three-boids/dist/three-boids.umd.cjs.map

Javascript Boid Simulation library

{"version":3,"file":"three-boids.umd.cjs","sources":["../src/boid.config.js","../src/logic/BoidLogic.js","../src/logic/BoidController.js","../src/vision/RaySphere.js","../src/vision/RayController.js","../src/octree/OctreeNode.js","../src/octree/Octree.js","../src/Boids.js"],"sourcesContent":["export default\r\n{\r\n    values:{\r\n        count:1,\r\n        visualRange:0.75046,\r\n        protectedRange:0.38377,\r\n        enviromentVision:0.5,\r\n        objectAvoidFactor:1,\r\n        cohesionFactor:0.00408,\r\n        matchingFactor:0.06312,\r\n        seperationFactor:0.19269,\r\n        \r\n        minSpeed:2.379,\r\n        maxSpeed:5.206,\r\n        wallTransparent:false,\r\n        turnFactor:0.201,\r\n        \r\n    },\r\n    vision:\r\n    {\r\n        count:101,\r\n        rayAngleLimit:0.115,\r\n        far:0.5\r\n    }\r\n}","\r\nimport boidConfig from \"../boid.config\";\r\nimport * as THREE from 'three'\r\n\r\nexport default class BoidLogic\r\n{\r\n    /**\r\n     * \r\n     * @param {int} boidCount \r\n     * @param {THREE.Box3} box \r\n     */\r\n    constructor(boidCount,box)\r\n    {\r\n        this.boundingBox=box\r\n\r\n        //start values\r\n        this.setUpTweakableValues()\r\n\r\n        //initiate\r\n        this.#initBoids(boidCount)\r\n    }\r\n\r\n    /**\r\n     * sets up the base values based on a config file\r\n     */\r\n    setUpTweakableValues()\r\n    {\r\n        this.visualRange=boidConfig.values.visualRange              || defaultValue(1,\"VisualRange\")\r\n        this.protectedRange=boidConfig.values.protectedRange        || defaultValue(0.5,\"protectedRange\")\r\n        this.cohesionFactor=boidConfig.values.cohesionFactor        || defaultValue(0.0039,\"cohesionFactor\")\r\n        this.matchingFactor=boidConfig.values.matchingFactor        || defaultValue(0.0287,\"matchingFactor\")\r\n        this.seperationFactor=boidConfig.values.seperationFactor    || defaultValue(0.01395,\"seperationFactor\")\r\n        this.minSpeed=boidConfig.values.minSpeed/100                || defaultValue(0.005,\"minSpeed\")\r\n        this.maxSpeed=boidConfig.values.maxSpeed/100                || defaultValue(0.01,\"maxSpeed\")\r\n        this.wallTransparent=boidConfig.values.wallTransparent      || defaultValue(false,\"wallTransparent\")\r\n        this.turnFactor=boidConfig.values.turnFactor/100            || defaultValue(0.2,\"turnFactor\")\r\n        this.objectAvoidFactor=boidConfig.values.objectAvoidFactor  || defaultValue(2,\"object avoid\")\r\n    }\r\n\r\n    /**\r\n     * \r\n     * @param {int} boidCount \r\n     */\r\n    #initBoids(boidCount)\r\n    {\r\n        this.boidCount=boidCount|| defaultValue(1,\"boidCount\")\r\n        this.boidArray=[]\r\n        this.addBoids(this.boidCount)\r\n    }\r\n\r\n    /**\r\n     * Creates and adds new boids, with randomized aceleration and position\r\n     * \r\n     * @param {int} count \r\n     */\r\n    addBoids(count){\r\n        \r\n        for(let i = 0; i< count; i++)\r\n            {   \r\n                const x= (Math.random()-0.5)*2*this.boundingBox.max.x\r\n                const y= (Math.random()-0.5)*2*this.boundingBox.max.y\r\n                const z= (Math.random()-0.5)*2*this.boundingBox.max.z\r\n\r\n                const vx= (Math.random()-0.5)*2*this.maxSpeed\r\n                const vy= (Math.random()-0.5)*2*this.maxSpeed\r\n                const vz= (Math.random()-0.5)*2*this.maxSpeed\r\n                this.boidArray.push(new Boid(x,y,z,vy,vx,vz))\r\n            }\r\n        \r\n    }\r\n\r\n    /**\r\n     * Removes boid position references\r\n     * \r\n     * @param {int} count - amount of boids to remove\r\n     */\r\n    removeBoids(count)\r\n    {\r\n        while(count)\r\n        {\r\n            this.boidArray.pop()\r\n            count--\r\n        }\r\n        \r\n    }\r\n\r\n    /**\r\n     * Updates the boid positions based on other boids and environment objects\r\n     * \r\n     * @param {[obj]} environmentObjects - array of environment objects close to boids\r\n     */\r\n    update(environmentObjects,deltaTime)\r\n    {\r\n        const PROTECTED_RANGE_SQUARED= this.protectedRange**2\r\n        const VISUAL_RANGE_SQUARED = this.visualRange**2  \r\n        // const MIN_SPEED_SQUARED= this.minSpeed**2\r\n        // const MAX_SPEED_SQUARED= this.maxSpeed**2\r\n        // console.log(this.cohesionFactor)\r\n        \r\n\r\n        this.boidArray.forEach((boid,i)=>\r\n            {\r\n\r\n                //set up the rotation target\r\n                // boid.targetX=boid.x\r\n                // boid.targetY=boid.y\r\n                // boid.targetZ=boid.z\r\n\r\n                //zero accum variables\r\n                let accum= this.#accumulatorObject()\r\n                \r\n                //loop through every other boid\r\n                this.boidArray.forEach((otherBoid,n)=>\r\n                    {\r\n                        //compute differences in xy coords\r\n                        const dx= boid.position.x - otherBoid.position.x\r\n                        const dy= boid.position.y - otherBoid.position.y\r\n                        const dz= boid.position.z - otherBoid.position.z\r\n\r\n                        //check if they are within visual range\r\n                        if(Math.abs(dx)<this.visualRange && Math.abs(dy)<this.visualRange&& Math.abs(dz)<this.visualRange)\r\n                            {\r\n                                //get the distance between the two boids\r\n                                const distanceSquared= dx**2+dy**2+dz**2\r\n\r\n                                //is the distance less than the protected range\r\n                                if(distanceSquared< PROTECTED_RANGE_SQUARED)\r\n                                    {\r\n                                        //calculate the difference in x/y-coordinates to the nearfield boid\r\n                                        const exp=(1-(distanceSquared/PROTECTED_RANGE_SQUARED))**2\r\n\r\n                                        accum.close_dx+=dx*exp \r\n                                        accum.close_dy+=dy*exp \r\n                                        accum.close_dz+=dz*exp \r\n\r\n                                    }\r\n                                \r\n                                //if its not in the protected range, is it in the visual range?