void BoidsManager::update() // FlightStep();
{
Velocity goCenterVel;
Velocity goAttractVel;
Velocity matchNeighborVel;
Velocity avoidWallsVel;
Velocity avoidNeighborVel;
float avoidNeighborSpeed;
const Velocity zeroVel = {0.0, 0.0};
short i;
m_centerPt = FindFlockCenter();
// save position and velocity
for (i = 0; i < m_numBoids; i++)
{
m_boids[i].oldPos.x = m_boids[i].newPos.x;
m_boids[i].oldPos.y = m_boids[i].newPos.y;
m_boids[i].oldDir.x = m_boids[i].newDir.x;
m_boids[i].oldDir.y = m_boids[i].newDir.y;
}
for (i = 0; i < m_numBoids; i++)
{
// get all velocity components
if (m_numNeighbors > 0)
{
avoidNeighborSpeed = MatchAndAvoidNeighbors(i,&matchNeighborVel, &avoidNeighborVel);
}
else
{
matchNeighborVel = zeroVel;
avoidNeighborVel = zeroVel;
avoidNeighborSpeed = 0;
}
goCenterVel = SeekPoint(i, m_centerPt);
goAttractVel = SeekPoint(i, m_attractPt);
avoidWallsVel = AvoidWalls(i);
// compute resultant velocity using weights and inertia
m_boids[i].newDir.x = m_inertiaFactor * (m_boids[i].oldDir.x) +
(m_centerWeight * goCenterVel.x +
m_attractWeight * goAttractVel.x +
m_matchWeight * matchNeighborVel.x +
m_avoidWeight * avoidNeighborVel.x +
m_wallsWeight * avoidWallsVel.x) / m_inertiaFactor;
m_boids[i].newDir.y = m_inertiaFactor * (m_boids[i].oldDir.y) +
(m_centerWeight * goCenterVel.y +
m_attractWeight * goAttractVel.y +
m_matchWeight * matchNeighborVel.y +
m_avoidWeight * avoidNeighborVel.y +
m_wallsWeight * avoidWallsVel.y) / m_inertiaFactor;
// normalize velocity so its length is unity
NormalizeVelocity(&(m_boids[i].newDir));
// set to avoidNeighborSpeed bounded by minSpeed and maxSpeed
if ((avoidNeighborSpeed >= m_minSpeed) &&
(avoidNeighborSpeed <= m_maxSpeed))
m_boids[i].speed = avoidNeighborSpeed;
else if (avoidNeighborSpeed > m_maxSpeed)
m_boids[i].speed = m_maxSpeed;
else
m_boids[i].speed = m_minSpeed;
// calculate new position, applying speedupFactor
m_boids[i].newPos.x += m_boids[i].newDir.x * m_boids[i].speed * m_speedupFactor;
m_boids[i].newPos.y += m_boids[i].newDir.y * m_boids[i].speed * m_speedupFactor;
}
}
void FlightStep(t_jit_boids2d *flockPtr)
{
double goCenterVel[2];
double goAttractVel[2];
double matchNeighborVel[2];
double avoidWallsVel[2];
double avoidNeighborVel[2];
double avoidNeighborSpeed;
const double zeroVel[2] = {0.0, 0.0};
long i;
//now modifies flockPtr->centgerPt within the function instead of returning a value
FindFlockCenter(flockPtr);
for (i = 0; i < flockPtr->number; i++) { // save position and velocity
flockPtr->boid[i].oldPos[x] = flockPtr->boid[i].newPos[x];
flockPtr->boid[i].oldPos[y] = flockPtr->boid[i].newPos[y];
//flockPtr->boid[i].oldPos[z] = flockPtr->boid[i].newPos[z];
flockPtr->boid[i].oldDir[x] = flockPtr->boid[i].newDir[x];
flockPtr->boid[i].oldDir[y] = flockPtr->boid[i].newDir[y];
//flockPtr->boid[i].oldDir[z] = flockPtr->boid[i].newDir[z];
}
for (i = 0; i < flockPtr->number; i++) {
if (flockPtr->neighbors > 0) { // get all velocity components
avoidNeighborSpeed = MatchAndAvoidNeighbors(flockPtr, i, matchNeighborVel, avoidNeighborVel);
} else {
matchNeighborVel[x] = zeroVel[x];
matchNeighborVel[y] = zeroVel[y];
//matchNeighborVel[z] = zeroVel[z];
avoidNeighborVel[x] = zeroVel[x];
avoidNeighborVel[y] = zeroVel[y];
//avoidNeighborVel[z] = zeroVel[z];
avoidNeighborSpeed = 0;
}
//velocities passed in as argument
SeekPoint(flockPtr, i, flockPtr->centerPt, goCenterVel);
SeekPoint(flockPtr, i, flockPtr->attractpt, goAttractVel);
AvoidWalls(flockPtr, i, avoidWallsVel);
// compute resultant velocity using weights and inertia
flockPtr->boid[i].newDir[x] = flockPtr->inertia * (flockPtr->boid[i].oldDir[x]) +
(flockPtr->center * goCenterVel[x] +
flockPtr->attract * goAttractVel[x] +
flockPtr->match * matchNeighborVel[x] +
flockPtr->avoid * avoidNeighborVel[x] +
flockPtr->repel * avoidWallsVel[x]) / flockPtr->inertia;
flockPtr->boid[i].newDir[y] = flockPtr->inertia * (flockPtr->boid[i].oldDir[y]) +
(flockPtr->center * goCenterVel[y] +
flockPtr->attract * goAttractVel[y] +
flockPtr->match * matchNeighborVel[y] +
flockPtr->avoid * avoidNeighborVel[y] +
flockPtr->repel * avoidWallsVel[y]) / flockPtr->inertia;
/*flockPtr->boid[i].newDir[z] = flockPtr->inertia * (flockPtr->boid[i].oldDir[z]) +
(flockPtr->center * goCenterVel[z] +
flockPtr->attract * goAttractVel[z] +
flockPtr->match * matchNeighborVel[z] +
flockPtr->avoid * avoidNeighborVel[z] +
flockPtr->repel * avoidWallsVel[z]) / flockPtr->inertia;*/
NormalizeVelocity(flockPtr->boid[i].newDir); // normalize velocity so its length is unity
// set to avoidNeighborSpeed bounded by minspeed and maxspeed
if ((avoidNeighborSpeed >= flockPtr->minspeed) &&
(avoidNeighborSpeed <= flockPtr->maxspeed))
flockPtr->boid[i].speed = avoidNeighborSpeed;
else if (avoidNeighborSpeed > flockPtr->maxspeed)
flockPtr->boid[i].speed = flockPtr->maxspeed;
else
flockPtr->boid[i].speed = flockPtr->minspeed;
// calculate new position, applying speed
flockPtr->boid[i].newPos[x] += flockPtr->boid[i].newDir[x] * flockPtr->boid[i].speed * (flockPtr->speed / 100.0);
flockPtr->boid[i].newPos[y] += flockPtr->boid[i].newDir[y] * flockPtr->boid[i].speed * (flockPtr->speed / 100.0);
//flockPtr->boid[i].newPos[z] += flockPtr->boid[i].newDir[z] * flockPtr->boid[i].speed * (flockPtr->speed / 100.0);
}
}
