generated from rpuzonas/raylib-cpp-template
refactor to add looping walls
This commit is contained in:
parent
c8cf27fb98
commit
d9ec40aeec
@ -11,6 +11,7 @@
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struct Boid {
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Vector2 pos;
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Vector2 dir;
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float speed;
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};
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struct Obstacle {
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@ -27,21 +28,34 @@ struct RayHitResult {
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};
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struct World {
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Vector2 size;
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std::vector<Boid> boids;
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std::vector<Obstacle> obstacles;
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float boid_view_radius = 100;
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float boid_view_angle = PI*2;
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float boid_speed = 80;
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float boid_turn_speed = PI*2;
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float view_radius = 100;
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float view_angle = PI*1.5;
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float min_speed = 50;
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float max_speed = 80;
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float max_steer_speed = 100;
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float separation_radius = 50;
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float avoidance_distance = 75;
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float avoidance_ray_angle = PI/1.5;
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int avoidance_ray_count = 4;
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float alignment_strength = 1;
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float cohesion_strength = 1;
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float separation_strength = 5;
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float collision_avoidance_strength = 50;
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Vector2 size;
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float collision_avoidance_distance = 75;
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float collision_avoidance_ray_angle = PI/1.5;
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int collision_avoidance_ray_count = 4;
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// TODO: Function `get_boids_in_view_cone` doesn't work as expected with looping walls
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bool looping_walls = false;
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};
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struct Visuals {
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float boid_edge_size = 20;
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float boid_edge_size = 15;
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bool draw_boid_direction = false;
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bool draw_view_cone = false;
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bool draw_collision_avoidance_rays = false;
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};
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318
src/main.cpp
318
src/main.cpp
@ -7,17 +7,34 @@
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#include "boid-playground.hpp"
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#include "raycast.cpp"
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static void boid_rand_init(Boid *boid, int min_x, int max_x, int min_y, int max_y)
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{
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boid->pos.x = GetRandomValue(min_x, max_x);
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boid->pos.y = GetRandomValue(min_y, max_y);
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static float vector2_atan2(Vector2 a) {
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return std::atan2(a.y, a.x);
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}
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static Vector2 vector2_mul_value(Vector2 v, float value) {
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return { v.x * value, v.y * value };
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}
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static Vector2 vector2_div_value(Vector2 v, float value) {
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return { v.x / value, v.y / value };
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}
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static Vector2 vector2_from_angle(float angle) {
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return { std::cos(angle), std::sin(angle) };
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}
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static void boid_rand_init(World *world, Boid *boid, float border) {
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float world_width = world->size.x;
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float world_height = world->size.y;
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boid->pos.x = GetRandomValue(border, world_width-border);
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boid->pos.y = GetRandomValue(border, world_height-border);
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float facing = GetRandomValue(0, 2*PI);
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boid->dir = Vector2Rotate({ 1, 0 }, facing);
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boid->speed = GetRandomValue(world->min_speed, world->max_speed);
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}
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static Vector2 get_center_point(std::vector<Vector2> &points)
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{
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static Vector2 get_center_point(std::vector<Vector2> &points) {
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Vector2 center = { 0, 0 };
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for (int i = 0; i < points.size(); i++) {
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center.x += points[i].x;
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@ -28,8 +45,7 @@ static Vector2 get_center_point(std::vector<Vector2> &points)
