private void AddBot_Click(object sender, RoutedEventArgs e)
{
try
{
const double DISTANCE = 3;
Point3D position = _camera.Position + (_camera.LookDirection.ToUnit() * DISTANCE);
position += Math3D.GetRandomVector_Spherical(DISTANCE / 3);
double radius;
if (chkRandBotSize.IsChecked.Value)
{
double percent = StaticRandom.NextPow(3, isPlusMinus: true);
//double percent = StaticRandom.NextBool() ? 1d : -1d; // use to test the extremes
percent *= SWARMBOTRANDSIZEPERCENT;
if (percent > 0)
{
radius = SWARMBOTRADIUS * (1d + percent);
}
else
{
radius = SWARMBOTRADIUS / (1d + Math.Abs(percent));
}
}
else
{
radius = SWARMBOTRADIUS;
}
SwarmBot1a bot = new SwarmBot1a(radius, position, _world, _map, _strokes, _material_Bot);
SetBotConstraints(bot);
bot.PhysicsBody.AngularVelocity = Math3D.GetRandomVector_Spherical(3d);
_map.AddItem(bot);
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
public SwarmCluster(SwarmBot1a[] bots)
{
this.Bots = bots;
}
private void SetBotConstraints(SwarmBot1a bot)
{
const double SEARCHSLOPE = .66d;
const double STROKESEARCHMULT = 2d;
const double NEIGHBORSLOPE = .75d;
const double ACCELSLOPE = 1.33d;
const double ANGACCELSLOPE = .75d;
const double ANGSPEEDSLOPE = .25d;
double ratio = bot.Radius / SWARMBOTRADIUS;
bot.SearchRadius = trkSearchRadius.Value * SetBotConstraints_Mult(SEARCHSLOPE, ratio);
bot.SearchRadius_Strokes = bot.SearchRadius * STROKESEARCHMULT;
bot.ChaseNeighborCount = (trkChaseNeighborCount.Value * SetBotConstraints_Mult(NEIGHBORSLOPE, ratio)).ToInt_Round();
bot.MaxAccel = trkMaxAccel.Value * SetBotConstraints_Mult(ACCELSLOPE, 1 / ratio);
bot.MaxAngularAccel = trkMaxAngAccel.Value * SetBotConstraints_Mult(ANGACCELSLOPE, 1 / ratio);
bot.MaxSpeed = trkMaxSpeed.Value; // not adjusting this, or the swarm will pull apart when they get up to speed
bot.MaxAngularSpeed = trkMaxAngSpeed.Value * SetBotConstraints_Mult(ANGSPEEDSLOPE, 1 / ratio);
}