fix NullReferenceExceptions with focused boids during maximized play

during maximized play, focusing a Boid would cause NullReferenceExceptions as there was no active SceneView in the Unity Editor. Thus, without a SceneView, attempting to acquire one would return null. No test was done prior to acting on the Nullable return.

BUGS.md

@@ -0,0 +1,19 @@
+# bugs
+
+A list of frustrating or curious bugs.
+
+- DrawCircle Function Draw on Incorrect Axis
+    - For a long period of time, I couldn't figure out why my DrawCircle function was only drawing a straight line.
+    I reworked the code, looked online and did everything I could to get the function working before I gave up.
+    A day later, I switched from 2D mode to Freecam mode, and I finally saw it.
+    The circle was drew aligned on the incorrect axis, causing it to appear as a single line.
+    The fix was was just swapping one argument with the next. `(x, 0, y) -> (x, y, 0)`
+- OnCenteringVelocity applied at > 200x correct rate
+    - When I implemented `Time.deltaTime` based velocity calculations, I didn't correct the OnCenteringVelocity implementation.
+    This caused a strange behaviour that looked very similar to a incorrect boundary calculation.
+    I spent some time checking Boundary/Wrapping related code before I forgot it, as I hadn't modified it.
+    It didn't take that long, but I'm still surprised I caught it since the mistake is so small.
+    The error was that since the `Time.deltaTime` value is not multiplied (scaling the 1x multiplier down to 0.02x),
+    the velocity would speed it to an incredible speed for a single frame.
+    This would cause all edge wrapped boids to skip a certain distance to the center of the rectangle which looked like
+    an edge wrapping/boundary error.

Boids/Assembly-CSharp-Editor.csproj.DotSettings

@@ -0,0 +1,2 @@
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+	<s:Boolean x:Key="/Default/CodeInspection/NamespaceProvider/NamespaceFoldersToSkip/=assets_005Ceditor/@EntryIndexedValue">True</s:Boolean></wpf:ResourceDictionary>

Boids/Assets/Editor/BoidControllerEditor.cs

@@ -0,0 +1,70 @@
+using UnityEditor;
+using UnityEngine;
+
+[CustomEditor(typeof(BoidController))]
+public class BoidControllerEditor : UnityEditor.Editor {
+    public override void OnInspectorGUI() {
+        var controller = (BoidController) target;
+        bool redraw = false;
+
+        // Boid Count update
+        EditorGUI.BeginChangeCheck();
+        controller.boidCount = EditorGUILayout.IntSlider("Boid Count", controller.boidCount, 0, 500);
+        // Check must be performed or Boids will be added outside of gameplay
+        if (EditorGUI.EndChangeCheck() && Application.isPlaying) {
+            int diff = controller.boidCount - controller.boids.Count;
+            if (diff > 1)
+                controller.AddBoids(diff, controller.boids.Count > 15);
+            else if (diff < 0)
+                controller.RemoveBoids(Mathf.Abs(diff));
+        }
+
+        // Basic Boid Controller Attributes
+        EditorGUILayout.MinMaxSlider("Speed Limit", ref controller.minSpeed, ref controller.maxSpeed, 0.01f, 25f);
+        // controller.minSpeed = EditorGUILayout.Slider("Minimum Speed", controller.minSpeed, 0.01f, 25.0f);
+        // controller.maxSpeed = EditorGUILayout.Slider("Maximum Speed", controller.maxSpeed, 0.01f, 25.0f);
+        controller.boundaryForce = EditorGUILayout.Slider("Boundary Force", controller.boundaryForce, 0.25f, 500f);
+        controller.maxSteerForce = EditorGUILayout.Slider("Max Steer Force", controller.maxSteerForce, 1f, 500f);
+
+        EditorGUI.BeginChangeCheck();
+        controller.boidGroupRange = EditorGUILayout.Slider("Group Range", controller.boidGroupRange, 0.01f, 7.5f);
+        controller.boidSeparationRange =
+            EditorGUILayout.Slider("Separation Range", controller.boidSeparationRange, 0.01f, 5.0f);
+        controller.boidFov = EditorGUILayout.Slider("Boid FOV", controller.boidFov, 1f, 360f);
+        redraw = redraw || EditorGUI.EndChangeCheck();
+
+        // Boid Bias Attributes
+        controller.alignmentBias = EditorGUILayout.Slider("Alignment Bias", controller.alignmentBias, 0.001f, 1.5f);
+        controller.cohesionBias = EditorGUILayout.Slider("Cohesion Bias", controller.cohesionBias, 0.001f, 1.5f);
+        controller.separationBias =
+            EditorGUILayout.Slider("Separation Bias", controller.separationBias, 0.001f, 2.5f);
+        controller.boundaryBias = EditorGUILayout.Slider("Boundary Bias", controller.boundaryBias, 0.01f, 1.5f);
+
+        controller.localFlocks = EditorGUILayout.Toggle("Use Groups?", controller.localFlocks);
+        controller.edgeWrapping = EditorGUILayout.Toggle("Enable Wrapping?", controller.edgeWrapping);
+        controller.enableAlignment = EditorGUILayout.Toggle("Enable Alignment?", controller.enableAlignment);
+        controller.enableCohesion = EditorGUILayout.Toggle("Enable Cohesion?", controller.enableCohesion);
+        controller.enableSeparation = EditorGUILayout.Toggle("Enable Separation?", controller.enableSeparation);
+        
+        // Relevant to Focused Boid Rendering
+        EditorGUI.BeginChangeCheck();
+        controller.enableFovChecks = EditorGUILayout.Toggle("Enable FOV?", controller.enableFovChecks);
+        redraw = redraw || EditorGUI.EndChangeCheck();
+        
+        controller.enableBoundary = EditorGUILayout.Toggle("Enable Boundary?", controller.enableBoundary);
+        
+        // Focused Boid Rendering Attributes
+        EditorGUI.BeginChangeCheck();
+        ShapeDraw.CircleVertexCount = EditorGUILayout.IntSlider("Circle Vertex Count", ShapeDraw.CircleVertexCount, 4, 360);
+        ShapeDraw.ArcVertexCount = EditorGUILayout.IntSlider("Arc Vertex Count", ShapeDraw.ArcVertexCount + 2, 3, 360) - 2;
+        ShapeDraw.CircleWidth = EditorGUILayout.Slider("Circle Line Width", ShapeDraw.CircleWidth, 0.01f, 1f);
+        ShapeDraw.ArcWidth = EditorGUILayout.Slider("Arc Line Width", ShapeDraw.ArcWidth, 0.01f, 1f);
+        redraw = redraw || EditorGUI.EndChangeCheck();
+
+        // Inspector elements related to Boid Focusing have changed - redraw!
+        if (redraw && controller.focusedBoid != null)
+            controller.focusedBoid.Draw(true);
+
+        Time.timeScale = EditorGUILayout.Slider("Time Scale", Time.timeScale, 0.02f, 1f);
+    }
+}

