From 88967458d9a74c46659a7dca1c1c243f93aa1d46 Mon Sep 17 00:00:00 2001 From: JH159753 Date: Sun, 30 Oct 2022 23:50:48 -0700 Subject: [PATCH] Delete Boid10419224425232634497.autosave --- Boid10419224425232634497.autosave | 175 ------------------------------ 1 file changed, 175 deletions(-) delete mode 100644 Boid10419224425232634497.autosave diff --git a/Boid10419224425232634497.autosave b/Boid10419224425232634497.autosave deleted file mode 100644 index 73e7fb9..0000000 --- a/Boid10419224425232634497.autosave +++ /dev/null @@ -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 waypoints) - { - // TODO: change to follow *all* waypoints - this.target = waypoints.get(0); - - } -}