def cohesion(boids, current_drone):
neighbordist = 80
sum_vector = PVector(0, 0)
count = 0
position = current_drone.xyz
c_vector = PVector(position[0], position[1])
for other in boids:
if other.tag != current_drone.tag:
other_position = other.xyz
o_vector = PVector(other_position[0], other_position[1])
distance = c_vector.distance(o_vector)
if distance < neighbordist:
sum_vector.addVector(o_vector)
count = count + 1
if count > 0:
sum_vector.divScalar(count)
return seek(sum_vector, current_drone.xyz).return_as_vector()
else:
return PVector(0, 0).return_as_vector()
def separation(boids, current_drone):
alt_d = 4
desiredseparation = 50
steer = PVector(0.0, 0.0)
count = 0
position = current_drone.xyz
c_vector = PVector(position[0], position[1])
for other in boids:
if other.tag != current_drone.tag:
other_position = other.xyz
o_vector = PVector(other_position[0], other_position[1])
distance = c_vector.distance(o_vector)
if distance < desiredseparation:
c_vector.subVector(o_vector)
c_vector.normalize()
c_vector.divScalar(distance)
steer.addVector(c_vector)
count = count + 1
if count > 0:
steer.divScalar(count)
vres = steer.return_as_vector()
#current_drone.set_a_2D_alt_lya(vres[0:2],-alt_d)
return vres
