Unity AI 群组行为

using System.Collections;using System.Collections.Generic;using UnityEngine;//采用的是分离和聚集分开的形式public class CrowAI : MonoBehaviour {    public float speed = 3;    /// <summary>    /// 当前速度    /// </summary>    public Vector3 velocity = Vector3.forward;    /// <summary>    /// 开始速度    /// </summary>    private Vector3 startVelocity;    public Transform target;    public Vector3 sumForce = Vector3.zero;    /// <summary>    /// 质量    /// </summary>    public float m = 1;    public float separationDistance = 3;//分离条件【3米内有】    public List<GameObject> seprationNeighbors = new List<GameObject>();    public float separationWeight = 1;//权重    public Vector3 separationForce = Vector3.zero;//分离的力    public float alignmentDistance = 6;    public List<GameObject> alignmentNeighbors = new List<GameObject>();    public float alignmentWeight = 1;    public Vector3 alignmentForce = Vector3.zero;//队列的力    public float cohesionWeight = 1;    public Vector3 cohesionForce = Vector3.zero; //聚集的力    public float checkInterval = 0.2f;//检测频率    public float animRandomTime = 1f;    private Animation anim;    private void Start()    {        target = GameObject.Find("Target").transform;        startVelocity = velocity;        InvokeRepeating("CalcForce", 0, checkInterval);        anim = GetComponentInChildren<Animation>();        Invoke("PlayAnim", Random.Range(0, animRandomTime));    }    void PlayAnim()    {        anim.Play();    }        void CalcForce()    {        //print("calcForce");        sumForce = Vector3.zero;        separationForce = Vector3.zero;//分离的力        alignmentForce = Vector3.zero;//队列的力        cohesionForce = Vector3.zero;        seprationNeighbors.Clear();        Collider[] colliders= Physics.OverlapSphere(transform.position,separationDistance);        foreach(Collider c in colliders)        {            if (c != null && c.gameObject != this.gameObject)            {                seprationNeighbors.Add(c.gameObject);            }        }        //计算分离的力        foreach(GameObject neighbor in seprationNeighbors)        {            Vector3 dir = transform.position - neighbor.transform.position;            separationForce += dir.normalized / dir.magnitude;        }        if (seprationNeighbors.Count > 0)        {            //引入权重            separationForce *= separationWeight;            sumForce += separationForce;        }        //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)            {                alignmentNeighbors.Add(c.gameObject);            }        }        Vector3 avgDir = Vector3.zero;        foreach(GameObject n in alignmentNeighbors)        {            avgDir += n.transform.forward;        }        if (alignmentNeighbors.Count > 0)        {            avgDir /= alignmentNeighbors.Count;            alignmentForce = avgDir - transform.forward;            alignmentForce *= alignmentWeight;            sumForce += alignmentForce;        }        //聚集的力        if ( alignmentNeighbors.Count>0 )        {            Vector3 center = Vector3.zero;            foreach (GameObject n in alignmentNeighbors)            {                center += n.transform.position;            }            center /= alignmentNeighbors.Count;            Vector3 dirToCenter = center - transform.position;            cohesionForce += dirToCenter.normalized * velocity.magnitude;            cohesionForce *= cohesionWeight;            sumForce += alignmentForce;        }        //保持恒定飞行速度的力        Vector3 engineForce = velocity.normalized * startVelocity.magnitude;        sumForce += engineForce * 0.1f;        Vector3 targetDir = target.position - transform.position;        sumForce += (targetDir.normalized - transform.forward) * speed ;    }// Update is called once per framevoid Update () {        Vector3 a = sumForce / m;        velocity += a * Time.deltaTime;        transform.rotation = Quaternion.Slerp(transform.rotation, Quaternion.LookRotation(velocity), Time.deltaTime*3);        transform.Translate(transform.forward * Time.deltaTime *velocity.magnitude , Space.World );}}