int main(void)
{
e_init_port();
e_init_motors();
e_init_ad_scan(ALL_ADC);
e_calibrate_ir();
int selector=getselector();
switch (selector) {
case 0:robot_off();break;
case 1:aggressive();break;
case 2:fear();break;
case 3:curious();break;
case 4:love();break;
case 5:robot_off();break;
default:/*own high level behaviour*/break;
}
}
void Boid::update(std::vector<Boid *> *boids, ofVec2f * people, int numPeople) {
// track positions
if (tailLen > 0) {
for (int i = tailLen - 1; i > 0; i--)
lastPos[i] = lastPos[i-1];
lastPos[0] = pos;
}
neighbors.clear();
for (int i = 0; i < boids->size(); i++) {
Boid *other = (*boids)[i];
if (other != this && pos.squareDistance(other->pos) < maxDist*maxDist) {
neighbors.push_back(other);
}
}
int neighborCount = neighbors.size();
if (neighborCount > 0) {
ofVec2f v1, v2, v3;
if (neighborCount < 4) {
if (!personNearby && stayOn)
v1 = cohesion(cohesionScalar);
else
v1 = cohesion(-cohesionScalar*2);
v2 = alignment(alignmentScalar);
}
v3 = separation(separationScalar, minDist);
vel += v1 + v2 + v3;
}
if (numPeople > 0) {
if (!personNearby && stayOn) {
runAwayVec = people[0];
//cout << "run away vec " << runAwayVec.x << ", " << runAwayVec << "\n\n\n";
personNearby = true;
}
ofVec2f v4 = fear(fearScalar, runAwayVec);
vel += v4;
}
else
personNearby = false;
if (!stayOn) {
ofVec2f v5 = stayOff(tableCenter);
vel += v5;
}
strutVel = strut(strutScalar * vel.length(), strutFreq);
//ofLog(OF_LOG_NOTICE, "%f %f is strutvel", strutVel.x, strutVel.y);
if (!personNearby && stayOn) {
if (pos.x > maxX - 1.1 * radius)
vel.x -= (pos.x - (maxX - 1.1 * radius)) * 0.09;
if (pos.x < minX + 1.1 * radius)
vel.x += ((minX + 1.1 * radius) - pos.x) * 0.09;
if (pos.y > maxY - 1.1 * radius)
vel.y -= (pos.y - (maxY - 1.1 * radius)) * 0.09;
if (pos.y < minY + 1.1 * radius)
vel.y += ((minY + 1.1 * radius) - pos.y) * 0.09;
// maintain a max speed
vel.limit(0.8f);
}
else
vel.limit(2.5f);
if (pos.distanceSquared(tableCenter) > maxDistFromTable*maxDistFromTable) {
ofVec2f difference = pos - tableCenter;
difference.rescale(maxDistFromTable);
pos = tableCenter + difference;
}
}
