public void act(double time) {
// our default is to move forward in a straight line
double forwardSpeed = 0.024; // 24mm per second straight ahead
double lateralSpeed = 0.0; // Ants *can* move laterally, but ours won't for now
double turningSpeed = 0.0; // no rotational velocity by default
// get a vector towards the nearest thing so we can avoid it
MutableDouble2D ant = new MutableDouble2D();
boolean sawAnt = antBody.getNearestSameTypeVec(ant);
MutableDouble2D wall = new MutableDouble2D();
boolean sawWall = antBody.getNearestObstacleVec(wall);
MutableDouble2D avoidPoint = null;
if (!sawWall && !sawAnt) {
avoidPoint = null;
} else if (!sawAnt) {
avoidPoint = wall;
} else if (!sawWall) {
avoidPoint = ant;
} else {
avoidPoint = (ant.lengthSq() < wall.lengthSq()) ? ant : wall;
}
if (avoidPoint != null) {
if (avoidPoint.y > 0) turningSpeed = -40.0 * (Math.PI / 180.0);
else turningSpeed = 40.0 * (Math.PI / 180.0);
}
antBody.setDesiredVelocity(forwardSpeed, lateralSpeed, turningSpeed);
}
public void step(SimState state) {
Students students = (Students) state;
Continuous2D yard = students.yard;
Double2D me = students.yard.getObjectLocation(this);
MutableDouble2D sumForces = new MutableDouble2D();
// add in a vector to the "teacher" -- the center of the yard, so we don't go too far away
sumForces.addIn(
new Double2D(
(yard.width * 0.5 - me.x) * students.forceToSchoolMultiplier,
(yard.height * 0.5 - me.y) * students.forceToSchoolMultiplier));
// add a bit of randomness
sumForces.addIn(
new Double2D(
students.randomMultiplier * (students.random.nextDouble() * 1.0 - 0.5),
students.randomMultiplier * (students.random.nextDouble() * 1.0 - 0.5)));
sumForces.addIn(me);
students.yard.setObjectLocation(this, new Double2D(sumForces));
}