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return center;
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}
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static void draw_obstacle(Obstacle *obstacle, Color color)
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{
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static void draw_obstacle(Obstacle *obstacle, Color color) {
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std::vector<Vector2> *points = &obstacle->points;
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int point_count = points->size();
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@ -54,9 +70,9 @@ static void draw_obstacle(Obstacle *obstacle, Color color)
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static void draw_debug_boid_obstacle_avoidance(Visuals *visuals, World *world, Boid *boid) {
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Vector2 pos = boid->pos;
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int ray_count = world->avoidance_ray_count * 2 + 1;
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int ray_count = world->collision_avoidance_ray_count * 2 + 1;
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float ray_angles[ray_count];
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fill_avoidance_ray_angles(ray_angles, ray_count, world->avoidance_ray_angle);
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fill_avoidance_ray_angles(ray_angles, ray_count, world->collision_avoidance_ray_angle);
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float facing = std::atan2(boid->dir.y, boid->dir.x);
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for (int i = 0; i < ray_count; i++) {
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@ -67,10 +83,10 @@ static void draw_debug_boid_obstacle_avoidance(Visuals *visuals, World *world, B
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RayHitResult hit_result;
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get_intersect_with_world(&hit_result, pos, ray_dir, world);
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bool hit_obstacle = (hit_result.hit != -1 && hit_result.hit <= world->avoidance_distance);
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bool hit_obstacle = (hit_result.hit != -1 && hit_result.hit <= world->collision_avoidance_distance);
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Color ray_color = GREEN;
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float ray_length = world->avoidance_distance;
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float ray_length = world->collision_avoidance_distance;
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if (hit_obstacle) {
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ray_length = hit_result.hit;
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ray_color = BLUE;
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@ -84,35 +100,34 @@ static void draw_debug_boid_obstacle_avoidance(Visuals *visuals, World *world, B
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}
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}
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static void try_avoiding_obstacles(World *world, Boid *boid, float dt) {
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int ray_count = world->avoidance_ray_count * 2 + 1;
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static Vector2 get_collision_avoidance_dir(World *world, Boid *boid) {
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int ray_count = world->collision_avoidance_ray_count * 2 + 1;
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float ray_angles[ray_count];
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fill_avoidance_ray_angles(ray_angles, ray_count, world->avoidance_ray_angle);
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fill_avoidance_ray_angles(ray_angles, ray_count, world->collision_avoidance_ray_angle);
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int best_avoidance = -1;
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Vector2 avoidance_dir = { 0, 0 };
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float facing = std::atan2(boid->dir.y, boid->dir.x);
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bool got_hit = false;
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RayHitResult hit_results[ray_count];
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int best_avoidance = 0;
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for (int i = 0; i < ray_count; i++) {
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Vector2 ray_dir = {
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std::cos(facing + ray_angles[i]),
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std::sin(facing + ray_angles[i])
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};
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for (int i = 0; i < ray_count; i++) {
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Vector2 ray_dir = vector2_from_angle(facing + ray_angles[i]);
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get_intersect_with_world(&hit_results[i], boid->pos, ray_dir, world);
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if (hit_results[i].hit != -1 && hit_results[i].hit <= world->avoidance_distance) {
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if (hit_results[i].hit != -1 && hit_results[i].hit <= world->collision_avoidance_distance) {
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got_hit = true;
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}
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if (hit_results[i].hit > hit_results[best_avoidance].hit) {
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if (hit_results[i].hit > hit_results[best_avoidance].hit || best_avoidance == -1) {
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avoidance_dir = ray_dir;
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best_avoidance = i;
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}
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}
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if (got_hit) {
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float turn_angle = ray_angles[best_avoidance];
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boid->dir = Vector2Rotate(boid->dir, turn_angle * world->boid_turn_speed * dt);
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return avoidance_dir;
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} else {
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return { 0, 0 };
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}
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}