Boids/Assets/Editor/BoidEditor.cs

@@ -0,0 +1,24 @@
+using UnityEditor;
+using UnityEngine;
+
+// [CustomEditor(typeof(Boid))]
+// public class BoidEditor : UnityEditor.Editor {
+//     public override void OnInspectorGUI() {
+//         base.OnInspectorGUI();
+//
+//         Boid boid = (Boid) target;
+//         GUILayout.Label($"Boid heading at ({boid.velocity.x}, {boid.velocity.y})");
+//     }
+// }
+
+public class BoidGizmoDrawer {
+    [DrawGizmo(GizmoType.NonSelected | GizmoType.Selected)]
+    static void DrawGizmo(Boid boid, GizmoType gizmoType) {
+        // Simply draw the # of Boids within the perceived flock
+        Handles.Label(boid.transform.position, $"{boid.transform.name}/{boid.latestNeighborhoodCount}");
+        
+        if(boid.isFocused)
+            foreach(Boid flockmate in boid.latestNeighborhood)
+                Handles.DrawDottedLine(boid.transform.position, flockmate.transform.position, 1f);
+    }
+}

Boids/Assets/Editor/BoidEditor.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: f4b27abbe35a49dd946d059c0ebe4cea
+timeCreated: 1590672982

Boids/Assets/Resources/Icons/banner.psd.meta

@@ -0,0 +1,90 @@
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Boids/Assets/Scenes/Project.unity

@@ -1252,25 +1252,26 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 7d72224fef7a4fb4a998b0980fe0eb77, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  boidCount: 153
-  boidGroupRange: 2.69
-  boidStartVelocity: 0.05
-  boidVelocityLimit: 0.3
+  boidCount: 244
+  boidGroupRange: 3.29
+  minSpeed: 9.225757
+  maxSpeed: 9.225757
   globalBias: 1
-  separationBias: 0.014
-  alignmentBias: 0.194
-  cohesionBias: 0.05
-  boundaryBias: 0.063
+  separationBias: 1.95
+  alignmentBias: 0.288
+  cohesionBias: 0.296
+  boundaryBias: 1.5
   enableSeparation: 1
   enableAlignment: 1
   enableCohesion: 1
   enableBoundary: 1
-  boidSeparationRange: 5
-  boundaryForce: 0.352
+  enableFovChecks: 1
+  boidSeparationRange: 1.4
+  boundaryForce: 50
   localFlocks: 1
   edgeWrapping: 1
-  circleVertexCount: 360
-  circleWidth: 0.1
+  maxSteerForce: 383
+  boidFov: 239
   focusedBoid: {fileID: 0}
   boidObject: {fileID: 1737515784064720040, guid: 23e1eaaf69d4ef342ac3ef9590f6c642,
     type: 3}
@@ -3522,7 +3523,7 @@ RectTransform:
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 1, y: 1}
   m_AnchorMax: {x: 1, y: 1}
-  m_AnchoredPosition: {x: -22.099976, y: -23.8}
+  m_AnchoredPosition: {x: -22.099976, y: -23.800049}
   m_SizeDelta: {x: 25, y: 25}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &945635207
@@ -4121,7 +4122,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1165952970}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: -2.3479285, y: -7.3538084, z: -1779.8757}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 0}

Boids/Assets/Scripts.meta

@@ -1,3 +1,3 @@
 fileFormatVersion: 2
-guid: b50106a18d564518ba59ebb42e02f619
-timeCreated: 1589861330
+guid: 5a23673acb15433ea9f977712582464f
+timeCreated: 1591398022

Boids/Assets/Scripts/AdjustmentsHandler.cs

@@ -81,7 +81,7 @@ public class AdjustmentsHandler : MonoBehaviour {
                 // Calculate diff, formally add/remove boids
                 int diff = controller.boidCount - controller.boids.Count;
                 if(diff > 0)
-                    controller.AddBoids(diff);
+                    controller.AddBoids(diff, controller.boidCount > 5);
                 else if(diff < 0)
                     controller.RemoveBoids(diff * -1);
                 

Boids/Assets/Scripts/Boid.cs

@@ -1,70 +1,111 @@
-using System;
-using System.Collections.Generic;
+using System.Collections.Generic;
 using System.Linq;
-using System.Runtime.CompilerServices;
 using UnityEngine;
-using Random = UnityEngine.Random;
 
