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add slower acceleration dependent on angle

This commit is contained in:
JH159753 2022-11-02 01:44:36 -07:00
parent e428c1793b
commit 4f5e668b3a
1 changed files with 16 additions and 14 deletions
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30
Boid.pde
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@ -56,6 +56,8 @@ class Boid
float angleToTarget = normalize_angle_left_right(atan2(direction.y, direction.x) - normalize_angle_left_right(kinematic.getHeading())); float angleToTarget = normalize_angle_left_right(atan2(direction.y, direction.x) - normalize_angle_left_right(kinematic.getHeading()));
float arrivalThreshold = 60.0; float arrivalThreshold = 60.0;
//This just draws a circle for visual debugging purposes //This just draws a circle for visual debugging purposes
circle(target.x, target.y, 3); circle(target.x, target.y, 3);
@ -63,19 +65,13 @@ class Boid
//println(angleToTarget); //println(angleToTarget);
//if the angle is larger than the threshold in the positive direction, rotate counterclockwise //if the angle is larger than the threshold in the positive direction, rotate counterclockwise
if (angleToTarget > directionalThreshold && direction.mag() > 30) { if (angleToTarget > directionalThreshold) {
kinematic.increaseSpeed(0.0, +1); kinematic.increaseSpeed(0.0, +1);
} else if (angleToTarget > directionalThreshold && direction.mag() > 15) {
kinematic.increaseSpeed(0.0, +.5);
//if the angle is smaller than the threshold in the negative direction, rotate clockwise //if the angle is smaller than the threshold in the negative direction, rotate clockwise
} else if (angleToTarget < -directionalThreshold && direction.mag() > 30) { } else if (angleToTarget < -directionalThreshold) {
kinematic.increaseSpeed(0.0, -1); kinematic.increaseSpeed(0.0, -1);
} else if (angleToTarget < -directionalThreshold && direction.mag() > 15) {
kinematic.increaseSpeed(0.0, -.5);
//if the angle is within our threshold, stop our rotational velocity by rotating opposite //if the angle is within our threshold, stop our rotational velocity by rotating opposite
} else if (directionalThreshold > angleToTarget) { } else if (directionalThreshold > angleToTarget) {
@ -88,8 +84,6 @@ class Boid
} }
//if the target is outside its arrival threshold, accelerate. //if the target is outside its arrival threshold, accelerate.
//if the target is inside its arrival threshold, accelerate backwards until the speed is 0. //if the target is inside its arrival threshold, accelerate backwards until the speed is 0.
if (direction.mag() > arrivalThreshold) { if (direction.mag() > arrivalThreshold) {
@ -135,12 +129,20 @@ class Boid
//use an ideal speed for our boid, to tell it to either speed up or slow down whether it's going faster than this or not //use an ideal speed for our boid, to tell it to either speed up or slow down whether it's going faster than this or not
//Square the dot product that's been normalized; it'll change the curve so it slows down more //Square the dot product that's been normalized; it'll change the curve so it slows down more
float idealSpeed = (dotProductOfTargets) * 80 + 5; float idealSpeed = (dotProductOfTargets) * 80 + 10;
//Also use an acceleration factor, dependent on the direction our boid is facing vs the direction it needs to go
//if angleToTarget is high, low acceleration. If it's low, high acceleration
//angleToTarget can be from neg pi to pi, so use its absolute value
float acceleration = pow((PI - abs(angleToTarget)) / PI, 10);
if (kinematic.getSpeed() < idealSpeed) { if (kinematic.getSpeed() < idealSpeed) {
kinematic.increaseSpeed(1,0); kinematic.increaseSpeed(acceleration,0);
} else if (kinematic.getSpeed() > idealSpeed) { } else if (kinematic.getSpeed() > idealSpeed) {
kinematic.increaseSpeed(-1,0); kinematic.increaseSpeed(-acceleration,0);
} }
@ -152,7 +154,7 @@ class Boid
//Ideal speed here should be 80 at dist 85, and reduce linearly from there, hitting 0 at 5 units? //Ideal speed here should be 80 at dist 85, and reduce linearly from there, hitting 0 at 5 units?
//This can be changed later if it isn't good //This can be changed later if it isn't good
float idealSpeed = (1 * direction.mag() + 5); float idealSpeed = (1 * direction.mag() - 5);
//if idealSpeed is "negative" we should just set it to 0 //if idealSpeed is "negative" we should just set it to 0
if (idealSpeed < 0) { if (idealSpeed < 0) {