start with swarm units

assets/spider/result.gltf.import

@@ -0,0 +1,53 @@
+[remap]
+
+importer="scene"
+importer_version=1
+type="PackedScene"
+uid="uid://bcsjr6kydgdqy"
+path="res://.godot/imported/result.gltf-fa6e7d401ecc486ebc1efbad267cda09.scn"
+
+[deps]
+
+source_file="res://assets/spider/result.gltf"
+dest_files=["res://.godot/imported/result.gltf-fa6e7d401ecc486ebc1efbad267cda09.scn"]
+
+[params]
+
+nodes/root_type=""
+nodes/root_name=""
+nodes/apply_root_scale=true
+nodes/root_scale=1.0
+nodes/import_as_skeleton_bones=false
+meshes/ensure_tangents=true
+meshes/generate_lods=true
+meshes/create_shadow_meshes=true
+meshes/light_baking=1
+meshes/lightmap_texel_size=0.2
+meshes/force_disable_compression=false
+skins/use_named_skins=true
+animation/import=true
+animation/fps=30
+animation/trimming=false
+animation/remove_immutable_tracks=true
+animation/import_rest_as_RESET=false
+import_script/path=""
+_subresources={
+"meshes": {
+"result_Cube": {
+"generate/lightmap_uv": 0,
+"generate/lods": 0,
+"generate/shadow_meshes": 1,
+"lods/normal_merge_angle": 60.0,
+"lods/normal_split_angle": 25.0,
+"save_to_file/enabled": true,
+"save_to_file/path": "res://assets/spider/spider_mesh.res"
+}
+},
+"nodes": {
+"PATH:RootNode/SpiderArmature/Skeleton3D": {
+"rest_pose/external_animation_library": null
+}
+}
+}
+gltf/naming_version=1
+gltf/embedded_image_handling=1

experimente/felox/player.gd

@@ -17,6 +17,9 @@ var not_dead := true
 @export_multiline var death_message : Array[String]
 #@onready var color_rect: ColorRect = $CanvasLayer/ColorRect
 
+func _process(delta: float) -> void:
+	DebugDraw3D.draw_sphere(position, .5)
+
 func handle_dying():
 	not_dead = false
 	#weapon_slot_2.queue_free()

scripts/helper/color_helper.gd

@@ -0,0 +1,7 @@
+extends Resource
+class_name ColorHelper
+
+static func get_direction_color(direction: Vector3) -> Color:
+	var angle = atan2(direction.z, direction.x)
+	var hue = (angle / (2.0 * PI)) + 0.5
+	return Color.from_hsv(hue, 1.0, 1.0)

swarm_engine/collision_projection/.gitkeep

@@ -1 +0,0 @@
-

swarm_engine/flow_field_navigation/flow_field_cell.gd

@@ -1,11 +0,0 @@
-extends Resource
-class_name FlowFieldCell
-
-var position:Vector3 = Vector3(0.0, 0.0, 0.0)
-var flow_direction:Vector3 = Vector3(randf(), 0.0, randf())
-
-func debug_process() -> void:
-	if flow_direction.length() > 0.0:
-		DebugDraw3D.draw_arrow(position, position + flow_direction, Color(1,1,1,1), 0.1)
-	else:
-		DebugDraw3D.draw_sphere(position, .05)

swarm_engine/flow_field_navigation/flow_field_compute.glsl

@@ -0,0 +1,34 @@
+#[compute]
+
+#version 450
+
+// Speicher für FlowField-Daten
+layout(std430, set = 0, binding = 0) buffer FlowFieldBuffer {
+    vec2 flow_field[];
+};
+
+// Zielposition und Grid-Daten
+layout(push_constant) uniform Params {
+    vec2 target_pos;
+    float cell_size;
+    int grid_size_x;
+    int grid_size_z;
+};
+
+void main(){
+    uint x = gl_GlobalInvocationID.x;
+    uint z = gl_GlobalInvocationID.y;
+
+    if (x >= grid_size_x || z >= grid_size_z) return;
+
+    int index = int(z * grid_size_x + x);
+
+    // Zellzentrum berechnen
+    vec2 cell_center = vec2(x, z) * cell_size + vec2(cell_size * 0.5);
+
+    // Richtung zum Ziel berechnen
+    vec2 direction = normalize(target_pos - cell_center);
+
+    // Ergebnis in FlowField speichern
+    flow_field[index] = direction;
+}