\r\n                                else if(distanceSquared<VISUAL_RANGE_SQUARED)\r\n                                    {\r\n                                        const exp=(1-(distanceSquared/VISUAL_RANGE_SQUARED))**2\r\n                                        //add other boids x/y coords and velocity variables to the accum\r\n                                        accum.xpos_avg+=otherBoid.position.x\r\n                                        accum.ypos_avg+=otherBoid.position.y\r\n                                        accum.zpos_avg+=otherBoid.position.z\r\n                                        accum.xvel_avg+=otherBoid.velocity.x*exp\r\n                                        accum.yvel_avg+=otherBoid.velocity.y*exp\r\n                                        accum.zvel_avg+=otherBoid.velocity.z*exp\r\n\r\n                                        //increment number of boids in visual range\r\n                                        accum.neighboring_boids++\r\n                                    }\r\n                            }\r\n                    })\r\n\r\n                //checks environmet objects to see if this boid is near an object\r\n                if(!environmentObjects[i]){\r\n\r\n                    //check if there were any boids in the visual range\r\n                    if(accum.neighboring_boids>0)\r\n                    {\r\n                        //average the positions and velocity by number of neighboring boids\r\n                        \r\n                        accum.xpos_avg/=accum.neighboring_boids\r\n                        accum.ypos_avg/=accum.neighboring_boids\r\n                        accum.zpos_avg/=accum.neighboring_boids\r\n                        accum.xvel_avg/=accum.neighboring_boids\r\n                        accum.yvel_avg/=accum.neighboring_boids\r\n                        accum.zvel_avg/=accum.neighboring_boids\r\n                        \r\n\r\n                        \r\n                        //add cohesion and alignment factors\r\n                        boid.velocity.x+= (accum.xpos_avg-boid.position.x)*this.cohesionFactor\r\n                        boid.velocity.x+= (accum.xvel_avg-boid.velocity.x)*this.matchingFactor\r\n                        // console.log('cohesion factor',(accum.xpos_avg-boid.x)*this.cohesionFactor)\r\n                        // console.log('matching factor',(accum.xvel_avg-boid.vx)*this.matchingFactor)\r\n\r\n                        boid.velocity.y+= (accum.ypos_avg-boid.position.y)*this.cohesionFactor\r\n                        boid.velocity.y+= (accum.yvel_avg-boid.velocity.y)*this.matchingFactor\r\n\r\n                        boid.velocity.z+= (accum.zpos_avg-boid.position.z)*this.cohesionFactor\r\n                        boid.velocity.z+= (accum.zvel_avg-boid.velocity.z)*this.matchingFactor\r\n\r\n                        \r\n            \r\n                    }\r\n\r\n                    //Add sepperation factor\r\n                    boid.velocity.x+= (accum.close_dx*this.seperationFactor)\r\n                    boid.velocity.y+= (accum.close_dy*this.seperationFactor)\r\n                    boid.velocity.z+= (accum.close_dz*this.seperationFactor)\r\n                }\r\n\r\n                //there are other objects! get out of the way\r\n                else\r\n                {\r\n                    // console.log('avoiding objects')\r\n                    //avoiding object\r\n                    const avoidObjExp=(1-environmentObjects[i].distance)**3\r\n\r\n                    const dx= boid.position.x - environmentObjects[i].position.x\r\n                    const dy= boid.position.y - environmentObjects[i].position.y\r\n                    const dz= boid.position.z - environmentObjects[i].position.z\r\n\r\n                    boid.velocity.x+= dx*avoidObjExp*this.objectAvoidFactor\r\n                    boid.velocity.y+= dy*avoidObjExp*this.objectAvoidFactor\r\n                    boid.velocity.z+= dz*avoidObjExp*this.objectAvoidFactor\r\n                }\r\n\r\n                \r\n\r\n                \r\n                //the bounding box\r\n                boid=(this.wallTransparent)?this.#transparentWall(boid):this.#solidWall(boid)\r\n                 \r\n                // calculate boids speed\r\n                //NOTE can get rid of the sqrt, move this check to before each variable(environment -> seperation -> alignment -> cohesion) is added to \r\n                //create heirachy with the fish\r\n                const speed = Math.sqrt(boid.velocity.x**2+boid.velocity.y**2+boid.velocity.z**2)\r\n\r\n                //enforce speedlimits\r\n\r\n                if (speed< this.minSpeed)\r\n                    {\r\n                        boid.velocity.x= (boid.velocity.x/speed)*this.minSpeed\r\n                        boid.velocity.y= (boid.velocity.y/speed)*this.minSpeed\r\n                        boid.velocity.z= (boid.velocity.z/speed)*this.minSpeed\r\n                    }\r\n                if (speed> this.maxSpeed)\r\n                    {\r\n                        boid.velocity.x= (boid.velocity.x/speed)*this.maxSpeed\r\n                        boid.velocity.y= (boid.velocity.y/speed)*this.maxSpeed\r\n                        boid.velocity.z= (boid.velocity.z/speed)*this.maxSpeed\r\n                    }\r\n\r\n                    //NOTE: Math.sqrt is a slow algorithm. better to use a distance/speed squared check. But I am yet to see noticable performace increases. further testing needed\r\n                    // const speedSquared = boid.vx**2+boid.vy**2+boid.vz**2\r\n\r\n                    // //enforce speedlimits\r\n    \r\n                    // if (speedSquared< MIN_SPEED_SQUARED)\r\n                    //     {   \r\n                    //         const speed= Math.sqrt(speedSquared)\r\n                    //         boid.vx= (boid.vx/speed)*this.minSpeed\r\n                    //         boid.vy= (boid.vy/speed)*this.minSpeed\r\n                    //         boid.vz= (boid.vz/speed)*this.minSpeed\r\n                    //     }\r\n                    // if (speedSquared> MAX_SPEED_SQUARED)\r\n                    //     {\r\n                    //         const speed= Math.sqrt(speedSquared)\r\n                    //         boid.vx= (boid.vx/speed)*this.maxSpeed\r\n                    //         boid.vy= (boid.vy/speed)*this.maxSpeed\r\n                    //         boid.vz= (boid.vz/speed)*this.maxSpeed\r\n                    //     }\r\n                \r\n                \r\n                const currentPosition= boid.position.clone()\r\n\r\n                //update positions\r\n                boid.position.x+=boid.velocity.x*deltaTime\r\n                boid.position.y+=boid.velocity.y*deltaTime\r\n                boid.position.z+=boid.velocity.z*deltaTime\r\n\r\n                //update rotation\r\n                const m4=new THREE.Matrix4();\r\n                m4.lookAt(currentPosition,boid.position, new THREE.Vector3(0,1,0))\r\n                boid.rotationMatrix= m4 ;\r\n\r\n        })\r\n    }\r\n\r\n    /**\r\n     * An object containing relevant physics accumulations\r\n     * \r\n     * @returns accumulator obj\r\n     */\r\n    #accumulatorObject(){\r\n        const accum=\r\n        {\r\n            xpos_avg:0, //position averages\r\n            ypos_avg:0,\r\n            zpos_avg:0,\r\n\r\n            xvel_avg:0, //velocity averages\r\n            yvel_avg:0,\r\n            zvel_avg:0,\r\n\r\n            neighboring_boids:0,    //count of neighboring boids within visual range\r\n\r\n            close_dx:0, \r\n            close_dy:0,\r\n            close_dz:0\r\n        }\r\n        return accum\r\n    }\r\n\r\n    //returns the main boid\r\n    getMain()\r\n    {\r\n        return this.boidArray[0]\r\n    }\r\n\r\n    /**\r\n     * Keeps boids within a bounding box. \r\n     * Bounding box acts as a notice to turn around\r\n     * \r\n     * @param {obj} boid \r\n     * @returns \r\n     */\r\n    #solidWall(boid)\r\n    {\r\n\r\n        if(this.boundingBox.max.y<boid.position.y)  //top\r\n            {\r\n                // console.log(this.boundingBox)\r\n                boid.velocity.y-=this.turnFactor\r\n            }\r\n        if(this.boundingBox.min.y>boid.position.y)  //bottom\r\n        {\r\n            boid.velocity.y+=this.turnFactor\r\n        }\r\n        \r\n        if(this.boundingBox.max.x<boid.position.x)  //right\r\n            {\r\n                boid.velocity.x-=this.turnFactor\r\n            }\r\n        if(this.boundingBox.min.x>boid.position.x)  //left\r\n            {\r\n                boid.velocity.x+=this.turnFactor\r\n            }\r\n        \r\n        if(this.boundingBox.max.z<boid.position.z)  //front\r\n            {\r\n                boid.velocity.z-=this.turnFactor\r\n            }\r\n        if(this.boundingBox.min.z>boid.position.z)  //back\r\n            {\r\n                boid.velocity.z+=this.turnFactor\r\n            }\r\n\r\n        return boid\r\n    }\r\n\r\n    /**\r\n     * Keeps boids within a bounding box. \r\n     * Bounding box acts as 'portal'.\r\n     * \r\n     * @param {obj} boid \r\n     * @returns \r\n     */\r\n    #transparentWall(boid)\r\n    {\r\n        if(this.boundingBox.max.y<boid.y)  //top\r\n            {\r\n                boid.y=this.boundingBox.min.y\r\n            }\r\n        \r\n        if(this.boundingBox.max.x<boid.x)  //right\r\n            {\r\n                boid.x=this.boundingBox.min.x\r\n            }\r\n            \r\n        if(this.boundingBox.min.x>boid.x)  //left\r\n            {\r\n                boid.x=this.boundingBox.max.x\r\n            }\r\n        \r\n        if(this.boundingBox.min.y>boid.y)  //bottom\r\n            {\r\n                boid.y=this.boundingBox.max.y\r\n            }\r\n\r\n        if(this.boundingBox.max.z<boid.z)  //front\r\n            {\r\n                boid.z=this.boundingBox.min.z\r\n            }\r\n\r\n        if(this.boundingBox.min.z>boid.z)  //back\r\n            {\r\n                boid.z=this.boundingBox.max.z\r\n            }\r\n\r\n        return boid\r\n    }\r\n\r\n}\r\n\r\nclass Boid\r\n{\r\n    constructor(x,y,z,vx,vy,vz)\r\n    {\r\n        this.position=new THREE.Vector3(x,y,z)\r\n        this.velocity=new THREE.Vector3(vx,vy,vz)\r\n        this.rotationMatrix=new THREE.Matrix4()\r\n        this.targetX=0\r\n        this.targetY=0\r\n        this.targetZ=0\r\n    }\r\n}\r\n\r\nfunction defaultValue(x,name){\r\n    console.log(`Defaulted on ${name}`)\r\n    return x\r\n}","import BoidLogic from \"./BoidLogic\";\r\nimport boidConfig from \"../boid.config\";\r\nimport * as THREE from 'three'\r\n\r\nexport default class BoidController\r\n{\r\n\r\n    /** constructor()\r\n     * \r\n     *  \r\n     *  boidObject arr = setUp (boidArray)\r\n     *  \r\n     * \r\n     */\r\n    constructor(count=200, box3, scene)\r\n    {\r\n        \r\n        this.scene=scene\r\n\r\n        this.boundingBox= box3\r\n        this.boidMeshes= []\r\n        this.boidCount=null\r\n\r\n        this.#setBoidLogic(count)\r\n\r\n        \r\n    }\r\n\r\n    //#region boids\r\n\r\n    /**\r\n     * inititate the boid logic\r\n     * \r\n     * @param {int} count \r\n     */\r\n    #setBoidLogic(count)\r\n    {\r\n        this.boidLogic=new BoidLogic(count, this.boundingBox)\r\n    }\r\n\r\n    getBoidArray()\r\n    {\r\n        return this.boidLogic.boidArray\r\n    }\r\n\r\n    getMainBoid()\r\n    {\r\n        return this.boidLogic.boidArray[0]\r\n\r\n    }\r\n\r\n    /**\r\n     * \r\n     * @param {int} count \r\n     */\r\n    addBoids(count)\r\n    {\r\n        //add new boids to boidLogic instance\r\n        this.boidLogic.addBoids(count)\r\n        this.changeModelCount(this.getBoidArray().length)\r\n    }\r\n\r\n    /**\r\n     * \r\n     * @param {int} count \r\n     */\r\n    removeBoids(count)\r\n    {\r\n        //remove boids from boid logic instance\r\n        this.boidLogic.removeBoids(count)\r\n        this.changeModelCount(this.getBoidArray().length)\r\n\r\n\r\n    }\r\n    //#endregion\r\n\r\n    //#region utils\r\n\r\n    /**\r\n     * \r\n     * @param {[obj]} environmenObjects \r\n     */\r\n    update(environmenObjects,deltaTime)\r\n    {\r\n        //update the logic\r\n        