// --------------------------------------------------------- // Class: Vehicle // --------------------------------------------------------- // An abstract class that describes a braitenberg vehicle, // with two sensors and two wheels. Must be subclassed by // specific types of vehicles that implement movement logic // (i.e. how the sensors are connected to the wheels). Knows // how to draw itself and the sensors and wheels. // --------------------------------------------------------- import java.lang.*; import java.util.*; import processing.*; import processing.core.*; abstract class Vehicle { // some useful constants static final float BODY = 3.0f; static final float NOSE = 2.5f; static final float MOVEVEL = (float)Math.PI / 6; float x, y; // vehicle position float axle, halfaxle, axlesq; // axle dimensions float angle; // direction of vehicle float sangL, sangR; // sensor angles relative to vehicle angle float wangL, wangR; // wheel angles relative to vehicle angle PImage theimage; float wheeldiff, wheelavg; // difference and average wheel velocities Wheel wL, wR; // two wheels, left and right Sensor sL, sR; // two sensors, left and right float speedmod=1; // Constructor // ----------------------------- Vehicle(PApplet pa, float x, float y, float angle, float axle, PImage theimage) { this.x = x; this.y = y; this.angle = angle; this.axle = axle; halfaxle = axle / 2; axlesq = axle * axle; this.theimage=theimage; // left and right wheel angles relative to angle of vehicle wangL = -pa.HALF_PI; wangR = pa.HALF_PI; // create the left and right wheels wL = new Wheel(x+halfaxle*pa.cos(angle+wangL), y+halfaxle*pa.sin(angle+wangL), 10, 0); wR = new Wheel(x+halfaxle*pa.cos(angle+wangR), y+halfaxle*pa.sin(angle+wangR), 10, 0); // left and right sensor angles relative to angle of vehicle sangL = - pa.HALF_PI/2; sangR = pa.HALF_PI/2; // create the left and right sensors sL = new Sensor(x+axle*pa.cos(angle+sangL), y+axle*pa.sin(angle+sangL)); sR = new Sensor(x+axle*pa.cos(angle+sangR), y+axle*pa.sin(angle+sangR)); } // Draw Me! // ----------------------------- void drawMe(PApplet pa) { pa.tint(255,255); // draw the wheels pa.fill(102,102,110); wL.drawMe(pa,angle,1, axle); wR.drawMe(pa,angle-pa.PI,-1, axle); // draw the nose // pa.fill(255,0,0); // pa.triangle(wL.x, wL.y, wR.x, wR.y, x+axle*pa.cos(angle)*NOSE, y+axle*pa.sin(angle)*NOSE); // // // draw the body // pa.fill(102,102,50); // pa.ellipse(x, y, axle*BODY, axle*BODY); // // // draw the sensors // sL.drawMe(pa); // sR.drawMe(pa); //Skin the beast! pa.imageMode(pa.CENTER); pa.pushMatrix(); pa.translate(x,y); pa.rotate(angle+pa.PI/2); pa.image(theimage, 0,0); pa.imageMode(pa.CORNER); pa.popMatrix(); // pa.imageMode(CENTER); pa.tint(255,80); } // Abstract method to implement the vehicle logic // Base classes will need to define how sensors are connected to the wheels // ----------------------------- abstract void doSenseLogic(SensoryField sfield, SensoryField ffield); abstract void doTortLogic(SensoryField tfield, SensoryField sfield); abstract float getSpeedRat(); // Move this vehicle based on its behavior logic // Needs to read in the ArrayList of vehicles, the sensory field and width/height // ----------------------------- void moveMe(ArrayList vehicles, SensoryField sfield,SensoryField tfield,SensoryField ffield, int w, int h) { float ang; // make sure we're in bounds checkBounds(w,h); // update the wheel velocities based on the sense logic doTortLogic(tfield,sfield); doSenseLogic(sfield, ffield); speedmod=getSpeedRat(); // move vehicle wheeldiff = wL.linvel - wR.linvel; // left and right wheel velocity difference angle += wheeldiff / axle; // update the angle based on the difference of wheel velocities wheelavg = (wL.linvel + wR.linvel) / 2; // average wheel velocity to get overall vehicle velocity x += Math.cos(angle) * (wheelavg+.2)*speedmod; // update x based on the new angle and vehicle velocity y += Math.sin(angle) * (wheelavg+.2)*speedmod; // update y based on the new angle and vehicle velocity // check if we've run into another vehicle checkCollision(vehicles); // move wheels ang = angle + wangL; // left wheel angle relative to vehicle angle wL.x = x + halfaxle*(float)Math.cos(ang); wL.y = y + halfaxle*(float)Math.sin(ang); ang = angle + wangR; // right wheel angle relative to vehicle angle wR.x = x + halfaxle*(float)Math.cos(ang); wR.y = y + halfaxle*(float)Math.sin(ang); // move sensors ang = angle + sangL; // left sensor angle relative to vehicle angle sL.x = x + axle*(float)Math.cos(ang); sL.y = y + axle*(float)Math.sin(ang); ang = angle + sangR; // right sensor angle relative to vehicle angle sR.x = x + axle*(float)Math.cos(ang); sR.y = y + axle*(float)Math.sin(ang); } // Make sure we're in bounds // ----------------------------- void checkBounds(int w, int h) { // if (x < axle+5) x = axle+5; // if (x > w-(axle+5)) x = w-(axle+5); // if (y < axle+5) y = axle+5; // if (y > h-(axle+5)) y = h-(axle+5); //Added roomba edge behavior so that character don't just try to run off the screen all the time if (x < axle+5) angle=angle+(float)Math.PI*2/3; if (x > w-(axle+5)) angle=angle+(float)Math.PI*2/3; if (y < axle+5) angle=angle+(float)Math.PI*2/3; if (y > h-(axle+5+80)) angle=angle+(float)Math.PI*2/3; if (x < axle+5) x = axle+5; if (x > w-(axle+5)) x = w-(axle+5); if (y < axle+5) y = axle+5; if (y > h-(axle+5+80)) y = h-(axle+5+80); } // Check for collision with other vehicles // ----------------------------- void checkCollision(ArrayList vehicles) { float dx, dy, da; for (int i=0; i8) { // if it's not us then find the distance to vehicle dx = x-bv.x; dy = y-bv.y; // if the other vehicle is within our axle range if (dx*dx + dy*dy < axlesq*3) { // find the angle between us da = (float)Math.atan2(dy,dx); // shove past the other vehicle x = x + (float)Math.cos(da) * halfaxle; y = y + (float)Math.cos(da) * halfaxle; bv.x = bv.x + (float)Math.cos(da+(float)Math.PI) * halfaxle; bv.y = bv.y + (float)Math.sin(da+(float)Math.PI) * halfaxle; } } } } // Update the left wheel velocity // ----------------------------- void setVelocityL(float vel) { wL.setVelocity(vel*MOVEVEL); } // Update the right wheel velocity // ----------------------------- void setVelocityR(float vel) { wR.setVelocity(vel*MOVEVEL); } }