-// Boids are represented by a moving, rotating triangle.
-// Boids should communicate with sibling Boids
 public class Boid : MonoBehaviour {
-    [NonSerialized] private Vector2 _position = Vector2.zero;
-    [NonSerialized] private Vector2 _velocity;
-    [NonSerialized] private bool _isWrappingX = false;
-    [NonSerialized] private bool _isWrappingY = false;
-    [NonSerialized] private Renderer[] _renderers;
-    [NonSerialized] private Vector2 _centeringVelocity;
-    [NonSerialized] private int _latestNeighborhoodCount = 0;
-    [NonSerialized] private BoidController _parent;
-    [NonSerialized] public bool isFocused = false;
+    // Basic Boid Physics Attributes
+    private Vector2 _position = Vector2.zero;
+    public Vector2 velocity;
+
+    // Wrapping related attributes
+    private bool _isWrappingX;
+    private bool _isWrappingY;
+    private Vector2 _centeringVelocity;
+
+    // Used for tracking Gizmo drawing
+    public int latestNeighborhoodCount = 0;
+    public List<Boid> latestNeighborhood;
+
+    // Parent Boid Controller
+    private BoidController _parent;
+
+    public bool isFocused; // Whether or not the current Boid is focused
+    private LineRenderer[] _lineRenderers; // Store LineRenderers used by Focused Boids
 
     private void Start() {
         _parent = transform.parent
             .GetComponent<BoidController>(); // Parent used to perform physics math without caching
-        _renderers = transform.GetComponents<Renderer>(); // Acquire Renderer(s) to check for Boid visibility
-        _velocity = Util.GetRandomVelocity(_parent.boidStartVelocity); // Acquire a Velocity Vector with a magnitude
+        velocity = Util.GetRandomVelocity(Random.Range(_parent.minSpeed, _parent.maxSpeed));
         _position = transform.position; // Track 2D position separately
         transform.name = $"Boid {transform.GetSiblingIndex()}"; // Name the Game Object so Boids can be tracked somewhat
     }
 
     private void Update() {
         // Updates the rotation of the object based on the Velocity
-        transform.rotation = Quaternion.Euler(0, 0, Mathf.Rad2Deg * -Mathf.Atan2(_velocity.x, _velocity.y));
+        transform.eulerAngles = new Vector3(0, 0, Mathf.Rad2Deg * -Mathf.Atan2(velocity.x, velocity.y));
 
         // Skip Flock Calculations if wrapping in progress
         if (_isWrappingX || _isWrappingY) {
             UpdateCenteringVelocity();
-            _position += _centeringVelocity;
+            _position += _centeringVelocity * Time.deltaTime;
             transform.position = _position;
         }
         else {
-            List<Boid> flock = _parent.localFlocks ? GetFlock(_parent.boids, _parent.boidGroupRange) : _parent.boids;
-            _latestNeighborhoodCount = flock.Count;
-
-            // Calculate all offsets and multiple by magnitudes given
-            if (flock.Count > 0) {
-                if (_parent.enableCohesion)
-                    _velocity += Rule1(flock) * _parent.cohesionBias;
-                if (_parent.enableSeparation)
-                    _velocity += Rule2(flock) * _parent.separationBias;
-                if (_parent.enableAlignment)
-                    _velocity += Rule3(flock) * _parent.alignmentBias;
-            }
-
-            if (_parent.enableBoundary && _parent.Boundary.Contains(_position))
-                _velocity += RuleBound() * _parent.boundaryBias;
-
-            // Limit the Velocity Vector to a certain Magnitude
-            _velocity = Util.MaxVelocity(_velocity, _parent.boidVelocityLimit);
-
-            _position += _velocity;
-            transform.position = new Vector3(_position.x, _position.y, 0);
+            velocity = GetVelocity();
+            _position += velocity * Time.deltaTime;
+            transform.position = _position;
         }
 
+        // Perform edge wrapping
         if (_parent.edgeWrapping)
             Wrapping();
     }
 
+    /// <summary>
+    /// Gets Velocity used to move Boid with all current rules and velocity
+    /// </summary>
+    /// <returns>new current Vector2 velocity</returns>
+    public Vector2 GetVelocity() {
+        // Find local neighborhood flock
+        Vector2 acceleration = Vector2.zero;
+        List<Boid> flock;
+
+        if (_parent.localFlocks)
+            flock = GetFlock(_parent.boids, _parent.boidGroupRange);
+        else
+            flock = _parent.boids;
+        
+        latestNeighborhoodCount = flock.Count;
+
+        // Only update latest neighborhood when we need it for focused boid Gizmo draws
+        if (isFocused)
+            latestNeighborhood = flock;
+
+        // Calculate all offsets and multiple by magnitudes given
+        if (flock.Count > 0) {
+            if (_parent.enableCohesion)
+                acceleration += SteerTowards(Rule1(flock)) * _parent.cohesionBias;
+            if (_parent.enableSeparation)
+                acceleration += SteerTowards(Rule2(flock)) * _parent.separationBias;
+            if (_parent.enableAlignment)
+                acceleration += SteerTowards(Rule3(flock)) * _parent.alignmentBias;
+        }
+
+        if (_parent.enableBoundary && !_parent.Boundary.Contains(_position)) {
+            acceleration += SteerTowards(RuleBound()) * _parent.boundaryBias;
+        }
+
+        // Limit the Velocity Vector to a certain Magnitude
+        Vector2 newVelocity = velocity +  acceleration * Time.deltaTime;
+        float speed = newVelocity.magnitude;
+        Vector2 dir = newVelocity / speed;
+        speed = Mathf.Clamp(speed, _parent.minSpeed, _parent.maxSpeed);
+        return dir * speed;
+    }
+
+    /// <summary>
+    /// Assists with clamping and normalizing a Vector2 force
+    /// </summary>
+    /// <param name="vector">Force Vector being applied by a rule</param>
+    /// <returns>Vector2 force to be applied</returns>
+    private Vector2 SteerTowards(Vector2 vector) {
+        Vector2 v = vector.normalized * _parent.maxSpeed - velocity;
+        return Vector2.ClampMagnitude(v, _parent.maxSteerForce);
+    }
+
+    /// <summary>
+    /// Runs edge wrapping logic for detecting and wrapping Boids
+    /// </summary>
     private void Wrapping() {
         if (!_parent.Space.Contains(_position)) {
             // Activate Wrap, Move
@@ -95,9 +136,9 @@ public class Boid : MonoBehaviour {
 
