Merge branch 'main' of https://github.com/JH159753/GameAILab1
This commit is contained in:
commit
677492eb09
85
Boid.pde
85
Boid.pde
|
|
@ -133,7 +133,7 @@ class Boid
|
|||
dotProductOfTargets = (dotProductOfTargets + 1) / 2;
|
||||
|
||||
//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
|
||||
float idealSpeed = dotProductOfTargets * 20 + 10;
|
||||
float idealSpeed = dotProductOfTargets * 80 + 10;
|
||||
|
||||
if (kinematic.getSpeed() < idealSpeed) {
|
||||
kinematic.increaseSpeed(1,0);
|
||||
|
|
@ -141,36 +141,35 @@ class Boid
|
|||
kinematic.increaseSpeed(-1,0);
|
||||
}
|
||||
|
||||
/*
|
||||
if (kinematic.getSpeed() < 40 && direction.mag() > 30) {
|
||||
kinematic.increaseSpeed(1,0);
|
||||
} else if (kinematic.getSpeed() < 20 && direction.mag() > 15) {
|
||||
kinematic.increaseSpeed(.75,0);
|
||||
} else if (kinematic.getSpeed() < 10 && direction.mag() > 5) {
|
||||
kinematic.increaseSpeed(.5,0);
|
||||
} else if (kinematic.getSpeed() < 5 && direction.mag() < 5) {
|
||||
//This should ensure that the boid's speed can be dropped to exactly 0 so we don't have stuttering
|
||||
kinematic.increaseSpeed(-kinematic.getSpeed(),0);
|
||||
} else {
|
||||
kinematic.increaseSpeed(-1,0);
|
||||
}
|
||||
*/
|
||||
|
||||
} else {
|
||||
|
||||
//if no more targets to check, do the normal calculation
|
||||
if (kinematic.getSpeed() < 40 && direction.mag() > 30) {
|
||||
|
||||
//kinematic.getSpeed() is how fast we're moving, direction.mag() is how far are we from target
|
||||
//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
|
||||
|
||||
float idealSpeed = (1 * direction.mag() - 5);
|
||||
|
||||
//if idealSpeed is "negative" we should just set it to 0
|
||||
if (idealSpeed < 0) {
|
||||
idealSpeed = 0;
|
||||
}
|
||||
|
||||
//use this to know how off the target speed we are, and slow down accordingly
|
||||
//This will be positive if the ideal speed is higher than current speed, negative if ideal speed is lower.
|
||||
float speedOffset = (idealSpeed - kinematic.getSpeed());
|
||||
|
||||
if (abs(speedOffset) < 1) {
|
||||
kinematic.increaseSpeed(speedOffset, 0);
|
||||
} else if (idealSpeed < speedOffset) {
|
||||
kinematic.increaseSpeed(1,0);
|
||||
} else if (kinematic.getSpeed() < 20 && direction.mag() > 15) {
|
||||
kinematic.increaseSpeed(.75,0);
|
||||
} else if (kinematic.getSpeed() < 10 && direction.mag() > 5) {
|
||||
kinematic.increaseSpeed(.5,0);
|
||||
} else if (kinematic.getSpeed() < 5 && direction.mag() < 5) {
|
||||
//This should ensure that the boid's speed can be dropped to exactly 0 so we don't have stuttering
|
||||
kinematic.increaseSpeed(-kinematic.getSpeed(),0);
|
||||
} else {
|
||||
} else if (idealSpeed > speedOffset) {
|
||||
kinematic.increaseSpeed(-1,0);
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -178,19 +177,33 @@ class Boid
|
|||
|
||||
//if waypoints is null, do normal things
|
||||
println("waypoints is null");
|
||||
|
||||
//This code should trigger if there's only one target left
|
||||
if (kinematic.getSpeed() < 40 && direction.mag() > 30) {
|
||||
kinematic.increaseSpeed(1,0);
|
||||
} else if (kinematic.getSpeed() < 20 && direction.mag() > 15) {
|
||||
kinematic.increaseSpeed(.75,0);
|
||||
} else if (kinematic.getSpeed() < 10 && direction.mag() > 5) {
|
||||
kinematic.increaseSpeed(.5,0);
|
||||
} else if (kinematic.getSpeed() < 5 && direction.mag() < 5) {
|
||||
//This should ensure that the boid's speed can be dropped to exactly 0 so we don't have stuttering
|
||||
kinematic.increaseSpeed(-kinematic.getSpeed(),0);
|
||||
} else {
|
||||
kinematic.increaseSpeed(-1,0);
|
||||
}
|
||||
|
||||
//kinematic.getSpeed() is how fast we're moving, direction.mag() is how far are we from target
|
||||
//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
|
||||
|
||||
float idealSpeed = 1 * direction.mag() - 5;
|
||||
|
||||
//if idealSpeed is "negative" we should just set it to 0
|
||||
if (idealSpeed < 0) {
|
||||
idealSpeed = 0;
|
||||
}
|
||||
|
||||
println(idealSpeed);
|
||||
|
||||
//use this to know how off the target speed we are, and slow down accordingly
|
||||
//This will be positive if the ideal speed is higher than current speed, negative if ideal speed is lower.
