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add waypoints code

This commit is contained in:
Priyatham Sai Chand 2022-09-26 22:03:24 -07:00
parent 6bf5b1c544
commit fff97d36b5
2 changed files with 189 additions and 152 deletions
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324
Boid.pde
View File

@ -6,171 +6,191 @@ class Crumb
PVector position; PVector position;
Crumb(PVector position) Crumb(PVector position)
{ {
this.position = position; this.position = position;
} }
void draw() void draw()
{ {
fill(255); fill(255);
noStroke(); noStroke();
circle(this.position.x, this.position.y, CRUMB_SIZE); circle(this.position.x, this.position.y, CRUMB_SIZE);
} }
} }
class Boid class Boid
{ {
Crumb[] crumbs = {}; Crumb[] crumbs = {};
int last_crumb; int last_crumb;
float acceleration; float acceleration;
float rotational_acceleration; float rotational_acceleration;
KinematicMovement kinematic; KinematicMovement kinematic;
PVector target; PVector target;
Boid(PVector position, float heading, float max_speed, float max_rotational_speed, float acceleration, float rotational_acceleration) Boid(PVector position, float heading, float max_speed, float max_rotational_speed, float acceleration, float rotational_acceleration)
{ {
this.kinematic = new KinematicMovement(position, heading, max_speed, max_rotational_speed); this.kinematic = new KinematicMovement(position, heading, max_speed, max_rotational_speed);
this.last_crumb = millis(); this.last_crumb = millis();
this.acceleration = acceleration; this.acceleration = acceleration;
this.rotational_acceleration = rotational_acceleration; this.rotational_acceleration = rotational_acceleration;
} }
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;
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 >= .1) {
println("positive angle");
kinematic.increaseSpeed(0.0, 2);
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;
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, 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) {
kinematic.increaseSpeed(0.0, +1);
//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 < -directionalThreshold) { } else if (angleToTarget < -.1) {
kinematic.increaseSpeed(0.0, -1); kinematic.increaseSpeed(0.0, -1);
//if the angle is within our threshold, stop our rotational velocity by rotating opposite //if the angle is within our threshold, stop our rotational velocity by rotating opposite
} else if (directionalThreshold > angleToTarget) { } else if (directionalThreshold > angleToTarget) {
if (kinematic.getRotationalVelocity() > 0) { if (kinematic.getRotationalVelocity() > 0) {
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);
}
} }
}
//Sometimes our Boid just goes and does weird things and I don't know why
//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. //if the target is outside its arrival threshold, accelerate.
if (direction.mag() > arrivalThreshold) { //if the target is inside its arrival threshold, accelerate backwards until the speed is 0.
kinematic.increaseSpeed(1,0); if (direction.mag() > arrivalThreshold) {
} else if (direction.mag() < arrivalThreshold) { //println("main if");
//Need more specific code here to handle arrivals correctly kinematic.increaseSpeed(.5, 0);
} else if (direction.mag() < arrivalThreshold) {
if (kinematic.getSpeed() < 40 && direction.mag() > 30) { //Need more specific code here to handle arrivals correctly
kinematic.increaseSpeed(1,0);
} else if (kinematic.getSpeed() < 20 && direction.mag() > 15) { if (kinematic.getSpeed() < 40 && direction.mag() > 30) {
kinematic.increaseSpeed(.75,0); //println("if 1");
} else if (kinematic.getSpeed() < 10 && direction.mag() > 5) { kinematic.increaseSpeed(1, 0);
kinematic.increaseSpeed(.5,0); } else if (kinematic.getSpeed() < 20 && direction.mag() > 15) {
} else if (kinematic.getSpeed() < 5 && direction.mag() < 5) { //println("if .75");
//This should ensure that the boid's speed can be dropped to exactly 0 so we don't have stuttering kinematic.increaseSpeed(.75, 0);
kinematic.increaseSpeed(-kinematic.getSpeed(),0); } else if (kinematic.getSpeed() < 10 && direction.mag() > 5) {
} else { //println("if .5");
kinematic.increaseSpeed(-1,0); 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);
} else {
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); //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
if (LEAVE_CRUMBS && (millis() - this.last_crumb > CRUMB_INTERVAL))
{
this.last_crumb = millis();
this.crumbs = (Crumb[])append(this.crumbs, new Crumb(this.kinematic.position));
if (this.crumbs.length > MAX_CRUMBS)
} this.crumbs = (Crumb[])subset(this.crumbs, 1);
}
// do not change
this.kinematic.update(dt);
draw();
}
void draw()
{
for (Crumb c : this.crumbs)
{
c.draw();
}
fill(255);
noStroke();
float x = kinematic.position.x;
float y = kinematic.position.y;
float r = kinematic.heading;
circle(x, y, BOID_SIZE);
// front
float xp = x + BOID_SIZE*cos(r);
float yp = y + BOID_SIZE*sin(r);
// left
float x1p = x - (BOID_SIZE/2)*sin(r);
float y1p = y + (BOID_SIZE/2)*cos(r);
// right
float x2p = x + (BOID_SIZE/2)*sin(r);
float y2p = y - (BOID_SIZE/2)*cos(r);
triangle(xp, yp, x1p, y1p, x2p, y2p);
}
void seek(PVector target)
{
this.target = target;
}
int count = 0;
//void follow(ArrayList<PVector> waypoints)
//{
// place crumbs, do not change // //println("func count " + count);
if (LEAVE_CRUMBS && (millis() - this.last_crumb > CRUMB_INTERVAL)) // if(count > waypoints.size() - 1){
{ // this.target = waypoints.get(0);
this.last_crumb = millis(); // return;
this.crumbs = (Crumb[])append(this.crumbs, new Crumb(this.kinematic.position)); // }
if (this.crumbs.length > MAX_CRUMBS) // else {
this.crumbs = (Crumb[])subset(this.crumbs, 1); // // 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)
{
this.target = waypoints.get(0);
// do not change for (int i = 1; i < waypoints.size(); i++){
this.kinematic.update(dt); if(PVector.sub(this.target,this.kinematic.position).mag() = 0)
this.target = waypoints.get(i);
draw();
} }
}
void draw()
{
for (Crumb c : this.crumbs)
{
c.draw();
}
fill(255);
noStroke();
float x = kinematic.position.x;
float y = kinematic.position.y;
float r = kinematic.heading;
circle(x, y, BOID_SIZE);
// front
float xp = x + BOID_SIZE*cos(r);
float yp = y + BOID_SIZE*sin(r);
// left
float x1p = x - (BOID_SIZE/2)*sin(r);
float y1p = y + (BOID_SIZE/2)*cos(r);
// right
float x2p = x + (BOID_SIZE/2)*sin(r);
float y2p = y - (BOID_SIZE/2)*cos(r);
triangle(xp, yp, x1p, y1p, x2p, y2p);
}
void seek(PVector target)
{
this.target = target;
}
void follow(ArrayList<PVector> waypoints)
{
// TODO: change to follow *all* waypoints
this.target = waypoints.get(0);
}
} }

17
Flocking.pde
View File

@ -1,7 +1,24 @@
/// called when "f" is pressed; should instantiate additional boids and start flocking /// called when "f" is pressed; should instantiate additional boids and start flocking
Boid[] billies = new Boid[8];
void flock() 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 /// called when "f" is pressed again; should remove the flock