def apply_force(self):
# behavior:
#
# 1. position
# a) go to closest fish
# b) avoid other predators
# c) random walk
#
# 2. angle
# a) rotate so that we move into direction
preys = [ f for f in self.mode.swarm.fishes if (f.position - self.position).length < c.PREDATOR_SENSES]
if self.target:
preys.append(self.target)
go_to_prey = self.random_walk_direction
if preys:
new_target = sorted(preys, key=lambda p: (p.position - self.position).length_squared)[0]
if self.target != new_target:
self.mode.game.audio.play("attack")
self.target = new_target
go_to_prey = self.target.position - self.position
if new_target.swarm.swarm_mode == -1:
go_to_prey = go_to_prey * -1
neighbors = [ p for p in self.mode.predators if (p.position - self.position).length < c.PREDATOR_REPEL_DISTANCE ]
repel_sum = m.Vector(0, 0)
for n in neighbors:
repel = self.position - n.position
repel_sum += repel * (c.PREDATOR_REPEL_STRENGTH / (1 + repel.length))
self.target_direction = go_to_prey * c.PREDATOR_W_GO_TO_PREY + repel_sum * c.PREDATOR_W_REPEL
self.target_direction = self.target_direction.clamp()
self.target_angle = math.atan2(self.target_direction.y, self.target_direction.x)
self.target_angle %= math.pi * 2
self.target_rotation = u.angle_steer(self.target_angle, self.angle)
self.angular_velocity -= self.target_rotation * c.PREDATOR_ANGULAR_ACCELERATION
acc = m.Vector(math.cos(self.angle), math.sin(self.angle))
acceleration = c.PREDATOR_HUNT_ACCELERATION if self.target else c.PREDATOR_ACCELERATION
self.acceleration += acc * (acc * self.target_direction.clamp()) * acceleration
def apply_force(self):
# behavior:
#
# 1. position
# a) go to at least c.SWARM_MIN_DISTANCE units from swarm center
# b) avoid other fish
#
# 2. angle
# a) align with other fish
# b) rotate so that we move into direction
go_to_swarm = self.swarm.position - self.position
if go_to_swarm.length < c.SWARM_MIN_DISTANCE:
go_to_swarm = m.VECTOR_NULL
snd_squared = c.SWARM_NEIGHBOR_DISTANCE ** 2
flee_from_predator_sum = m.Vector(0, 0)
pd_squared = c.FISH_AVOID_PREDATOR_DISTANCE ** 2
predators = [ p for p in self.swarm.mode.predators if (p.position - self.position).length_squared < pd_squared]
for p in predators:
flee_from_predator_sum += (self.position - p.position)
neighbors = [ n for n in self.swarm.fishes if (n.position - self.position).length_squared < snd_squared]
neighbors_direction = sum( (n.angle + 2*math.pi) % (2*math.pi) for n in neighbors ) / len(neighbors)
neighbors_direction = neighbors_direction % (2*math.pi)
fd_squared = c.FISH_FOOD_DISTANCE ** 2
foods = [ f for f in self.mode.foods if (f.position - self.position).length_squared < fd_squared]
if foods and go_to_swarm.length < c.SWARM_MAX_DISTANCE:
closest_food = sorted(foods, key=lambda f: (f.position - self.position).length_squared)[0]
go_to_swarm = closest_food.position - self.position
if go_to_swarm.length < c.FISH_EAT_DISTANCE * 0.2:
go_to_swarm = m.VECTOR_NULL
if go_to_swarm.length < c.FISH_EAT_DISTANCE:
closest_food.nutrition_value -= c.FISH_EAT_DAMAGE
self.modify_food(c.FISH_EAT_DAMAGE)
self.mode.food_eaten += c.FISH_EAT_DAMAGE
self.mode.game.audio.play("eat")
if self.food:
color_ratio = 1 / self.food
for i in range(3):
self.color[i] = (1-color_ratio) * self.color[i] + color_ratio * closest_food.color[i]
if self.color[i] > 255: self.color[i] = 255
if self.color[i] < 0: self.color[i] = 0
if closest_food.nutrition_value <= 0:
self.mode.foods.remove(closest_food)
repel_sum = m.Vector(0, 0)
rd_squared = c.SWARM_NEIGHBOR_REPEL_DISTANCE ** 2
if self.swarm.swarm_mode == -1:
rd_squared = c.SWARM_NEIGHBOR_REPEL_DISTANCE_SMALL ** 2
elif self.swarm.swarm_mode == 1:
rd_squared = c.SWARM_NEIGHBOR_REPEL_DISTANCE_LARGE ** 2
for n in neighbors:
repel = self.position - n.position
if repel.length_squared <= rd_squared:
repel_sum += repel * ( c.FISH_REPEL_STRENGTH / (1 + repel.length))
self.target_direction = flee_from_predator_sum * c.FISH_W_FLEE + go_to_swarm * c.FISH_W_GO_TO_SWARM + repel_sum * c.FISH_W_REPEL
self.target_direction = self.target_direction.clamp()
move_angle = math.atan2(self.target_direction.y, self.target_direction.x)
#self.target_angle = move_angle
self.target_angle = neighbors_direction * c.FISH_W_ALIGN + move_angle * (1 - c.FISH_W_ALIGN) + math.pi * 2
self.target_angle %= math.pi * 2
self.target_rotation = u.angle_steer(self.target_angle, self.angle)
#self.acceleration += self.target_direction * c.FISH_ACCELERATION
self.angular_velocity -= self.target_rotation * c.FISH_ANGULAR_ACCELERATION
acc = m.Vector(math.cos(self.angle), math.sin(self.angle))
self.acceleration += acc * (acc * self.target_direction.clamp()) * c.FISH_ACCELERATION