|
||||
float speedOffset = (idealSpeed - kinematic.getSpeed());
|
||||
|
||||
if (abs(speedOffset) < 1) {
|
||||
kinematic.increaseSpeed(speedOffset, 0);
|
||||
} else if (idealSpeed < speedOffset) {
|
||||
kinematic.increaseSpeed(1,0);
|
||||
} else if (idealSpeed > speedOffset) {
|
||||
kinematic.increaseSpeed(-1,0);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,99 +0,0 @@
|
|||
/// In this file, you will have to implement seek and waypoint-following
|
||||
/// The relevant locations are marked with "TODO"
|
||||
|
||||
class Crumb
|
||||
{
|
||||
PVector position;
|
||||
Crumb(PVector position)
|
||||
{
|
||||
this.position = position;
|
||||
}
|
||||
void draw()
|
||||
{
|
||||
fill(255);
|
||||
noStroke();
|
||||
circle(this.position.x, this.position.y, CRUMB_SIZE);
|
||||
}
|
||||
}
|
||||
|
||||
class Boid
|
||||
{
|
||||
Crumb[] crumbs = {};
|
||||
int last_crumb;
|
||||
float acceleration;
|
||||
float rotational_acceleration;
|
||||
KinematicMovement kinematic;
|
||||
PVector target;
|
||||
|
||||
Boid(PVector position, float heading, float max_speed, float max_rotational_speed, float acceleration, float rotational_acceleration)
|
||||
{
|
||||
this.kinematic = new KinematicMovement(position, heading, max_speed, max_rotational_speed);
|
||||
this.last_crumb = millis();
|
||||
this.acceleration = acceleration;
|
||||
this.rotational_acceleration = rotational_acceleration;
|
||||
}
|
||||
|
||||
void update(float dt)
|
||||
{
|
||||
if (target != null)
|
||||
{
|
||||
// TODO: Implement seek here
|
||||
print(kinematic.getHeading());
|
||||
|
||||
}
|
||||
|
||||
// place crumbs, do not change
|
||||
if (LEAVE_CRUMBS && (millis() - this.last_crumb > CRUMB_INTERVAL))
|
||||
{
|
||||
this.last_crumb = millis();
|
||||
this.crumbs = (Crumb[])append(this.crumbs, new Crumb(this.kinematic.position));
|
||||
if (this.crumbs.length > MAX_CRUMBS)
|
||||
this.crumbs = (Crumb[])subset(this.crumbs, 1);
|
||||
}
|
||||
|
||||
// do not change
|
||||
this.kinematic.update(dt);
|
||||
|
||||
draw();
|
||||
}
|
||||
|
||||
void draw()
|
||||
{
|
||||
for (Crumb c : this.crumbs)
|
||||
{
|
||||
c.draw();
|
||||
}
|
||||
|
||||
fill(255);
|
||||
noStroke();
|
||||
float x = kinematic.position.x;
|
||||
float y = kinematic.position.y;
|
||||
float r = kinematic.heading;
|
||||
circle(x, y, BOID_SIZE);
|
||||
// front
|
||||
float xp = x + BOID_SIZE*cos(r);
|
||||
float yp = y + BOID_SIZE*sin(r);
|
||||
|
||||
// left
|
||||
float x1p = x - (BOID_SIZE/2)*sin(r);
|
||||
float y1p = y + (BOID_SIZE/2)*cos(r);
|
||||
|
||||
// right
|
||||
float x2p = x + (BOID_SIZE/2)*sin(r);
|
||||
float y2p = y - (BOID_SIZE/2)*cos(r);
|
||||
triangle(xp, yp, x1p, y1p, x2p, y2p);
|
||||
}
|
||||
|
||||
void seek(PVector target)
|
||||
{
|
||||
this.target = target;
|
||||
|
||||
}
|
||||
|
||||
void follow(ArrayList<PVector> waypoints)
|
||||
{
|
||||
// TODO: change to follow *all* waypoints
|
||||
this.target = waypoints.get(0);
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -1,189 +0,0 @@
|
|||
/// In this file, you will have to implement seek and waypoint-following
|
||||
/// The relevant locations are marked with "TODO"
|
||||
|
||||
class Crumb
|
||||
{
|
||||
PVector position;
|
||||
Crumb(PVector position)
|
||||
{
|
||||
this.position = position;
|
||||
}
|
||||
void draw()
|
||||
{
|
||||
fill(255);
|
||||
noStroke();
|
||||
circle(this.position.x, this.position.y, CRUMB_SIZE);
|
||||
}
|
||||
}
|
||||
|
||||
class Boid
|