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@ -149,22 +164,156 @@ static void draw_circle_sector(Vector2 center, float radius, float start_angle,
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static int get_boids_in_view_cone(Boid **boids_in_view, Boid *boid, float view_radius, float view_angle, Boid *boids, int boid_count) {
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int count = 0;
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float dot_threshold = Vector2DotProduct(boid->dir, Vector2Rotate(boid->dir, view_angle/2));
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for (int i = 0; i < boid_count; i++) {
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if (&boids[i] == boid) continue;
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Vector2 dir_to_boid = Vector2Normalize(Vector2Subtract(boids[i].pos, boid->pos));
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float dot = Vector2DotProduct(boid->dir, dir_to_boid);
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if (dot >= dot_threshold && Vector2Distance(boids[i].pos, boid->pos) <= view_radius) {
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if (dot >= dot_threshold && Vector2DistanceSqr(boids[i].pos, boid->pos) <= view_radius * view_radius) {
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boids_in_view[count] = &boids[i];
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count++;
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}
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}
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return count;
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}
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static float vector2_atan2(Vector2 a)
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{
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return std::atan2(a.x, a.y);
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static void world_update(World *world) {
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float dt = GetFrameTime();
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for (int i = 0; i < world->boids.size(); i++) {
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Boid *boid = &world->boids[i];
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Vector2 acc = { 1, 0 };
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Boid *local_boids[world->boids.size()];
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int local_boids_count = get_boids_in_view_cone(local_boids, boid, world->view_radius, world->view_angle, world->boids.data(), world->boids.size());
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if (local_boids_count > 0) {
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Vector2 separation_force = { 0, 0 };
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Vector2 flock_center = { 0, 0 };
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Vector2 flock_heading = { 0, 0 };
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for (int j = 0; j < local_boids_count; j++) {
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flock_heading = Vector2Add(flock_heading, local_boids[j]->dir);
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flock_center = Vector2Add(flock_center , local_boids[j]->pos);
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Vector2 pos_diff = Vector2Subtract(boid->pos, local_boids[j]->pos);
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float dist_sqr = Vector2LengthSqr(pos_diff);
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if (dist_sqr <= world->separation_radius * world->separation_radius) {
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separation_force = Vector2Add(separation_force, vector2_div_value(pos_diff, dist_sqr));
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}
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}
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flock_center = vector2_div_value(flock_center, local_boids_count);
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Vector2 alignment_force = Vector2Normalize(flock_heading);
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alignment_force = vector2_mul_value(alignment_force, world->max_speed);
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alignment_force = vector2_mul_value(alignment_force, world->alignment_strength);
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acc = Vector2Add(acc, alignment_force);
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Vector2 cohesion_force = Vector2Normalize(Vector2Subtract(flock_center, boid->pos));
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cohesion_force = vector2_mul_value(cohesion_force, world->max_speed);
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cohesion_force = vector2_mul_value(cohesion_force, world->cohesion_strength);
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acc = Vector2Add(acc, cohesion_force);
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separation_force = Vector2Normalize(separation_force);
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separation_force = vector2_mul_value(separation_force, world->max_speed);
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separation_force = vector2_mul_value(separation_force, world->separation_strength);
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acc = Vector2Add(acc, separation_force);
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}
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// Apply obstacle avoidance to accelaration
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Vector2 collision_avoidance = get_collision_avoidance_dir(world, boid);
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collision_avoidance = vector2_mul_value(collision_avoidance, world->max_speed);
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collision_avoidance = vector2_mul_value(collision_avoidance, world->collision_avoidance_strength);
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acc = Vector2Add(acc, collision_avoidance);
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// Clamp accelaration
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Vector2 clamped_acc = acc;
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float acc_size = Vector2Length(acc);
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if (acc_size > world->max_steer_speed) {
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clamped_acc = vector2_mul_value(Vector2Normalize(acc), world->max_steer_speed);
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}
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// Apply accelaration
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Vector2 velocity = Vector2Multiply(boid->dir, { boid->speed, boid->speed });
