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add a max speed instead 

Messing with the acceleration was not the way; we needed larger arrival threshold and a max speed
This commit is contained in:
JH159753 2022-11-02 02:13:46 -07:00
parent 4f5e668b3a
commit 7851363a56
1 changed files with 263 additions and 293 deletions
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54
Boid.pde
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@ -54,7 +54,7 @@ class Boid
float directionalThreshold = .1; float directionalThreshold = .1;
//You have to normalize this too or the boid goes the wrong way sometimes //You have to normalize this too or the boid goes the wrong way sometimes
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 = 150.0;
@ -77,8 +77,7 @@ class Boid
if (kinematic.getRotationalVelocity() > 0) { if (kinematic.getRotationalVelocity() > 0) {
kinematic.increaseSpeed(0.0, -kinematic.getRotationalVelocity()); kinematic.increaseSpeed(0.0, -kinematic.getRotationalVelocity());
} } else if (kinematic.getRotationalVelocity() < 0) {
else if (kinematic.getRotationalVelocity() < 0) {
kinematic.increaseSpeed(0.0, kinematic.getRotationalVelocity()); kinematic.increaseSpeed(0.0, kinematic.getRotationalVelocity());
} }
} }
@ -88,7 +87,6 @@ class Boid
//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) {
kinematic.increaseSpeed(1, 0); kinematic.increaseSpeed(1, 0);
} else if (direction.mag() < arrivalThreshold) { } else if (direction.mag() < arrivalThreshold) {
@ -129,23 +127,20 @@ 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 + 10; float idealSpeed = (dotProductOfTargets) * 80 + 15;
//Also use an acceleration factor, dependent on the direction our boid is facing vs the direction it needs to go float maxSpeed = 100 * pow(((PI - abs(angleToTarget)) / PI), 10);
//if angleToTarget is high, low acceleration. If it's low, high acceleration println(maxSpeed);
//angleToTarget can be from neg pi to pi, so use its absolute value
float acceleration = pow((PI - abs(angleToTarget)) / PI, 10); if (idealSpeed > maxSpeed) {
idealSpeed = maxSpeed;
if (kinematic.getSpeed() < idealSpeed) {
kinematic.increaseSpeed(acceleration,0);
} else if (kinematic.getSpeed() > idealSpeed) {
kinematic.increaseSpeed(-acceleration,0);
} }
if (kinematic.getSpeed() < idealSpeed) {
kinematic.increaseSpeed(1, 0);
} else if (kinematic.getSpeed() > idealSpeed) {
kinematic.increaseSpeed(-1, 0);
}
} else { } else {
//if no more targets to check, do the normal calculation //if no more targets to check, do the normal calculation
@ -172,11 +167,7 @@ class Boid
} else if (idealSpeed > speedOffset) { } else if (idealSpeed > speedOffset) {
kinematic.increaseSpeed(-1, 0); kinematic.increaseSpeed(-1, 0);
} }
} }
} else { } else {
//if waypoints is null, do normal things //if waypoints is null, do normal things
@ -208,9 +199,7 @@ class Boid
} else if (idealSpeed > speedOffset) { } else if (idealSpeed > speedOffset) {
kinematic.increaseSpeed(-1, 0); kinematic.increaseSpeed(-1, 0);
} }
} }
} }
@ -241,18 +230,7 @@ class Boid
} else { } else {
stillInRadius = false; stillInRadius = false;
} }
} }
} }
// place crumbs, do not change // place crumbs, do not change
@ -300,7 +278,6 @@ class Boid
void seek(PVector target) void seek(PVector target)
{ {
this.target = target; this.target = target;
} }
void follow(ArrayList<PVector> waypoints) void follow(ArrayList<PVector> waypoints)
@ -309,12 +286,5 @@ class Boid
this.waypoints = waypoints; this.waypoints = waypoints;
seek(waypoints.get(0)); seek(waypoints.get(0));
} }
} }