agent

seek, arrival

by j91157j91157

HTML

<div id="info">Agent (Seek, Arrival, Collision)</div>
<script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/84/three.min.js"></script>
<script src="https://threejs.org/examples/js/controls/OrbitControls.js">


</script>

CSS

#info {
  position: absolute;
  top: 0px;
  width: 100%;
  padding: 10px;
  text-align: center;
  color: #ffff00
}

body {
  overflow: hidden
}

JavaScript

class Obstacle {
	constructor (center,size) {
		this.center = center.clone();  
		this.mesh = new THREE.Mesh (new THREE.CylinderGeometry(size,size,1,20),
			new THREE.MeshBasicMaterial());
		this.mesh.position.copy (center);
		this.size = size;
    scene.add (this.mesh)
	}
}

class Agent {
  constructor(pos, mesh) {
    this.pos = pos.clone();
    this.vel = new THREE.Vector3();
    this.force = new THREE.Vector3();
    this.target = new THREE.Vector3();
    this.size = 3;  // half width
    this.mesh = mesh;
    this.MAXSPEED = 300;
    this.ARRIVAL_R = 200;
    //this.nbhd = [];
    
    // for orientable agent
    this.angle = 0;
  }
  update(dt) {
    this.accumulateForce();
    
    // collision
    // for all obstacles in the scene
    let obs = scene.obstacles;

    // pick the most threatening one
    let theOne = null;
    let dist = 1e10;
    let vhat = this.vel.clone().normalize();
    const REACH = 200
    const K = 5
    let perp;
    for (let i = 0; i < obs.length; i++) {
      let point = obs[i].center.clone().sub (this.pos) // c-p
      let proj  = point.dot(vhat);
      if (proj > 0 && proj < REACH) {
        perp = new THREE.Vector3();
        perp.subVectors (point, vhat.clone().setLength(proj));
        let overlap = obs[i].size + this.size - perp.length()
        if (overlap > 0 && proj < dist) {
            theOne = obs[i]
            dist = proj
            perp.setLength (K*overlap);
            perp.negate()
        }
      }
    }
    if (theOne)
       this.force.add (perp);
       
    this.vel.add(this.force.clone().multiplyScalar(dt));


    // velocity modulation
    let diff = this.target.clone().sub(this.pos)
    let dst = diff.length();
    if (dst < this.ARRIVAL_R) {
      this.vel.setLength(dst)
    }
    
    
    this.pos.add(this.vel.clone().multiplyScalar(dt))
    this.mesh.position.copy(this.pos)
    
    // for orientable agent
    // non PD version
    if (this.vel.length() > 0.1) {
	    	this.angle = Math.atan2...