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velocity = Vector2Add(velocity, vector2_mul_value(clamped_acc, dt));
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boid->dir = Vector2Normalize(velocity);
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boid->speed = Vector2Length(velocity);
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boid->speed = Clamp(boid->speed, world->min_speed, world->max_speed);
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Vector2 step = vector2_mul_value(boid->dir, boid->speed * dt);
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Vector2 target_pos = Vector2Add(boid->pos, step);
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// Check collisions
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RayHitResult hit_result;
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get_intersect_with_world(&hit_result, target_pos, step, world);
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if (hit_result.hit == -1 || hit_result.hit > 2) {
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boid->pos = target_pos;
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}
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if (world->looping_walls) {
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if (boid->pos.x > world->size.x) {
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boid->pos.x -= world->size.x;
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} else if (boid->pos.x < 0) {
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boid->pos.x += world->size.x;
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}
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if (boid->pos.y > world->size.y) {
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boid->pos.y -= world->size.y;
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} else if (boid->pos.y < 0) {
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boid->pos.y += world->size.y;
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}
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}
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}
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}
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static void world_draw(World *world, Visuals *visuals) {
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for (int i = 0; i < world->obstacles.size(); i++) {
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draw_obstacle(&world->obstacles[i], GRAY);
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}
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if (visuals->draw_view_cone) {
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Color view_cone_color = Fade(GRAY, 0.4);
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for (int i = 0; i < world->boids.size(); i++) {
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Boid *boid = &world->boids[i];
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Vector2 pos = boid->pos;
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float facing = std::atan2(boid->dir.y, boid->dir.x);
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float view_angle = world->view_angle;
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float segments = 16;
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draw_circle_sector(pos, world->view_radius, facing - view_angle/2, facing + view_angle/2, segments, view_cone_color);
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}
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}
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float boid_length = visuals->boid_edge_size * std::sqrt(3)/2;
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float boid_width = visuals->boid_edge_size * 0.6;
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for (int i = 0; i < world->boids.size(); i++) {
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Boid *boid = &world->boids[i];
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if (visuals->draw_collision_avoidance_rays) {
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draw_debug_boid_obstacle_avoidance(visuals, world, boid);
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}
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Vector2 triangle[] = {
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{ boid_length*2/3.0f, 0 },
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{ -boid_length*1/3.0f, -boid_width/2 },
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{ -boid_length*1/3.0f, boid_width/2 },
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};
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float facing = std::atan2(boid->dir.y, boid->dir.x);
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for (int i = 0; i < 3; i++) {
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triangle[i] = Vector2Add(boid->pos, Vector2Rotate(triangle[i], facing));
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}
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DrawTriangle(triangle[0], triangle[1], triangle[2], BLACK);
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if (visuals->draw_boid_direction) {
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DrawCircle(boid->pos.x, boid->pos.y, visuals->boid_edge_size * 0.05, RED);
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Vector2 look_pos = Vector2Add(boid->pos, Vector2Multiply(boid->dir, { 30, 30 }));
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DrawLine(boid->pos.x, boid->pos.y, look_pos.x, look_pos.y, RED);
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}
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}
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}
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int main() {
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@ -183,116 +332,35 @@ int main() {
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Visuals visuals;
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float border = visuals.boid_edge_size;
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for (int i = 0; i < 10; i++) {
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for (int i = 0; i < 100; i++) {
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Boid boid;
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boid_rand_init(&boid, border, world.size.x - border, border, world.size.y - border);
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boid_rand_init(&world, &boid, border);
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world.boids.push_back(boid);
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}
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// world.boids.push_back({ .pos = { 150, 100 }, .dir = { 1, 0 }});
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// world.boids.push_back({ .pos = { 200, 180 }, .dir = { 0, -1 }});