this.boidLogic.update(environmenObjects,deltaTime)\r\n\r\n        if(this.dummy)\r\n        {\r\n            for ( let i = 0; i< this.getBoidArray().length; i++ ) {\r\n                const boid=this.getBoidArray()[i]\r\n\r\n    \r\n                for(let n=0; n<this.dummy.length; n++)\r\n                    {\r\n                        this.dummy[n].position.copy(boid.position)\r\n\r\n    \r\n                        this.dummy[n].quaternion.setFromRotationMatrix(boid.rotationMatrix)\r\n                        this.dummy[n].updateMatrix();\r\n                        this.boidInstancedMesh[n].setMatrixAt( i, this.dummy[n].matrix );\r\n                        this.boidInstancedMesh[n].instanceMatrix.needsUpdate=true\r\n                        \r\n                    }\r\n                    // this.mixer.setTime(elapsedTime)\r\n                    // this.boidInstancedMesh[1].setMorphAt(i,this.dummy[1])\r\n        }\r\n\r\n        }\r\n\r\n        //check if debug is active\r\n        if(this.debug)\r\n        {   \r\n            //show protected range visualization\r\n            if(this.debug.protectedRange)\r\n            {\r\n                \r\n                this.debug.protectedRange.position.copy(this.getMainBoid().position)\r\n            }\r\n\r\n            //show visual range visualization\r\n            if(this.debug.visualRange)\r\n                {\r\n                    this.debug.visualRange.position.copy(this.getMainBoid().position)\r\n                }\r\n        }\r\n    }\r\n\r\n    //#endregion\r\n\r\n    //#region \r\n    \r\n    //createDummyMesh\r\n    createDummyMesh(model)\r\n    {\r\n        this.dummy=[]\r\n        // this.dummy.push(...this.createDummyMesh(model));\r\n        \r\n        //native mesh using geometry\r\n        if(!model.scene)\r\n        {\r\n            this.dummy.push(model);\r\n            return\r\n        }\r\n        //gltf model\r\n        const baseMesh= this.getBaseMesh(model.scene)\r\n        this.dummy.push(...baseMesh.children);\r\n        return \r\n    }\r\n\r\n    getBaseMesh(mesh,parent)\r\n    {\r\n        // console.log(mesh)\r\n\r\n        if(mesh.children.length<1)\r\n        {\r\n            return parent\r\n        }\r\n        parent= mesh\r\n\r\n        return this.getBaseMesh(mesh.children[0],parent)\r\n    }\r\n\r\n    setModels(model,minScale,defaultMaterial)\r\n    {\r\n        // console.log(this.createDummyMesh(model))\r\n        \r\n\r\n        this.modelScale=minScale\r\n        // const glb=model\r\n        // console.log('glb',glb)\r\n        this.createDummyMesh(model)\r\n\r\n\r\n        //expand the boid bounding box\r\n        if(!this.localBoidBoundingBox)\r\n        {\r\n            this.localBoidBoundingBox=new THREE.Box3(new THREE.Vector3(0,0,0),new THREE.Vector3(0,0,0))\r\n\r\n        }\r\n        this.dummy.forEach(obj=>{\r\n            this.localBoidBoundingBox.expandByObject(obj)\r\n        })\r\n        \r\n        this.localBoidBoundingBox.min.multiplyScalar(0.1*this.modelScale)\r\n        this.localBoidBoundingBox.max.multiplyScalar(0.1*this.modelScale)\r\n        \r\n\r\n        this.boidInstancedMesh=[]\r\n\r\n        //create instance of instanced mesh\r\n        \r\n\r\n        this.dummy.forEach((dummyMesh,i)=>\r\n        {\r\n            // const materialColor= dummyMesh.material.color\r\n            let material= dummyMesh.material\r\n            // new THREE.MeshLambertMaterial( {color:new THREE.Color(materialColor)} )\r\n\r\n            if(defaultMaterial)\r\n            {\r\n                material=defaultMaterial\r\n            }\r\n            \r\n            \r\n            this.boidInstancedMesh[i] = new THREE.InstancedMesh( dummyMesh.geometry, material, this.getBoidArray().length );\r\n        }\r\n        )\r\n        \r\n        //fill instanced mesh\r\n        for ( let i = 0; i < this.getBoidArray().length; i ++ ) {\r\n            const boid=this.boidLogic.boidArray[i]\r\n\r\n            const scale= Math.max(Math.random(),this.modelScale)\r\n\r\n            for(let n=0; n<this.dummy.length; n++)\r\n                {\r\n\r\n                    this.dummy[n].position.copy(boid.position)\r\n                    this.dummy[n].scale.set(0.1*scale,0.1*scale,0.1*scale)\r\n                    this.dummy[n].updateMatrix();\r\n\r\n                    this.boidInstancedMesh[n].setMatrixAt( i, this.dummy[n].matrix );\r\n\r\n                }\r\n            \r\n        }\r\n        \r\n        for (let i = 0; i < this.boidInstancedMesh.length; i++) {\r\n            this.scene.add( this.boidInstancedMesh[i] );\r\n        }\r\n        \r\n\r\n        \r\n\r\n        // this.mixer = new THREE.AnimationMixer( glb.scene );\r\n        \r\n        // const action = this.mixer.clipAction( glb.animations[ 0 ] );\r\n        // // console.log(action)\r\n        // action.play();\r\n        \r\n    }\r\n\r\n    removeInstancedMesh()\r\n    {\r\n        this.boidInstancedMesh.forEach(obj=>{\r\n            this.scene.remove(obj)\r\n            obj.geometry.dispose()\r\n            obj.material.dispose()\r\n        })\r\n    }\r\n\r\n    removeDummyMesh()\r\n    {\r\n        this.dummy.forEach(obj=>{\r\n            this.scene.remove(obj)\r\n            obj.geometry.dispose()\r\n            obj.material.dispose()\r\n        })\r\n    }\r\n\r\n    changeModelCount()\r\n    {\r\n        this.removeInstancedMesh()\r\n        \r\n        \r\n        \r\n        this.dummy.forEach((dummyMesh,i)=>\r\n            {\r\n\r\n                let material= dummyMesh.material\r\n\r\n                this.boidInstancedMesh[i] = new THREE.InstancedMesh( dummyMesh.geometry, material, this.getBoidArray().length );\r\n            }\r\n            )\r\n            \r\n            //fill instanced mesh\r\n            for ( let i = 0; i < this.getBoidArray().length; i ++ ) {\r\n                const boid=this.boidLogic.boidArray[i]\r\n    \r\n                const scale= Math.max(Math.random(),this.modelScale)\r\n    \r\n                for(let n=0; n<this.dummy.length; n++)\r\n                    {\r\n    \r\n                        this.dummy[n].position.copy(boid.position)\r\n                        this.dummy[n].scale.set(0.1*scale,0.1*scale,0.1*scale)\r\n                        this.dummy[n].updateMatrix();\r\n    \r\n                        this.boidInstancedMesh[n].setMatrixAt( i, this.dummy[n].matrix );\r\n    \r\n                    }\r\n                \r\n            }\r\n            \r\n            for (let i = 0; i < this.boidInstancedMesh.length; i++) {\r\n                this.scene.add( this.boidInstancedMesh[i] );\r\n            }\r\n\r\n        // console.log(this.boidInstancedMesh)\r\n\r\n        // this.mixer = new THREE.AnimationMixer( glb.scene );\r\n        // console.log(glb)\r\n        // const action = this.mixer.clipAction( glb.animations[ 0 ] );\r\n        // // console.log(action)\r\n        // action.play();\r\n    }\r\n\r\n    changeModelMesh(newModel,minScale,defaultMaterial){\r\n        this.removeDummyMesh()\r\n        this.removeInstancedMesh()\r\n\r\n        this.setModels(newModel,minScale,defaultMaterial)\r\n    }\r\n\r\n\r\n    \r\n    //#endregion\r\n\r\n\r\n    //#region DEBUG\r\n\r\n    /**\r\n     * Set up the debug panel\r\n     * \r\n     * @param {*} gui lil-gui instance\r\n     */\r\n    viewDebug(gui)\r\n    {\r\n        this.debug= {}\r\n        // this.debug.boidCount= this.boidCount\r\n\r\n        //create a gui folder\r\n        this.debug.folder=  gui.addFolder(\"Boids\")\r\n        this.debug.boidCount= this.getBoidArray().length\r\n\r\n        //bounding box visualization\r\n        this.#debugSolidBorderBox()\r\n        //add count tweak\r\n        this.#debugCount()\r\n        //parameters tweaks\r\n        this.#debugValues()\r\n        //boid vision visualization\r\n        this.#debugVisionRange()\r\n    }\r\n\r\n    /** \r\n     * Setup boid Count tweak\r\n     */\r\n    #debugCount()\r\n    {   \r\n\r\n        this.debug.folder.add(this.debug,'boidCount').name(\"Entity Count\"). min(4).max(1000).step(4).onFinishChange((count)=>\r\n        {\r\n            \r\n            if(count>this.getBoidArray().length)\r\n                {\r\n                    this.addBoids(count-this.getBoidArray().length)\r\n                    \r\n                }\r\n            if(count<this.getBoidArray().length)\r\n                {\r\n                    this.removeBoids(this.getBoidArray().length-count)\r\n\r\n                }\r\n        })\r\n\r\n    }\r\n\r\n    /** \r\n     * Setup boid values tweaks\r\n     */\r\n    #debugValues()\r\n    {\r\n        \r\n        \r\n        this.debug.folder.add(boidConfig.values,\"objectAvoidFactor\").name(\"Object Avoid Factor\").min(0).max(4).step(0.00001).onChange((num)=>{\r\n            this.boidLogic.objectAvoidFactor=num\r\n        })\r\n        this.debug.folder.add(boidConfig.values,\"enviromentVision\").name(\"Object Visual range\").min(0).max(2).step(0.00001)\r\n        this.debug.folder.add(boidConfig.values,\"cohesionFactor\").name(\"Cohesion Factor\").min(0).max(0.05).step(0.00001).onChange((num)=>{\r\n            this.boidLogic.cohesionFactor=num\r\n        })\r\n        this.debug.folder.add(boidConfig.values,\"matchingFactor\").name(\"Matching Factor\").min(0).max(0.1).step(0.00001).onChange((num)=>{\r\n            this.boidLogic.matchingFactor=num\r\n        })\r\n        this.debug.folder.add(boidConfig.values,\"seperationFactor\").name(\"Seperation Factor\").min(0).max(0.5).step(0.00001).onChange((num)=>{\r\n            this.boidLogic.seperationFactor=num\r\n        })\r\n        this.debug.folder.add(boidConfig.values,\"turnFactor\").name(\"Turn Factor\").min(0).max(1).step(0.0001).onChange((num)=>{\r\n            this.boidLogic.turnFactor=num/100\r\n        })\r\n        this.debug.folder.add(boidConfig.values,\"minSpeed\").name(\"Min Speed\").min(0).max(10).step(0.001).onChange((num)=>{\r\n            this.boidLogic.minSpeed=num/100\r\n        })\r\n        this.debug.folder.add(boidConfig.values,\"maxSpeed\").name(\"Max Speed\").min(0).max(10).step(0.001).onChange((num)=>{\r\n            this.boidLogic.maxSpeed=num/100\r\n        })\r\n        \r\n    }\r\n\r\n    /** \r\n     * set up border box tweak\r\n     */\r\n    #debugSolidBorderBox()\r\n    {\r\n        this.debug.showBoundingBox=false\r\n        this.debug.folder.add(this.debug,'showBoundingBox').name(\"Show Bounding Box\").onChange(()=>\r\n        {\r\n            if(!this.debug.boundingBoxHelper)\r\n                {\r\n                    this.debug.boundingBoxHelper= new THREE.Box3Helper(this.boundingBox,new THREE.Color('#ff1084'))\r\n                    this.scene.add(this.debug.boundingBoxHelper)\r\n                }\r\n            else{\r\n                this.scene.remove(this.debug.boundingBoxHelper)\r\n                this.debug.boundingBoxHelper.dispose()\r\n                this.debug.boundingBoxHelper=null\r\n            }\r\n        })\r\n        \r\n    }\r\n\r\n    /** \r\n     * Setup protected range visualization\r\n     */\r\n    #debugProtectedRange(needsUpdate=false)\r\n    {\r\n        if(!needsUpdate)\r\n        {\r\n            const material= new THREE.MeshBasicMaterial({\r\n                color:'red',\r\n                opacity:0.5,\r\n                transparent:true,\r\n                depthWrite:false\r\n            })\r\n            const geometry= new THREE.SphereGeometry()\r\n\r\n            this.debug.protectedRange= new THREE.Mesh(geometry,material)\r\n\r\n            const updateScale= new THREE.Vector3(1,1,1).multiplyScalar(boidConfig.values.protectedRange)\r\n            \r\n\r\n            this.debug.protectedRange.scale.copy(updateScale)\r\n            this.debug.protectedRange.position.copy(this.getMainBoid().position)\r\n\r\n            this.scene.add(this.debug.protectedRange)\r\n        }\r\n        else\r\n        {\r\n            const updateScale= new THREE.Vector3(1,1,1).multiplyScalar(boidConfig.values.protectedRange)\r\n            \r\n            this.debug.protectedRange.scale.copy(updateScale)\r\n            this.scene.add(this.debug.protectedRange)\r\n        }\r\n\r\n        \r\n    }\r\n\r\n    /** \r\n     * Setup visual range visualization\r\n     */\r\n    #debugVisualRange(needsUpdate=false)\r\n    {\r\n        if(!needsUpdate)\r\n        {\r\n            const material= new THREE.MeshBasicMaterial({\r\n                color:'#5bff33',\r\n                opacity:0.5,\r\n                transparent:true,\r\n                