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Behavior_Seek_comparison.html
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Behavior_Seek_comparison.html
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<html>
<head>
<title>Seek comparison</title>
<!--Graphics library:-->
<script src="js/lib/three.js"></script>
<!--MY SCRIPTS:-->
<script src="js/Vector2D_operations.js"></script>
<script src="js/Steering.js"></script>
<script src="js/Swarm.js"></script>
</head>
<body>
<nav style="position: absolute; top:0; left:0, height:2vh; z-index:999">
<a href="." style="color: #66ffff">Back to index.</a>
</nav>
<script>
"use strict";
/*TODO: Maybe drop three.js in favor of pure WebGL.*/
//Shorthands
var PI = Math.PI, cos = Math.cos, sin = Math.sin, max=Math.max, min=Math.min, abs=Math.abs, random=Math.random, exp=Math.exp;
//Globals for graphics
var renderer, scene, camera;
//Globals for simulation
var targets, agents;
//Game loop function
var animate = (function() {
let t_start = 0.001*performance.now();
let ot = t_start;
return function(t) {
t *= 0.001;
let dt = (t-ot);// || 0.0000001; //0 not allowed
ot = t;
//TARGETS
targets.update(t, dt);
//AGENTS
agents.update(t, dt);
renderer.render(scene, camera);
requestAnimationFrame(animate);
};
})();
//INITIALISATION
(function main() {
//SIMULATION PARAMETERS:
let A = 2; //Number of agents
let W = 800; //Space width
let H = 600; //Space height
let maxR = 100; //padding (was for orbit radius in another simulation)
let S = 5; //point radius
let aMax = 40;
//Renderer setup
document.body.style = "overflow: hidden;";
var container = document.createElement("div");
Object.assign(container.style, {
position: "absolute",
top: 0,
left: 0,
width: W,
height: H
});
document.body.appendChild(container);
renderer = new THREE.WebGLRenderer({antialias: true});
renderer.setSize(W, H);
//renderer.setClearColor(0x000000);
container.appendChild(renderer.domElement);
//Scene setup:
scene = new THREE.Scene();
scene.add(new THREE.AmbientLight(0xffffff, 0.5));
//Camera setup
camera = new THREE.OrthographicCamera(0,W, H, 0, 1, 200);
camera.position.set(0, 0, 100);
scene.add(camera);
//INITIATE TARGETS:
targets = new Swarm({
number: 1,
activeColor: 0x00ff00,
passiveColor: 0x0000ff,
pointRadius: S,
initProc: function(pa,va,aa) {
for (let i = 0; i < 1; i++) {
pa[0][0] = random()*(W-2*maxR)+maxR;
pa[0][1] = random()*(H-2*maxR)+maxR;
}
},
//Update procedure:
updateProc: function(pa, va, aa, t, dt) {}
});
scene.add(targets);
//INITIATE AGENTS:
agents = new Swarm({
number: A,
activeColor: 0xff0000,
passiveColor: 0x00ffff,
pointRadius: S,
initProc: function(pa,va,aa) {
//Test with common initial state:
let x = random()*W;
let y = random()*H;;
let vx = 0.1*W*(2*random()-1);
let vy = 0.1*H*(2*random()-1);
for (let i = 0; i < A; i++) {
pa[i][0] = x;
pa[i][1] = y;
va[i][0] = vx;
va[i][1] = vy;
}
//Different colors:
aa[1] = 0;
},
//Update procedure:
updateProc: function(agentPos, agentVel, ignoreActive, t, dt) {
let [[gx,gy]] = targets.positions;
let agentAcc = [];
for (let i = 0; i < A; i++) {
let [ax,ay] = agentPos[i];
let [avx,avy] = agentVel[i];
if (i===0) {
agentAcc.push(seekAcc([ax,ay],[avx,avy],[gx,gy],aMax));
} else {
agentAcc.push(dirToAcc(seek([ax,ay],[gx,gy]),[avx,avy], 200, aMax));
}
}
agents.applyAccelerations(agentAcc, dt);
}
});
scene.add(agents);
requestAnimationFrame(animate);
})();
</script>
</body>
</html>