100 lines
2.3 KiB
Plaintext
100 lines
2.3 KiB
Plaintext
/// In this file, you will have to implement seek and waypoint-following
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/// The relevant locations are marked with "TODO"
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class Crumb
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{
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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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}
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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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}
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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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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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print(kinematic.getHeading());
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kinematic.increaseSpeed(2,-.0001);
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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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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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