/*
Perform Simulation
*/
public void simulate(float dt) {
// Accelerate angular speed
float requiredSpeed = targetAngularSpeed - angularSpeed;
float angularAccel = requiredSpeed / dt;
angularAccel = PApplet.constrain(angularAccel, -maxAngularAccel, maxAngularAccel);
// Limit Angular speed
angularSpeed += angularAccel * dt;
angularSpeed = PApplet.constrain(angularSpeed, -maxAngularSpeed, maxAngularSpeed);
// Orientation Simulation
orientation += angularSpeed * dt;
// Position simulation
PVector worldRequiredSpeed = targetSpeed.get();
worldRequiredSpeed.rotate(orientation);
worldRequiredSpeed.sub(speed);
// PVector worldRequiredSpeed = worldTargetSpeed.get();
float dSpeed = worldRequiredSpeed.mag();
float dAcell = dSpeed / dt;
float dForce = Math.min(dAcell * getMass(), motorForce);
worldRequiredSpeed.normalize();
worldRequiredSpeed.mult(dForce);
force.add(worldRequiredSpeed);
super.simulate(dt);
}
// Constructor initialize all values
Boid(PVector l, float ms, float mf) {
loc = l.get();
r = 4.0f;
maxspeed = ms;
maxforce = mf;
acc = new PVector(0, 0);
vel = new PVector(maxspeed, 0);
}
public void avoid(ArrayList obstacles) {
// Make a vector that will be the position of the object
// relative to the Boid rotated in the direction of boid's velocity
PVector closestRotated = new PVector(sight + 1, sight + 1);
float closestDistance = 99999;
Obstacle avoid = null;
// Let's look at each obstacle
for (int i = 0; i < obstacles.size(); i++) {
Obstacle o = (Obstacle) obstacles.get(i);
float d = PVector.dist(loc, o.loc);
PVector dir = vel.get();
dir.normalize();
PVector diff = PVector.sub(o.loc, loc);
// Now we use the dot product to rotate the vector that points from boid to obstacle
// Velocity is the new x-axis
PVector rotated = new PVector(diff.dot(dir), diff.dot(getNormal(dir)));
// Is the obstacle in our path?
if (PApplet.abs(rotated.y) < (o.radius + r)) {
// Is it the closest obstacle?
if ((rotated.x > 0) && (rotated.x < closestRotated.x)) {
closestRotated = rotated;
avoid = o;
}
}
}
// Can we actually see the closest one?
if (PApplet.abs(closestRotated.x) < sight) {
// The desired vector should point away from the obstacle
// The closer to the obstacle, the more it should steer
PVector desired =
new PVector(closestRotated.x, -closestRotated.y * sight / closestRotated.x);
desired.normalize();
desired.mult(closestDistance);
desired.limit(maxspeed);
// Rotate back to the regular coordinate system
rotateVector(desired, vel.heading2D());
// Draw some debugging stuff
if (debug) {
stroke(0);
line(loc.x, loc.y, loc.x + desired.x * 10, loc.y + desired.y * 10);
avoid.highlight(true);
}
// Apply Reynolds steering rules
desired.sub(vel);
desired.limit(maxforce);
acc.add(desired);
}
}
public void setState(PVector position, float orientation, boolean resetAll) {
this.position = position.get();
this.orientation = orientation;
if (resetAll) {
this.force = new PVector();
this.accel = new PVector();
this.speed = new PVector();
}
}
// This constructor could be improved to allow a greater variety of pendulums
Pendulum(PVector origin_, float r_) {
// Fill all variables
origin = origin_.get();
r = r_;
theta = 0.0f;
// calculate the location of the ball using polar to cartesian conversion
float x = r * sin(theta);
float y = r * cos(theta);
loc = new PVector(origin.x + x, origin.y + y);
theta_vel = 0.0f;
theta_acc = 0.0f;
damping = 0.995f; // Arbitrary damping
ballr = 16.0f; // Arbitrary ball radius
}
// deep copy
public PositionRotation clone() {
return new PositionRotation(position.get(), rotation.get());
}