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// world.boids.push_back({
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// .pos = { 100, 100 },
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// .dir = { 1, 0 },
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// .speed = world.boid_min_speed
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// });
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// world.boids.push_back({
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// .pos = { 100, 120 },
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// .dir = { 1, 0 },
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// .speed = world.boid_min_speed
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// });
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// Main game loop
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while (!window.ShouldClose()) {
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// TODO: Show this on screen
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// LogTrace("%d", count_out_of_bounds_boids(&world));
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float dt = GetFrameTime();
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for (int i = 0; i < world.boids.size(); i++) {
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Boid *boid = &world.boids[i];
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Vector2 step = Vector2Multiply(boid->dir, { world.boid_speed * dt, world.boid_speed * dt });
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Vector2 pos = Vector2Add(boid->pos, step);
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RayHitResult hit_result;
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get_intersect_with_world(&hit_result, pos, step, &world);
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if (hit_result.hit == -1 || hit_result.hit > 2) {
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boid->pos = pos;
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Boid *boids_in_view[world.boids.size()];
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int boids_in_view_count = get_boids_in_view_cone(boids_in_view, boid, world.boid_view_radius, world.boid_view_angle, world.boids.data(), world.boids.size());
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if (boids_in_view_count > 0) {
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float current_facing = vector2_atan2(boid->dir);
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float average_facing = 0;
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Vector2 average_pos = { 0, 0 };
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for (int j = 0; j < boids_in_view_count; j++) {
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if (boids_in_view[j] == boid) continue;
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average_facing += std::atan2(boids_in_view[j]->dir.y, boids_in_view[j]->dir.x);
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average_pos.x += boids_in_view[j]->pos.x;
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average_pos.y += boids_in_view[j]->pos.y;
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}
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average_facing /= boids_in_view_count;
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average_pos.x /= boids_in_view_count;
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average_pos.y /= boids_in_view_count;
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Vector2 dir_to_average_pos = Vector2Subtract(average_pos, boid->pos);
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float average_pos_angle = vector2_atan2(dir_to_average_pos);
|
||||
float angle_to_average_pos = current_facing - vector2_atan2(dir_to_average_pos);
|
||||
if (angle_to_average_pos > PI) {
|
||||
angle_to_average_pos -= 2*PI;
|
||||
} else if (angle_to_average_pos < -PI) {
|
||||
angle_to_average_pos += 2*PI;
|
||||
}
|
||||
|
||||
float angle_to_average_facing = (average_facing - current_facing);
|
||||
|
||||
float turn_angle = (angle_to_average_pos + angle_to_average_facing) / 2;
|
||||
|
||||
boid->dir = Vector2Rotate(boid->dir, turn_angle * world.boid_turn_speed * dt);
|
||||
// boid->dir = Vector2Rotate(boid->dir, () * world.boid_turn_speed * dt);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
try_avoiding_obstacles(&world, boid, dt);
|
||||
}
|
||||
world_update(&world);
|
||||
|
||||
// Draw
|
||||
BeginDrawing();
|
||||
ClearBackground(RAYWHITE);
|
||||
|
||||
for (int i = 0; i < world.obstacles.size(); i++) {
|
||||
draw_obstacle(&world.obstacles[i], GRAY);
|
||||
}
|
||||
|
||||
|
||||
Color view_cone_color = Fade(GRAY, 0.4);
|
||||
for (int i = 0; i < world.boids.size(); i++) {
|
||||
Boid *boid = &world.boids[i];
|
||||
Vector2 pos = boid->pos;
|
||||
float facing = std::atan2(boid->dir.y, boid->dir.x);
|
||||
|
||||
float view_angle = world.boid_view_angle;
|
||||
float segments = 16;
|
||||
|
||||
draw_circle_sector(pos, world.boid_view_radius, facing - view_angle/2, facing + view_angle/2, segments, view_cone_color);
|
||||
}
|
||||
|
||||
float boid_length = visuals.boid_edge_size * std::sqrt(3)/2;
|
||||
float boid_width = visuals.boid_edge_size * 0.6;
|
||||
for (int i = 0; i < world.boids.size(); i++) {
|
||||
Boid *boid = &world.boids[i];
|
||||
|
||||
draw_debug_boid_obstacle_avoidance(&visuals, &world, boid);
|
||||
|
||||
Vector2 triangle[] = {
|
||||
{ boid_length*2/3.0f, 0 },
|
||||
{ -boid_length*1/3.0f, -boid_width/2 },
|
||||
{ -boid_length*1/3.0f, boid_width/2 },
|
||||
};
|
||||
|
||||
float facing = std::atan2(boid->dir.y, boid->dir.x);
|
||||
for (int i = 0; i < 3; i++) {
|
||||
triangle[i] = Vector2Add(boid->pos, Vector2Rotate(triangle[i], facing));
|
||||
}
|
||||
|
||||
DrawTriangle(triangle[0], triangle[1], triangle[2], BLACK);
|
||||
DrawCircle(boid->pos.x, boid->pos.y, visuals.boid_edge_size * 0.05, RED);
|
||||
|
||||
Vector2 look_pos = Vector2Add(boid->pos, Vector2Multiply(boid->dir, { 30, 30 }));
|
||||
DrawLine(boid->pos.x, boid->pos.y, look_pos.x, look_pos.y, RED);
|
||||
}
|
||||
world_draw(&world, &visuals);
|
||||
|
||||
EndDrawing();
|
||||
}
|
||||
|
||||
@ -50,7 +50,7 @@ static void get_intersect_with_obstacles(RayHitResult *result, Vector2 ray_origi
|
||||
static void get_intersect_with_world(RayHitResult *result, Vector2 ray_origin, Vector2 ray_dir, World *world) {
|
||||
get_intersect_with_obstacles(result, ray_origin, ray_dir, &world->obstacles);
|
||||
|
||||
if (result->hit == -1) {
|
||||
if (result->hit == -1 && !world->looping_walls) {
|
||||
Vector2 lines[] = {
|
||||
{ 0 , 0 },
|
||||
{ world->size.x, 0 },
|
||||
|
||||
Loading…
Reference in New Issue
Block a user