add navmesh comments
This commit is contained in:
commit
a41403e080
361
Boid.pde
361
Boid.pde
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@ -6,18 +6,19 @@ class Crumb
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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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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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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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<<<<<<< HEAD
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Crumb[] crumbs = {};
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int last_crumb;
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float acceleration;
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@ -71,20 +72,77 @@ class Boid
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//println("positive angle");
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kinematic.increaseSpeed(0.0, 2);
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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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PVector direction;
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ArrayList<PVector> waypoints;
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boolean stillInRadius = true;
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int currentTarget = 0;
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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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>>>>>>> 3d16b646a807cb7a2384072f4c267c5888644f96
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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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//You have to normalize this too or the boid goes the wrong way sometimes
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float angleToTarget = normalize_angle_left_right(atan2(direction.y, direction.x) - normalize_angle_left_right(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, 3);
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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 && direction.mag() > 30) {
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kinematic.increaseSpeed(0.0, +1);
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} else if (angleToTarget > directionalThreshold && direction.mag() > 15) {
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kinematic.increaseSpeed(0.0, +.5);
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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 < -.1) {
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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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} else if (angleToTarget < -directionalThreshold && direction.mag() > 30) {
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kinematic.increaseSpeed(0.0, -1);
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} else if (kinematic.getRotationalVelocity() < 0) {
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kinematic.increaseSpeed(0.0, 1);
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} else if (angleToTarget < -directionalThreshold && direction.mag() > 15) {
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kinematic.increaseSpeed(0.0, -.5);
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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, -kinematic.getRotationalVelocity());
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}
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else if (kinematic.getRotationalVelocity() < 0) {
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kinematic.increaseSpeed(0.0, kinematic.getRotationalVelocity());
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}
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}
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<<<<<<< HEAD
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}
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@ -116,66 +174,161 @@ class Boid
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} else {
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//println("else");
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kinematic.increaseSpeed(-1, 0);
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=======
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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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//TODO: change this to slow down less / not at all if the angle to the next target is not large
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//This handles starting / stopping if there are more targets
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//This ensures that we don't crash because waypoints is null
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if (waypoints != null) {
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//this checks if there's another target to go to
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if (currentTarget + 1 < waypoints.size()) {
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//if so, change the speed depending on the angle to the next target
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//This part isn't really implemented at all, and I need sleep
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//We can calculate the angle to the next target with the use of two vectors: one from our location to current target, one from current target to next target
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//use the dot product of those two vectors; this gives us the angle between them, and we can use that to calculate how much we should slow down
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//direction is our boid to target vector
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//this is at direction
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//current target to next target is here:
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PVector currentTargetToNext = PVector.sub(waypoints.get(currentTarget+1), target);
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//i'm not sure this is the best way to do this, it might be simpler to calculate the angle, but this should work too
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//holds dot product of targets
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float dotProductOfTargets = PVector.dot(currentTargetToNext, direction);
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//Dividing by both their magnitudes will normalize our result between -1 and 1
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dotProductOfTargets = dotProductOfTargets / (currentTargetToNext.mag() * direction.mag());
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//Add 1, divide by 2, this will cause our result to be between 0 and 1
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//If this is closer to 0, slow down more. If it's closer to 1, slow down less.
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dotProductOfTargets = (dotProductOfTargets + 1) / 2;
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//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
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float idealSpeed = dotProductOfTargets * 20 + 10;
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if (kinematic.getSpeed() < idealSpeed) {
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kinematic.increaseSpeed(1,0);
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} else if (kinematic.getSpeed() > idealSpeed) {
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kinematic.increaseSpeed(-1,0);
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}
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/*
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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() < 5) {
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//This should ensure that the boid's speed can be dropped to exactly 0 so we don't have stuttering
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kinematic.increaseSpeed(-kinematic.getSpeed(),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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} else {
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//if no more targets to check, do the normal calculation
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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() < 5) {
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//This should ensure that the boid's speed can be dropped to exactly 0 so we don't have stuttering
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kinematic.increaseSpeed(-kinematic.getSpeed(),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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} else {
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//if waypoints is null, do normal things
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println("waypoints is null");
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//This code should trigger if there's only one target left
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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() < 5) {
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//This should ensure that the boid's speed can be dropped to exactly 0 so we don't have stuttering
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kinematic.increaseSpeed(-kinematic.getSpeed(),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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>>>>>>> 3d16b646a807cb7a2384072f4c267c5888644f96
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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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int count = 0;
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//void follow(ArrayList<PVector> waypoints)
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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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//handling going to multiple targets
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//initial check exists because waypoints will be null for a single target
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if (waypoints != null) {
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//If within 5 units, move to next target
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if (direction.mag() < 5) {
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//This ensures that the same target can't trigger moving to the next target twice
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if (stillInRadius == false) {
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//this ensures that waypoints get cleared after finishing checking all targets
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if (currentTarget < waypoints.size() - 1) {
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currentTarget++;
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} else {
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currentTarget = 0;
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waypoints = null;
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}
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}
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stillInRadius = true;
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if (waypoints != null) {
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seek(waypoints.get(currentTarget));
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}
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} else {
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stillInRadius = false;
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}
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}
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}
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<<<<<<< HEAD
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// //println("func count " + count);
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// if(count > waypoints.size() - 1){
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// this.target = waypoints.get(0);
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@ -232,4 +385,68 @@ int count = 0;
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}
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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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this.waypoints = waypoints;
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seek(waypoints.get(0));
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}
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>>>>>>> 3d16b646a807cb7a2384072f4c267c5888644f96
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}
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