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add seeking multiple targets 

This version still slows down even if not necessary.
This commit is contained in:
JH159753 2022-09-28 01:22:40 -07:00
parent 6c01c80bfa
commit d5574b6cfd
1 changed files with 48 additions and 11 deletions
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59
Boid.pde
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@ -24,6 +24,10 @@ class Boid
float rotational_acceleration;
KinematicMovement kinematic;
PVector target;
PVector direction;
ArrayList<PVector> waypoints;
boolean stillInRadius = true;
int currentTarget = 0;
Boid(PVector position, float heading, float max_speed, float max_rotational_speed, float acceleration, float rotational_acceleration)
{
@ -39,7 +43,6 @@ class Boid
{
// TODO: Implement seek here
//This makes a vector with the direction our boid needs to go to
PVector direction = PVector.sub(target, kinematic.position);
@ -49,7 +52,8 @@ class Boid
//println(atan2(direction.y, direction.x) + " " + normalize_angle_left_right(kinematic.getHeading()));
float directionalThreshold = .1;
float angleToTarget = atan2(direction.y, direction.x) - normalize_angle_left_right(kinematic.getHeading());
//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
@ -59,29 +63,32 @@ class Boid
//println(angleToTarget);
//if the angle is larger than the threshold in the positive direction, rotate counterclockwise
//Need to rotate slower when the boid is closer to the target
if (angleToTarget > directionalThreshold && direction.mag() > arrivalThreshold) {
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() > arrivalThreshold) {
} 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, -1);
kinematic.increaseSpeed(0.0, -kinematic.getRotationalVelocity());
}
else if (kinematic.getRotationalVelocity() < 0) {
kinematic.increaseSpeed(0.0, 1);
kinematic.increaseSpeed(0.0, kinematic.getRotationalVelocity());
}
}
//Sometimes our Boid just goes and does weird things and I don't know why
//if the target is outside its arrival threshold, accelerate.
//if the target is inside its arrival threshold, accelerate backwards until the speed is 0.
@ -111,6 +118,27 @@ class Boid
//drawing a line for testing purposes
//line(kinematic.position.x, kinematic.position.y, kinematic.position.x + direction.x, kinematic.position.y + direction.y);
//handling going to multiple targets
//If within 5 units, move to next target
if (direction.mag() < 5) {
//This ensures that the same target can't trigger moving to the next target twice
if (stillInRadius == false) {
//this ensures that waypoints get cleared after finishing checking all targets
if (currentTarget < waypoints.size() - 1) {
currentTarget++;
} else {
currentTarget = 0;
waypoints = null;
}
}
stillInRadius = true;
if (waypoints != null) {
seek(waypoints.get(currentTarget));
}
} else {
stillInRadius = false;
}
@ -166,13 +194,22 @@ class Boid
void seek(PVector target)
{
this.target = target;
println("seeking");
}
void follow(ArrayList<PVector> waypoints)
{
// TODO: change to follow *all* waypoints
this.target = waypoints.get(0);
this.waypoints = waypoints;
seek(waypoints.get(0));
}
}