     // When Wrapping, this Velocity directs the Boid to the center of the Rectangle
     private void UpdateCenteringVelocity() {
-        _centeringVelocity = Util.RotateBy(new Vector2(_parent.boidVelocityLimit, _parent.boidVelocityLimit),
+        _centeringVelocity = Util.RotateBy(new Vector2(_parent.maxSpeed, _parent.maxSpeed),
             Vector2.Angle(_position, _parent.Space.center));
-        _centeringVelocity = Util.MaxVelocity(_parent.Space.center - _position, _parent.boidVelocityLimit / 2.0f);
+        _centeringVelocity = Util.MaxVelocity(_parent.Space.center - _position, _parent.maxSpeed / 2.0f);
     }
 
     // Cohesion: Steer towards center of mass of flock
@@ -128,9 +169,9 @@ public class Boid : MonoBehaviour {
 
         Vector2 perceived = Vector2.zero;
         foreach (Boid boid in flock)
-            perceived += boid._velocity;
+            perceived += boid.velocity;
         perceived /= flock.Count;
-        return (perceived - _velocity) / 8.0f;
+        return (perceived - velocity) / 8.0f;
     }
 
     // Asks Boids to stay within the Boundaries set
@@ -158,25 +199,52 @@ public class Boid : MonoBehaviour {
 
     // Returns a list of boids within a certain radius of the Boid, representing it's local 'flock'
     private List<Boid> GetFlock(List<Boid> boids, float radius) {
-        return boids.Where(boid => boid != this && Vector2.Distance(this._position, boid._position) <= radius).ToList();
+        List<Boid> flock = new List<Boid>();
+
+        foreach (Boid boid in boids) {
+            // Distance Check
+            if (boid == this || Vector2.Distance(this._position, boid._position) > radius)
+                continue;
+
+            // FOV Check
+            if (_parent.enableFovChecks) {
+                float angle1 = Util.Vector2ToAngle(velocity); // Current Heading
+                float angle2 =
+                    Util.AngleBetween(transform.position, boid.transform.position); // Angle between Boid and other Boid
+
+                // Outside of FOV range, skip
+                if (Mathf.Abs(Mathf.DeltaAngle(angle1, angle2)) > _parent.boidFov / 2)
+                    continue;
+            }
+
+            // Boid passed all checks, add to local Flock list
+            flock.Add(boid);
+        }
+
+        return flock;
     }
 
     // Sets up a Boid to be 'Focused', adds Circles around object and changes color
     public void EnableFocusing() {
         if (isFocused) {
-            Debug.LogWarning("enableFocusing called on previously focused Boid");
+            Debug.LogWarning($"enableFocusing called on previously focused Boid ({transform.name})");
             return;
         }
 
         isFocused = true;
 
+        // Create all LineRenderers
+        _lineRenderers = new LineRenderer[3];
+        _lineRenderers[0] = GetLineRenderer("Group Range");
+        _lineRenderers[1] = GetLineRenderer("Separation Range");
+        _lineRenderers[2] = GetLineRenderer("FOV Arc");
+
         // Update Mesh Material Color
         var triangle = transform.GetComponent<Triangle>();
         triangle.meshRenderer.material.color = Color.red;
 
-        // Add a LineRenderer for Radius Drawing
-        DrawCircle(_parent.boidSeparationRange, "Separation Range Circle");
-        DrawCircle(_parent.boidGroupRange, "Group Range Circle");
+        // Draw all focus related elements
+        Draw(false);
     }
 
     // Disable focusing, removing LineRenderers and resetting color
@@ -187,35 +255,82 @@ public class Boid : MonoBehaviour {
         var oldTriangle = transform.GetComponent<Triangle>();
         oldTriangle.meshRenderer.material.color = new Color32(49, 61, 178, 255);
 
+
         // Destroy Line Renderers (and child GameObjects)
-        foreach (Transform child in transform)
-            Destroy(child.gameObject);
+        for (int i = 0; i < _lineRenderers.Length; i++) {
+            _lineRenderers[i].positionCount = 0;
+            DestroyImmediate(_lineRenderers[i].gameObject);
+            _lineRenderers[i] = null;
+        }
     }
 
-    private void DrawCircle(float radius, string childName) {
-        // Create a new child GameObject to hold the LineRenderer Component
+    /// <summary>
+    /// returns a new LineRenderer component stored on a child GameObject.
+    /// </summary>
+    /// <param name="childName">The name of the associated child GameObject</param>
+    /// <returns>A LineRenderer</returns>
+    public LineRenderer GetLineRenderer(string childName) {
         var child = new GameObject(childName);
+        // Make object a child of Boid, set position as such
         child.transform.SetParent(transform);
         child.transform.position = transform.position;
-        var line = child.AddComponent<LineRenderer>();
+        // add and return LineRenderer component
+        return child.AddComponent<LineRenderer>();
+    }
 
-        _parent.circleVertexCount = 360;
+    /// <summary>
+    /// Draw (or re-draw) all lines corresponding to separation and group circles and FOV Arc
+    /// </summary>
+    /// <param name="redraw"><c>true</c> if draw operation should be treated as a re-draw</param>
+    public void Draw(bool redraw) {
+        // Clear positions when redrawing
+        if (redraw)
+            foreach (LineRenderer lineRenderer in _lineRenderers)
+                lineRenderer.positionCount = 0;
 
-        // Setup LineRenderer properties
-        line.useWorldSpace = false;
-        line.startWidth = _parent.circleWidth;
-        line.endWidth = _parent.circleWidth;
-        line.positionCount = _parent.circleVertexCount + 1;
+        // Add a LineRenderer for Radius Drawing
+        if (_parent.enableFovChecks)
+            ShapeDraw.DrawArc(_lineRenderers[2], _parent.boidFov, _parent.boidGroupRange); // FOV Arc
+        else
+            ShapeDraw.DrawCircle(_lineRenderers[0], _parent.boidGroupRange); // Group Circle
+        ShapeDraw.DrawCircle(_lineRenderers[1], _parent.boidSeparationRange); // Separation Circle
 
