Delete Boid10419224425232634497.autosave
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/// In this file, you will have to implement seek and waypoint-following
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/// The relevant locations are marked with "TODO"
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class Crumb
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{
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PVector position;
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Crumb(PVector position)
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{
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this.position = position;
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}
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void draw()
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{
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fill(255);
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noStroke();
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circle(this.position.x, this.position.y, CRUMB_SIZE);
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}
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}
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class Boid
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{
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Crumb[] crumbs = {};
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int last_crumb;
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float acceleration;
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float rotational_acceleration;
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KinematicMovement kinematic;
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PVector target;
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Boid(PVector position, float heading, float max_speed, float max_rotational_speed, float acceleration, float rotational_acceleration)
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{
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this.kinematic = new KinematicMovement(position, heading, max_speed, max_rotational_speed);
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this.last_crumb = millis();
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this.acceleration = acceleration;
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this.rotational_acceleration = rotational_acceleration;
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}
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void update(float dt)
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{
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if (target != null)
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{
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// TODO: Implement seek here
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//This makes a vector with the direction our boid needs to go to
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PVector direction = PVector.sub(target, kinematic.position);
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//atan2(direction.y, direction.x) will return the direction we need to go in radians
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//print direction we need to go and the direction we are facing right now
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//println(atan2(direction.y, direction.x) + " " + normalize_angle_left_right(kinematic.getHeading()));
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float directionalThreshold = .1;
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float angleToTarget = normalize_angle(atan2(direction.y, direction.x)) - kinematic.getHeading();
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float arrivalThreshold = 60.0;
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//This just draws a circle for visual debugging purposes
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//circle(target.x, target.y, arrivalThreshold);
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//prints the angle to the target
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//println(angleToTarget);
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//if the angle is larger than the threshold in the positive direction, rotate counterclockwise
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if (angleToTarget > directionalThreshold) {
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kinematic.increaseSpeed(0.0, 1);
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//if the angle is smaller than the threshold in the negative direction, rotate clockwise
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} else if (angleToTarget < -directionalThreshold) {
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kinematic.increaseSpeed(0.0, -1);
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//if the angle is within our threshold, stop our rotational velocity by rotating opposite
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} else if (directionalThreshold > angleToTarget) {
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if (kinematic.getRotationalVelocity() > 0) {
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kinematic.increaseSpeed(0.0, -1);
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}
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else if (kinematic.getRotationalVelocity() < 0) {
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kinematic.increaseSpeed(0.0, 1);
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}
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}
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//Slight flaw: since the arrival threshold is so big, the boid just won't move if its target is that close.
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//if the target is outside its arrival threshold, accelerate.
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//if the target is inside its arrival threshold, accelerate backwards until the speed is 0.
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if (direction.mag() > arrivalThreshold) {
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kinematic.increaseSpeed(1,0);
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} else if (direction.mag() < arrivalThreshold) {
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//Need more specific code here to handle arrivals correctly
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if (kinematic.getSpeed() < 40 && direction.mag() > 30) {
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kinematic.increaseSpeed(1,0);
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} else if (kinematic.getSpeed() < 20 && direction.mag() > 15) {
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kinematic.increaseSpeed(.75,0);
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} else if (kinematic.getSpeed() < 10 && direction.mag() > 5) {
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kinematic.increaseSpeed(.5,0);
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} else if (kinematic.getSpeed() < 5 && direction.mag() < 3) {
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kinematic.increaseSpeed(.25,0);
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} else {
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kinematic.increaseSpeed(-1,0);
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}
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}
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//drawing a line for testing purposes
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//line(kinematic.position.x, kinematic.position.y, kinematic.position.x + direction.x, kinematic.position.y + direction.y);
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}
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// place crumbs, do not change
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if (LEAVE_CRUMBS && (millis() - this.last_crumb > CRUMB_INTERVAL))
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{
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this.last_crumb = millis();
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this.crumbs = (Crumb[])append(this.crumbs, new Crumb(this.kinematic.position));
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if (this.crumbs.length > MAX_CRUMBS)
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this.crumbs = (Crumb[])subset(this.crumbs, 1);
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}
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// do not change
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this.kinematic.update(dt);
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draw();
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}
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void draw()
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{
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for (Crumb c : this.crumbs)
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{
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c.draw();
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}
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fill(255);
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noStroke();
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float x = kinematic.position.x;
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float y = kinematic.position.y;
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float r = kinematic.heading;
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circle(x, y, BOID_SIZE);
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// front
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float xp = x + BOID_SIZE*cos(r);
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float yp = y + BOID_SIZE*sin(r);
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// left
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float x1p = x - (BOID_SIZE/2)*sin(r);
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float y1p = y + (BOID_SIZE/2)*cos(r);
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// right
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float x2p = x + (BOID_SIZE/2)*sin(r);
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float y2p = y - (BOID_SIZE/2)*cos(r);
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triangle(xp, yp, x1p, y1p, x2p, y2p);
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}
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void seek(PVector target)
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{
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this.target = target;
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}
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void follow(ArrayList<PVector> waypoints)
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{
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// TODO: change to follow *all* waypoints
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this.target = waypoints.get(0);
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}
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}
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