||||
{
|
||||
Crumb[] crumbs = {};
|
||||
int last_crumb;
|
||||
float acceleration;
|
||||
float rotational_acceleration;
|
||||
KinematicMovement kinematic;
|
||||
PVector target;
|
||||
|
||||
Boid(PVector position, float heading, float max_speed, float max_rotational_speed, float acceleration, float rotational_acceleration)
|
||||
{
|
||||
this.kinematic = new KinematicMovement(position, heading, max_speed, max_rotational_speed);
|
||||
this.last_crumb = millis();
|
||||
this.acceleration = acceleration;
|
||||
this.rotational_acceleration = rotational_acceleration;
|
||||
}
|
||||
|
||||
void update(float dt)
|
||||
{
|
||||
if (target != null)
|
||||
{
|
||||
// TODO: Implement seek here
|
||||
|
||||
|
||||
//This makes a vector with the direction our boid needs to go to
|
||||
PVector direction = PVector.sub(target, kinematic.position);
|
||||
|
||||
//atan2(direction.y, direction.x) will return the direction we need to go in radians
|
||||
|
||||
//print direction we need to go and the direction we are facing right now
|
||||
//println(atan2(direction.y, direction.x) + " " + normalize_angle_left_right(kinematic.getHeading()));
|
||||
|
||||
float directionalThreshold = .1;
|
||||
float angleToTarget = normalize_angle_left_right(atan2(direction.y, direction.x) - normalize_angle_left_right(kinematic.getHeading()));
|
||||
float arrivalThreshold = 60.0;
|
||||
|
||||
//This just draws a circle for visual debugging purposes
|
||||
circle(target.x, target.y, 3);
|
||||
|
||||
//prints the angle to the target
|
||||
//println(angleToTarget);
|
||||
|
||||
//if the angle is larger than the threshold in the positive direction, rotate counterclockwise
|
||||
if (angleToTarget >= .1) {
|
||||
println("positive angle");
|
||||
kinematic.increaseSpeed(0.0, 2);
|
||||
|
||||
//if the angle is smaller than the threshold in the negative direction, rotate clockwise
|
||||
} else if (angleToTarget < -.1) {
|
||||
kinematic.increaseSpeed(0.0, -1);
|
||||
|
||||
//if the angle is within our threshold, stop our rotational velocity by rotating opposite
|
||||
} else if (directionalThreshold > angleToTarget) {
|
||||
|
||||
if (kinematic.getRotationalVelocity() > 0) {
|
||||
kinematic.increaseSpeed(0.0, -1);
|
||||
} else if (kinematic.getRotationalVelocity() < 0) {
|
||||
kinematic.increaseSpeed(0.0, 1);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//Sometimes our Boid just goes and does weird things and I don't know why
|
||||
|
||||
//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 (direction.mag() > arrivalThreshold) {
|
||||
kinematic.increaseSpeed(1,0);
|
||||
} else if (direction.mag() < arrivalThreshold) {
|
||||
//Need more specific code here to handle arrivals correctly
|
||||
|
||||
if (kinematic.getSpeed() < 40 && direction.mag() > 30) {
|
||||
kinematic.increaseSpeed(1,0);
|
||||
} else if (kinematic.getSpeed() < 20 && direction.mag() > 15) {
|
||||
kinematic.increaseSpeed(.75,0);
|
||||
} else if (kinematic.getSpeed() < 10 && direction.mag() > 5) {
|
||||
kinematic.increaseSpeed(.5,0);
|
||||
} else if (kinematic.getSpeed() < 5 && direction.mag() < 5) {
|
||||
//This should ensure that the boid's speed can be dropped to exactly 0 so we don't have stuttering
|
||||
kinematic.increaseSpeed(-kinematic.getSpeed(),0);
|
||||
} else {
|
||||
kinematic.increaseSpeed(-1,0);
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
//drawing a line for testing purposes
|
||||