swarm_engine/flow_field_navigation/flow_field_compute.glsl.import

@@ -0,0 +1,14 @@
+[remap]
+
+importer="glsl"
+type="RDShaderFile"
+uid="uid://bf4mkjohkqpox"
+path="res://.godot/imported/flow_field_compute.glsl-51e5023d4249c63dbf26c3aa62523e13.res"
+
+[deps]
+
+source_file="res://swarm_engine/flow_field_navigation/flow_field_compute.glsl"
+dest_files=["res://.godot/imported/flow_field_compute.glsl-51e5023d4249c63dbf26c3aa62523e13.res"]
+
+[params]
+

swarm_engine/flow_field_navigation/flow_field_navigation.gd

@@ -1,71 +1,234 @@
 extends Node3D
+class_name FlowFieldNav
 
-@export_group("Debug")
-@export var debugVisu: bool = true
-@export var line_color: Color = Color(1, 1, 1, 1)
+# https://docs.godotengine.org/cs/4.x/tutorials/shaders/compute_shaders.html#create-a-local-renderingdevice
+# Das Updaten der flow richtung kann auf der grafikkarte gemacht werden mit compute shader
 
-@export_group("Grid")
-@export var grid_size: int = 10
+@export_category("Debug Visualization")
+@export_group("Grid Center")
+@export var show_grid_center: bool = false
+@export_color_no_alpha var grid_center_color: Color = Color(1, 1, 1, 1)
+@export var grid_center_size: float = 0.5
+@export_group("Border")
+@export var show_border: bool = false
+@export_color_no_alpha var border_color: Color = Color(1, 1, 1, 1)
+@export_group("Cells")
+@export_subgroup("X Lines")
+@export var show_x_lines: bool = false
+@export_color_no_alpha var x_lines_color: Color = Color(1, 1, 1)
+@export_subgroup("Z Lines")
+@export var show_z_lines: bool = false
+@export_color_no_alpha var z_lines_color: Color = Color(1, 1, 1)
+@export_group("Arrows")
+@export var show_arrows: bool = false
+@export var arrows_size: float = 0.1
+@export_color_no_alpha var cell_center_color: Color = Color(1, 1, 1)
+@export var cell_center_size: float = 0.2
+
+@export_category("Grid")
 @export var cell_size: float = 1.0
+@export_group("Grid Size", "grid_size_")
+@export var grid_size_x: int = 2
+@export var grid_size_z: int = 5
 
-var _cells: Dictionary
-var grid_offset: Vector3
+
+@export var target: Node3D = null
+var flow_direction_list: Array[Vector2] = []
+
+
+var half_size_x: float
+var half_size_z: float
+
+var rd: RenderingDevice
+var shader: RID
+var pipeline: RID
+var flow_field_buffer: RID
+var flow_field_data: PackedVector2Array
 
 func _ready() -> void:
-	var half_size = (grid_size * cell_size) * 0.5
-	grid_offset = Vector3(-half_size + (cell_size * 0.5), 0, -half_size + (cell_size * 0.5))
-	create_grid()
+	#var rendering_device := RenderingServer.create_local_rendering_device()
+	#var shader_file := load("res://swarm_engine/flow_field_navigation/flow_field_compute.glsl")
+	#var shader_spirv: RDShaderSPIRV = shader_file.get_spirv()
+	#var shader_RID := rendering_device.shader_create_from_spirv(shader_spirv)
+	#
+	#var center_array: PackedVector3Array
+	#for x in range(grid_size_x):
+		#for z in range(grid_size_z):
+			#center_array.append(_get_cell_center_with_coordinates(x,z))
+#
+	#var center_byte_array = center_array.to_byte_array()
+	#var storage_buffer_RID = rendering_device.storage_buffer_create(center_byte_array.size(), center_byte_array)
+	#
+	#var uniform := RDUniform.new()
+	#uniform.uniform_type = RenderingDevice.UNIFORM_TYPE_STORAGE_BUFFER
+	#uniform.binding = 0
+	#uniform.add_id(storage_buffer_RID)
+	#var uniform_set_RID := rendering_device.uniform_set_create([uniform], shader_RID, 0)
+	#
+	#var pipeline_RID := rendering_device.compute_pipeline_create(shader_RID)
+	#var compute_list_id := rendering_device.compute_list_begin()
+	#
+	#rendering_device.compute_list_bind_compute_pipeline(compute_list_id, pipeline_RID)
+	#rendering_device.compute_list_bind_uniform_set(compute_list_id, uniform_set_RID, 0)
+	#rendering_device.compute_list_dispatch(compute_list_id, 1, 1, 1)
+	#rendering_device.compute_list_end()
+	#rendering_device.submit()
 	