depthWrite:false\r\n            })\r\n            const geometry= new THREE.SphereGeometry()\r\n\r\n            this.debug.visualRange= new THREE.Mesh(geometry,material)\r\n\r\n            const updateScale= new THREE.Vector3(1,1,1).multiplyScalar(boidConfig.values.visualRange)\r\n            this.debug.visualRange.position.copy(this.getMainBoid().position)\r\n            \r\n\r\n            this.debug.visualRange.scale.copy(updateScale)\r\n\r\n            this.scene.add(this.debug.visualRange)\r\n        }\r\n        else\r\n        {\r\n            const updateScale= new THREE.Vector3(1,1,1).multiplyScalar(boidConfig.values.visualRange)\r\n            \r\n            this.debug.visualRange.scale.copy(updateScale)\r\n            this.scene.add(this.debug.visualRange)\r\n        }\r\n\r\n        \r\n    }\r\n\r\n    /** \r\n     * Setup vision teak\r\n     */\r\n    #debugVisionRange()\r\n    {\r\n        this.debug.showProtectedRange=false\r\n        this.debug.showVisualRange=false\r\n        \r\n        this.debug.folder.add(this.debug,'showProtectedRange').name(\"Show Protected Range\").onChange((bool)=>\r\n            {\r\n                if(!bool)\r\n                {\r\n                    this.scene.remove(this.debug.protectedRange)\r\n                    this.debug.protectedRange.material.dispose()\r\n                    this.debug.protectedRange.geometry.dispose()\r\n    \r\n                }\r\n                else\r\n                {\r\n                    \r\n                    this.#debugProtectedRange()\r\n                    \r\n                }\r\n            })\r\n    \r\n        this.debug.folder.add(boidConfig.values,\"protectedRange\").name(\"Protected range\").min(0.1).max(2).step(0.00001).onChange((num)=>{\r\n            this.boidLogic.protectedRange=num\r\n            if(this.debug.protectedRange&&this.debug.showProtectedRange)\r\n            {\r\n                this.#debugProtectedRange(true)\r\n            }\r\n        })\r\n\r\n        this.debug.folder.add(this.debug,'showVisualRange').name(\"Show Visual Range\").onChange((bool)=>\r\n            {\r\n                if(!bool)\r\n                {\r\n                    this.scene.remove(this.debug.visualRange)\r\n                    this.debug.visualRange.material.dispose()\r\n                    this.debug.visualRange.geometry.dispose()\r\n    \r\n                }\r\n                else\r\n                {\r\n                    this.#debugVisualRange()\r\n                }\r\n            })\r\n        \r\n        this.debug.folder.add(boidConfig.values,\"visualRange\").name(\"Visual range\").min(0.5).max(3).step(0.00001).onChange((num)=>{\r\n            this.boidLogic.visualRange=num\r\n            if(this.debug.visualRange && this.debug.showVisualRange)\r\n                {\r\n                    this.#debugVisualRange(true)\r\n                }\r\n        })\r\n        \r\n        \r\n    }   \r\n    //#endregion\r\n\r\n}\r\n\r\n\r\n","import * as THREE from 'three'\r\nimport boidConfig from '../boid.config'\r\n\r\n\r\nexport default class RaySphere\r\n{\r\n    /**\r\n     * raySphere controlls the positioning and firing of rays for one object\r\n     * - uses a point geometry to position targets for rays. \r\n     * \r\n     */\r\n    constructor()\r\n    {\r\n        \r\n\r\n        //debug\r\n        this.debug={\r\n            \r\n        }\r\n        \r\n        //set up start params\r\n        this.init()\r\n        \r\n        //targeting mesh\r\n        this.pointSphere=this.setUpPointSphere()\r\n\r\n        //raycaster\r\n        this.rayCaster=this.setUpRayCaster()\r\n\r\n    }\r\n\r\n    /**\r\n     * sets up start parameters\r\n     */\r\n    init()\r\n    {\r\n        this.rayCount=boidConfig.vision.count\r\n        this.rayAngleLimit=boidConfig.vision.rayAngleLimit\r\n        this.rayFar=boidConfig.vision.far\r\n        \r\n    }\r\n\r\n    \r\n    /**\r\n     * \r\n     * @returns clone of the pointsphere\r\n     */\r\n    getPointSphere()\r\n    {\r\n        return this.pointSphere.clone()\r\n    }\r\n\r\n    //#region sphere methods\r\n\r\n    /**\r\n     * updates point sphere mesh\r\n     * \r\n     * @returns mesh\r\n     */\r\n    updatePointSphere()\r\n    {\r\n        this.rayPositions_vec3Array=this.fibonacci_sphere_vec3()\r\n        this.rayPositions_floatArray=this.toFloatArr(this.rayPositions_vec3Array)\r\n\r\n        const pointsGeometry= new THREE.BufferGeometry()\r\n        pointsGeometry.setAttribute('position',new THREE.BufferAttribute(this.rayPositions_floatArray,3))\r\n\r\n        this.pointSphere.geometry.dispose()\r\n        this.pointSphere.geometry=pointsGeometry\r\n        \r\n\r\n    }\r\n    \r\n    /**\r\n     * Creates the point sphere points mesh using a bufferattribute derived from the global float array\r\n     * \r\n     * @returns mesh\r\n     */\r\n    setUpPointSphere()\r\n    {\r\n        this.rayPositions_vec3Array=this.fibonacci_sphere_vec3()\r\n        this.rayPositions_floatArray=this.toFloatArr(this.rayPositions_vec3Array)\r\n\r\n        //set up the geometry\r\n        const pointsGeometry= new THREE.BufferGeometry()\r\n\r\n        //get points from global float array\r\n        pointsGeometry.setAttribute('position',new THREE.BufferAttribute(this.rayPositions_floatArray,3))\r\n\r\n        //set up material\r\n        const pointsMaterial= new THREE.PointsMaterial({\r\n            color:'green',\r\n            size:0.04,\r\n            // sizeAttenuation:true,\r\n        })\r\n\r\n        //create mesh\r\n        const particleMesh= new THREE.Points(pointsGeometry,pointsMaterial)\r\n\r\n        //no need to add it to scene. its just for ray target positioning\r\n\r\n        return particleMesh\r\n    }\r\n\r\n    /**\r\n     * returns points placed quasi equidistantly around a sphere using the Fibonacci sphere algorithm\r\n     * - radius is normalized\r\n     * - cuttoff value determines the z limit for the points on the sphere\r\n     * - adapted from https://stackoverflow.com/questions/9600801/evenly-distributing-n-points-on-a-sphere/44164075#44164075\r\n     * @returns a THREE.Vector3 array\r\n     */\r\n    fibonacci_sphere_vec3(){\r\n\r\n        const points = []\r\n        const phi = Math.PI * (Math.sqrt(5)-1)  //golden angle in radians\r\n\r\n        for(let i=0; i<this.rayCount; i++)\r\n            {\r\n               \r\n                let y = 1 - (i / (this.rayCount - 1)) * 2  // y goes from 1 to -1\r\n                let radius = Math.sqrt(1 - y * y)  // radius at y\r\n        \r\n                let theta = phi * i  // golden angle increment\r\n        \r\n                let x = Math.cos(theta) * radius \r\n                let z = Math.sin(theta) * radius \r\n\r\n\r\n                    if(z<this.rayAngleLimit){\r\n                        const normalizedTarget=new THREE.Vector3(x,y,z)\r\n                        normalizedTarget.normalize()\r\n                        points.push(normalizedTarget)\r\n                    }\r\n                    \r\n                \r\n            }\r\n            \r\n        return points\r\n    }\r\n\r\n    /**\r\n     * Rotates the point sphere to match the given mesh rotation.\r\n     * Returns an array of the sphere vertices shifted to the world position\r\n     * \r\n     * note! it may be quicker to use the boidPoistion array instead of the boidMesh\r\n     * possibly dont need the mesh. may be better with just the vec3 rotation (euler)\r\n     * \r\n     * @param {*} mesh object mesh\r\n     * @returns THREE.Vector3 Array\r\n     */\r\n    rotateTo(mesh)\r\n    {\r\n        //[x] convert to rotate with quaternion\r\n        this.pointSphere.quaternion.setFromRotationMatrix(mesh.rotationMatrix)\r\n        \r\n       return this.toWorldVertices()\r\n    }\r\n\r\n    //#endregion\r\n\r\n    //#region ray casting\r\n\r\n    /**\r\n     * sets up the raycaster.\r\n     * - current layer set to 1\r\n  \r\n     * @returns THREE.Raycaster\r\n     */\r\n    setUpRayCaster()\r\n    {\r\n        // if(rayCastValues==undefined){rayCastValues={}}\r\n        const rayCaster= new THREE.Raycaster()\r\n        rayCaster.layers.set( 1 );\r\n        rayCaster.far=this.rayFar\r\n        rayCaster.firstHitOnly = true;\r\n\r\n        return rayCaster\r\n    }\r\n\r\n    /**\r\n     * Aims the raycaster and checks for intersections\r\n     * - averages the found intersections distances and position\r\n     * - normalized the final distance with the raycaster Far distance\r\n     * \r\n     * @param {[THREE.Vector3]} rayTargets array of vec3 directions(normalized)\r\n     * @param {THREE.Vector3} origin \r\n     * @returns {Object} {distance: int ,position: obj}\r\n     */\r\n    castRays(rayTargets, origin, environment)\r\n    {\r\n        \r\n        //instanciate the found objects arr\r\n        const objectArr=[]\r\n        //instanciate accumulator\r\n        const sum= {distance:0,position:{x:0,y:0,z:0}}\r\n       \r\n        let foundArr=[]\r\n\r\n        // this.timer('castRays')\r\n        //loop through targets, aim raycaster and check for intersection\r\n        for(let i=0; i<rayTargets.length;i++)\r\n            {\r\n                //aims the raycaster\r\n                this.rayCaster.set(origin,rayTargets[i])\r\n\r\n                //find intersections of environment objects\r\n                if(environment.length>1){\r\n                    foundArr=this.rayCaster.intersectObjects(environment)\r\n                }\r\n\r\n                else\r\n                {\r\n                    // console.log(environment)\r\n                    foundArr=this.rayCaster.intersectObject(environment[0])\r\n                    // console.log(foundArr)\r\n                }\r\n\r\n\r\n                //if something was found add it to the array\r\n                if(foundArr.length>0)\r\n                {\r\n                    objectArr.push(...foundArr)\r\n                    // console.log(foundArr)\r\n                }\r\n            }\r\n\r\n\r\n        //if there is something intersecting the ray\r\n        if(objectArr.length>0)\r\n        {\r\n\r\n            //sum the values in the array\r\n            for(const obj of objectArr){\r\n                //[x]: ADD counter(CastRays)\r\n                // this.counter('castRays')\r\n\r\n                sum.distance+=obj.distance\r\n                sum.position.x+=obj.point.x\r\n                sum.position.z+=obj.point.z\r\n                sum.position.y+=obj.point.y\r\n            }\r\n            \r\n            //if theres more than one value average the values\r\n            if(objectArr.length>1)\r\n                {\r\n                    sum.distance/=objectArr.length\r\n                    sum.position.x/=objectArr.length\r\n                    sum.position.y/=objectArr.length\r\n                    sum.position.z/=objectArr.length\r\n                }\r\n\r\n            //normalize the distance\r\n            sum.distance/=this.rayCaster.far\r\n        }\r\n        \r\n\r\n        //return the distance, else return null\r\n        return (sum.distance)?sum:null\r\n\r\n    }\r\n\r\n    \r\n    //#endregion\r\n\r\n    \r\n    //#region utils\r\n\r\n    /**\r\n     * converts the vertices of the pointsphere mesh to world space\r\n     * @returns [THREE.Vector3] array\r\n     */\r\n    toWorldVertices()\r\n    {\r\n        const positionAttribute = this.pointSphere.geometry.getAttribute( 'position' );\r\n        // console.log(positionAttribute)\r\n        const rotatedVerticies=[]\r\n        for(let i=0; i<positionAttribute.count;i++)\r\n            {\r\n                //[x]: ADD counter(toWorldVertices)\r\n                // this.counter('toWorldVertices')\r\n\r\n                const vertex = new THREE.Vector3();\r\n                vertex.fromBufferAttribute( positionAttribute, i );\r\n                this.pointSphere.localToWorld( vertex );\r\n                rotatedVerticies.push(vertex)\r\n                \r\n            }\r\n\r\n        \r\n        // this.timer('rotate')\r\n\r\n        return rotatedVerticies\r\n    }\r\n\r\n    /**\r\n     * Converts a THREE.Vector3 array to a Float32Array\r\n     * @param {*} arr \r\n     * @returns \r\n     */\r\n    toFloatArr(arr)\r\n    {\r\n        const floatArr= new Float32Array(arr.length*3)\r\n        arr.forEach((vec,i)=>\r\n        {\r\n            //[x]: ADD counter(toFloatArr)\r\n            // this.counter('toFloatArr')\r\n\r\n            const i3=i*3\r\n            floatArr[i3]=vec.x\r\n            