Boid.h

/*
 * Aurora: https://github.com/pixelmatix/aurora
 * Copyright (c) 2014 Jason Coon
 *
 * Portions of this code are adapted from "Flocking" in "The Nature of Code" by Daniel Shiffman: http://natureofcode.com/
 * Copyright (c) 2014 Daniel Shiffman
 * http://www.shiffman.net
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

// Flocking
// Daniel Shiffman <http://www.shiffman.net>
// The Nature of Code, Spring 2009

// Boid class
// Methods for Separation, Cohesion, Alignment added

class Boid {
  public:

    PVector location;
    PVector velocity;
    PVector acceleration;
    float maxforce;    // Maximum steering force
    float maxspeed;    // Maximum speed

    float desiredseparation = 4;
    float neighbordist = 8;
    byte colorIndex = 0;
    float mass;

    boolean enabled = true;

    Boid() {}

    Boid(float x, float y) {
      acceleration = PVector(0, 0);
      velocity = PVector(randomf(), randomf());
      location = PVector(x, y);
      maxspeed = 1.5;
      maxforce = 0.05;
    }

    static float randomf() {
      return mapfloat(random(0, 255), 0, 255, -.5, .5);
    }

    static float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) {
      return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
    }

    void run(Boid boids [], uint8_t boidCount) {
      flock(boids, boidCount);
      update();
      // wrapAroundBorders();
      // render();
    }

    // Method to update location
    void update() {
      // Update velocity
      velocity += acceleration;
      // Limit speed
      velocity.limit(maxspeed);
      location += velocity;
      // Reset acceleration to 0 each cycle
      acceleration *= 0;
    }

    void applyForce(PVector force) {
      // We could add mass here if we want A = F / M
      acceleration += force;
    }

    void repelForce(PVector obstacle, float radius) {
      //Force that drives boid away from obstacle.

      PVector futPos = location + velocity; //Calculate future position for more effective behavior.
      PVector dist = obstacle - futPos;
      float d = dist.mag();

      if (d <= radius) {
        PVector repelVec = location - obstacle;
        repelVec.normalize();
        if (d != 0) { //Don't divide by zero.
          // float scale = 1.0 / d; //The closer to the obstacle, the stronger the force.
          repelVec.normalize();
          repelVec *= (maxforce * 7);
          if (repelVec.mag() < 0) { //Don't let the boids turn around to avoid the obstacle.
            repelVec.y = 0;
          }
        }
        applyForce(repelVec);
      }
    }

    // We accumulate a new acceleration each time based on three rules
    void flock(Boid boids [], uint8_t boidCount) {
      PVector sep = separate(boids, boidCount);   // Separation
      PVector ali = align(boids, boidCount);      // Alignment
      PVector coh = cohesion(boids, boidCount);   // Cohesion
      // Arbitrarily weight these forces
      sep *= 1.5;
      ali *= 1.0;
      coh *= 1.0;
      // Add the force vectors to acceleration
      applyForce(sep);
      applyForce(ali);
      applyForce(coh);
    }

    // Separation
    // Method checks for nearby boids and steers away
    PVector separate(Boid boids [], uint8_t boidCount) {
      PVector steer = PVector(0, 0);
      int count = 0;
      // For every boid in the system, check if it's too close
      for (int i = 0; i < boidCount; i++) {
        Boid other = boids[i];
        if (!other.enabled)
          continue;
        float d = location.dist(other.location);
        // If the distance is greater than 0 and less than an arbitrary amount (0 when you are yourself)
        if ((d > 0) && (d < desiredseparation)) {
          // Calculate vector pointing away from neighbor
          PVector diff = location - other.location;
          diff.normalize();
          diff /= d;        // Weight by distance
          steer += diff;
          count++;            // Keep track of how many
        }
      }
      // Average -- divide by how many
      if (count > 0) {
        steer /= (float) count;
      }

      // As long as the vector is greater than 0
      if (steer.mag() > 0) {
        // Implement Reynolds: Steering = Desired - Velocity
        steer.normalize();
        steer *= maxspeed;
        steer -= velocity;
        steer.limit(maxforce);
      }
      return steer;
    }

    // Alignment
    // For every nearby boid in the system, calculate the average velocity
    PVector align(Boid boids [], uint8_t boidCount) {
      PVector sum = PVector(0, 0);
      int count = 0;
      for (int i = 0; i < boidCount; i++) {
        Boid other = boids[i];
        if (!other.enabled)
          continue;
        float d = location.dist(other.location);
        if ((d > 0) && (d < neighbordist)) {
          sum += other.velocity;
          count++;
        }
      }
      if (count > 0) {
        sum /= (float) count;
        sum.normalize();
        sum *= maxspeed;
        PVector steer = sum - velocity;
        steer.limit(maxforce);
        return steer;
      }
      else {
        return PVector(0, 0);
      }
    }