-func create_grid() -> void:
-	_cells.clear()
-	for x in range(grid_size):
-		for z in range(grid_size):
-			var cell = FlowFieldCell.new()
-			var world_x = x * cell_size + grid_offset.x
-			var world_z = z * cell_size + grid_offset.z
-			cell.position = Vector3(world_x, 0, world_z)
-			_cells[Vector3(x, 0, z)] = cell  # Dictionary mit Grid-Koordinaten als Key
+	#rd = RenderingServer.get_rendering_device()
+#
+	## Compute Shader laden
+	#var shader_file = load("res://swarm_engine/flow_field_navigation/flow_field_compute.glsl")
+	#shader = rd.shader_create_from_spirv(shader_file.get_spirv())
+	#pipeline = rd.compute_pipeline_create(shader)
+#
+	## Speicher für FlowField erstellen
+	#var buffer_size = grid_size_x * grid_size_z * 8  # Vector2 -> 2 floats = 8 Bytes pro Eintrag
+	#flow_field_buffer = rd.storage_buffer_create(buffer_size)
+	#flow_field_data.resize(grid_size_x * grid_size_z)
+	#
 	
+	for x in range(grid_size_x):
+		for z in range(grid_size_z):
+			flow_direction_list.append(Vector2(0.0, 0.0))
+	half_size_x = (grid_size_x * cell_size) * 0.5
+	half_size_z = (grid_size_z * cell_size) * 0.5
 
 func _process(delta: float) -> void:
-	if debugVisu:
-		_debug_draw_grid()
-		for cell in _cells.values():
-			cell.debug_process()
 
-func _debug_draw_grid() -> void:
-	for x in range(grid_size + 1):
-		var pos_x = x * cell_size + grid_offset.x - (cell_size * 0.5)
-		DebugDraw3D.draw_line(Vector3(pos_x, 0, grid_offset.z - (cell_size * 0.5)), Vector3(pos_x, 0, grid_offset.z + grid_size * cell_size - (cell_size * 0.5)), line_color)
+	#_update_gpu_flow_field()
+	_update_flow_field()
+	_draw_debug()
 
-	for z in range(grid_size + 1):
-		var pos_z = z * cell_size + grid_offset.z - (cell_size * 0.5)
-		DebugDraw3D.draw_line(Vector3(grid_offset.x - (cell_size * 0.5), 0, pos_z), Vector3(grid_offset.x + grid_size * cell_size - (cell_size * 0.5), 0, pos_z), line_color)
+func _update_gpu_flow_field():
+	if not target:
+		return
+
+	# Push-Constants für Shader setzen
+	var push_constants = PackedByteArray()
+	push_constants.append_array(PackedByteArray([
+		target.position.x,
+		target.position.z,
+		cell_size,
+		float(grid_size_x),
+		float(grid_size_z)
+	]))
+
+	# GPU Command erstellen
+	var compute_list = rd.compute_list_begin()
+	rd.compute_list_bind_compute_pipeline(compute_list, pipeline)
+	rd.compute_list_bind_storage_buffer(compute_list, flow_field_buffer, 0, 0)
+	rd.compute_list_set_push_constant(compute_list, push_constants, 0)
+	rd.compute_list_dispatch(compute_list, grid_size_x, grid_size_z, 1)
+	rd.compute_list_end()
+
+	# GPU Berechnung starten
+	rd.submit()
+	rd.sync()
+
+	# Daten von der GPU zurückholen
+	var buffer_data = rd.buffer_get_data(flow_field_buffer)
+	var output = buffer_data.to_float32_array()
+
+	# 2D-Array für FlowField initialisieren
+	flow_direction_list = []  
+	for x in range(grid_size_x):
+		flow_direction_list.append([])  # Erstellt leere Arrays für jede X-Spalte
+
+	# Konvertiere die 1D-GPU-Daten in ein 2D-Array
+	for z in range(grid_size_z):
+		for x in range(grid_size_x):
+			var index = (z * grid_size_x + x) * 2  # 2 Floats pro Vector2
+			var flow_vector = Vector2(output[index], output[index + 1])
+			flow_direction_list[index] = flow_vector
+
+func _update_flow_field():
+	if target != null:
+		for x in range(grid_size_x):
+			for z in range(grid_size_z):
+				var index = z * grid_size_x + x
+				var flow_direction = (target.position - _get_cell_center_with_coordinates(x,z)).normalized() * (cell_size/2)
+				flow_direction_list[index] = Vector2(flow_direction.x, flow_direction.z)
+		var target_index = _get_index_from_position(target.position)
+		flow_direction_list[target_index] = Vector2(0, 0)
 