floatArr[i3+1]=vec.y\r\n            floatArr[i3+2]=vec.z\r\n        })\r\n        return floatArr\r\n    }\r\n\r\n    /**\r\n     * Converts a Float32Array to a THREE.Vector3 array\r\n     * @param {*} arr \r\n     * @returns \r\n     */\r\n    toVec3Arr(arr)\r\n    {\r\n        \r\n        const vec3Arr=[]\r\n        for (let i = 0; i < arr.length/3; i++) {\r\n                //[x]: ADD counter(toVec3Arr)\r\n                // this.counter('toVec3Arr')\r\n\r\n                const i3=i*3\r\n                const vec= new THREE.Vector3(\r\n                    arr[i3],//x\r\n                    arr[i3+1],//y\r\n                    arr[i3+2]//z\r\n                )\r\n                // vec.normalize()\r\n                vec3Arr.push(vec)\r\n            \r\n        }\r\n        return vec3Arr\r\n    }\r\n    //#endregion\r\n}\r\n\r\n","import * as THREE from 'three'\r\nimport RaySphere from './RaySphere'\r\n\r\n\r\nexport default class \r\n{\r\n    constructor(environmentOctree)\r\n    {\r\n        this.environmentOctree= environmentOctree\r\n\r\n        this.raySphere= new RaySphere()\r\n\r\n        this.stagger= {count:0}\r\n\r\n    }\r\n\r\n\r\n    //  NOTE: it may be better to use the standard boid position array,instead of the vec3 arr\r\n\r\n    /**\r\n     * checks the environment to see if there are world objects within the boids vision\r\n     * \r\n     * @param {[THREE.Vector3]} boidPositions \r\n     * @returns {foundIntersections{boidindex,{distance,position}}} found intersections\r\n     */\r\n    #checkEnviroment(boidPositions,boidBoundingBox, iStart, iEnd)\r\n    {\r\n        if(iStart==null||iEnd==null)\r\n            {\r\n                iStart=0;\r\n                iEnd=boidPositions.length\r\n            }\r\n        \r\n        \r\n        //initialize return object\r\n        const foundIntersections={}\r\n        //loop through boidPositions\r\n        for(let i = iStart; i<iEnd; i++){\r\n\r\n            //finds environments objects that the boid intersects with\r\n            // [x] convert to bounding sphere check\r\n            let enviromentObjects=[]\r\n            if(boidBoundingBox)\r\n            {\r\n                const size= boidBoundingBox.max.clone()\r\n                \r\n                size.sub(boidBoundingBox.min)\r\n                // boidBoundingBox.getSize(size)\r\n                // console.log(boidBoundingBox,size)\r\n\r\n                const boundingBox= new THREE.Box3().setFromCenterAndSize(boidPositions[i].position,size)\r\n\r\n                // console.log(boundingBox)\r\n                enviromentObjects=this.environmentOctree.getObjects(boundingBox)\r\n            }\r\n            \r\n            let environmentIntersections\r\n            \r\n            //if there are intersections, cast the rays\r\n            if(enviromentObjects.length>0)\r\n            {\r\n                //rotate raySphere to match boid\r\n\r\n                const targets= this.raySphere.rotateTo(boidPositions[i])\r\n                \r\n                //cast rays on that sphere\r\n                \r\n                environmentIntersections = this.raySphere.castRays(targets,boidPositions[i].position, enviromentObjects)\r\n                \r\n            }\r\n            \r\n            //if there are intersections\r\n            if(environmentIntersections)\r\n                {\r\n                    //sets a new object in the found intersections obj\r\n                    // {currentIndex: {distance:k, position: { x,y,z}}}\r\n                    foundIntersections[i]=environmentIntersections\r\n                }\r\n            \r\n        }\r\n        \r\n        return foundIntersections\r\n    }\r\n\r\n    /**\r\n     * Performs the raycast check on surrounding environment objects.\r\n     * these checks are staggered to improve performance. \r\n     * the stagger parameter partitions the array into sections, only one section is checked per function call\r\n     * \r\n     * @param {*} boidPoistions array of three.js meshes \r\n     * @param {*} stagger the amount of partitions for the boidPositions. Keep to factor of the length of the array, no greater than length/2\r\n     * @returns \r\n     */\r\n    update(boidPoistions,boidBoundingBox, stagger)\r\n    {\r\n        //update the global stagger variable. \r\n        this.stagger.count++\r\n\r\n        //avoid any large number errors\r\n        if(this.stagger.count==10000){this.stagger.count=0}   \r\n\r\n        //instanciate the window length and the current Position within the cycle\r\n        const window= boidPoistions.length/stagger\r\n        const shift= this.stagger.count%stagger\r\n        \r\n        //instanciate the start and end indicies for the window\r\n        const iStart=window*shift\r\n        const iEnd=window*(shift+1)\r\n        \r\n        if(iStart%1!=0||iEnd%1!=0)\r\n        {\r\n            throw 'Boid Array length is not divisible by stagger'\r\n            //make sure that the stagger you use is a factor of the boidArray.length value\r\n        }\r\n\r\n        if(this.debug&&this.debug.showRays)\r\n        {\r\n            this.#debugUpdate(boidPoistions[0])\r\n        }\r\n\r\n        //check the environment based on the window\r\n        return this.#checkEnviroment(boidPoistions,boidBoundingBox,iStart,iEnd)\r\n    }\r\n\r\n    \r\n\r\n    /**\r\n     * sets up debug panel for raycasting.\r\n     * Includes:\r\n     * - Show/Hide ray targets\r\n     * - Tweak ray count\r\n     * - Tweak Ray angle\r\n     * - Tweak Ray Distance\r\n     * \r\n     * @param {*} gui lil-gui instance\r\n     * @param {*} scene three.js scene\r\n     */\r\n    setDebug(gui,scene,mainBoid)\r\n    {\r\n        this.debug={}\r\n        const folder= gui.addFolder('Environment Vision')\r\n        \r\n        this.#debugRays(folder,scene,mainBoid)\r\n        this.#debugTweakRays(folder,scene,mainBoid)\r\n    }\r\n\r\n    \r\n    #debugUpdate(boid)\r\n    {\r\n        this.debug.pointSphere.position.copy(boid.position)\r\n        // console.log(boid)\r\n        this.debug.pointSphere.quaternion.setFromRotationMatrix(boid.rotationMatrix)\r\n    }\r\n    \r\n    #debugRays(folder,scene,mainBoid)\r\n    {\r\n        this.debug.showRays=false\r\n