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add do-while waypoints

This commit is contained in:
Priyatham Sai Chand 2022-09-26 22:29:18 -07:00
parent 771f7b5324
commit b5b641fe64
1 changed files with 15 additions and 59 deletions
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68
Boid.pde
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@ -63,7 +63,7 @@ class Boid
println("positive angle"); println("positive angle");
kinematic.increaseSpeed(0.0, 2); kinematic.increaseSpeed(0.0, 2);
<<<<<<< HEAD
//if the angle is smaller than the threshold in the negative direction, rotate clockwise //if the angle is smaller than the threshold in the negative direction, rotate clockwise
} else if (angleToTarget < -.1) { } else if (angleToTarget < -.1) {
kinematic.increaseSpeed(0.0, -1); kinematic.increaseSpeed(0.0, -1);
@ -75,57 +75,7 @@ class Boid
kinematic.increaseSpeed(0.0, -1); kinematic.increaseSpeed(0.0, -1);
} else if (kinematic.getRotationalVelocity() < 0) { } else if (kinematic.getRotationalVelocity() < 0) {
kinematic.increaseSpeed(0.0, 1); kinematic.increaseSpeed(0.0, 1);
=======
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;
//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;
//This just draws a circle for visual debugging purposes
circle(target.x, target.y, 3);
//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 && direction.mag() > 30) {
kinematic.increaseSpeed(0.0, +1);
} else if (angleToTarget > directionalThreshold && direction.mag() > 15) {
kinematic.increaseSpeed(0.0, +.5);
//if the angle is smaller than the threshold in the negative direction, rotate clockwise
} else if (angleToTarget < -directionalThreshold && direction.mag() > 30) {
kinematic.increaseSpeed(0.0, -1);
} else if (angleToTarget < -directionalThreshold && direction.mag() > 15) {
kinematic.increaseSpeed(0.0, -.5);
//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, -kinematic.getRotationalVelocity());
}
else if (kinematic.getRotationalVelocity() < 0) {
kinematic.increaseSpeed(0.0, kinematic.getRotationalVelocity());
}
>>>>>>> origin/main
} }
} }
@ -237,12 +187,18 @@ int count = 0;
//} //}
void follow(ArrayList<PVector> waypoints) void follow(ArrayList<PVector> waypoints)
{ {
this.target = waypoints.get(0); int count = 0;
//this.target = waypoints.get(0);
do{
print("in while");
this.target = waypoints.get(count);
count++;
}while(PVector.sub(this.target,this.kinematic.position).mag() < 40);
for (int i = 1; i < waypoints.size(); i++){
if(PVector.sub(this.target,this.kinematic.position).mag() = 0)
this.target = waypoints.get(i);
}
} }
} }