 
-# Gibt die Zelle basierend auf einer Weltposition zurück
-func get_cell_from_pos(world_pos: Vector3) -> FlowFieldCell:
-	var grid_x = int((world_pos.x - grid_offset.x) / cell_size)
-	var grid_z = int((world_pos.z - grid_offset.z) / cell_size)
-	var cell_pos = Vector3(grid_x, 0, grid_z)
+func _draw_debug():
+	if show_grid_center:
+		DebugDraw3D.draw_sphere(position, grid_center_size, grid_center_color)
+	if show_border:
+		_draw_border()
 	
-	return _cells.get(cell_pos, null)
+	if show_x_lines:
+		_draw_x_lines()
 	
+	if show_z_lines:
+		_draw_z_lines()
 
-# Raycast zur Bestimmung der Zelle unter dem Mauszeiger
-func _input(event):
-	if event is InputEventMouseButton and event.pressed:
-		var camera = get_viewport().get_camera_3d()
-		var from = camera.project_ray_origin(get_viewport().get_mouse_position())
-		var to = from + camera.project_ray_normal(get_viewport().get_mouse_position()) * 1000
+	if show_arrows:
+		_draw_arrows()
 
-		var space_state = get_world_3d().direct_space_state
-		var query = PhysicsRayQueryParameters3D.create(from, to)
-		var result = space_state.intersect_ray(query)
+func _draw_border():
+	var top_left = position - Vector3(half_size_x, 0 , half_size_z)
+	var top_right = position + Vector3(half_size_x, 0, -half_size_z)
+	var bottom_left = position - Vector3(half_size_x, 0, -half_size_z)
+	var bottom_right = position + Vector3(half_size_x, 0, half_size_z)
 	
-		if result.has("position"):
-			var cell = get_cell_from_pos(result["position"])
-			if cell:
-				print("Zelle an", cell.position, ":", cell.flow_direction)
+	var lines: PackedVector3Array
+	lines.append_array(PackedVector3Array([top_left, top_right]))
+	lines.append_array(PackedVector3Array([top_right, bottom_right]))
+	lines.append_array(PackedVector3Array([bottom_right, bottom_left]))
+	lines.append_array(PackedVector3Array([bottom_left, top_left]))
+	DebugDraw3D.draw_lines(lines, border_color)
+
+func _draw_x_lines():
+	var lines: PackedVector3Array
+	for x in range(grid_size_x - 1):
+		var start = position - Vector3(half_size_x - ((x + 1) * cell_size), 0, half_size_z)
+		var end = position - Vector3(half_size_x - ((x + 1) * cell_size), 0, -half_size_z)
+		lines.append_array(PackedVector3Array([start, end]))
+	DebugDraw3D.draw_lines(lines, x_lines_color)
+
+func _draw_z_lines():
+	var lines: PackedVector3Array
+	for z in range(grid_size_z - 1):
+		var start = position - Vector3(half_size_x, 0, half_size_z - ((z + 1) * cell_size))
+		var end = position - Vector3(-half_size_x, 0, half_size_z - ((z + 1) * cell_size))
+		lines.append_array(PackedVector3Array([start, end]))
+	DebugDraw3D.draw_lines(lines, z_lines_color)
+
+func _draw_arrows():
+	var points: PackedVector3Array
+	for x in range(grid_size_x):
+		for z in range(grid_size_z):
+			var cell_center = _get_cell_center_with_coordinates(x,z)
+			var index = z * grid_size_x + x
+			if flow_direction_list[index].length() > 0.0:
+				var direction = Vector3(flow_direction_list[index].x, 0, flow_direction_list[index].y).normalized()
+				var arrow_end = cell_center + direction * (cell_size * 0.4)
+				DebugDraw3D.draw_arrow(cell_center, arrow_end, ColorHelper.get_direction_color(direction), arrows_size)
 			else:
-				print("Keine Zelle gefunden!")
+				points.append(cell_center)
+	DebugDraw3D.draw_points(points, DebugDraw3D.POINT_TYPE_SQUARE, cell_center_size, cell_center_color)
+
+func _get_cell_center_with_coordinates(x:int, z:int) -> Vector3:
+	return position + Vector3(
+				(-half_size_x + (x * cell_size) + (cell_size * 0.5)),
+				0, 
+				(-half_size_z + (z * cell_size) + (cell_size * 0.5)))
+
+func _get_coordinates_from_position(pos: Vector3) -> Vector2i:
+	return Vector2i(int((pos.x - position.x + half_size_x) / cell_size), 
+					int((pos.z - position.z + half_size_z) / cell_size))
+
+func _get_index_from_position(pos: Vector3) -> int:
+	var pos_coord = _get_coordinates_from_position(pos)
+	if _is_coordinate_valid(pos_coord):
+		return -1
+	return pos_coord.y * grid_size_x + pos_coord.x
+
+func _is_coordinate_valid(coord: Vector2i) -> bool:
+	return coord.x < 0 or coord.x >= grid_size_x or coord.y < 0 or coord.y >= grid_size_z
+
+func get_direction_from_position(position: Vector3) -> Vector3: 
+	var index = _get_index_from_position(position)
+	return Vector3(flow_direction_list[index].x, 0, flow_direction_list[index].y)

