Homec4science
Diffusion cellulo-lovr (celluloVR) Browse

cellulo-lovr/class/boids/SelfControlledBoid.lua
fbe15d5301a9celluloVR

Last Change
Raw File

SelfControlledBoid.lua
View Options

local assertArgs = include "assertArgs"
local util = include "util"
local Boid = class "boids.Boid"
local SelfControlledBoid = lib "class" ("SelfControlledBoid", Boid)
local COHESION_FACTOR = 0.5
local COHESION_RANGE = 10
local AVOIDANCE_FACTOR = 9--10 -- not inverted
local AVOIDANCE_DISTANCE = 4
local MIN_AVOID = 0.5
local ALIGNMENT_FACTOR = 0.1 -- inverted
local ALIGNMENT_RANGE = 10
local GOAL_FACTOR = 0.3 -- inverted
local GOAL_LIMIT = 0.1
local BOUNDS_FACTOR = 2 -- speed that should be applied
local MAX_SPEED = 1
local AVOID_PREDATOR_FACTOR = 1
local AVOID_PREDATOR_LIMIT = 10
local AVOID_PREDATOR_MIN_DISTANCE = 2
function SelfControlledBoid:initialize(args)
Boid.initialize(self, args)
return self
end
function SelfControlledBoid:update(dt)
-- boid behaviour using three rules
local cohesion = self:cohesion(dt)
local avoidance = self:avoidance(dt)
local alignment = self:alignment(dt)
-- additional tweaks
-- local constrainToBounds = self:constrainToBounds(dt)
local goal = self:goal(dt)
-- local limitSpeed = self:limitSpeed(dt)
-- local avoidPredator = self:avoidPredator(dt)
-- apply force
local force = lovr.math.vec3(0, 0, 0)
force:add(cohesion)
force:add(avoidance)
force:add(alignment)
-- force:add(constrainToBounds)
force:add(goal)
-- force:add(limitSpeed)
-- force:add(avoidPredator)
self:setFeedback(force)
local fx,fy,fz=force:unpack()
self:getCollider():setLinearVelocity(fx,0,fz)
-- self:getCollider():applyForce(1,0,0)
--
-- set target orientation
local quat = lovr.math.quat(lovr.math.vec3(self:getCollider():getLinearVelocity()))
self:setTargetQuat(quat)
Boid.update(self, dt)
end
--[[ BOID BEHAVIOUR ]]--
function SelfControlledBoid:cohesion(dt)
local dir = lovr.math.vec3(0, 0, 0)
local n_attract = 0
local selfPosition = lovr.math.vec3( self:getCollider():getPosition() )
local n = self:getSwarm():forAllNeighbours(self, function (boid)
local boidPosition = lovr.math.vec3( boid:getCollider():getPosition() )
local distance = selfPosition:distance(boidPosition)
if distance < COHESION_RANGE then
n_attract = n_attract + 1
dir:add(boidPosition:sub(selfPosition))
end
end)
dir:div(n_attract) -- center of mass
-- dir:sub(lovr.math.vec3(self:getCollider():getPosition()))
dir:mul(COHESION_FACTOR)
return dir
end
function SelfControlledBoid:avoidance(dt)
local dir = lovr.math.vec3(0, 0, 0)
local selfPosition = lovr.math.vec3( self:getCollider():getPosition() )
local n = 0
self:getSwarm():forAllNeighbours(self, function (boid)
local boidPosition = lovr.math.vec3( boid:getCollider():getPosition() )
local distance = selfPosition:distance(boidPosition)
if distance < AVOIDANCE_DISTANCE then
n=n+1
local diff = ((AVOIDANCE_DISTANCE- distance)/AVOIDANCE_DISTANCE)
if distance < MIN_AVOID then distance = MIN_AVOID end
dir:add((boidPosition:sub(selfPosition)):mul(diff*diff))
end
end)
dir:div(n)
dir:mul(-1*AVOIDANCE_FACTOR)
-- print(dir)
return dir
end
function SelfControlledBoid:alignment(dt)
local dir = lovr.math.vec3(0, 0, 0)
local n = self:getSwarm():forAllNeighbours(self, function (boid)
d=lovr.math.vec3(boid:getCollider():getPosition())
if d:length() < COHESION_RANGE then
dir = dir:add( boid:getCollider():getLinearVelocity() )
end
end)
dir:div(n) -- average velocity
dir:sub(lovr.math.vec3(self:getCollider():getLinearVelocity()) )
dir:mul(ALIGNMENT_FACTOR)
return dir
end
function SelfControlledBoid:constrainToBounds(dt)
local vx, vy, vz = 0, 0, 0
local x, y, z = self:getCollider():getPosition()
local minX, maxX, minY, maxY, minZ, maxZ = self:getSwarm():getBounds():unpack()
if x < minX then vx = BOUNDS_FACTOR elseif x > maxX then vx = -BOUNDS_FACTOR end
if y < minY then vy = BOUNDS_FACTOR elseif y > maxY then vy = -BOUNDS_FACTOR end
if z < minZ then vz = BOUNDS_FACTOR elseif z > maxZ then vz = -BOUNDS_FACTOR end
return lovr.math.vec3(vx, vy, vz)
end
function SelfControlledBoid:goal(dt)
local targetPosition = self:getSwarm():getTargetPosition()
if not targetPosition then return lovr.math.vec3(0, 0, 0) end
local x, y, z = targetPosition[1], targetPosition[2], targetPosition[3]
local dir = lovr.math.vec3(x, y, z)
dir:sub(self:getSwarm():getCenter())
-- dir:sub(lovr.math.vec3(self:getCollider():getPosition()))
--dir:normalize()
if dir:length() < GOAL_LIMIT then
dir = lovr.math.vec3(0,0,0)
end
dir:mul(GOAL_FACTOR)
-- print(dir)
-- dir:div(GOAL_FACTOR)
-- if dir:length() > GOAL_LIMIT then
-- dir:normalize()
-- dir:mul(GOAL_LIMIT)
-- end
return dir
end
function SelfControlledBoid:avoidPredator(dt)
local avoidPosition = self:getSwarm():getAvoidPosition()
if not avoidPosition then return lovr.math.vec3(0, 0, 0) end
local x, y, z = avoidPosition[1], avoidPosition[2], avoidPosition[3]
local dir = lovr.math.vec3(x, y, z)
dir:sub(lovr.math.vec3(self:getCollider():getPosition()))
dir:mul(-1)
if dir:length() < AVOID_PREDATOR_MIN_DISTANCE then
return lovr.math.vec3(0, 0, 0)
end
dir:div(AVOID_PREDATOR_FACTOR)
if dir:length() > AVOID_PREDATOR_LIMIT then
dir:normalize()
dir:mul(AVOID_PREDATOR_LIMIT)
end
return dir
end
function SelfControlledBoid:limitSpeed(dt)
local velocity = lovr.math.vec3(self:getCollider():getLinearVelocity())
local speed = velocity:length()
if speed > MAX_SPEED then
local remove = MAX_SPEED - speed
velocity:normalize()
velocity:mul(remove)
return velocity
else
return lovr.math.vec3(0, 0, 0)
end
end
return SelfControlledBoid
c4science · Help