-        // Calculate points for circle
-        var pointCount = _parent.circleVertexCount + 1;
-        var points = new Vector3[pointCount];
-        for (int i = 0; i < pointCount; i++) {
-            var rad = Mathf.Deg2Rad * (i * 360f / _parent.circleVertexCount);
-            points[i] = new Vector3(Mathf.Sin(rad) * radius, Mathf.Cos(rad) * radius, 0);
+        if (_parent.enableFovChecks) {
+            // Set FOV Arc rotation to mimic Boid transform rotation
+            _lineRenderers[2].transform.rotation = transform.rotation;
+            _lineRenderers[2].transform.Rotate(0, 0, _parent.boidFov / 2f);
+        }
+    }
+
+    /// <summary>
+    /// Return a random position nearby a certain distance away
+    /// </summary>
+    /// <param name="distance">Vector2 position</param>
+    /// <returns></returns>
+    public Vector2 GetNearby(float distance) {
+        return _position + Util.RotateBy(new Vector2(distance, distance),
+            Random.Range(0f, 360f));
+    }
+
+    public Boid GetClosestBoid() {
+        if (_parent.boids.Count <= 1)
+            return null;
+        
+        Boid best = _parent.boids[0];
+        float curDistSqr = Mathf.Infinity;
+        
+        foreach (Boid potential in _parent.boids) {
+            if (potential == this)
+                continue;
+            
+            Vector2 diff = potential._position - _position;
+            var diffSqrMag = diff.sqrMagnitude;
+            if (diffSqrMag < curDistSqr) {
+                curDistSqr = diffSqrMag;
+                best = potential;
+            }
         }
 
-        // Add points to LineRenderer
-        line.SetPositions(points);
+        return best;
     }
 }

Boids/Assets/Scripts/BoidController.cs

@@ -1,57 +1,54 @@
 using System;
+using System.Collections;
 using System.Collections.Generic;
 using UnityEditor;
 using UnityEngine;
-using Debug = System.Diagnostics.Debug;
 using Random = UnityEngine.Random;
 
 public class BoidController : MonoBehaviour {
-    // Controller Attributes
-    [NonSerialized] public Rect Space;
-    [NonSerialized] public Rect Boundary;
 
+    // Manually managed/set
+    public GameObject boidObject; // Boid Object Prefab
+    
     // Swarm Attributes
-    public int boidCount = 50;
-    public float boidGroupRange = 1.0f;
-    public float boidStartVelocity = 0.005f;
-    [SerializeField] public float boidVelocityLimit = 1.0f;
+    public int boidCount = 250;
+    public float boidGroupRange = 3.3f;
+    public float minSpeed;
+    public float maxSpeed;
 
     // Boid Rules are multiplied by this to allow rule 'tweaking'
-    [SerializeField] public float globalBias = 1.0f;
-    [SerializeField] public float separationBias = 0.05f;
-    [SerializeField] public float alignmentBias = 0.05f;
-    [SerializeField] public float cohesionBias = 0.05f;
-    [SerializeField] public float boundaryBias = 1f;
+    public float globalBias = 1.0f;
+    public float separationBias = 2f;
+    public float alignmentBias = 0.288f;
+    public float cohesionBias = 0.3f;
+    public float boundaryBias = 1.5f;
 
     // Enable/Disable Boid Rules Altogether
-    [SerializeField] public bool enableSeparation = true;
-    [SerializeField] public bool enableAlignment = true;
-    [SerializeField] public bool enableCohesion = true;
-    [SerializeField] public bool enableBoundary = true;
+    public bool enableSeparation = true;
+    public bool enableAlignment = true;
+    public bool enableCohesion = true;
+    public bool enableBoundary = true;
+    public bool enableFovChecks = true;
 
-    [SerializeField] public float boidSeparationRange = 2.3f; // Boid Separation rule's activation distance
-    [SerializeField] public float boundaryForce = 10f; // The force applied when a Boid hits the boundary
-    [SerializeField] public bool localFlocks = true; // Calculate Local 'Neighborhood' for flocks?
-    [SerializeField] public bool edgeWrapping = true; // Enforce Edge Wrapping
-    [SerializeField] public int circleVertexCount = 40; // The number of vertices for circles displayed
-    [SerializeField] public float circleWidth = 0.1f; // Width of circle
+    public float boidSeparationRange = 1.4f; // Boid Separation rule's activation distance
+    public float boundaryForce = 50f; // The force applied when a Boid hits the boundary
+    public bool localFlocks = true; // Calculate Local 'Neighborhood' for flocks?
+    public bool edgeWrapping = true; // Enforce Edge Wrapping
+    public float maxSteerForce = 400f;
+    public float boidFov = 240;
 
-
-    public Boid focusedBoid; // A focused Boid has special rendering
-    public GameObject boidObject; // Boid Object Prefab
+    // Runtime Controller Attributes
     [NonSerialized] public List<Boid> boids = new List<Boid>(); // Boid Objects for Updates
+    [NonSerialized] public Rect Space;
+    [NonSerialized] public Rect Boundary;
     [NonSerialized] public Camera Cam; // Used for wrapping detection
+    public Boid focusedBoid; // A focused Boid has special rendering
 
     private void OnDrawGizmos() {
         // Draw a Wire Cube for the Rectangle Area
         Gizmos.DrawWireCube(Space.center, Space.size);
         Gizmos.DrawWireCube(Boundary.center, Boundary.size);
 
-#if UNITY_EDITOR
-        if (focusedBoid != null)
-            Handles.DrawWireDisc(focusedBoid.transform.position, Vector3.forward, boidGroupRange);
-#endif
-
         if (Cam == null)
             return;
 
@@ -71,38 +68,81 @@ public class BoidController : MonoBehaviour {
             if (focusedBoid != null)
                 focusedBoid.DisableFocusing();
 
