def updateAlignment(self, mates):
"""Alignment: Steer towards the average heading of local flockmates."""
#mates = self.getVisibleMates(mates, self.alignment_perception)
if len(mates) == 0:
return Vector.null()
v = Vector.average([m.velocity for m in mates])
v.norm = self.max_velocity
v -= self.velocity
v.limit(self.max_acceleration)
return v
def updateCohesion(self, mates):
"""Cohesion: steer to move toward the average position of local
flockmates."""
#mates = self.getVisibleMates(mates, self.cohesion_perception)
if len(mates) == 0:
return Vector.null()
p = Vector.average([m.position for m in mates])
v = p - self.position
v.norm = self.max_velocity
v -= self.velocity
v.limit(self.max_acceleration)
return v
def updateSeparation(self, mates):
"""Separation: Avoid crowding local flockmates."""
#mates = self.getVisibleMates(mates, self.separation_perception)
if len(mates) == 0:
return Vector.null()
vs = []
for mate in mates:
v = self.position - mate.position
v.norm = 1 / v.norm
vs.append(v)
v = Vector.average(vs)
v.norm = self.max_velocity
v -= self.velocity
v.limit(self.max_acceleration)
return v
def getAcceleration(self):
"""Return the acceleration of the material form."""
v = Vector.average([point.acceleration for point in self.points])
v.color = mycolors.RED
return v
def getVelocity(self):
"""Return the velocity of the center of the material form."""
v = Vector.average([point.velocity for point in self.points])
v.color = mycolors.BLUE
return v
def getPosition(self):
"""Return the position of the center of the material form."""
v = Vector.average([point.position for point in self.points])
v.color = mycolors.GREEN
return v