//line(kinematic.position.x, kinematic.position.y, kinematic.position.x + direction.x, kinematic.position.y + direction.y);
|
||||
}
|
||||
|
||||
// place crumbs, do not change
|
||||
if (LEAVE_CRUMBS && (millis() - this.last_crumb > CRUMB_INTERVAL))
|
||||
{
|
||||
this.last_crumb = millis();
|
||||
this.crumbs = (Crumb[])append(this.crumbs, new Crumb(this.kinematic.position));
|
||||
if (this.crumbs.length > MAX_CRUMBS)
|
||||
this.crumbs = (Crumb[])subset(this.crumbs, 1);
|
||||
}
|
||||
|
||||
// do not change
|
||||
this.kinematic.update(dt);
|
||||
|
||||
draw();
|
||||
}
|
||||
|
||||
void draw()
|
||||
{
|
||||
for (Crumb c : this.crumbs)
|
||||
{
|
||||
c.draw();
|
||||
}
|
||||
|
||||
fill(255);
|
||||
noStroke();
|
||||
float x = kinematic.position.x;
|
||||
float y = kinematic.position.y;
|
||||
float r = kinematic.heading;
|
||||
circle(x, y, BOID_SIZE);
|
||||
// front
|
||||
float xp = x + BOID_SIZE*cos(r);
|
||||
float yp = y + BOID_SIZE*sin(r);
|
||||
|
||||
// left
|
||||
float x1p = x - (BOID_SIZE/2)*sin(r);
|
||||
float y1p = y + (BOID_SIZE/2)*cos(r);
|
||||
|
||||
// right
|
||||
float x2p = x + (BOID_SIZE/2)*sin(r);
|
||||
float y2p = y - (BOID_SIZE/2)*cos(r);
|
||||
triangle(xp, yp, x1p, y1p, x2p, y2p);
|
||||
}
|
||||
|
||||
void seek(PVector target)
|
||||
{
|
||||
this.target = target;
|
||||
}
|
||||
int count = 0;
|
||||
|
||||
//void follow(ArrayList<PVector> waypoints)
|
||||
//{
|
||||
|
||||
// //println("func count " + count);
|
||||
// if(count > waypoints.size() - 1){
|
||||
// this.target = waypoints.get(0);
|
||||
// return;
|
||||
// }
|
||||
// else {
|
||||
// // TODO: change to follow *all* waypoints
|
||||
// println("count " + count);
|
||||
// this.target = waypoints.get(count);
|
||||
// PVector temp = waypoints.remove(count);
|
||||
// count++;
|
||||
// //count--;
|
||||
|
||||
// follow(waypoints);
|
||||
// }
|
||||
|
||||
//}
|
||||
void follow(ArrayList<PVector> waypoints)
|
||||
{
|
||||
this.target = waypoints.get(0);
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -1,175 +0,0 @@
|
|||
/// In this file, you will have to implement seek and waypoint-following
|
||||
/// The relevant locations are marked with "TODO"
|
||||
|
||||
class Crumb
|
||||
{
|
||||
PVector position;
|
||||
Crumb(PVector position)
|
||||
{
|
||||
this.position = position;
|
||||
}
|
||||
void draw()
|
||||
{
|
||||
fill(255);
|
||||
noStroke();
|
||||
circle(this.position.x, this.position.y, CRUMB_SIZE);
|
||||
}
|
||||
}
|
||||
|
||||
class Boid
|
||||
{
|
||||
Crumb[] crumbs = {};
|
||||
int last_crumb;
|
||||
float acceleration;
|
||||
float rotational_acceleration;
|
||||
KinematicMovement kinematic;
|
||||
PVector target;
|
||||
|
||||
Boid(PVector position, float heading, float max_speed, float max_rotational_speed, float acceleration, float rotational_acceleration)
|
||||
{
|
||||
this.kinematic = new KinematicMovement(position, heading, max_speed, max_rotational_speed);
|
||||
this.last_crumb = millis();
|
||||
this.acceleration = acceleration;
|
||||
this.rotational_acceleration = rotational_acceleration;
|
||||
}
|
||||
|
||||
void update(float dt)
|
||||
{
|
||||
if (target != null)
|
||||
{
|
||||
// TODO: Implement seek here
|
||||
|
||||
|
||||
//This makes a vector with the direction our boid needs to go to
|
||||
PVector direction = PVector.sub(target, kinematic.position);
|
||||
|
||||
//atan2(direction.y, direction.x) will return the direction we need to go in radians
|
||||
|
||||