swarm_engine/swarm_engine_debug_level.gd

@@ -1 +0,0 @@
-extends Node3D

swarm_engine/swarm_engine_debug_level.tscn

@@ -1,20 +1,71 @@
-[gd_scene load_steps=3 format=3 uid="uid://bwo12me8h21q5"]
+[gd_scene load_steps=6 format=3 uid="uid://bwo12me8h21q5"]
 
-[ext_resource type="Script" path="res://swarm_engine/swarm_engine_debug_level.gd" id="1_f0ttr"]
 [ext_resource type="PackedScene" uid="uid://cn2xvs2g7box5" path="res://swarm_engine/flow_field_navigation/flow_field_navigation.tscn" id="1_xwcpn"]
+[ext_resource type="PackedScene" uid="uid://cdau7qryen3uq" path="res://swarm_engine/swarm_unit/swarm_unit.tscn" id="3_6kohq"]
+[ext_resource type="PackedScene" uid="uid://dycbdcrwsm6wu" path="res://experimente/felox/player.tscn" id="6_wayso"]
+
+[sub_resource type="PlaneMesh" id="PlaneMesh_3dwe5"]
+size = Vector2(400, 400)
+
+[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_vtddf"]
+points = PackedVector3Array(-200, 0, -200, -200, 0, 200, 200, 0, -200, 200, 0, 200)
 
 [node name="World" type="Node3D"]
-script = ExtResource("1_f0ttr")
 
 [node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
 transform = Transform3D(-0.866023, -0.433016, 0.250001, 0, 0.499998, 0.866027, -0.500003, 0.749999, -0.43301, 0, 0, 0)
 shadow_enabled = true
 
-[node name="FlowFieldNavigation" parent="." instance=ExtResource("1_xwcpn")]
-grid_size = 100
-cell_size = 2.0
+[node name="FlowFieldNavigation" parent="." node_paths=PackedStringArray("target") instance=ExtResource("1_xwcpn")]
+unique_name_in_owner = true
+show_grid_center = true
+grid_center_color = Color(0, 0.0833333, 1, 1)
+show_border = true
+show_x_lines = true
+x_lines_color = Color(1, 0.45, 0, 1)
+show_z_lines = true
+z_lines_color = Color(1, 0, 0.0166664, 1)
+show_arrows = true
+cell_center_color = Color(0.702375, 0.0507974, 0.96251, 1)
+cell_size = 4.0
+grid_size_x = 50
+grid_size_z = 50
+target = NodePath("../player")
 
-[node name="CSGSphere3D" type="CSGSphere3D" parent="FlowFieldNavigation"]
+[node name="MeshInstance3D" type="MeshInstance3D" parent="."]
+mesh = SubResource("PlaneMesh_3dwe5")
 
