//-------------------------------FLOCKING PROPERTIES-------------------------------------------------------------------------
public override void calculateVelocity(BoidCollection boids, List <Obstaculo> c, List <Obstaculo> r, List <Obstaculo> l)
{
// if (Constantes.frenado)
// calculateVelocityFrenado (boids, c, r, l);
// else
calculateVelocityNormal(boids, c, r, l);
}
private Vector cohesion(BoidCollection boids) //promedio de las posiciones de los vecinos dentro del radio
{
Vector sum = new Vector(0, 0);
int neighbors = 0;
int n = 0;
if (Logica.puntos_objetivo.Count > 0 && objetivo < Logica.puntos_objetivo.Count)
{
Vector nuevo = new Vector(intermedio.X, Logica.mapeo(intermedio.Y));
sum.add(nuevo);
neighbors++;
}
else
{
foreach (Boid b in boids)
{
double d = Location.distance(b.Location);
if ((Logica.mouse && n == 0) || (n != 0 && d > 0 && d < Logica.radioCoh))
{
sum.add(b.Location);
neighbors++;
}
n++;
}
}
if (neighbors > 0)
{
sum.div(neighbors);
return(seek(sum));
}
return(sum);
}
public override void calculateVelocity(BoidCollection s, DrawingArea area)
{
area.GetPointer(out x, out y);
y = (int)Logica.mapeo(y);
Velocity.X = x - Location.X;
Velocity.Y = y - Location.Y;
LocationNueva.X = x;
LocationNueva.Y = y;
}
public void AddBoids(BoidCollection c)
{
foreach (Boid b in c)
{
if (!List.Contains(b))
{
List.Add(b);
}
}
}
private Vector align(BoidCollection boids) //promedio de las velocidades de los vecinos
{
Vector sum = new Vector(0, 0);
int neighbors = 0;
int n = 0;
if (Logica.puntos_objetivo.Count > 0 && objetivo < Logica.puntos_objetivo.Count)
{
Vector v;
if (intermedio.X > Location.X)
{
v = new Vector(intermedio.X - Location.X, Logica.mapeo(intermedio.Y) - Location.Y);
}
else
{
v = new Vector(Location.X - intermedio.X, Location.Y - Logica.mapeo(intermedio.Y));
}
v.normalize();
v.mult(0.5);
sum.add(v);
neighbors++;
}
else
{
foreach (Boid b in boids)
{
double d = Location.distance(b.Location);
if ((Logica.mouse && n == 0) || (n != 0 && d > 0 && d < Logica.radioAli))
{
sum.add(b.Velocity);
neighbors++;
}
n++;
}
}
if (neighbors > 0)
{
sum.div(neighbors);
sum.normalize();
sum.mult(Logica.max_speed);
Vector steer = sum.sub(sum, this.Velocity);
steer.limit(Logica.max_force);
return(steer);
}
else
{
return(new Vector(0, 0));
}
}
public void reclasificar(BoidCollection coleccion)
{
limpiar_boids();
int n = 0;
foreach (Boid b in coleccion)
{
if (n != 0)
{
ubicar_boid_casillero(b);
}
n++;
}
}
// private void calculateVelocityFrenado(BoidCollection boids, List<Obstaculo> c, List<Obstaculo> r, List<Obstaculo> l)
// {
// if (nro_iteracion == 50) {
//
// if (this.locacion_temp.distance (Location) > Constantes.zona_confort) {
// mover = true;
// locacion_temp.X = Location.X;
// locacion_temp.Y = Location.Y;
// } else {
// mover = false;
//
// }
// }
// if (nro_iteracion == 100) {
// nro_iteracion = 0;
// mover = true;
// }
//
// if (mover) {
// update_objetivo ();
// flock (boids);
// update (boids, c, r, l, 1);
//
// } else {
// if (nro_iteracion % 2 == 0) {
// update_objetivo ();
// flock (boids);
// update (boids, c, r, l, 0.85);
// }
// }
// nro_iteracion++;
// }
