[325] | 1 | // |
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| 2 | // |
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| 3 | // TODO: testing orxonox -flocking interface |
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| 4 | // testing algorithm |
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[212] | 5 | |
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[325] | 6 | // ueberpruefen ob vektoren relativ richtig berechnet werden |
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| 7 | // |
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[212] | 8 | //My Flocking Class |
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| 9 | |
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| 10 | #ifndef Flocking_Class |
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| 11 | #define Flocking_Class |
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| 12 | |
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| 13 | #include <Ogre.h> |
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| 14 | #include <OgreVector3.h> |
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| 15 | |
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[426] | 16 | |
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[325] | 17 | #include <iostream> |
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[212] | 18 | |
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[325] | 19 | |
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[212] | 20 | #endif |
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| 21 | |
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| 22 | using namespace std; |
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| 23 | using namespace Ogre; |
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| 24 | |
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| 25 | class Element // An element that flocks |
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| 26 | { |
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| 27 | |
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| 28 | public: |
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| 29 | Vector3 location; // locationvector of the element |
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| 30 | Vector3 speed; // speedvector of the element |
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| 31 | Vector3 acceleration; // accelerationvector of the element |
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[426] | 32 | bool movable; // movability of the element |
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[212] | 33 | |
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[325] | 34 | Element() { |
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| 35 | acceleration = (0,0,0); |
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| 36 | speed = (0,0,0); |
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| 37 | location = (0,0,0); |
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[426] | 38 | movable = true; |
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[325] | 39 | } |
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[212] | 40 | |
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[426] | 41 | Element(Vector3 location_, Vector3 speed_, Vector3 acceleration_, bool movable_) { |
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[212] | 42 | acceleration = acceleration_; |
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| 43 | speed = speed_; |
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| 44 | location = location_; |
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[426] | 45 | movable = movable_; |
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[212] | 46 | } |
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| 47 | |
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[426] | 48 | void setValues(Vector3 location_, Vector3 speed_, Vector3 acceleration_, bool movable_) { |
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[325] | 49 | acceleration = acceleration_; |
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| 50 | speed = speed_; |
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| 51 | location = location_; |
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[426] | 52 | movable = movable_; |
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[325] | 53 | } |
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| 54 | |
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[212] | 55 | //calculates the distance between the element and an other point given by temp |
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| 56 | float getDistance(Element temp) { |
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| 57 | Vector3 distance = temp.location-location; //this doesn't work |
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| 58 | return distance.length(); |
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| 59 | } |
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| 60 | |
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[426] | 61 | //EINFÜGEN DES ELEMENTS |
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[325] | 62 | void update(Element arrayOfElements[], const FrameEvent& time) { |
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[426] | 63 | if (this->movable == true) {calculateAcceleration(arrayOfElements);} |
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| 64 | |
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| 65 | /* if (this->movable == true) { |
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| 66 | calculateAcceleration(arrayOfElements); //updates the acceleration |
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| 67 | calculateSpeed(time); //updates the speed |
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| 68 | calculateLocation(time); //updates the location |
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| 69 | } */ |
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[212] | 70 | } |
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| 71 | |
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[426] | 72 | //EINFÜGEN DES ELEMENTS |
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[325] | 73 | void calculateAcceleration(Element arrayOfElements[]) { |
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[212] | 74 | //calculates the accelerationvector based on the steeringvectors of |
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| 75 | //separtion, alignment and cohesion. |
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[325] | 76 | acceleration = separation(arrayOfElements) + alignment(arrayOfElements) + cohesion(arrayOfElements); |
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[212] | 77 | } |
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| 78 | |
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[325] | 79 | void calculateSpeed(const FrameEvent& time) { |
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| 80 | speed = speed + acceleration*time.timeSinceLastFrame; |
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[212] | 81 | } |
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| 82 | |
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[325] | 83 | void calculateLocation(const FrameEvent& time) { |
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| 84 | location = location + speed*time.timeSinceLastFrame; |
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[212] | 85 | } |
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| 86 | |
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[325] | 87 | |
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| 88 | Vector3 separation(Element arrayOfElements[]) { |
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| 89 | Vector3* steering = new Vector3(0,0,0); //steeringvector |
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[426] | 90 | Vector3* inverseDistance = new Vector3(0,0,0); |
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[325] | 91 | int numberOfNeighbour = 0; //number of observed neighbours |