//print direction we need to go and the direction we are facing right now
|
||||
//println(atan2(direction.y, direction.x) + " " + normalize_angle_left_right(kinematic.getHeading()));
|
||||
|
||||
float directionalThreshold = .1;
|
||||
float angleToTarget = normalize_angle(atan2(direction.y, direction.x)) - kinematic.getHeading();
|
||||
float arrivalThreshold = 60.0;
|
||||
|
||||
//This just draws a circle for visual debugging purposes
|
||||
//circle(target.x, target.y, arrivalThreshold);
|
||||
|
||||
//prints the angle to the target
|
||||
//println(angleToTarget);
|
||||
|
||||
//if the angle is larger than the threshold in the positive direction, rotate counterclockwise
|
||||
if (angleToTarget > directionalThreshold) {
|
||||
kinematic.increaseSpeed(0.0, 1);
|
||||
|
||||
//if the angle is smaller than the threshold in the negative direction, rotate clockwise
|
||||
} else if (angleToTarget < -directionalThreshold) {
|
||||
kinematic.increaseSpeed(0.0, -1);
|
||||
|
||||
//if the angle is within our threshold, stop our rotational velocity by rotating opposite
|
||||
} else if (directionalThreshold > angleToTarget) {
|
||||
|
||||
if (kinematic.getRotationalVelocity() > 0) {
|
||||
kinematic.increaseSpeed(0.0, -1);
|
||||
}
|
||||
else if (kinematic.getRotationalVelocity() < 0) {
|
||||
kinematic.increaseSpeed(0.0, 1);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
//Slight flaw: since the arrival threshold is so big, the boid just won't move if its target is that close.
|
||||
|
||||
//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 (direction.mag() > arrivalThreshold) {
|
||||
kinematic.increaseSpeed(1,0);
|
||||
} else if (direction.mag() < arrivalThreshold) {
|
||||
//Need more specific code here to handle arrivals correctly
|
||||
|
||||
if (kinematic.getSpeed() < 40 && direction.mag() > 30) {
|
||||
kinematic.increaseSpeed(1,0);
|
||||
} else if (kinematic.getSpeed() < 20 && direction.mag() > 15) {
|
||||
kinematic.increaseSpeed(.75,0);
|
||||
} else if (kinematic.getSpeed() < 10 && direction.mag() > 5) {
|
||||
kinematic.increaseSpeed(.5,0);
|
||||
} else if (kinematic.getSpeed() < 5 && direction.mag() < 3) {
|
||||
kinematic.increaseSpeed(.25,0);
|
||||
} else {
|
||||
kinematic.increaseSpeed(-1,0);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
//drawing a line for testing purposes
|
||||
//line(kinematic.position.x, kinematic.position.y, kinematic.position.x + direction.x, kinematic.position.y + direction.y);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
// place crumbs, do not change
|
||||
if (LEAVE_CRUMBS && (millis() - this.last_crumb > CRUMB_INTERVAL))
|
||||
{
|
||||
this.last_crumb = millis();
|
||||
this.crumbs = (Crumb[])append(this.crumbs, new Crumb(this.kinematic.position));
|
||||
if (this.crumbs.length > MAX_CRUMBS)
|
||||
this.crumbs = (Crumb[])subset(this.crumbs, 1);
|
||||
}
|
||||
|
||||
// do not change
|
||||
this.kinematic.update(dt);
|
||||
|
||||
draw();
|
||||
}
|
||||
|
||||
void draw()
|
||||
{
|
||||
for (Crumb c : this.crumbs)
|
||||
{
|
||||
c.draw();
|
||||
}
|
||||
|
||||
fill(255);
|
||||
noStroke();
|
||||
float x = kinematic.position.x;
|
||||
float y = kinematic.position.y;
|
||||
float r = kinematic.heading;
|
||||
circle(x, y, BOID_SIZE);
|
||||
// front
|
||||
float xp = x + BOID_SIZE*cos(r);
|
||||
float yp = y + BOID_SIZE*sin(r);
|
||||
|
||||
// left
|
||||
float x1p = x - (BOID_SIZE/2)*sin(r);
|
||||
float y1p = y + (BOID_SIZE/2)*cos(r);
|
||||
|
||||