+            // Pick a Boid randomly and enable focusing
             focusedBoid = boids[Random.Range(0, boids.Count)];
             focusedBoid.EnableFocusing();
         }
+        
+        // Focus on the boid in scene view when one is focused
+        #if UNITY_EDITOR
+        if(focusedBoid != null && SceneView.lastActiveSceneView != null)
+            SceneView.lastActiveSceneView.LookAtDirect(focusedBoid.transform.position, Quaternion.identity);
+        #endif
     }
 
     private void Start() {
+        SetupCamera();
+        AddBoids(boidCount);
+
+        StartCoroutine(LateStart());
+    }
+
+    private IEnumerator LateStart() {
+        yield return new WaitForSecondsRealtime(0.5f);
+
+        for (int i = 0; i < 100; i++) {
+            foreach (Boid boid in boids)
+                boid.velocity = boid.GetVelocity();
+        }
+    }
+
+    /// <summary>
+    /// Utility function for setting up Camera and Boundary related variables.
+    /// </summary>
+    private void SetupCamera() {
         // Setup Camera
         Cam = Camera.main;
 
+        // Assert that there is an active camera
+        Debug.Assert(Cam != null, nameof(Cam) + " != null");
+        
         // Size the Rectangle based on the Camera's Orthographic View
         float height = 2f * Cam.orthographicSize;
         var size = new Vector2(height * Cam.aspect, height);
         Space = new Rect((Vector2) transform.position - size / 2, size);
-        Boundary = new Rect(Vector2.zero, Space.size * 0.95f);
+        Boundary = new Rect(Vector2.zero, Space.size * 0.90f);
         Boundary.center = Space.center;
-
-        AddBoids(boidCount);
     }
 
-    public void AddBoids(int n) {
+    /// <summary>
+    /// Adds a number of boids.
+    /// </summary>
+    /// <param name="n">Number of Boids to add</param>
+    /// <param name="useNearby">Spawn Boids nearby each other</param>
+    public void AddBoids(int n, bool useNearby = false) {
+        // Skip if negative or zero
+        if (n <= 0)
+            return;
+        
         for (int i = 0; i < n; i++) {
             // Instantiate a Boid prefab within the boundaries randomly
-            Vector2 position = RandomPosition() * 0.95f;
-            GameObject boid = Instantiate(boidObject, position, Quaternion.identity);
+            Vector2 position = useNearby ? RandomNearbyPosition() : RandomPosition() * 0.90f;
+            GameObject boidGO = Instantiate(boidObject, position, Quaternion.identity);
 
             // Set parent, add Boid component to Boids list
-            boid.transform.parent = transform;
-            boids.Add(boid.GetComponent<Boid>());
+            boidGO.transform.parent = transform;
+            var boid = boidGO.GetComponent<Boid>();
+            
+            boids.Add(boid);
         }
     }
 
+    /// <summary>
+    /// Removes a number of boids.
+    /// </summary>
+    /// <param name="n">Number of Boids to Remove</param>
     public void RemoveBoids(int n) {
+        // If there are still Boids to remove and the number left to remove is more than 1 (post-decrementing)
         while (n-- > 0 && boids.Count >= 1) {
             int index = Random.Range(0, boids.Count - 1);
 
@@ -117,15 +157,47 @@ public class BoidController : MonoBehaviour {
         }
     }
 
+    /// <summary>
+    /// Remove a Boid at a specific index in the Boids array.
+    /// </summary>
+    /// <param name="index"></param>
     private void RemoveBoid(int index) {
         Boid boid = boids[index];
         boids.RemoveAt(index);
         Destroy(boid.transform.gameObject);
     }
 
+    /// <summary>
+    /// Returns a random valid Boid position
+    /// </summary>
+    /// <returns>A Vector2 position within the Boid boundary area</returns>
     private Vector2 RandomPosition() {
         return new Vector2(
             Random.Range(-Boundary.size.x, Boundary.size.x) / 2,
             Random.Range(-Boundary.size.y, Boundary.size.y) / 2);
     }
+
+    /// <summary>
+    /// Returns a random valid position near a Boid
+    /// </summary>
+    /// <returns>A Vector2 position within the set boundaries</returns>
+    private Vector2 RandomNearbyPosition(int maxRetries = 5) { 
+        for (int i = 0; i < maxRetries; i++) {
+            Vector2 possible = RandomBoid().GetNearby(boidSeparationRange);
+            if (Boundary.Contains(possible))
+                return possible;
+        }
+
+        // if MaxRetries exceeded, fall back to RandomPosition()
+        Debug.Log($"{maxRetries} retries failed, falling back to RandomPosition");
+        return RandomPosition();
+    }
+
+    /// <summary>
+    /// Returns a random Boid
+    /// </summary>
+    /// <returns></returns>
+    public Boid RandomBoid() {
+        return boids[Random.Range(0, boids.Count - 1)];
+    }
 }

