void Boid::intersects(ofxCvContourFinder& _cv, Path* _path){
ofPoint heading = loc + vel*30; // A vector pointing from the location to where the boid is heading
for ( int i = 0; i < _cv.blobs.size(); i++ ) {
ofxCvBlob temp = _cv.blobs[i];
ofPolyline l;
l.addVertexes(temp.pts);
if(l.inside(heading))
{
counter = 0;
avoidObject = true;
ofPoint force = heading - _cv.blobs[i].centroid;
ofPoint force2 = getNormalPoint(force, heading, _cv.blobs[i].centroid);
acc += force.normalize()* 1.5;
cout << "bounce!\n";
} else {
avoidObject = false;
counter++;
}
}
if ( counter > 400 && avoidObject == false) {
follow(_path);
}
}
ofPoint SuperGlyph::getGetClosePath(ofPoint _pos){
ofPoint normal;
ofPoint target;
float minDist = 1000000;
for (int i = 0; i < insidePath.getVertices().size()-1; i++) {
ofPoint a = insidePath.getVertices()[i];
ofPoint b = insidePath.getVertices()[i+1];
ofPoint normalPoint = getNormalPoint(_pos, a, b);
if (normalPoint.x < a.x || normalPoint.x > b.x) {
normalPoint = b;
}
float distance = _pos.distance(normalPoint);
if (distance < minDist) {
minDist = distance;
normal = normalPoint;
ofPoint dir = b - a;
dir.normalize();
dir *= 10;
target = normalPoint;
target += dir;
}
}
return target;
}
void Boid::follow(Path* p) {
ofPoint predict = vel;
Path::normalize(&predict);
predict *= 30;
predictLoc = loc + predict;
// Now we must find the normal to the path from the predicted location
// We look at the normal for each line segment and pick out the closest one
record = 1000000; // Start with a very high record distance that can easily be beaten
// Loop through all points of the path
for (int i = 0; i < p->points.size()-1; i++) {
// Look at a line segment
ofPoint a = p->points[i];
ofPoint b = p->points[i+1];
// Get the normal point to that line
ofPoint normal = getNormalPoint(predictLoc,a,b);
// Check if normal is on line segment
float da = ofDist(normal.x, normal.y, a.x, a.y);
float db = ofDist(normal.x, normal.y, b.x, b.y);
ofPoint line = b-a;
// If it's not within the line segment, consider the normal to just be the end of the line segment (point b)
if (da + db > Path::mag(&line)+1.0) {
normal = b;
}
// How far away are we from the path?
float d = ofDist(predictLoc.x, predictLoc.y, normal.x, normal.y);
// Did we beat the record and find the closest line segment?
if (d < record) {
record = d;
// If so the target we want to steer towards is the normal
target = normal;
// Look at the direction of the line segment so we can seek a little bit ahead of the normal
dir = line;
Path::normalize(&dir);
// This is an oversimplification
// Should be based on distance to path & velocity
dir*=5;
}
}
// Steer if the record object is even slightly off the center of the path
if (record > 1) {
target += dir;
seek(target);
}
}
void Vehicle::follow(Path path) {
ofVec2f predict = velocity.getNormalized();
predict *= 25;
predictLoc = location + predict;
ofVec2f a = path.getStartPoint();
ofVec2f b = path.getEndPoint();
normalPoint = getNormalPoint(predictLoc, a, b);
ofVec2f dir = b - a;
dir.normalize();
dir *= 10;
target = normalPoint + dir;
float distance = normalPoint.distance(predictLoc);
seeking = (distance > path.getRadius());
if(seeking) seek(target);
}
void Vehicle::follow(Path & p){
radius = p.radius;
// Predict location 25 (arbitrary choice) frames ahead
ofVec2f predict(velocity);
predict.normalize();
predict *= 25;
predictLoc = location + predict;
worldRecord = 1000000;
// Loop through all points of the path
for (unsigned int i = 0; i < p.points.size()-1; i++) {
// Look at a line segment
ofVec2f a(p.points[i]);
ofVec2f b(p.points[i+1]);
// Get the normal point to that line
ofVec2f normalPoint = getNormalPoint(predictLoc, a, b);
if (normalPoint.x <= a.x || normalPoint.x >= b.x) {
// This is something of a hacky solution, but if it's not within the line segment
// consider the normal to just be the end of the line segment (point b)
normalPoint.set(b.x, b.y);
}
// How far away are we from the path?
float distance = ofDist(predictLoc.x, predictLoc.y, normalPoint.x, normalPoint.y);
if (distance < worldRecord) {
worldRecord = distance;
normal = normalPoint;
ofVec2f dir = b - a;
dir.normalize();
dir *= 10; // This could be based on velocity instead of just an arbitrary 10 pixels
target.set(normalPoint);
target += dir;
}
}
if (worldRecord > p.radius) {
seek(target);
}
cout << target.x << endl;
}
ofxVec2f Boid :: follow( const Path& path )
{
predict.set( 0, 0 ); // reset.
predict.set( vel );
predict.normalize();
predict *= 25;
predictLoc.set( 0, 0 ); // reset.
predictLoc = loc + predict;
target.set( 0, 0 ); // reset.
float record = 1000000;
for( int i=0; i<path.points.size(); i++ )
{
ofxVec2f a;
a.set( path.points.at( i ) ); // current point.
ofxVec2f b;
b.set( path.points.at( ( i + 1 ) % path.points.size() ) ); // next point.
// the normal is a vector that extends from that point and is perpendicular to the line.
// http://www.shiffman.net/itp/classes/nature/pathimages/path5normal.jpg
// http://www.shiffman.net/itp/classes/nature/pathimages/path6normal.jpg
ofxVec2f normal;
normal = getNormalPoint( predictLoc, a, b );
// check if normal is on line segment
float da;
da = normal.distance( a );
float db;
db = normal.distance( b );
ofxVec2f line;
line = b - a;
// if it's not within the line segment, consider the normal to just be the end of the line segment (point b)
if( da + db > line.length() + 1 )
{
normal.set( b );
a.set( path.points.at( ( i + 1 ) % path.points.size() ) );
b.set( path.points.at( ( i + 2 ) % path.points.size() ) );
line = b - a;
}
float d;
d = predictLoc.distance( normal );
if( d < record )
{
record = d;
target.set( normal );
dir.set( line );
dir.normalize();
dir *= 25;
}
}
if( record > path.radius || vel.length() < 0.1 )
{
target += dir;
return steer( target, false );
}
else
{
ofxVec2f v;
return v;
}
}