// right
|
||||
float x2p = x + (BOID_SIZE/2)*sin(r);
|
||||
float y2p = y - (BOID_SIZE/2)*cos(r);
|
||||
triangle(xp, yp, x1p, y1p, x2p, y2p);
|
||||
}
|
||||
|
||||
void seek(PVector target)
|
||||
{
|
||||
this.target = target;
|
||||
|
||||
}
|
||||
|
||||
void follow(ArrayList<PVector> waypoints)
|
||||
{
|
||||
// TODO: change to follow *all* waypoints
|
||||
this.target = waypoints.get(0);
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -1,198 +0,0 @@
|
|||
/// In this file, you will have to implement seek and waypoint-following
|
||||
/// The relevant locations are marked with "TODO"
|
||||
|
||||
class Crumb
|
||||
{
|
||||
PVector position;
|
||||
Crumb(PVector position)
|
||||
{
|
||||
this.position = position;
|
||||
}
|
||||
void draw()
|
||||
{
|
||||
fill(255);
|
||||
noStroke();
|
||||
circle(this.position.x, this.position.y, CRUMB_SIZE);
|
||||
}
|
||||
}
|
||||
|
||||
class Boid
|
||||
{
|
||||
Crumb[] crumbs = {};
|
||||
int last_crumb;
|
||||
float acceleration;
|
||||
float rotational_acceleration;
|
||||
KinematicMovement kinematic;
|
||||
PVector target;
|
||||
|
||||
Boid(PVector position, float heading, float max_speed, float max_rotational_speed, float acceleration, float rotational_acceleration)
|
||||
{
|
||||
this.kinematic = new KinematicMovement(position, heading, max_speed, max_rotational_speed);
|
||||
this.last_crumb = millis();
|
||||
this.acceleration = acceleration;
|
||||
this.rotational_acceleration = rotational_acceleration;
|
||||
}
|
||||
|
||||
void update(float dt)
|
||||
{
|
||||
if (target != null)
|
||||
{
|
||||
// TODO: Implement seek here
|
||||
|
||||
|
||||
//This makes a vector with the direction our boid needs to go to
|
||||
PVector direction = PVector.sub(target, kinematic.position);
|
||||
|
||||
//atan2(direction.y, direction.x) will return the direction we need to go in radians
|
||||
|
||||
//print direction we need to go and the direction we are facing right now
|
||||
//println(atan2(direction.y, direction.x) + " " + normalize_angle_left_right(kinematic.getHeading()));
|
||||
|
||||
float directionalThreshold = .1;
|
||||
float angleToTarget = normalize_angle_left_right(atan2(direction.y, direction.x) - normalize_angle_left_right(kinematic.getHeading()));
|
||||
float arrivalThreshold = 60.0;
|
||||
|
||||
//This just draws a circle for visual debugging purposes
|
||||
circle(target.x, target.y, 3);
|
||||
|
||||
//prints the angle to the target
|
||||
//println(angleToTarget);
|
||||
|
||||
//if the angle is larger than the threshold in the positive direction, rotate counterclockwise
|
||||
if (angleToTarget >= .1) {
|
||||
println("positive angle");
|
||||
kinematic.increaseSpeed(0.0, 2);
|
||||
|
||||
//if the angle is smaller than the threshold in the negative direction, rotate clockwise
|
||||
} else if (angleToTarget < -.1) {
|
||||
kinematic.increaseSpeed(0.0, -1);
|
||||
|
||||
//if the angle is within our threshold, stop our rotational velocity by rotating opposite
|
||||
} else if (directionalThreshold > angleToTarget) {
|
||||
|
||||
if (kinematic.getRotationalVelocity() > 0) {
|
||||
kinematic.increaseSpeed(0.0, -1);
|
||||
} else if (kinematic.getRotationalVelocity() < 0) {
|
||||
kinematic.increaseSpeed(0.0, 1);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
//Sometimes our Boid just goes and does weird things and I don't know why
|
||||
|
||||
//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 (direction.mag() > arrivalThreshold) {
