236 lines
6.2 KiB
Factor
236 lines
6.2 KiB
Factor
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USING: kernel namespaces
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math
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math.constants
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math.functions
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math.vectors
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math.trig
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combinators arrays sequences random vars
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combinators.cleave
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combinators.lib ;
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IN: boids
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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TUPLE: boid pos vel ;
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C: <boid> boid
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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VAR: boids
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VAR: world-size
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VAR: time-slice
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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VAR: cohesion-weight
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VAR: alignment-weight
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VAR: separation-weight
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VAR: cohesion-view-angle
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VAR: alignment-view-angle
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VAR: separation-view-angle
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VAR: cohesion-radius
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VAR: alignment-radius
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VAR: separation-radius
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: init-variables ( -- )
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1.0 >cohesion-weight
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1.0 >alignment-weight
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1.0 >separation-weight
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75 >cohesion-radius
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50 >alignment-radius
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25 >separation-radius
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180 >cohesion-view-angle
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180 >alignment-view-angle
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180 >separation-view-angle
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10 >time-slice ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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! random-boid and random-boids
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: random-range ( a b -- n ) 1+ over - random + ;
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: random-pos ( -- pos ) world-size> [ random ] map ;
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: random-vel ( -- vel ) 2 [ drop -10 10 random-range ] map ;
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: random-boid ( -- boid ) random-pos random-vel <boid> ;
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: random-boids ( n -- boids ) [ drop random-boid ] map ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: distance ( boid boid -- n ) [ boid-pos ] [ boid-pos ] bi* v- norm ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: constrain ( n a b -- n ) rot min max ;
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: angle-between ( vec vec -- angle )
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2dup v. -rot norm swap norm * / -1 1 constrain acos rad>deg ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: relative-position ( self other -- v ) swap [ boid-pos ] 2apply v- ;
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: relative-angle ( self other -- angle )
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over boid-vel -rot relative-position angle-between ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: vsum ( vector-of-vectors -- vec ) { 0 0 } [ v+ ] reduce ;
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: vaverage ( seq-of-vectors -- seq ) [ vsum ] [ length ] bi v/n ;
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: average-position ( boids -- pos ) [ boid-pos ] map vaverage ;
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: average-velocity ( boids -- vel ) [ boid-vel ] map vaverage ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: in-range? ( self other radius -- ? ) >r distance r> <= ;
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: in-view? ( self other angle -- ? ) >r relative-angle r> 2 / <= ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: normalize* ( u -- v ) { 0.001 0.001 } v+ normalize ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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! average_position(neighbors) - self_position
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: within-cohesion-neighborhood? ( self other -- ? )
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{ [ cohesion-radius> in-range? ]
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[ cohesion-view-angle> in-view? ]
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[ eq? not ] }
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<--&& ;
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: cohesion-neighborhood ( self -- boids )
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boids> [ within-cohesion-neighborhood? ] curry* subset ;
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: cohesion-force ( self -- force )
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dup cohesion-neighborhood
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dup empty?
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[ 2drop { 0 0 } ]
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[ average-position swap boid-pos v- normalize* cohesion-weight> v*n ]
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if ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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! self_position - average_position(neighbors)
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: within-separation-neighborhood? ( self other -- ? )
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{ [ separation-radius> in-range? ]
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[ separation-view-angle> in-view? ]
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[ eq? not ] }
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<--&& ;
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: separation-neighborhood ( self -- boids )
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boids> [ within-separation-neighborhood? ] curry* subset ;
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: separation-force ( self -- force )
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dup separation-neighborhood
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dup empty?
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[ 2drop { 0 0 } ]
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[ average-position swap boid-pos swap v- normalize* separation-weight> v*n ]
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if ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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! average_velocity(neighbors)
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: within-alignment-neighborhood? ( self other -- ? )
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{ [ alignment-radius> in-range? ]
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[ alignment-view-angle> in-view? ]
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[ eq? not ] }
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<--&& ;
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: alignment-neighborhood ( self -- boids )
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boids> [ within-alignment-neighborhood? ] curry* subset ;
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: alignment-force ( self -- force )
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alignment-neighborhood
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dup empty?
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[ drop { 0 0 } ]
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[ average-velocity normalize* alignment-weight> v*n ]
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if ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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! F = m a
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!
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! We let m be equal to 1 so then this is simply: F = a
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: acceleration ( boid -- acceleration )
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{ separation-force alignment-force cohesion-force } map-exec-with vsum ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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! iterate-boid
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: world-width ( -- w ) world-size> first ;
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: world-height ( -- w ) world-size> second ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: below? ( n a b -- ? ) drop < ;
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: above? ( n a b -- ? ) nip > ;
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: wrap ( n a b -- n )
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{ { [ 3dup below? ]
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[ 2nip ] }
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{ [ 3dup above? ]
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[ drop nip ] }
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{ [ t ]
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[ 2drop ] } }
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cond ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: wrap-x ( x -- x ) 0 world-width 1- wrap ;
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: wrap-y ( y -- y ) 0 world-height 1- wrap ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: new-pos ( boid -- pos ) [ boid-pos ] [ boid-vel time-slice> v*n ] bi v+ ;
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: new-vel ( boid -- vel )
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[ boid-vel ] [ acceleration time-slice> v*n ] bi v+ normalize* ;
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: wrap-pos ( pos -- pos ) { [ wrap-x ] [ wrap-y ] } parallel-call ;
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: iterate-boid ( self -- self ) [ new-pos wrap-pos ] [ new-vel ] bi <boid> ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: iterate-boids ( -- ) boids> [ iterate-boid ] map >boids ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: init-boids ( -- ) 50 random-boids >boids ;
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: init-world-size ( -- ) { 100 100 } >world-size ;
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! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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: randomize ( -- ) boids> length random-boids >boids ;
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: inc* ( variable -- ) dup get 0.1 + 0 1 constrain swap set ;
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: dec* ( variable -- ) dup get 0.1 - 0 1 constrain swap set ;
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