private void flock(BoidCollection boids) //Resultante de las 3 propiedades = Acceleration
{
Vector sep = separate(boids);
Vector ali = align(boids);
Vector coh = cohesion(boids);
sep.mult(Logica.coefSep);
ali.mult(Logica.coefAli);
coh.mult(Logica.coefCoh);
Acceleration.add(sep);
Acceleration.add(ali);
Acceleration.add(coh);
if (Logica.play && Constantes.tiempo % 10 == 0)
{
trayectoria.Add(new Point((int)Location.X, (int)Location.Y));
}
}
private Vector separate(BoidCollection boids) // promedio de las distancias del boid con sus vecinos
{
Vector sum = new Vector(0, 0);
int neighbors = 0;
vecinos = 0;
int n = 0;
foreach (Boid b in boids)
{
if (n != 0)
{
double d = Location.distance(b.Location);
if (d > 0 && d < Logica.radioSep)
{
Vector diff = Location.sub(Location, b.Location);
diff.normalize();
diff.div(d);
sum.add(diff);
neighbors++;
vecinos++;
}
}
n++;
}
if (neighbors > 0)
{
sum.div(neighbors);
}
if (sum.magnitude() > 0)
{
sum.normalize();
sum.mult(Logica.max_speed);
sum.sub(sum, this.Velocity);
sum.limit(Logica.max_force);
}
return(sum);
}
private void calculateVelocityNormal(BoidCollection boids, List <Obstaculo> c, List <Obstaculo> r, List <Obstaculo> l)
{
update_objetivo();
flock(boids);
update(boids, c, r, l, 1);
}
private void update(BoidCollection boids, List <Obstaculo> C, List <Obstaculo> R, List <Obstaculo> L, double magnitud) //Revisa los limites y calcula los rebotes
{
Velocity.add(Acceleration); //Update velocity
Velocity.limit(Logica.max_speed);
double newx = this.Location.X + this.Velocity.X;
double newy = this.Location.Y + this.Velocity.Y;
double velOrigX = this.Velocity.X;
double velOrigY = this.Velocity.Y;
Constantes.reboto = false;
for (int i = 0; i < C.Count() && !Constantes.reboto; i++)
{
if (C.ElementAt(i).enable)
{
Logica.avoid_circulo(newx, newy, this.Velocity, C.ElementAt(i).rectangle, this.Location);
}
}
for (int i = 0; i < R.Count() && !Constantes.reboto; i++)
{
if (R.ElementAt(i).enable)
{
Logica.avoid_rectangulo(newx, newy, this.Velocity, R.ElementAt(i).rectangle, this.Location);
}
}
for (int i = 0; i < L.Count() && !Constantes.reboto; i++)
{
if (L.ElementAt(i).enable)
{
Logica.avoid_linea(newx, newy, this.Velocity, L.ElementAt(i).rectangle, this.Location);
}
}
//rebota o atraviesa los bordes de la pantalla
if (Logica.rebotar)
{
if (newx > Constantes.limites.Right - 10 || newx < Constantes.limites.Left + 10)
{
this.Velocity.X = -1 * this.Velocity.X;
}
if (newy > Constantes.limites.Bottom - 40 || newy < Constantes.limites.Top + 20)
{
this.Velocity.Y = -1 * (this.Velocity.Y);
}
}
else if (Logica.atravesar)
{
if (newx < 0)
{
LocationNueva.X = Constantes.limites.Width;
}
if (newy < 0)
{
LocationNueva.Y = Constantes.limites.Height;
}
if (newx > Constantes.limites.Width)
{
LocationNueva.X = 0;
}
if (newy > Constantes.limites.Height)
{
LocationNueva.Y = 0;
}
}
Velocity.X *= magnitud;
Velocity.Y *= magnitud;
LocationNueva.add(Velocity);
//Reset acceleration
Acceleration.X = 0;
Acceleration.Y = 0;
}
public virtual void calculateVelocity(BoidCollection boids, List <Obstaculo> c, List <Obstaculo> r, List <Obstaculo> l)
{
}
public virtual void calculateVelocity(BoidCollection sc, DrawingArea area)
{
}
