Merge branch 'main' of https://github.com/JH159753/GameAILab1

Boid.pde

@@ -54,7 +54,9 @@ 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;
+
+
 
       //This just draws a circle for visual debugging purposes
       circle(target.x, target.y, 3);
@@ -63,38 +65,28 @@ class Boid
       //println(angleToTarget);
 
       //if the angle is larger than the threshold in the positive direction, rotate counterclockwise
-        if (angleToTarget > directionalThreshold && direction.mag() > 30) {
+      if (angleToTarget > directionalThreshold) {
         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) {
+      } else if (angleToTarget < -directionalThreshold) {
         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) {
-          else if (kinematic.getRotationalVelocity() < 0) {
           kinematic.increaseSpeed(0.0, kinematic.getRotationalVelocity());
         }
       }
 
 
-        
-        
       //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) {
 
 
@@ -109,8 +101,9 @@ class Boid
           //this checks if there's another target to go to
           if (currentTarget + 1 < waypoints.size()) {
 
+
+
             //if so, change the speed depending on the angle to the next target
-              //This part isn't really implemented at all, and I need sleep
 
             //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
             //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
@@ -133,15 +126,20 @@ class Boid
             dotProductOfTargets = (dotProductOfTargets + 1) / 2;
 
             //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
-              float idealSpeed = dotProductOfTargets * 80 + 10;
+            float idealSpeed = (dotProductOfTargets) * 80 + 15;
+
+            float maxSpeed = 100 * pow(((PI - abs(angleToTarget)) / PI), 10);
+            //println(maxSpeed);
+
+            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
@@ -150,29 +148,19 @@ class Boid
             //Ideal speed here should be 80 at dist 85, and reduce linearly from there, hitting 0 at 5 units?
             //This can be changed later if it isn't good
             
+            
             float idealSpeed = (1 * direction.mag() - 5);
             
-              //if idealSpeed is "negative" we should just set it to 0
             if (idealSpeed < 0) {
               idealSpeed = 0;
             }
 
-              //use this to know how off the target speed we are, and slow down accordingly
+            if (kinematic.getSpeed() < idealSpeed) {
-              //This will be positive if the ideal speed is higher than current speed, negative if ideal speed is lower. 
-              float speedOffset = (idealSpeed - kinematic.getSpeed());
-              
-              if (abs(speedOffset) < 1) {
-                kinematic.increaseSpeed(speedOffset, 0);
-              } else if (idealSpeed < speedOffset) {
               kinematic.increaseSpeed(1, 0);
-              } else if (idealSpeed > speedOffset) {
+            } else if (kinematic.getSpeed() > idealSpeed) {
               kinematic.increaseSpeed(-1, 0);
             }
-              
-              
-            
           }
-          
         } else {
 
           //if waypoints is null, do normal things
@@ -184,7 +172,7 @@ class Boid
           //Ideal speed here should be 80 at dist 85, and reduce linearly from there, hitting 0 at 5 units?
           //This can be changed later if it isn't good
 
-              float idealSpeed = 1 * direction.mag() - 5;
+          float idealSpeed = 1 * direction.mag() + 10;
 
           //if idealSpeed is "negative" we should just set it to 0
           if (idealSpeed < 0) {
@@ -204,9 +192,7 @@ class Boid
           } else if (idealSpeed > speedOffset) {
             kinematic.increaseSpeed(-1, 0);
           }
-          
         }
-          
       }
 
 
@@ -237,18 +223,7 @@ class Boid
         } else {
           stillInRadius = false;
         }
-          
       }
-        
-        
-        
-        
-        
-        
-        
-        
-        
-        
     }
 
     // place crumbs, do not change
@@ -296,7 +271,6 @@ class Boid
   void seek(PVector target)
   {
     this.target = target;
-      
   }
 
   void follow(ArrayList<PVector> waypoints)
@@ -305,12 +279,5 @@ class Boid
     this.waypoints = waypoints;
 
     seek(waypoints.get(0));
-      
-      
-      
-      
-      
-      
-      
   }
 }

lab1.pde

@@ -22,7 +22,7 @@ boolean show_help = false;
 boolean flocking_enabled = false;
 
 void setup() {
-  size(800, 600);
+  size(1000, 800);
   
   billy = new Boid(BILLY_START, BILLY_START_HEADING, BILLY_MAX_SPEED, BILLY_MAX_ROTATIONAL_SPEED, BILLY_MAX_ACCELERATION, BILLY_MAX_ROTATIONAL_ACCELERATION);
   randomSeed(0);