add waypoints code
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6bf5b1c544
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fff97d36b5
258
Boid.pde
258
Boid.pde
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@ -6,171 +6,191 @@ class Crumb
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PVector position;
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Crumb(PVector position)
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{
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this.position = position;
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this.position = position;
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}
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void draw()
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{
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fill(255);
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noStroke();
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circle(this.position.x, this.position.y, CRUMB_SIZE);
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fill(255);
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noStroke();
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circle(this.position.x, this.position.y, CRUMB_SIZE);
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}
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}
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class Boid
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{
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Crumb[] crumbs = {};
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int last_crumb;
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float acceleration;
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float rotational_acceleration;
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KinematicMovement kinematic;
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PVector target;
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Crumb[] crumbs = {};
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int last_crumb;
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float acceleration;
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float rotational_acceleration;
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KinematicMovement kinematic;
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PVector target;
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Boid(PVector position, float heading, float max_speed, float max_rotational_speed, float acceleration, float rotational_acceleration)
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{
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this.kinematic = new KinematicMovement(position, heading, max_speed, max_rotational_speed);
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this.last_crumb = millis();
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this.acceleration = acceleration;
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this.rotational_acceleration = rotational_acceleration;
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}
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Boid(PVector position, float heading, float max_speed, float max_rotational_speed, float acceleration, float rotational_acceleration)
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{
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this.kinematic = new KinematicMovement(position, heading, max_speed, max_rotational_speed);
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this.last_crumb = millis();
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this.acceleration = acceleration;
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this.rotational_acceleration = rotational_acceleration;
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}
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void update(float dt)
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{
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if (target != null)
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{
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// TODO: Implement seek here
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void update(float dt)
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{
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if (target != null)
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{
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// TODO: Implement seek here
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//This makes a vector with the direction our boid needs to go to
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PVector direction = PVector.sub(target, kinematic.position);
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//This makes a vector with the direction our boid needs to go to
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PVector direction = PVector.sub(target, kinematic.position);
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//atan2(direction.y, direction.x) will return the direction we need to go in radians
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//atan2(direction.y, direction.x) will return the direction we need to go in radians
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//print direction we need to go and the direction we are facing right now
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//println(atan2(direction.y, direction.x) + " " + normalize_angle_left_right(kinematic.getHeading()));
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//print direction we need to go and the direction we are facing right now
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//println(atan2(direction.y, direction.x) + " " + normalize_angle_left_right(kinematic.getHeading()));
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float directionalThreshold = .1;
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float angleToTarget = atan2(direction.y, direction.x) - normalize_angle_left_right(kinematic.getHeading());
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float arrivalThreshold = 60.0;
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float directionalThreshold = .1;
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float angleToTarget = normalize_angle_left_right(atan2(direction.y, direction.x) - normalize_angle_left_right(kinematic.getHeading()));
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float arrivalThreshold = 60.0;
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//This just draws a circle for visual debugging purposes
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circle(target.x, target.y, 3);
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//This just draws a circle for visual debugging purposes
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circle(target.x, target.y, 3);
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//prints the angle to the target
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//println(angleToTarget);
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//prints the angle to the target
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//println(angleToTarget);
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//if the angle is larger than the threshold in the positive direction, rotate counterclockwise
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if (angleToTarget > directionalThreshold) {
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kinematic.increaseSpeed(0.0, +1);
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//if the angle is larger than the threshold in the positive direction, rotate counterclockwise
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if (angleToTarget >= .1) {
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println("positive angle");
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kinematic.increaseSpeed(0.0, 2);
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//if the angle is smaller than the threshold in the negative direction, rotate clockwise
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} else if (angleToTarget < -directionalThreshold) {
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kinematic.increaseSpeed(0.0, -1);
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} else if (angleToTarget < -.1) {
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kinematic.increaseSpeed(0.0, -1);
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//if the angle is within our threshold, stop our rotational velocity by rotating opposite
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} else if (directionalThreshold > angleToTarget) {
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} else if (directionalThreshold > angleToTarget) {
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if (kinematic.getRotationalVelocity() > 0) {
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kinematic.increaseSpeed(0.0, -1);
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}
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else if (kinematic.getRotationalVelocity() < 0) {
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kinematic.increaseSpeed(0.0, 1);
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}
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if (kinematic.getRotationalVelocity() > 0) {
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kinematic.increaseSpeed(0.0, -1);
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} else if (kinematic.getRotationalVelocity() < 0) {
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kinematic.increaseSpeed(0.0, 1);
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}
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}
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//Sometimes our Boid just goes and does weird things and I don't know why
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//Sometimes our Boid just goes and does weird things and I don't know why
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//if the target is outside its arrival threshold, accelerate.
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//if the target is inside its arrival threshold, accelerate backwards until the speed is 0.
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if (direction.mag() > arrivalThreshold) {
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kinematic.increaseSpeed(1,0);
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} else if (direction.mag() < arrivalThreshold) {
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//Need more specific code here to handle arrivals correctly
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if (kinematic.getSpeed() < 40 && direction.mag() > 30) {
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kinematic.increaseSpeed(1,0);
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} else if (kinematic.getSpeed() < 20 && direction.mag() > 15) {
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kinematic.increaseSpeed(.75,0);
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} else if (kinematic.getSpeed() < 10 && direction.mag() > 5) {
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kinematic.increaseSpeed(.5,0);
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} else if (kinematic.getSpeed() < 5 && direction.mag() < 5) {
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//This should ensure that the boid's speed can be dropped to exactly 0 so we don't have stuttering
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kinematic.increaseSpeed(-kinematic.getSpeed(),0);
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} else {
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kinematic.increaseSpeed(-1,0);
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}
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//if the target is outside its arrival threshold, accelerate.
