake () {material = transform.GetComponentInChildren<MeshRenderer> ().material;cachedTransform = transform;}public void Initialize (BoidSettings settings, Transform target) {this.target = target;this.settings = settings;position = cachedTransform.position;forward = cachedTransform.forward;float startSpeed = (settings.minSpeed + settings.maxSpeed) / 2;velocity = transform.forward * startSpeed;}public void SetColour (Color col) {if (material != null) {material.color = col;}}public void UpdateBoid () {Vector3 acceleration = Vector3.zero;if (target != null) {Vector3 offsetToTarget = (target.position - position);acceleration = SteerTowards (offsetToTarget) * settings.targetWeight;}if (numPerceivedFlockmates != 0) {centreOfFlockmates /= numPerceivedFlockmates;Vector3 offsetToFlockmatesCentre = (centreOfFlockmates - position);var alignmentForce = SteerTowards (avgFlockHeading) * settings.alignWeight;var cohesionForce = SteerTowards (offsetToFlockmatesCentre) * settings.cohesionWeight;var seperationForce = SteerTowards (avgAvoidanceHeading) * settings.seperateWeight;acceleration += alignmentForce;acceleration += cohesionForce;acceleration += seperationForce;}if (IsHeadingForCollision ()) {Vector3 collisionAvoidDir = ObstacleRays ();Vector3 collisionAvoidForce = SteerTowards (collisionAvoidDir) * settings.avoidCollisionWeight;acceleration += collisionAvoidForce;}velocity += acceleration * Time.deltaTime;float speed = velocity.magnitude;Vector3 dir = velocity / speed;speed = Mathf.Clamp (speed, settings.minSpeed, settings.maxSpeed);velocity = dir * speed;cachedTransform.position += velocity * Time.deltaTime;cachedTransform.forward = dir;position = cachedTransform.position;forward = dir;}bool IsHeadingForCollision () {RaycastHit hit;if (Physics.SphereCast (position, settings.boundsRadius, forward, out hit, settings.collisionAvoidDst, settings.obstacleMask)) {return true;} else { }return false;}Vector3 ObstacleRays () {Vector3[] rayDirections = BoidHelper.directions;for (int i = 0; i < rayDirections.Length; i++) {Vector3 dir = cachedTransform.TransformDirection (rayDirections[i]);Ray ray = new Ray (position, dir);if (!Physics.SphereCast (ray, settings.boundsRadius, settings.collisionAvoidDst, settings.obstacleMask)) {return dir;}}return forward;}Vector3 SteerTowards (Vector3 vector) {Vector3 v = vector.normalized * settings.maxSpeed - velocity;return Vector3.ClampMagnitude (v, settings.maxSteerForce);}}

public class BoidManager : MonoBehaviour {const int threadGroupSize = 1024;public BoidSettings settings;public ComputeShader compute;Boid[] boids;void Start () {boids = FindObjectsOfType<Boid> ();foreach (Boid b in boids) {b.Initialize (settings, null);}}void Update () {if (boids != null) {int numBoids = boids.Length;var boidData = new BoidData[numBoids];for (int i = 0; i < boids.Length; i++) {boidData[i].position = boids[i].position;boidData[i].direction = boids[i].forward;}var boidBuffer = new ComputeBuffer (numBoids, BoidData.Size);boidBuffer.SetData (boidData);compute.SetBuffer (0, "boids", boidBuffer);compute.SetInt ("numBoids", boids.Length);compute.SetFloat ("viewRadius", settings.perceptionRadius);compute.SetFloat ("avoidRadius", settings.avoidanceRadius);int threadGroups = Mathf.CeilToInt (numBoids / (float) threadGroupSize);compute.Dispatch (0, threadGroups, 1, 1);boidBuffer.GetData (boidData);for (int i = 0; i < boids.Length; i++) {boids[i].avgFlockHeading = boidData[i].flockHeading;boids[i].centreOfFlockmates = boidData[i].flockCentre;boids[i].avgAvoidanceHeading = boidData[i].avoidanceHeading;boids[i].numPerceivedFlockmates = boidData[i].numFlockmates;boids[i].UpdateBoid ();}boidBuffer.Release ();}}public struct BoidData {public Vector3 position;public Vector3 direction;public Vector3 flockHeading;public Vector3 flockCentre;public Vector3 avoidanceHeading;public int numFlockmates;public static int Size {get {return sizeof (float) * 3 * 5 + sizeof (int);}}}
}

public static class BoidHelper {const int numViewDirections = 300;public static readonly Vector3[] directions;static BoidHelper () {directions = new Vector3[BoidHelper.numViewDirections];float goldenRatio = (1 + Mathf.Sqrt (5)) / 2;float angleIncrement = Mathf.PI * 2 * goldenRatio;for (int i = 0; i < numViewDirections; i++) {float t = (float) i / numViewDirections;float inclination = Mathf.Acos (1 - 2 * t);float azimuth = angleIncrement * i;float x = Mathf.Sin (inclination) * Mathf.Cos (azimuth);float y = Mathf.Sin (inclination) * Mathf.Sin (azimuth);float z = Mathf.Cos (inclination);directions[i] = new Vector3 (x, y, z);}}}

是不是感觉很复杂,代码我没有放全,因为实在有点多
点击

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Unity 3D AI鸟群算法 AI鱼群算法

天空鸟群模拟,海底鱼群模拟效果

每个单独的鱼都会有独立的行为:

躲避行为算法效果图

核心代码:

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