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[426] | 92 | float distance = 0; |
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[212] | 93 | //go through all elements |
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[426] | 94 | for(int i=0; i<9; i++) { //just working with 3 elements at the moment |
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[212] | 95 | Element actual = arrayOfElements[i]; //get the actual element |
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[426] | 96 | distance = getDistance(actual); //get distance between this and actual |
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[325] | 97 | //DUMMY SEPERATION DETECTION DISTANCE =100 |
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[426] | 98 | if ((distance > 0) && (distance < 200)) { //do only if actual is inside detectionradius |
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| 99 | *inverseDistance = (0,0,0); |
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| 100 | *inverseDistance = location-actual.location; //calculate the distancevector heading towards this |
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| 101 | //*inverseDistance = inverseDistance->normalise(); //does this work correctly? //normalise the distancevector |
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| 102 | if ((distance < 100) && (distance >= 80)) {*inverseDistance = *inverseDistance*2;} |
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| 103 | if ((distance < 80) && (distance >= 60)) {*inverseDistance = *inverseDistance*5;} |
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| 104 | if ((distance < 60) && (distance >= 40)) {*inverseDistance = *inverseDistance*10;} |
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| 105 | if ((distance < 40) && (distance > 0)) {*inverseDistance = *inverseDistance*20;} |
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| 106 | // *inverseDistance = *inverseDistance/distance; //devide distancevector by distance (the closer the bigger gets the distancevector -> steeringvector) |
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| 107 | *steering = *steering + *inverseDistance; //add up all significant steeringvectors |
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[212] | 108 | numberOfNeighbour++; //counts the elements inside the detectionradius |
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| 109 | } |
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| 110 | } |
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| 111 | if(numberOfNeighbour > 0) { |
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[325] | 112 | *steering = *steering / (float)numberOfNeighbour; //devide the sum of steeringvectors by the number of elements -> separation steeringvector |
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[212] | 113 | } |
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[426] | 114 | cout<<*steering<<endl; |
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[325] | 115 | return *steering; |
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[212] | 116 | } |
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| 117 | |
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[325] | 118 | Vector3 alignment(Element arrayOfElements[]) { |
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| 119 | Vector3* steering = new Vector3(0,0,0); //steeringvector |
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| 120 | int numberOfNeighbour = 0; //number of observed neighbours |
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[426] | 121 | float distance = 0; |
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[212] | 122 | //go through all elements |
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[426] | 123 | for(int i=0; i<9; i++) { //just working with 3 elements at the moment |
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[212] | 124 | Element actual = arrayOfElements[i]; //get the actual element |
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[233] | 125 | float distance = getDistance(actual); //get distance between this and actual |
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[325] | 126 | //DUMMY ALIGNMENT DETECTION DISTANCE = 1000 |
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[426] | 127 | if ((distance > 0) && (distance < 300)) { //check if actual element is inside detectionradius |
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[325] | 128 | *steering = *steering + actual.speed; //add up all speedvectors inside the detectionradius |
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[212] | 129 | numberOfNeighbour++; //counts the elements inside the detectionradius |
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| 130 | } |
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| 131 | } |
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| 132 | if(numberOfNeighbour > 0) { |
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[325] | 133 | *steering = *steering / (float)numberOfNeighbour; //devide the sum of steeringvectors by the number of elements -> alignment steeringvector |
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[212] | 134 | } |
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[325] | 135 | return *steering; |
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[212] | 136 | } |
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| 137 | |
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[325] | 138 | Vector3 cohesion(Element arrayOfElements[]) { |
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| 139 | Vector3* steering = new Vector3(0,0,0); //steeringvector |
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| 140 | int numberOfNeighbour = 0; //number of observed neighbours |
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[426] | 141 | float distance = 0; |
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[212] | 142 | //go through all elements |
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[426] | 143 | for(int i=0; i<9; i++) { //just working with 3 elements at the moment |
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[212] | 144 | Element actual = arrayOfElements[i]; //get the actual element |
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[233] | 145 | float distance = getDistance(actual); //get distance between this and actual |
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[325] | 146 | // DUMMY COHESION DETECTION DISTANCE = 1000 |
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[426] | 147 | if ((distance > 0) && (distance < 5000)) { //check if actual element is inside detectionradius |
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[325] | 148 | *steering = *steering + actual.location; //add up all locations of elements inside the detectionradius |
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[212] | 149 | numberOfNeighbour++; //counts the elements inside the detectionradius |
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| 150 | } |
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| 151 | } |
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| 152 | if(numberOfNeighbour > 0) { |
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[325] | 153 | *steering = *steering / (float)numberOfNeighbour; //devide the sum steeringvector by the number of elements -> cohesion steeringvector |
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[426] | 154 | *steering = *steering - this->location; // (?) Koordinatensystem? |
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[212] | 155 | } |
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[325] | 156 | return *steering; |
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[212] | 157 | } |
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| 158 | }; |
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| 159 | |
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| 160 | |
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| 161 | |
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| 162 | //End of My Flocking Class |
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