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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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64
Boid.pde
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@ -54,7 +54,7 @@ class Boid
float directionalThreshold = .1;
//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 arrivalThreshold = 60.0;
float arrivalThreshold = 150.0;
@ -77,8 +77,7 @@ class Boid
if (kinematic.getRotationalVelocity() > 0) {
kinematic.increaseSpeed(0.0, -kinematic.getRotationalVelocity());
}
else if (kinematic.getRotationalVelocity() < 0) {
} else if (kinematic.getRotationalVelocity() < 0) {
kinematic.increaseSpeed(0.0, kinematic.getRotationalVelocity());
}
}
@ -87,8 +86,7 @@ class Boid
//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);
kinematic.increaseSpeed(1, 0);
} 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
//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
//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 maxSpeed = 100 * pow(((PI - abs(angleToTarget)) / PI), 10);
println(maxSpeed);
float acceleration = pow((PI - abs(angleToTarget)) / PI, 10);
if (kinematic.getSpeed() < idealSpeed) {
kinematic.increaseSpeed(acceleration,0);
} else if (kinematic.getSpeed() > idealSpeed) {
kinematic.increaseSpeed(-acceleration,0);
if (idealSpeed > maxSpeed) {
idealSpeed = maxSpeed;
}
if (kinematic.getSpeed() < idealSpeed) {
kinematic.increaseSpeed(1, 0);
} else if (kinematic.getSpeed() > idealSpeed) {
kinematic.increaseSpeed(-1, 0);
}
} else {
//if no more targets to check, do the normal calculation
@ -168,15 +163,11 @@ class Boid
if (abs(speedOffset) < 1) {
kinematic.increaseSpeed(speedOffset, 0);
} else if (idealSpeed < speedOffset) {
kinematic.increaseSpeed(1,0);
kinematic.increaseSpeed(1, 0);
} else if (idealSpeed > speedOffset) {
kinematic.increaseSpeed(-1,0);
kinematic.increaseSpeed(-1, 0);
}
}
} else {
//if waypoints is null, do normal things
@ -204,13 +195,11 @@ class Boid
if (abs(speedOffset) < 1) {
kinematic.increaseSpeed(speedOffset, 0);
} else if (idealSpeed < speedOffset) {
kinematic.increaseSpeed(1,0);
kinematic.increaseSpeed(1, 0);
} else if (idealSpeed > speedOffset) {
kinematic.increaseSpeed(-1,0);
kinematic.increaseSpeed(-1, 0);
}
}
}
@ -241,18 +230,7 @@ class Boid
} else {
stillInRadius = false;
}
}
}
// place crumbs, do not change
@ -300,7 +278,6 @@ class Boid
void seek(PVector target)
{
this.target = target;
}
void follow(ArrayList<PVector> waypoints)
@ -309,12 +286,5 @@ class Boid
this.waypoints = waypoints;
seek(waypoints.get(0));
}
}