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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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70
Boid.pde
View File

@ -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) {
kinematic.increaseSpeed(0.0, +1);
if (angleToTarget >= .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);
}
}
}

17
Flocking.pde
View File

@ -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