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Pack_hunting_Non-PID.html
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Pack_hunting_Non-PID.html
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<html>
<head>
<title>Swarm hunting</title>
<script src="js/lib/three.js"></script>
<script src="js/Swarm.js"></script> <!--My script-->
<script src="js/Vector2D_operations.js"></script>
<script src="js/Steering.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, PHI = (1+5**0.5)/2;
//Globals for graphics
var renderer, scene, camera;
//Globals for simulation
var targets, agents, numActiveT;
//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;
if (numActiveT === 0) {
console.info("Done after %.2f seconds", 0.001*performance.now()-t_start);
return;
}
//MOVE TARGETS
targets.update(t, dt);
//AGENTS
agents.update(t, dt);
renderer.render(scene, camera);
requestAnimationFrame(animate);
};
})();
//INITIALISATION
(function main() {
//SIMULATION PARAMETERS:
let A = 20; //Number of agents
let T = 500; //Number of targets
let W = 800; //Space width
let H = 600; //Space height
let maxR = 100; //Maximal target orbit radius
let S = 5; //point radius
let aMaxPreys = 100; //maximal goal acceleration
let aMaxHunters = 2*aMaxPreys;
let Cdrag = 0.1; //Drag on hunters (not very fair, since their control does not account for drag)
numActiveT = T; //Global that holds number of active targets
//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:
//Orbit parameters:
//aMaxPreys=0.5*r*(2*PI*maxF)**2;
//==> maxF = sqrt(2*aMaxPreys/r)/(2*PI)
let ft = new Float32Array(T);
let rt = new Float32Array(T);
let ot = new Float32Array(T);
for (let i = 0; i < T; i++) {
rt[i] = random()*maxR;
ft[i] = (2*random()-1)*(2*aMaxPreys/rt[i])**0.5/(2*PI);
ot[i] = random()*2*PI;
}
//Target swarm object
targets = new Swarm({
number: T,
activeColor: 0x00ff00,
passiveColor: 0x0000ff,
pointRadius: S,
initProc: function(pa,va,aa) {
for (let i = 0; i < T; i++) {
pa[i][0] = random()*(W-2*maxR)+maxR;
pa[i][1] = random()*(H-2*maxR)+maxR;
}
},
//Update procedure:
updateProc: function(pa, va, aa, t, dt) {
if (numActiveT === 0) return [0, 0];
let aPos = agents.positions;
let criticalDistanceSq = 4*S**2;
for (let i = 0; i < T; i++) {
if (!aa[i]) continue;
let p = pa[i];
let threat = nearestPoint(p, aPos);
if (lengthSq(delta(p,threat)) < criticalDistanceSq) {
aa[i] = 0;
numActiveT--;
if (numActiveT === 0) return [0,0];
continue;
}
let r = rt[i];
let f = ft[i];
let o = ot[i];
let omega = 2*PI*f;
let v = r*omega;
let C = v*dt;
let a = r*omega**2;
let D = 0.5*a*dt**2;
p[0] = p[0] - C*sin(o+omega*t) - D*cos(o+omega*t);
p[1] = p[1] + C*cos(o+omega*t) -D*sin(o+omega*t);
}
}
});
scene.add(targets);
//INITIATE AGENTS:
agents = new Swarm({
number: A,
activeColor: 0xff0000,
passiveColor: 0x00ffff,
pointRadius: S,
initProc: function(pa, va, ignoreActive) {
for (let i = 0; i < A; i++) {
let p = pa[i];
p[0] = random()*W;
p[1] = random()*H;
}
},
//Update procedure:
updateProc: function(agentPos, agentVel, ignoreActive, t, dt) {
let tPos = targets.positions;
let tVel = targets.velocities;
let tAct = targets.active;
//Filter out dead targets:
let tpfi = [];
let tvfi = [];
for (let i = 0; i < T; i++) {
if (tAct[i] === 1) {
tpfi.push(tPos[i]);
tvfi.push(tVel[i]);
}
}
let Area = W*H;
let accs = new Array(agents.number);
//Iterate agents:
for (let i = 0; i < A; i++) {
let p = agentPos[i];
let v = agentVel[i];
//Find nearest active goal:
let j = nearestPointIndex(p, tpfi);
if (j === null) {
accs[i] = [0,0];
continue;
}
let pu = pursueAcc(p,v,tpfi[j],tvfi[j], aMaxHunters);
let sep = separation(p,i,agentPos,aMaxHunters,10*S);
let ad = averageVector([pu,sep], [0.1,0.9]);
let drag = calculateDrag(v, Cdrag);
let acc = add(ad,drag);
accs[i] = acc;
}
agents.applyAccelerations(accs, dt);
}
});
scene.add(agents);
requestAnimationFrame(animate);
})();
</script>
</body>
</html>