/* ---- This file is part of SECONDO. Copyright (C) 2004, University in Hagen, Department of Computer Science, Database Systems for New Applications. SECONDO is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. SECONDO is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with SECONDO; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA ---- This file was originally written by Christopher John Kline, under the copy right statement below. Mahomud Sakr, September 2011, has made the necessary changes to make it available as a SECONDO operator. Copyright (C) 1996, Christopher John Kline Electronic mail: ckline@acm.org This software may be freely copied, modified, and redistributed for academic purposes and by not-for-profit organizations, provided that this copyright notice is preserved on all copies, and that the source code is included or notice is given informing the end-user that the source code is publicly available under the terms described here. Persons or organizations wishing to use this code or any modified version of this code in a commercial and/or for\-profit manner must contact the author via electronic mail (preferred) or other method to arrange the terms of usage. These terms may be as simple as giving the author visible credit in the final product. There is no warranty or other guarantee of fitness for this software, it is provided solely "as is". Bug reports or fixes may be sent to the author, who may or may not act on them as he desires. If you use this software the author politely requests that you inform him via electronic mail. Boid.h INTERFACE: Class for objects that move with A-Life boid\-type behavior. (c) 1996 Christopher Kline September 2011 Mahmoud Sakr: The Boids simulator/data-generator is now available as a SECONDO operator. */ #ifndef __BOID_H #define __BOID_H #include "NamedObject.h" #include "Obstacle.h" #include "DateTime.h" #include #define FREEMOVER -1 class BoidGenerator; class Boid; class Boid : public SimObject { public: Boid(MathVector bPosition, MathVector bVelocity, MathVector bDimensions, int bType, int boidNumber); void InitBoid( MathVector bPosition, MathVector bVelocity, MathVector bDimensions, int _boidNumber); /* Updates this object based on the amount of elapsed time since the last update, and the previous acceleration and velocity. */ virtual bool update(const double &elapsedSeconds, const double sampleIntervalSeconds); void SetGenerator(BoidGenerator* BG); /* [m/sec] Maximum magnitude of velocity. Default value is 10 */ double maxVelocity; /* [m/(sec 2)] Maximum magnitude of acceleration as a fraction of maxVelocity. Default value is 0.5 */ double maxAcceleration; /* [m] Desired distance from closest neighbor when flying. Default value is twice the bodylength. */ double cruiseDistance; /* [radians] Rotation around body-local z-axis (+roll = counterclockwise). Default value is 0. */ double roll; /* [radians] Rotation around body-local x-axis (+pitch = nose tilting upward). Default value is 0. */ double pitch; /* [radians] Rotation around body-local y-axis (increasing counterclockwise, 0 is along body-local +z). Default value is 0. */ double yaw; /* See description in CalculateVisibilityMatrix() and the comments for the visMatrix macro for more info. */ static int **visibilityMatrix; protected: /* Returns the magnitude of gravitational acceleration in the (0, -1, 0) direction [m/(sec 2)]. */ virtual double getGravAcceleration(void) const; /* Given an accumulator and a value to add to the accumulator, this method truncates the magnitude of valueToAdd so that, when added to the accumulator, the magnitude of the accumulator is at most 1.0. It then adds the truncated value to the accumulator. The value returned is the magnitude of the accumulator after the addition. */ virtual double accumulate(MathVector &accumulator, MathVector valueToAdd); /* Returns how far in front of boid to probe for obstacles. By default, the probe length scales linearly from 10 times bodylength to 50 times bodylength as the boid accelerates from 0 m/s to maxVelocity. */ virtual float getProbeLength(const double sampleIntervalSeconds); /* Returns the speed the boid would like to travel at when not under any other influences (i.e., obstacles, flocking desires, etc). The default value is 1/5 of maxVelocity. */ virtual double desiredCruisingSpeed(void); /* Each boid helps maintain a visibility matrix, which is an NxN matrix, where N is the current number of boids (it is dynamically expanded each time a new boid is created). Each cell [A,B] represents whether boid A can see boid B. The contents of the matrix are described further in the visMatrix macro in boid.c++ The reason for this matrix is to drastically reduce the computational complexity of determining which boids are visible to the others. */ virtual void calculateVisibilityMatrix(void); /* Returns 1 if this boid can see boid b, 0 otherwise. */ virtual int visibleToSelf(Boid *b); /* Calculate the roll, pitch, and yaw of this boid based on its acceleration, velocity, and position. Though position isn't necessary for most approximations of attitude, it may be useful in some circumstances. */ virtual void calculateRollPitchYaw(MathVector appliedAcceleration, MathVector currentVelocity, MathVector currentPosition); /* Returns a vector which indicates how the boid would like to accelerate in order to fly level (i.e., with minimal pitch). */ virtual MathVector levelFlight(MathVector AccelSoFar); /* Returns a vector which indicates how the boid would like to accelerate when not under any other influences. Related to desiredCruisingSpeed(). */ virtual MathVector wander(void); /* Returns a vector which indicates how the boid would like to accelerate in order to avoid collisions with non-boid obstacles. */ virtual MathVector collisionAvoidance(const double sampleIntervalSeconds); /* Called by