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Boid.hpp
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Boid.hpp
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/*
* Aurora: https://github.com/pixelmatix/aurora
* Copyright (c) 2014 Jason Coon
*
* Portions of this code are adapted from "Flocking" in "The Nature of Code" by Daniel Shiffman: http://natureofcode.com/
* Copyright (c) 2014 Daniel Shiffman
* http://www.shiffman.net
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
// Flocking
// Daniel Shiffman <http://www.shiffman.net>
// The Nature of Code, Spring 2009
// Boid class
// Methods for Separation, Cohesion, Alignment added
class Boid {
public:
PVector location;
PVector velocity;
PVector acceleration;
float maxforce; // Maximum steering force
float maxspeed; // Maximum speed
float desiredseparation = 4;
float neighbordist = 8;
byte colorIndex = 0;
float mass;
boolean enabled = true;
Boid() {}
Boid(float x, float y) {
acceleration = PVector(0, 0);
velocity = PVector(randomf(), randomf());
location = PVector(x, y);
maxspeed = 1.5;
maxforce = 0.05;
}
static float randomf() {
return mapfloat(random(0, 255), 0, 255, -.5, .5);
}
static float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) {
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
void run(Boid boids [], uint8_t boidCount) {
flock(boids, boidCount);
update();
// wrapAroundBorders();
// render();
}
// Method to update location
void update() {
// Update velocity
velocity += acceleration;
// Limit speed
velocity.limit(maxspeed);
location += velocity;
// Reset acceleration to 0 each cycle
acceleration *= 0;
}
void applyForce(PVector force) {
// We could add mass here if we want A = F / M
acceleration += force;
}
void repelForce(PVector obstacle, float radius) {
//Force that drives boid away from obstacle.
PVector futPos = location + velocity; //Calculate future position for more effective behavior.
PVector dist = obstacle - futPos;
float d = dist.mag();
if (d <= radius) {
PVector repelVec = location - obstacle;
repelVec.normalize();
if (d != 0) { //Don't divide by zero.
// float scale = 1.0 / d; //The closer to the obstacle, the stronger the force.
repelVec.normalize();
repelVec *= (maxforce * 7);
if (repelVec.mag() < 0) { //Don't let the boids turn around to avoid the obstacle.
repelVec.y = 0;
}
}
applyForce(repelVec);
}
}
// We accumulate a new acceleration each time based on three rules
void flock(Boid boids [], uint8_t boidCount) {
PVector sep = separate(boids, boidCount); // Separation
PVector ali = align(boids, boidCount); // Alignment
PVector coh = cohesion(boids, boidCount); // Cohesion
// Arbitrarily weight these forces
sep *= 1.5;
ali *= 1.0;
coh *= 1.0;
// Add the force vectors to acceleration
applyForce(sep);
applyForce(ali);
applyForce(coh);
}
// Separation
// Method checks for nearby boids and steers away
PVector separate(Boid boids [], uint8_t boidCount) {
PVector steer = PVector(0, 0);
int count = 0;
// For every boid in the system, check if it's too close
for (int i = 0; i < boidCount; i++) {
Boid other = boids[i];
if (!other.enabled)
continue;
float d = location.dist(other.location);
// If the distance is greater than 0 and less than an arbitrary amount (0 when you are yourself)
if ((d > 0) && (d < desiredseparation)) {
// Calculate vector pointing away from neighbor
PVector diff = location - other.location;
diff.normalize();
diff /= d; // Weight by distance
steer += diff;
count++; // Keep track of how many
}
}
// Average -- divide by how many
if (count > 0) {
steer /= (float) count;
}
// As long as the vector is greater than 0
if (steer.mag() > 0) {
// Implement Reynolds: Steering = Desired - Velocity
steer.normalize();
steer *= maxspeed;
steer -= velocity;
steer.limit(maxforce);
}
return steer;
}
// Alignment
// For every nearby boid in the system, calculate the average velocity
PVector align(Boid boids [], uint8_t boidCount) {