    // Cohesion
    // For the average location (i.e. center) of all nearby boids, calculate steering vector towards that location
    PVector cohesion(Boid boids [], uint8_t boidCount) {
      PVector sum = PVector(0, 0);   // Start with empty vector to accumulate all locations
      int count = 0;
      for (int i = 0; i < boidCount; i++) {
        Boid other = boids[i];
        if (!other.enabled)
          continue;
        float d = location.dist(other.location);
        if ((d > 0) && (d < neighbordist)) {
          sum += other.location; // Add location
          count++;
        }
      }
      if (count > 0) {
        sum /= count;
        return seek(sum);  // Steer towards the location
      }
      else {
        return PVector(0, 0);
      }
    }

    // A method that calculates and applies a steering force towards a target
    // STEER = DESIRED MINUS VELOCITY
    PVector seek(PVector target) {
      PVector desired = target - location;  // A vector pointing from the location to the target
      // Normalize desired and scale to maximum speed
      desired.normalize();
      desired *= maxspeed;
      // Steering = Desired minus Velocity
      PVector steer = desired - velocity;
      steer.limit(maxforce);  // Limit to maximum steering force
      return steer;
    }

    // A method that calculates a steering force towards a target
    // STEER = DESIRED MINUS VELOCITY
    void arrive(PVector target) {
      PVector desired = target - location;  // A vector pointing from the location to the target
      float d = desired.mag();
      // Normalize desired and scale with arbitrary damping within 100 pixels
      desired.normalize();
      if (d < 4) {
        float m = map(d, 0, 100, 0, maxspeed);
        desired *= m;
      }
      else {
        desired *= maxspeed;
      }

      // Steering = Desired minus Velocity
      PVector steer = desired - velocity;
      steer.limit(maxforce);  // Limit to maximum steering force
      applyForce(steer);
      //Serial.println(d);
    }

    void wrapAroundBorders() {
      if (location.x < 0) location.x = MATRIX_WIDTH - 1;
      if (location.y < 0) location.y = MATRIX_HEIGHT - 1;
      if (location.x >= MATRIX_WIDTH) location.x = 0;
      if (location.y >= MATRIX_HEIGHT) location.y = 0;
    }

    void avoidBorders() {
      PVector desired = velocity;

      if (location.x < 8) desired = PVector(maxspeed, velocity.y);
      if (location.x >= MATRIX_WIDTH - 8) desired = PVector(-maxspeed, velocity.y);
      if (location.y < 8) desired = PVector(velocity.x, maxspeed);
      if (location.y >= MATRIX_HEIGHT - 8) desired = PVector(velocity.x, -maxspeed);

      if (desired != velocity) {
        PVector steer = desired - velocity;
        steer.limit(maxforce);
        applyForce(steer);
      }

      if (location.x < 0) location.x = 0;
      if (location.y < 0) location.y = 0;
      if (location.x >= MATRIX_WIDTH) location.x = MATRIX_WIDTH - 1;
      if (location.y >= MATRIX_HEIGHT) location.y = MATRIX_HEIGHT - 1;
    }

    bool bounceOffBorders(float bounce) {
      bool bounced = false;

      if (location.x >= MATRIX_WIDTH) {
        location.x = MATRIX_WIDTH - 1;
        velocity.x *= -bounce;
        bounced = true;
      }
      else if (location.x < 0) {
        location.x = 0;
        velocity.x *= -bounce;
        bounced = true;
      }

      if (location.y >= MATRIX_HEIGHT) {
        location.y = MATRIX_HEIGHT - 1;
        velocity.y *= -bounce;
        bounced = true;
      }
      else if (location.y < 0) {
        location.y = 0;
        velocity.y *= -bounce;
        bounced = true;
      }

      return bounced;
    }

    void render() {
      //// Draw a triangle rotated in the direction of velocity
      //float theta = velocity.heading2D() + radians(90);
      //fill(175);
      //stroke(0);
      //pushMatrix();
      //translate(location.x,location.y);
      //rotate(theta);
      //beginShape(TRIANGLES);
      //vertex(0, -r*2);
      //vertex(-r, r*2);
      //vertex(r, r*2);
      //endShape();
      //popMatrix();
      //dma_display->drawBackgroundPixelRGB888(location.x, location.y, CRGB::Blue);
    }
};

static const uint8_t AVAILABLE_BOID_COUNT = 40;
Boid boids[AVAILABLE_BOID_COUNT];