|
||||
//println("main if");
|
||||
kinematic.increaseSpeed(.5, 0);
|
||||
} else if (direction.mag() < arrivalThreshold) {
|
||||
//Need more specific code here to handle arrivals correctly
|
||||
|
||||
if (kinematic.getSpeed() < 40 && direction.mag() > 30) {
|
||||
//println("if 1");
|
||||
kinematic.increaseSpeed(1, 0);
|
||||
} else if (kinematic.getSpeed() < 20 && direction.mag() > 15) {
|
||||
//println("if .75");
|
||||
kinematic.increaseSpeed(.75, 0);
|
||||
} else if (kinematic.getSpeed() < 10 && direction.mag() > 5) {
|
||||
//println("if .5");
|
||||
kinematic.increaseSpeed(.5, 0);
|
||||
} else if (kinematic.getSpeed() < 5 && direction.mag() < 5) {
|
||||
//println("if -kin");
|
||||
//This should ensure that the boid's speed can be dropped to exactly 0 so we don't have stuttering
|
||||
|
||||
kinematic.increaseSpeed(-kinematic.getSpeed(), 0);
|
||||
} else {
|
||||
println("else");
|
||||
kinematic.increaseSpeed(-1, 0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
//drawing a line for testing purposes
|
||||
//line(kinematic.position.x, kinematic.position.y, kinematic.position.x + direction.x, kinematic.position.y + direction.y);
|
||||
}
|
||||
|
||||
// place crumbs, do not change
|
||||
if (LEAVE_CRUMBS && (millis() - this.last_crumb > CRUMB_INTERVAL))
|
||||
{
|
||||
this.last_crumb = millis();
|
||||
this.crumbs = (Crumb[])append(this.crumbs, new Crumb(this.kinematic.position));
|
||||
if (this.crumbs.length > MAX_CRUMBS)
|
||||
this.crumbs = (Crumb[])subset(this.crumbs, 1);
|
||||
}
|
||||
|
||||
// do not change
|
||||
this.kinematic.update(dt);
|
||||
|
||||
draw();
|
||||
}
|
||||
|
||||
void draw()
|
||||
{
|
||||
for (Crumb c : this.crumbs)
|
||||
{
|
||||
c.draw();
|
||||
}
|
||||
|
||||
fill(255);
|
||||
noStroke();
|
||||
float x = kinematic.position.x;
|
||||
float y = kinematic.position.y;
|
||||
float r = kinematic.heading;
|
||||
circle(x, y, BOID_SIZE);
|
||||
// front
|
||||
float xp = x + BOID_SIZE*cos(r);
|
||||
float yp = y + BOID_SIZE*sin(r);
|
||||
|
||||
// left
|
||||
float x1p = x - (BOID_SIZE/2)*sin(r);
|
||||
float y1p = y + (BOID_SIZE/2)*cos(r);
|
||||
|
||||
// right
|
||||
float x2p = x + (BOID_SIZE/2)*sin(r);
|
||||
float y2p = y - (BOID_SIZE/2)*cos(r);
|
||||
triangle(xp, yp, x1p, y1p, x2p, y2p);
|
||||
}
|
||||
|
||||
void seek(PVector target)
|
||||
{
|
||||
this.target = target;
|
||||
}
|
||||
int count = 0;
|
||||
|
||||
//void follow(ArrayList<PVector> waypoints)
|
||||
//{
|
||||
|
||||
// //println("func count " + count);
|
||||
// if(count > waypoints.size() - 1){
|
||||
// this.target = waypoints.get(0);
|
||||
// return;
|
||||
// }
|
||||
// else {
|
||||
// // TODO: change to follow *all* waypoints
|
||||
// println("count " + count);
|
||||
// this.target = waypoints.get(count);
|
||||
// PVector temp = waypoints.remove(count);
|
||||
// count++;
|
||||
// //count--;
|
||||
|
||||
// follow(waypoints);
|
||||
// }
|
||||
|
||||
//}
|
||||
void follow(ArrayList<PVector> waypoints)
|
||||
{
|
||||
this.target = waypoints.get(0);
|
||||
// println("distance " + PVector.sub(this.target,this.kinematic.position).mag());
|
||||
for (int i = 1; i < waypoints.size(); i++){
|
||||
println("distance " + PVector.sub(this.target,this.kinematic.position).mag());
|
||||
if(PVector.sub(this.target,this.kinematic.position).mag() < 4)
|
||||
this.target = waypoints.get(i);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
Loading…
Reference in New Issue