Boids/Assets/Scripts/BoidControllerEditor.cs

@@ -1,48 +0,0 @@
-#if UNITY_EDITOR
-using UnityEditor;
-using UnityEngine;
-
-[CustomEditor(typeof(BoidController))]
-public class BoidControllerEditor : Editor {
-    public override void OnInspectorGUI() {
-        var controller = (BoidController) target;
-        
-        // Boid Count update
-        EditorGUI.BeginChangeCheck();
-        controller.boidCount = EditorGUILayout.IntSlider("Boid Count", controller.boidCount, 1, 500);
-        // Check must be performed or Boids will be added outside of gameplay
-        if (EditorGUI.EndChangeCheck() && Application.isPlaying) {
-            int diff = controller.boidCount - controller.boids.Count;
-            if (diff > 1)
-                controller.AddBoids(diff);
-            else if (diff < 0)
-                controller.RemoveBoids(Mathf.Abs(diff));
-        }
-
-        // Basic Boid Controller Attributes
-        controller.boidGroupRange = EditorGUILayout.Slider("Group Range", controller.boidGroupRange, 0.01f, 7.5f);
-        controller.boidStartVelocity = EditorGUILayout.Slider("Start Velocity", controller.boidStartVelocity, 0.01f, 5.0f);
-        controller.boidVelocityLimit = EditorGUILayout.Slider("Max Velocity", controller.boidVelocityLimit, 0.01f, 5.0f);
-        controller.boidSeparationRange = EditorGUILayout.Slider("Separation Range", controller.boidSeparationRange, 0.01f, 5.0f);
-        controller.boundaryForce = EditorGUILayout.Slider("Boundary Force", controller.boundaryForce, 0.25f, 1f);
-        
-        // Boid Bias Attributes
-        controller.alignmentBias = EditorGUILayout.Slider("Alignment Bias", controller.alignmentBias, 0.001f, 0.5f);
-        controller.cohesionBias = EditorGUILayout.Slider("Cohesion Bias", controller.cohesionBias, 0.001f, 0.5f);
-        controller.separationBias = EditorGUILayout.Slider("Separation Bias", controller.separationBias, 0.001f, 0.5f);
-        controller.boundaryBias = EditorGUILayout.Slider("Boundary Bias", controller.boundaryBias, 0.01f, 0.5f);
-
-        controller.localFlocks = EditorGUILayout.Toggle("Use Groups?", controller.localFlocks);
-        controller.edgeWrapping = EditorGUILayout.Toggle("Enforce Wrapping?", controller.edgeWrapping);
-
-        controller.enableAlignment = EditorGUILayout.Toggle("Enable Alignment?", controller.enableAlignment);
-        controller.enableCohesion = EditorGUILayout.Toggle("Enable Cohesion?", controller.enableCohesion);
-        controller.enableSeparation = EditorGUILayout.Toggle("Enable Separation?", controller.enableSeparation);
-        controller.enableBoundary = EditorGUILayout.Toggle("Enable Boundary?", controller.enableBoundary);
-
-        // Boid Rendering
-        controller.circleVertexCount = EditorGUILayout.IntSlider("Circle Vertex Count", controller.circleVertexCount, 4, 360);
-        controller.circleWidth = EditorGUILayout.Slider("Circle Line Width", controller.circleWidth, 0.01f, 1f);
-    }
-}
-#endif

Boids/Assets/Scripts/ShapeDraw.cs

@@ -0,0 +1,70 @@
+using UnityEngine;
+
+/// <summary>
+/// A simple static utility class that assists with drawing shapes using the <c>LineRenderer</c> class.
+/// </summary>
+public static class ShapeDraw {
+    // Line width of the Circle and Arc
+    public static float CircleWidth = 0.1f;
+    public static float ArcWidth = 0.1f;
+    // Vertex count for Circle and Arc - the precision or detail level the curves have
+    // Low vertex counts are mostly unnoticeable until < 30 vertexes, where eventually squares and triangles appear
+    public static int CircleVertexCount = 180;
+    public static int ArcVertexCount = 90;
+
+    /// <summary>
+    /// Draw a Arc aimed straight up with a certain angle width and radius.
+    /// This Arc is not direct at any specific angle and start from 0 degrees and ends at <c>angle</c> degrees.
+    /// You should rotate the <c>LineRenderer</c> to direct it at a specific point.
+    /// </summary>
+    /// <param name="lineRenderer">The LineRenderer to draw the Arc upon.</param>
+    /// <param name="angle">Angle (width) of the Arc</param>
+    /// <param name="radius">Radius of the Arc</param>
+    public static void DrawArc(LineRenderer lineRenderer, float angle, float radius) {
+        // Setup LineRenderer properties
+        lineRenderer.useWorldSpace = false;
+        lineRenderer.startWidth = ArcWidth;
+        lineRenderer.endWidth = ArcWidth;
+        lineRenderer.positionCount = ArcVertexCount + 1 + 2;
+
+        // Calculate points for circle
+        var pointCount = ArcVertexCount + 1;
+        var points = new Vector3[pointCount + 2];
+        
+        // Generate all points
+        for (int i = 0; i < pointCount; i++) {
+            var rad = Mathf.Deg2Rad * Mathf.Lerp(0, angle, (float) i / pointCount);
+            points[i + 1] = new Vector3(Mathf.Sin(rad), Mathf.Cos(rad), 0) * radius;
+        }
+
+        points[0] = new Vector3(0, 0, 0);
+        points[points.Length - 1] = points[0];
+
+        // Add points to LineRenderer
+        lineRenderer.SetPositions(points);
+    }
+
+    /// <summary>
+    /// Draw a Circle with a specific radius and number of vertexes (detail level)
+    /// </summary>
+    /// <param name="lineRenderer">The LineRenderer to draw the Circle upon</param>
+    /// <param name="radius">Radius of the Circle</param>
+    public static void DrawCircle(LineRenderer lineRenderer, float radius) {
+        // Setup LineRenderer properties
+        lineRenderer.useWorldSpace = false;
+        lineRenderer.startWidth = CircleWidth;
+        lineRenderer.endWidth = CircleWidth;
+        lineRenderer.positionCount = CircleVertexCount + 1;
+
+        // Calculate points for circle
+        var pointCount = CircleVertexCount + 1;
+        var points = new Vector3[pointCount];
+        for (int i = 0; i < pointCount; i++) {
+            var rad = Mathf.Deg2Rad * (i * 360f / CircleVertexCount);
+            points[i] = new Vector3(Mathf.Sin(rad) * radius, Mathf.Cos(rad) * radius, 0);
+        }
+
+        // Add points to LineRenderer
+        lineRenderer.SetPositions(points);
+    }
+}

Boids/Assets/Scripts/ShapeDraw.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 09004a14b18b4662898d7e1cc0bc6f24
+timeCreated: 1591398023

Boids/Assets/Scripts/UIController.cs

@@ -76,8 +76,8 @@ public class UIController : MonoBehaviour {
 
     private void Start() {
         // Set Target Application Framerate
-        Application.targetFrameRate = 90;
-        
+        // Application.targetFrameRate = 90;
+
         // Basic variable setup
         _currentUI = UIStance.Title;
         _scaler = canvas.GetComponent<CanvasScaler>();
@@ -116,7 +116,15 @@ public class UIController : MonoBehaviour {
     private void Update() {
         // on Escape key, attempts to change UI stance to the Title Screen
         if (Input.GetKeyDown(KeyCode.Escape))
-            ChangeStance(UIStance.Title);
+            if (_currentUI == UIStance.PlayHidden)
+                ChangeStance(UIStance.PlayAdjust);
+            else
+                ChangeStance(UIStance.Title);
+        else if (Input.GetKeyDown(KeyCode.LeftAlt))
+            if (_currentUI == UIStance.PlayAdjust)
+                ChangeStance(UIStance.PlayHidden);
+            else if (_currentUI == UIStance.PlayHidden)
+                ChangeStance(UIStance.PlayAdjust);
     }
 