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//if the target is inside its arrival threshold, accelerate backwards until the speed is 0.
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if (direction.mag() > arrivalThreshold) {
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//println("main if");
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kinematic.increaseSpeed(.5, 0);
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} else if (direction.mag() < arrivalThreshold) {
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//Need more specific code here to handle arrivals correctly
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if (kinematic.getSpeed() < 40 && direction.mag() > 30) {
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//println("if 1");
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kinematic.increaseSpeed(1, 0);
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} else if (kinematic.getSpeed() < 20 && direction.mag() > 15) {
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//println("if .75");
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kinematic.increaseSpeed(.75, 0);
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} else if (kinematic.getSpeed() < 10 && direction.mag() > 5) {
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//println("if .5");
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kinematic.increaseSpeed(.5, 0);
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} else if (kinematic.getSpeed() < 5 && direction.mag() < 5) {
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//println("if -kin");
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//This should ensure that the boid's speed can be dropped to exactly 0 so we don't have stuttering
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kinematic.increaseSpeed(-kinematic.getSpeed(), 0);
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} else {
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println("else");
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kinematic.increaseSpeed(-1, 0);
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}
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}
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//drawing a line for testing purposes
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//line(kinematic.position.x, kinematic.position.y, kinematic.position.x + direction.x, kinematic.position.y + direction.y);
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//drawing a line for testing purposes
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//line(kinematic.position.x, kinematic.position.y, kinematic.position.x + direction.x, kinematic.position.y + direction.y);
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}
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// place crumbs, do not change
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if (LEAVE_CRUMBS && (millis() - this.last_crumb > CRUMB_INTERVAL))
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{
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this.last_crumb = millis();
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this.crumbs = (Crumb[])append(this.crumbs, new Crumb(this.kinematic.position));
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if (this.crumbs.length > MAX_CRUMBS)
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this.crumbs = (Crumb[])subset(this.crumbs, 1);
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}
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// do not change
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this.kinematic.update(dt);
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draw();
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}
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void draw()
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{
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for (Crumb c : this.crumbs)
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{
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c.draw();
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}
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fill(255);
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noStroke();
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float x = kinematic.position.x;
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float y = kinematic.position.y;
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float r = kinematic.heading;
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circle(x, y, BOID_SIZE);
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// front
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float xp = x + BOID_SIZE*cos(r);
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float yp = y + BOID_SIZE*sin(r);
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// left
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float x1p = x - (BOID_SIZE/2)*sin(r);
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float y1p = y + (BOID_SIZE/2)*cos(r);
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// right
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float x2p = x + (BOID_SIZE/2)*sin(r);
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float y2p = y - (BOID_SIZE/2)*cos(r);
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triangle(xp, yp, x1p, y1p, x2p, y2p);
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}
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void seek(PVector target)
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{
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this.target = target;
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}
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int count = 0;
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}
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//void follow(ArrayList<PVector> waypoints)
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//{
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// place crumbs, do not change
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if (LEAVE_CRUMBS && (millis() - this.last_crumb > CRUMB_INTERVAL))
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{
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this.last_crumb = millis();
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this.crumbs = (Crumb[])append(this.crumbs, new Crumb(this.kinematic.position));
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if (this.crumbs.length > MAX_CRUMBS)
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this.crumbs = (Crumb[])subset(this.crumbs, 1);
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}
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// //println("func count " + count);
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// if(count > waypoints.size() - 1){
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// this.target = waypoints.get(0);
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// return;
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// }
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// else {
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// // TODO: change to follow *all* waypoints
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// println("count " + count);
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// this.target = waypoints.get(count);
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// PVector temp = waypoints.remove(count);
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// count++;
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// //count--;
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// do not change
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this.kinematic.update(dt);
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// follow(waypoints);
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// }
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draw();
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}
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//}
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void follow(ArrayList<PVector> waypoints)
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{
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this.target = waypoints.get(0);
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void draw()
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{
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for (Crumb c : this.crumbs)
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{
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c.draw();
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}
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for (int i = 1; i < waypoints.size(); i++){
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if(PVector.sub(this.target,this.kinematic.position).mag() = 0)
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this.target = waypoints.get(i);
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fill(255);
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noStroke();
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float x = kinematic.position.x;
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float y = kinematic.position.y;
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float r = kinematic.heading;
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circle(x, y, BOID_SIZE);
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// front
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float xp = x + BOID_SIZE*cos(r);
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float yp = y + BOID_SIZE*sin(r);
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// left
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float x1p = x - (BOID_SIZE/2)*sin(r);
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float y1p = y + (BOID_SIZE/2)*cos(r);
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// right
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float x2p = x + (BOID_SIZE/2)*sin(r);
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float y2p = y - (BOID_SIZE/2)*cos(r);
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triangle(xp, yp, x1p, y1p, x2p, y2p);
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}
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void seek(PVector target)
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{
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this.target = target;
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}
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void follow(ArrayList<PVector> waypoints)
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{
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// TODO: change to follow *all* waypoints
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this.target = waypoints.get(0);
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}
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}
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}
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}
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17
Flocking.pde
17
Flocking.pde
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@ -1,7 +1,24 @@
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/// called when "f" is pressed; should instantiate additional boids and start flocking
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Boid[] billies = new Boid[8];
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void flock()
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{
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int lasttr = 0;
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println("flock called");
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float dt = (millis() - lasttr)/1000.0;
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lasttr = millis();
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PVector target = new PVector(mouseX, mouseY);
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for(int i = 0; i < 7; i++)
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{
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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);
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println("billy " + billies[i].toString());
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billies[i].update(dt);
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billies[i].seek(target);
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}
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}
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/// called when "f" is pressed again; should remove the flock
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