add waypoints code

Boid.pde

@@ -49,7 +49,7 @@ 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());
+      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
@@ -59,11 +59,12 @@ class Boid
       //println(angleToTarget);
 
       //if the angle is larger than the threshold in the positive direction, rotate counterclockwise
-        if (angleToTarget > directionalThreshold) {
+      if (angleToTarget >= .1) {
-          kinematic.increaseSpeed(0.0, +1);
+        println("positive angle");
+        kinematic.increaseSpeed(0.0, 2);
 
         //if the angle is smaller than the threshold in the negative direction, rotate clockwise
-        } else if (angleToTarget < -directionalThreshold) {
+      } else if (angleToTarget < -.1) {
         kinematic.increaseSpeed(0.0, -1);
 
         //if the angle is within our threshold, stop our rotational velocity by rotating opposite
@@ -71,8 +72,7 @@ class Boid
 
         if (kinematic.getRotationalVelocity() > 0) {
           kinematic.increaseSpeed(0.0, -1);
-          }
+        } else if (kinematic.getRotationalVelocity() < 0) {
-          else if (kinematic.getRotationalVelocity() < 0) {
           kinematic.increaseSpeed(0.0, 1);
         }
       }
@@ -84,39 +84,35 @@ class Boid
       //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);
+        //println("main if");
+        kinematic.increaseSpeed(.5, 0);
       } else if (direction.mag() < arrivalThreshold) {
         //Need more specific code here to handle arrivals correctly
 
         if (kinematic.getSpeed() < 40 && direction.mag() > 30) {
-            kinematic.increaseSpeed(1,0);
+          //println("if 1");
+          kinematic.increaseSpeed(1, 0);
         } else if (kinematic.getSpeed() < 20 && direction.mag() > 15) {
-            kinematic.increaseSpeed(.75,0);
+          //println("if .75");
+          kinematic.increaseSpeed(.75, 0);
         } else if (kinematic.getSpeed() < 10 && direction.mag() > 5) {
-            kinematic.increaseSpeed(.5,0);
+          //println("if .5");
+          kinematic.increaseSpeed(.5, 0);
         } else if (kinematic.getSpeed() < 5 && direction.mag() < 5) {
+          //println("if -kin");
           //This should ensure that the boid's speed can be dropped to exactly 0 so we don't have stuttering
-            kinematic.increaseSpeed(-kinematic.getSpeed(),0);
+
+          kinematic.increaseSpeed(-kinematic.getSpeed(), 0);
         } else {
-            kinematic.increaseSpeed(-1,0);
+          println("else");
+          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);
-        
-        
-        
-        
-        
-        
-        
-        
-        
     }
 
     // place crumbs, do not change
@@ -164,13 +160,37 @@ class Boid
   void seek(PVector target)
   {
     this.target = target;
-      
   }
+int count = 0;
  
+  //void follow(ArrayList<PVector> waypoints)
+  //{
+     
+  //  //println("func count " + count);
+  //  if(count > waypoints.size() - 1){
+  //  this.target = waypoints.get(0);
+  //  return;
+  //  }
+  //  else {
+  //  // TODO: change to follow *all* waypoints
+  //  println("count " + count);
+  //  this.target = waypoints.get(count);
+  //  PVector temp = waypoints.remove(count);
+  //  count++;
+  //  //count--;
+    
+  //  follow(waypoints);
+  //  }
+    
+  //}
   void follow(ArrayList<PVector> waypoints)
   {
-      // TODO: change to follow *all* waypoints
     this.target = waypoints.get(0);
      
+    for (int i = 1; i < waypoints.size(); i++){
+      if(PVector.sub(this.target,this.kinematic.position).mag() = 0)
+        this.target = waypoints.get(i);
+        
+    }
   }
 }

Flocking.pde

@@ -1,7 +1,24 @@
 
 /// called when "f" is pressed; should instantiate additional boids and start flocking
+Boid[] billies = new Boid[8];
 void flock()
 {
+  int lasttr = 0;
+  println("flock called");
+  float dt = (millis() - lasttr)/1000.0;
+  lasttr = millis();
+  PVector target = new PVector(mouseX, mouseY);
+  
+  for(int i = 0; i < 7; i++)
+  {
+     billies[i] = new Boid(new PVector(100 + i*100, 500), BILLY_START_HEADING, BILLY_MAX_SPEED, BILLY_MAX_ROTATIONAL_SPEED, BILLY_MAX_ACCELERATION, BILLY_MAX_ROTATIONAL_ACCELERATION);
+     println("billy " + billies[i].toString()); 
+
+  billies[i].update(dt);
+  billies[i].seek(target);
+  }
+  
+
 }
 
 /// called when "f" is pressed again; should remove the flock