-[node name="Camera3D" type="Camera3D" parent="."]
-transform = Transform3D(1, 0, 0, 0, 0.331371, 0.943501, 0, -0.943501, 0.331371, 0, 13.203, 5.65752)
+[node name="StaticBody3D" type="StaticBody3D" parent="MeshInstance3D"]
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="MeshInstance3D/StaticBody3D"]
+shape = SubResource("ConvexPolygonShape3D_vtddf")
+
+[node name="player" parent="." instance=ExtResource("6_wayso")]
+unique_name_in_owner = true
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 3.50529)
+
+[node name="Camera3D" type="Camera3D" parent="player"]
+unique_name_in_owner = true
+transform = Transform3D(1, 0, 0, 0, 0.707107, 0.707107, 0, -0.707107, 0.707107, 0, 10, 8)
+
+[node name="Node3D" type="Node3D" parent="."]
+
+[node name="SwarmUnit" parent="Node3D" node_paths=PackedStringArray("flow_field_navigation") instance=ExtResource("3_6kohq")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.0338392, 0, -41.7085)
+move_speed = 4
+flow_field_navigation = NodePath("../../FlowFieldNavigation")
+
+[node name="SwarmUnit2" parent="Node3D" node_paths=PackedStringArray("flow_field_navigation") instance=ExtResource("3_6kohq")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -17.4426, 0, -41.7085)
+move_speed = 4
+flow_field_navigation = NodePath("../../FlowFieldNavigation")
+
+[node name="SwarmUnit3" parent="Node3D" node_paths=PackedStringArray("flow_field_navigation") instance=ExtResource("3_6kohq")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.0338392, 0, -58.7671)
+move_speed = 4
+flow_field_navigation = NodePath("../../FlowFieldNavigation")
+
+[node name="SwarmUnit4" parent="Node3D" node_paths=PackedStringArray("flow_field_navigation") instance=ExtResource("3_6kohq")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -17.4426, 0, -58.7671)
+move_speed = 4
+flow_field_navigation = NodePath("../../FlowFieldNavigation")

swarm_engine/swarm_unit/multi_mesh_instance_3d.gd

@@ -0,0 +1,36 @@
+extends MultiMeshInstance3D
+
+@export var move_speed = 2
+@export var number: int = 100
+@export var stretch: int = 2
+
+
+@onready var flow_field_navigation: FlowFieldNav = %FlowFieldNavigation
+@onready var player: Player = %player
+
+
+func _ready() -> void:
+	for x in range(number):
+		for z in range(number):
+			var index = z * number + x
+			self.multimesh.set_instance_transform(index, Transform3D(Basis(), Vector3(x * stretch, 0.0, -z * stretch)))
+
+func _process(delta: float) -> void:
+	for x in range(number):
+		for z in range(number):
+			var index = z * number + x            
+			var current_trans = self.multimesh.get_instance_transform(index)
+
+			var cell = flow_field_navigation.get_cell_from_pos(current_trans.origin)
+			if cell != null and cell.flow_direction.length() > 0.0:
+				var movement = cell.flow_direction.normalized() * move_speed * delta
+				current_trans.origin += movement
+
+				var direction_to_player = (player.position - current_trans.origin).normalized()
+				var target_rotation_y = Quaternion(Vector3.UP, atan2(-direction_to_player.x, -direction_to_player.z))
+				var fix_rotation_x = Quaternion(Vector3.RIGHT, deg_to_rad(-90))
+				var fix_rotation_y_180 = Quaternion(Vector3.UP, deg_to_rad(180))
+				var final_rotation = fix_rotation_y_180 * target_rotation_y * fix_rotation_x
+				current_trans.basis = Basis(final_rotation)
+
+				self.multimesh.set_instance_transform(index, current_trans)

swarm_engine/swarm_unit/swarm_unit.gd

@@ -0,0 +1,10 @@
+extends CharacterBody3D
+
+@export var move_speed = 2
+@export var flow_field_navigation: FlowFieldNav
+
+func _physics_process(delta: float) -> void:
+	var flow_direction = flow_field_navigation.get_direction_from_position(position)
+	if flow_direction.length() > 0.0:
+		var movement = flow_direction.normalized() * move_speed * delta
+		position += movement

swarm_engine/swarm_unit/swarm_unit.tscn

@@ -0,0 +1,11 @@
+[gd_scene load_steps=3 format=3 uid="uid://cdau7qryen3uq"]
+
+[ext_resource type="Script" path="res://swarm_engine/swarm_unit/swarm_unit.gd" id="1_eynce"]
+
+[sub_resource type="CapsuleShape3D" id="CapsuleShape3D_o8sb1"]
+
+[node name="SwarmUnit" type="CharacterBody3D"]
+script = ExtResource("1_eynce")
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
+shape = SubResource("CapsuleShape3D_o8sb1")