diff --git a/contrib/boids.factor b/contrib/boids.factor new file mode 100644 index 0000000000..53f8477417 --- /dev/null +++ b/contrib/boids.factor @@ -0,0 +1,280 @@ +! Eduardo Cavazos - wayo.cavazos@gmail.com + +! To run the demo do: USE: boids boids-go + +USING: generic threads namespaces math kernel sequences arrays gadgets slate ; + +IN: boids + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +SYMBOL: separation-radius 100 separation-radius set-global +SYMBOL: alignment-radius 100 alignment-radius set-global +SYMBOL: cohesion-radius 100 cohesion-radius set-global + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +SYMBOL: separation-view-angle 90 separation-view-angle set-global +SYMBOL: alignment-view-angle 90 alignment-view-angle set-global +SYMBOL: cohesion-view-angle 90 cohesion-view-angle set-global + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +SYMBOL: separation-weight 1.0 separation-weight set-global +SYMBOL: alignment-weight 0.5 alignment-weight set-global +SYMBOL: cohesion-weight 1.0 cohesion-weight set-global + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +SYMBOL: world-size { 400 400 } world-size set-global + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +TUPLE: boid pos vel ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +SYMBOL: time-slice 0.5 time-slice set-global + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! +! random-boid and random-boids +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +! : random-range dupd swap - random-int + ; + +: random-range ( a b -- n ) 1 + dupd swap - random-int + ; + +! : random-n ( n -- random-0-to-n-1 ) +! 1 - 0 swap random-int ; + +: random-pos ( -- pos ) world-size get [ random-int ] map ; + +: random-vel ( -- vel ) 2 >array [ drop -10 10 random-range ] map ; + +: random-boid ( -- boid ) random-pos random-vel ; + +: random-boids ( n -- boids ) >array [ drop random-boid ] map ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +SYMBOL: boids + +DEFER: run-boids + +: boids-go ( -- ) + dup self set open-window +100 capacity set +50 random-boids boids set +run-boids ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! +! draw-boid +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: boid-point-a ( boid -- point-a ) boid-pos ; + +: boid-point-b ( boid -- point-b ) + dup >r boid-pos + r> boid-vel normalize 20 v*n + v+ ; + +: boid-points ( boid -- point-a point-b ) + dup >r boid-point-a r> boid-point-b ; + +: draw-boid ( boid -- ) boid-points draw-line ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: distance ( boid boid -- n ) boid-pos swap boid-pos v- norm ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: r->d ( radians -- degrees ) 180 * pi / ; + +: constrain ( n a b -- n ) >r max r> min ; + +: angle-between ( vec vec -- angle ) + 2dup >r >r + v. r> norm r> norm * / -1 1 constrain acos r->d ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: relative-angle ( self other -- angle ) + over >r >r + boid-vel r> boid-pos r> boid-pos v- angle-between ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: vsum ( vector-of-vectors --- vec ) { 0 0 } [ v+ ] reduce ; + +: average-position ( boids -- pos ) + [ boid-pos ] map dup >r vsum r> length v/n ; + +: average-velocity ( boids -- vel ) + [ boid-vel ] map dup >r vsum r> length v/n ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: subset-with ( obj seq quot -- seq | quot: obj elt -- elt ) + [ >r dup r> ] swap append subset ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: within-radius? ( self other radius -- ? ) >r distance r> <= ; + +: within-view-angle? ( self other view-angle -- ? ) + >r relative-angle r> 2 / <= ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: within-separation-radius? ( self other -- ? ) + separation-radius get within-radius? ; + +: within-separation-view? ( self other -- ? ) + separation-view-angle get within-view-angle? ; + +: within-separation-neighborhood? ( self other -- ? ) + [ eq? not ] 2keep + [ within-separation-radius? ] 2keep + within-separation-view? + and and ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: within-alignment-radius? ( self other -- ? ) + alignment-radius get within-radius? ; + +: within-alignment-view? ( self other -- ? ) + alignment-view-angle get within-view-angle? ; + +: within-alignment-neighborhood? ( self other -- ? ) + [ eq? not ] 2keep + [ within-alignment-radius? ] 2keep + within-alignment-view? + and and ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: within-cohesion-radius? ( self other -- ? ) + cohesion-radius get within-radius? ; + +: within-cohesion-view? ( self other -- ? ) + cohesion-view-angle get within-view-angle? ; + +: within-cohesion-neighborhood? ( self other -- ? ) + [ eq? not ] 2keep + [ within-cohesion-radius? ] 2keep + within-cohesion-view? + and and ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: separation-force ( self -- force ) + ! boids get [ within-separation-neighborhood? ] subset-with + boids get [ >r dup r> within-separation-neighborhood? ] subset + dup length 0 = + [ drop drop { 0 0 } ] + [ average-position + >r boid-pos r> v- + normalize + separation-weight get + v*n ] + if ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: alignment-force ( self -- force ) + ! boids get [ within-alignment-neighborhood? ] subset-with + boids get [ >r dup r> within-alignment-neighborhood? ] subset swap drop + dup length 0 = + [ drop { 0 0 } ] + [ average-velocity + normalize + alignment-weight get + v*n ] + if ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: cohesion-force ( self -- force ) + ! boids get [ within-cohesion-neighborhood? ] subset-with + boids get [ >r dup r> within-cohesion-neighborhood? ] subset + dup length 0 = + [ drop drop { 0 0 } ] + [ average-position + swap ! avg-pos self + boid-pos v- + normalize + cohesion-weight get + v*n ] + if ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +! F = m a +! +! We let m be equal to 1 so then this is simply: F = a + +! : acceleration ( boid -- acceleration ) +! dup >r dup >r +! separation-force r> alignment-force r> cohesion-force v+ v+ ; + +: acceleration ( boid -- acceleration ) + dup dup + separation-force rot + alignment-force rot + cohesion-force v+ v+ ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! +! iterate-boid +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: new-pos ( boid -- pos ) + dup >r boid-pos r> boid-vel time-slice get v*n v+ ; + +! : new-vel ( boid -- vel ) +! dup >r boid-vel r> acceleration time-slice get v*n v+ ; + +: new-vel ( boid -- vel ) + dup boid-vel swap acceleration time-slice get v*n v+ ; + +: wrap-x ( x -- x ) + dup 0 world-size get nth >= [ drop 0 ] when + dup 0 < [ drop 0 world-size get nth 1 - ] when ; + +: wrap-y ( y -- y ) + dup 1 world-size get nth >= [ drop 0 ] when + dup 0 < [ drop 1 world-size get nth 1 - ] when ; + +: wrap-pos ( pos -- pos ) [ ] each wrap-y swap wrap-x swap 2array ; + +: iterate-boid ( self -- self ) dup >r new-pos wrap-pos r> new-vel ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +: iterate-boids ( -- ) boids get [ iterate-boid ] map boids set ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +! : draw-boids ( -- ) boids get [ draw-boid ] each flush-dpy ; + +: draw-boids ( -- ) +reset-slate white set-clear-color black set-color clear-window +boids get [ draw-boid ] each flush-dlist flush-slate ; + +! : run-boids ( -- ) iterate-boids clear-window draw-boids 1 sleep run-boids ; + +: run-boids ( -- ) +self get rect-dim world-size set +iterate-boids draw-boids 1 sleep run-boids ; + +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! +! Comments from others: +! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +! slava foo get blah foo set ==> foo [ blah ] change +! slava dup >r blah r> ==> [ blah ] keep + +! : execute-with ( item [ word word ... ] -- results ... ) +! [ over >r execute r> ] each drop ; +