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add boid pathfinding

This commit is contained in:
JH159753 2022-09-21 02:04:57 -07:00
parent 200336bba5
commit fba0dbe885
1 changed files with 56 additions and 7 deletions
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63
Boid.pde
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@ -38,13 +38,63 @@ class Boid
if (target != null) if (target != null)
{ {
// TODO: Implement seek here // TODO: Implement seek here
//println(kinematic.getHeading());
//float targetDirection = atan2(target.y, target.x);
float temp1 = atan2(kinematic.getPosition().y-target.y, kinematic.getPosition().x-target.x); //This makes a vector with the direction our boid needs to go to
float temp2 = kinematic.getHeading(); PVector direction = PVector.sub(target, kinematic.position);
kinematic.increaseSpeed(1,kinematic.getHeading() - temp1);
println(temp1 + " " + temp2); //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;
float angleToTarget = 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, arrivalThreshold);
//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) {
kinematic.increaseSpeed(0.0, +1);
//if the angle is smaller than the threshold in the negative direction, rotate clockwise
} else if (angleToTarget < -directionalThreshold) {
kinematic.increaseSpeed(0.0, -1);
//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);
}
else if (kinematic.getRotationalVelocity() < 0) {
kinematic.increaseSpeed(0.0, 1);
}
}
//Slight flaw: since the arrival threshold is so big, the boid just won't move if its target is that close.
//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) {
if (kinematic.getSpeed() > 0) {
kinematic.increaseSpeed(-1,0);
}
}
//drawing a line for testing purposes
line(kinematic.position.x, kinematic.position.y, kinematic.position.x + direction.x, kinematic.position.y + direction.y);
@ -54,7 +104,6 @@ class Boid
kinematic.increaseSpeed(1,-.001);
} }
// place crumbs, do not change // place crumbs, do not change