def roam(self):
self.hunger += Boid.hungerRate
# Flocking (with arbitrary weight)
steer = self.align() * 1.1
steer += self.cohesion() * 0.9
steer += self.separation() * 1.
steer = vu.capMag(steer, Boid.maxForce * 2.)
return steer
def manageHunger(self):
hungry = (
self.hunger >= Predator.hungerThld
or (self.eating is not None and self.hunger > Predator.hungerRate)
) # Or eating but not full
self.maxSpeed = Predator.maxRoamSpeed
if hungry:
self.maxSpeed = Predator.maxHungrySpeed
# Still eating (immobile)
if self.eating is not None:
if self.eatCounter < Predator.eatDuration:
self.eatCounter += 1
if self.eatCounter % 10 == 0: # Blinking
if (self.eatCounter // 10) % 2 == 0:
self.canvas.itemconfig(self.eating.id,
state='normal')
else:
self.canvas.itemconfig(self.eating.id,
state='hidden')
else:
self.hunger -= Predator.nrgPerBoid
if DEBUG_LOG: print('Eaten boid:', self.id)
self.eating.killed()
self.eating = None
self.eatCounter = 0
self.acc *= 0.
self.vxt *= 0.
# Look for boid
else:
closestBoid = self.getClosestBoid()
if closestBoid is None: # Keep looking
self.acc += self.roam()
else:
self.maxSpeed = Predator.maxHuntSpeed
sqrDist = closestBoid.distanceSqr(self)
# Close enough to eat
if sqrDist <= PRED_HH**2:
self.eating = closestBoid
self.eatCounter = 1
closestBoid.caught = True
print('Caught pred:', self.id)
self.acc *= 0.
self.vxt *= 0.
# Go toward boid
else:
self.hunger += Predator.hungerRate
steer = vu.wrapRelativePos(self.pos,
closestBoid.pos) - self.pos
steer = vu.setMag(steer, Predator.maxHuntSpeed)
steer -= self.vel
steer = vu.capMag(steer, Predator.maxForce * 4.)
self.acc = steer
return hungry
def manageHunger(self):
hungry = (self.hunger >= Boid.hungerThld
or (self.eating is not None and self.hunger > 0)
) # Or eating but not full
if hungry:
bite = -1.
if self.eating is not None: bite = self.eating.takeBite()
# Still eating (immobile)
if bite > 0.:
self.hunger -= bite * Boid.floraNrgRatio
self.acc *= 0.
self.vxt *= 0.
# Look for flora
else:
self.eating = None
closestFlora = self.getBiggestClosestFlora()
if closestFlora is None: # Keep looking
self.acc += self.roam()
else:
sqrDist = self.distanceSqr(closestFlora)
nearDist = max(BOID_HH**2, closestFlora.rad**2)
# Close enough to eat
if sqrDist <= nearDist:
bite = closestFlora.takeBite()
if bite > 0.:
self.hunger -= bite * Boid.floraNrgRatio
self.eating = closestFlora
self.acc *= 0.
self.vxt *= 0.
# Go toward flora
else:
self.hunger += Boid.hungerRate
steer = vu.wrapRelativePos(self.pos,
closestFlora.pos) - self.pos
steer = vu.setMag(steer, Boid.maxRoamSpeed)
steer -= self.vel
steer = vu.capMag(steer, Boid.maxForce * 2)
self.acc = steer
return hungry
def align(self):
steer = np.array([0., 0.])
sum = np.array([0., 0.])
nbr = 0
cells = self.getNearCells()
for cell in cells:
for boid in Boid.grid[cell[0]][cell[1]]:
if boid is not self and boid.eating is None and self.distanceSqr(
boid) <= VISION_RADSQR:
sum += boid.vel
nbr += 1
# Apply
if nbr > 0:
steer = sum / nbr
steer = vu.setMag(steer, Boid.maxRoamSpeed)
steer -= self.vel
steer = vu.capMag(steer, Boid.maxForce)
return steer
def separation(self):
steer = np.array([0., 0.])
sum = np.array([0., 0.])
nbr = 0
cells = self.getNearCells()
for cell in cells:
for boid in Boid.grid[cell[0]][cell[1]]:
sqrDist = self.distanceSqr(boid)
if boid is not self and boid.eating is None and sqrDist <= VISION_RADSQR * 0.5:
if sqrDist < EPSILON: sqrDist = EPSILON
diff = self.pos - vu.wrapRelativePos(self.pos, boid.pos)
sum += vu.setMag(diff, 1. / sqrDist)
nbr += 1
# Apply
if nbr > 0:
steer = sum / nbr
steer = vu.setMag(steer, Boid.maxRoamSpeed)
steer -= self.vel
steer = vu.capMag(steer, Boid.maxForce)
return steer
def updatePos(self):
# Update state
self.acc *= self.inertiaRatio
# Reproduction
self.manageReproduction()
# Show stoppers
if self.caught or self.starved():
return
# Escape predator
escaping = self.managePredators()
if not escaping:
self.maxSpeed = Boid.maxRoamSpeed
# Hungry
hungry = self.manageHunger()
# Roam free
if not hungry:
self.eating = None
self.mating()
self.acc += self.roam()
else:
self.eating = None
self.maxSpeed = Boid.maxEscapeSpeed
# Special case: immobile -> random push
if self.eating is None and vu.norm(self.acc) < EPSILON and vu.norm(
self.vxt) < EPSILON:
self.acc = vu.randomUnitVector() * Boid.maxForce
# if DEBUG_LOG: print('Random push:', self.id)
# No deceleration if not at full speed
if vu.norm(self.vxt) < self.maxSpeed:
self.inertiaRatio = 1.
else:
self.inertiaRatio = Boid.inertiaRatio
# Apply acceleration
self.acc = vu.capMag(self.acc, Boid.maxForce * 8.) # Saturate acc
self.vxt += self.acc
self.vxt = vu.capMag(self.vxt, self.maxSpeed) # Saturate vel
self.nxt = np.add(self.nxt, self.vxt)
# Update position + rotation
if ((self.acc[0] != 0. or self.acc[1] != 0.)
and (self.vxt[0] != 0. or self.vxt[1] != 0)):
# Warp around
vu.wrapEdges(self)
self.points = vu.updateTriPoints(self.nxt, self.vel, BOID_HH,
BOID_HW)
# Update position only
else:
# Move
self.points = [
self.points[0] + self.vxt[0], self.points[1] + self.vxt[1],
self.points[2] + self.vxt[0], self.points[3] + self.vxt[1],
self.points[4] + self.vxt[0], self.points[5] + self.vxt[1]
]
# Warp around
vu.wrapEdges(self, True)
# Apply
if (self.pos[0] != self.nxt[0] or self.pos[1] != self.nxt[1]
or self.vel[0] != self.vxt[0] or self.vel[1] != self.vxt[1]):
self.canvas.coords(self.id, *self.points)
self.canvas.update_idletasks()