PVector sum = PVector(0, 0);
int count = 0;
for (int i = 0; i < boidCount; i++) {
Boid other = boids[i];
if (!other.enabled)
continue;
float d = location.dist(other.location);
if ((d > 0) && (d < neighbordist)) {
sum += other.velocity;
count++;
}
}
if (count > 0) {
sum /= (float) count;
sum.normalize();
sum *= maxspeed;
PVector steer = sum - velocity;
steer.limit(maxforce);
return steer;
}
else {
return PVector(0, 0);
}
}
// Cohesion
// For the average location (i.e. center) of all nearby boids, calculate steering vector towards that location
PVector cohesion(Boid boids [], uint8_t boidCount) {
PVector sum = PVector(0, 0); // Start with empty vector to accumulate all locations
int count = 0;
for (int i = 0; i < boidCount; i++) {
Boid other = boids[i];
if (!other.enabled)
continue;
float d = location.dist(other.location);
if ((d > 0) && (d < neighbordist)) {
sum += other.location; // Add location
count++;
}
}
if (count > 0) {
sum /= count;
return seek(sum); // Steer towards the location
}
else {
return PVector(0, 0);
}
}
// A method that calculates and applies a steering force towards a target
// STEER = DESIRED MINUS VELOCITY
PVector seek(PVector target) {
PVector desired = target - location; // A vector pointing from the location to the target
// Normalize desired and scale to maximum speed
desired.normalize();
desired *= maxspeed;
// Steering = Desired minus Velocity
PVector steer = desired - velocity;
steer.limit(maxforce); // Limit to maximum steering force
return steer;
}
// A method that calculates a steering force towards a target
// STEER = DESIRED MINUS VELOCITY
void arrive(PVector target) {
PVector desired = target - location; // A vector pointing from the location to the target
float d = desired.mag();
// Normalize desired and scale with arbitrary damping within 100 pixels
desired.normalize();
if (d < 4) {
float m = map(d, 0, 100, 0, maxspeed);
desired *= m;
}
else {
desired *= maxspeed;
}
// Steering = Desired minus Velocity
PVector steer = desired - velocity;
steer.limit(maxforce); // Limit to maximum steering force
applyForce(steer);
//Serial.println(d);
}
void wrapAroundBorders() {
if (location.x < 0) location.x = VPANEL_W - 1;
if (location.y < 0) location.y = VPANEL_H - 1;
if (location.x >= VPANEL_W) location.x = 0;
if (location.y >= VPANEL_H) location.y = 0;
}
void avoidBorders() {
PVector desired = velocity;
if (location.x < 8) desired = PVector(maxspeed, velocity.y);
if (location.x >= VPANEL_W - 8) desired = PVector(-maxspeed, velocity.y);
if (location.y < 8) desired = PVector(velocity.x, maxspeed);
if (location.y >= VPANEL_H - 8) desired = PVector(velocity.x, -maxspeed);
if (desired != velocity) {
PVector steer = desired - velocity;
steer.limit(maxforce);
applyForce(steer);
}
if (location.x < 0) location.x = 0;
if (location.y < 0) location.y = 0;
if (location.x >= VPANEL_W) location.x = VPANEL_W - 1;
if (location.y >= VPANEL_H) location.y = VPANEL_H - 1;
}
bool bounceOffBorders(float bounce) {
bool bounced = false;
if (location.x >= VPANEL_W) {
location.x = VPANEL_W - 1;
velocity.x *= -bounce;
bounced = true;
}
else if (location.x < 0) {
location.x = 0;
velocity.x *= -bounce;
bounced = true;
}
if (location.y >= VPANEL_H) {
location.y = VPANEL_H - 1;
velocity.y *= -bounce;
bounced = true;
}
else if (location.y < 0) {
location.y = 0;
velocity.y *= -bounce;
bounced = true;
}
return bounced;
}
void render() {
//// Draw a triangle rotated in the direction of velocity
//float theta = velocity.heading2D() + radians(90);
//fill(175);
//stroke(0);
//pushMatrix();
//translate(location.x,location.y);
//rotate(theta);
//beginShape(TRIANGLES);
//vertex(0, -r*2);
//vertex(-r, r*2);
//vertex(r, r*2);
//endShape();
//popMatrix();
//matrix.drawBackgroundPixelRGB888(location.x, location.y, CRGB::Blue);
}
};
static const uint8_t AVAILABLE_BOID_COUNT = VPANEL_W;
Boid boids[AVAILABLE_BOID_COUNT];