     /// <summary>
@@ -170,12 +178,12 @@ public class UIController : MonoBehaviour {
                     ShowBoidsTitle(true);
             }
         }
-        // Settings/About/Play -> Title
+        // Settings/About/PlayAdjust -> Title
         else if (stance == UIStance.Title) {
             MoveElements(UIGroup.TitleScreen, false);
             if (_currentUI == UIStance.PlayAdjust) {
                 MoveElements(UIGroup.AdjustmentsScreen, true);
-                if(!showBoidsOnTitleToggle.isOn)
+                if (!showBoidsOnTitleToggle.isOn)
                     ShowBoidsTitle(false);
             }
             else if (_currentUI == UIStance.Settings)
@@ -183,6 +191,14 @@ public class UIController : MonoBehaviour {
             else if (_currentUI == UIStance.About)
                 MoveElements(UIGroup.AboutScreen, true);
         }
+        // PlayAdjust -> PlayHidden
+        else if (stance == UIStance.PlayHidden && _currentUI == UIStance.PlayAdjust) {
+            MoveElements(UIGroup.AdjustmentsScreen, true);
+        }
+        // PlayHidden -> PlayAdjust
+        else if (stance == UIStance.PlayAdjust && _currentUI == UIStance.PlayHidden) {
+            MoveElements(UIGroup.AdjustmentsScreen, false);
+        }
 
         _currentUI = stance;
     }
@@ -219,8 +235,8 @@ public class UIController : MonoBehaviour {
                 GameObject adjPanelGo;
                 LeanTween
                     .move((adjPanelGo = adjPanel.gameObject),
-                        adjPanelGo.transform.position + _adjustmentsDiff * (away ? 1 : -1), 1.15f)
-                    .setDelay(away ? 0f : 0.15f)
+                        adjPanelGo.transform.position + _adjustmentsDiff * (away ? 1 : -1), away ? 0.9f : 1.15f)
+                    .setDelay(away ? 0f : 0.05f)
                     .setEase(LeanTweenType.easeInOutCubic)
                     .setOnComplete(StartTween());
                 break;
@@ -245,7 +261,7 @@ public class UIController : MonoBehaviour {
 
     private void ShowBoidsTitle(bool active) {
         ShowBoids(active);
-        
+
         // Works somewhat close to what is needed, but needs a fix.
         // if (!active) {
         //     print("Fading out");
@@ -262,7 +278,7 @@ public class UIController : MonoBehaviour {
     }
 
     private void ShowBoids(bool show) {
-        foreach(MeshRenderer meshRenderer in boidController.gameObject.GetComponentsInChildren<MeshRenderer>())
+        foreach (MeshRenderer meshRenderer in boidController.gameObject.GetComponentsInChildren<MeshRenderer>())
             meshRenderer.enabled = show;
     }
 }

Boids/Assets/Scripts/Util.cs

@@ -6,13 +6,13 @@ public class Util {
         var sa = Mathf.Sin(a);
         var rx = v.x * ca - v.y * sa;
 
-        return new Vector2((float) rx, (float) (v.x * sa + v.y * ca));
+        return new Vector2(rx, v.x * sa + v.y * ca);
     }
 
     // Returns a velocity (Vector2) at a random angle with a specific overall magnitude
     public static Vector2 GetRandomVelocity(float magnitude) {
         var vector = new Vector2(magnitude, magnitude);
-        return Util.RotateBy(vector, Random.Range(0, 180));
+        return RotateBy(vector, Random.Range(0, 180));
     }
 
     public static Vector2 MaxVelocity(Vector2 v, float max) {
@@ -27,24 +27,25 @@ public class Util {
         return v;
     }
 
-    public static Vector2 AbsVector(Vector2 vector) {
-        return new Vector2(vector.x, vector.y);
+    public static float Vector2ToAngle(Vector2 velocity) {
+        float result = Mathf.Rad2Deg * Mathf.Atan2(velocity.y, velocity.x);
+        return (result < 0) ? (360f + result) : result;
     }
-}
 
-public class Scale {
-    private Vector2 _original;
-    private Vector2 _new;
-    private Vector2 _ratio;
+    public static float AngleBetween(Vector2 from, Vector2 to) {
+        Vector2 diff = to - from;
+        float result = Mathf.Rad2Deg * Mathf.Atan2(diff.y, diff.x);
+        return (result < 0) ? (360f + result) : result;
+    }
 
-    public float X => _ratio.x;
-    public float Y => _ratio.y;
+    public static float AngleDifference(float angle1, float angle2) {
+        return Mathf.Abs((angle1 > 180 ? 360 - angle1 : angle1) - (angle2 > 180 ? 360 - angle2 : angle2));
+    }
 
-    public Scale(Vector2 original, Canvas canvas) : this(original, canvas.pixelRect.size) { }
-
-    public Scale(Vector2 original, Vector2 resized) {
-        _original = original;
-        _new = resized;
-        _ratio = _original / _new;
+    public static float AddAngle(float angle, float add) {
+        float result = angle + add;
+        if (result > 360) return result - 360;
+        if (result < 0) return 360 + result;
+        return result;
     }
 }

Boids/ProjectSettings/GraphicsSettings.asset

@@ -34,7 +34,6 @@ GraphicsSettings:
   - {fileID: 16000, guid: 0000000000000000f000000000000000, type: 0}
   - {fileID: 16001, guid: 0000000000000000f000000000000000, type: 0}
   - {fileID: 17000, guid: 0000000000000000f000000000000000, type: 0}
-  - {fileID: 16002, guid: 0000000000000000f000000000000000, type: 0}
   m_PreloadedShaders: []
   m_SpritesDefaultMaterial: {fileID: 10754, guid: 0000000000000000f000000000000000,
     type: 0}