CollisionAvoidance, this method attempts to avoid a collision with a specific obstacle, and returns an acceleration vector indicating how the boid should accelerate to achieve this end. */ virtual MathVector resolveCollision(MathVector pointOnObject, MathVector normalToObject, const double sampleIntervalSeconds); /* Returns a vector which indicates how the boid would like to accelerate in order to maintain a distance of cruiseDistance from the nearest visible boid. */ virtual MathVector maintainingCruisingDistance(void); /* Returns a vector which indicates how the boid would like to accelerate in order to fly at approximately the same speed and direction as the nearby boids. */ virtual MathVector velocityMatching(void); /* Returns a vector which indicates how the boid would like to accelerate in order to be near the center of the flock. */ virtual MathVector flockCentering(void); /* This method prioritizes and resolves the acceleration vectors from CollisionAvoidance(), FlockCentering(), MaintainingCruisingDistance(), VelocityMatching(), Wander(), and LevelFlight(). It returns the actual acceleration vector that the boid will apply to its flight in the current time step. */ virtual MathVector navigator(const double sampleIntervalSeconds); /* Returns the type of this boid. */ virtual int getBoidType(void) const; /* [m] Length of the boid. By default this value is equal to the z component of the bDimensions passed to the constructor. */ double bodyLength; /* Unique integer identifying the number of this boid. The first boid created is given boidNumber 1, and the values increase sequentially. */ int boidNumber; /* Should this boid flock only with boids of the same boidType, or with all boids? The default value is FALSE, meaning that this boid will flock with all boids regardless of type. Basically, should boids of a feather stick together? :) */ bool flockSelectively; /* Identifies the type of boid for selective flocking */ int boidType; private: /* [m/sec] velocity at last update. */ MathVector oldVelocity; /* [m/(sec 2)] acceleration requested at last update. */ MathVector acceleration; /* Has the boid been updated at least once? */ bool flightflag; /* The simulation controller. It is required that every boid has access to the whole list of boids, which is stored only in the boidGenerator. The Boid class is a friend of the BoidGenerator class, and has access to its private members. */ BoidGenerator* Generator; }; /* The BoidGenerator class controlling the simulation. The is the only interface through which a program can use this generator. */ class BoidGenerator { public: friend class Boid; BoidGenerator(std::vector& BoidSizes, std::vector& Obstacles, Instant* SimulationStartTime, Instant* SimulationDuration); ~BoidGenerator(); int GetNext(int& BoidID, Instant& SampleTime, double& X,double& Y); private: /* The boid generator assumes that the +ve X-Axis goes to the left. In contrast Secondo assumes it goes right. The following mirroring functions translate between the two coordinates. */ inline double mirror(double& xCoord); Box* Rect2Box(const std::pair, std::pair > rect); bool initSimulation(); BoidGenerator(); bool updateBoids(); bool makeBoids(void); void makeObstacles(std::vector& Obstacles); bool GetCurrent(double& X,double& Y); std::vector boidSizes; int freeBoidCount; std::vector obstacles; Sphere* world; Instant simulationStart; Instant sampleInterval; int remainingSamples; std::vector boids; unsigned int iterator; double elapsedTime; }; // ------------- inline methods --------------------------------------------- inline double BoidGenerator::mirror(double& xCoord) { return (-1 * xCoord); } inline Box* BoidGenerator::Rect2Box( const std::pair, std::pair > rect) { /* The rect format is (, ) where X increases in the left direction, which is compatible to the boid generator. */ double minX= rect.first.first; double maxX= rect.first.second; double minY= rect.second.first; double maxY= rect.second.second; std::pair bottomRight(minX, minY); std::pair topLeft(maxX, maxY); Box* res= new Box( MathVector(topLeft.first, 1000.0, topLeft.second), MathVector(bottomRight.first, -1000.0, bottomRight.second)); return res; } inline double Boid::getGravAcceleration(void) const { return 9.806650; } inline int Boid::getBoidType(void) const { return boidType; } inline int Boid::visibleToSelf(Boid *b) { /* find out if the boid b is within our field of view */ MathVector vectorToObject = b->position - position; /* This isn't perfectly accurate, since we're not always facing in the direction of our velocity, but it's close enough. */ return(AngleBetween(velocity, vectorToObject) <= 1.0471967); // pi/3 radians is our FOV } inline float Boid::getProbeLength(const double sampleIntervalSeconds) { /* Mahmoud Sakr thinks that this code is a better way of computing the ProbeLength. The original code is commented out below. The idea is to relate the ProbeLength to the object's speed and the update rate. For example, the boid should start doing something to avoid collisions (5 updates) before it collides. Which means that the boid sees (max velocity * (1/update rate) * 10) meters from its position. */ double speed= this->maxVelocity;// Magnitude(this->velocity); float probeLengthMeters= 5 * speed * sampleIntervalSeconds; return probeLengthMeters; // float maxScale = 5; // When we're at maxVelocity, scalefactor = maxScale. // When our velocity is 0, scalefactor = 1. // Linearly scale in between. // float scaleFactor = ((maxScale-1)/maxVelocity) * Magnitude(velocity) + 1; // return 10*bodyLength*scaleFactor; } inline double Boid::desiredCruisingSpeed(void) { return 0.2*maxVelocity; } inline MathVector Boid::levelFlight(MathVector AccelSoFar) { /* Determine the vertical acceleration. */ MathVector verticalAcc(0, AccelSoFar.y, 0); /* Try to negate it. */ return -verticalAcc; } #endif // __BOID_H