【文章內(nèi)容簡介】 。)。% hold off。AXIS([SQUARE_SIZE SQUARE_SIZE SQUARE_SIZE SQUARE_SIZE]) F = getframe。2. 群聚中心函數(shù)function center = Boids_get_center(Boids_pop) center = [0 0]。 for iBoid = 1:size(Boids_pop,1) center = center+Boids_pop(iBoid).pos。end center = center / size(Boids_pop,1)。3. 位置初始化function Boids_pop = Boids_init(Boids_pop_size)。 Boids_pop = []。 Boids_init_velocity = 100*[(rand ) (rand )]。 for iBoid = 1:Boids_pop_size xPos = rand*3000 1500。 yPos = rand*3000 1500。 = [ xPos yPos] 。 = Boids_init_velocity。 Boids_pop = [Boids_pop。 new_Boid]。end4. 位置限制函數(shù)function new_Boid = Boids_limit_position(Boid, Boids_params)。 if (1) * amp。amp。 (1) 0 (1) = (1) 。endif (1) * amp。amp。 (1) 0 (1) = (1) + 。endif (2) * amp。amp。 (2) 0 (2) = (2) 。endif (2) * amp。amp。 (2) 0 (2) = (2) + 。end new_Boid = Boid。5. 速度限制函數(shù)function new_Boid = Boids_limit_velocity(Boid, Boids_params) if norm() = ** / norm()。end new_Boid = Boid。6. 位置實時更新函數(shù)function new_Boids_pop = Boids_move_all_to_new_pos(Boids_pop, Hazard, Hunter_Hunted, Boids_params)。 Boids_pop_size = size(Boids_pop,1)。bang = 0。if (rem(, ) ... amp。amp。 ) bang = 1。 end new_Boids_pop = []。 % shark_pos(1) = **cos(2**pi/180)。% shark_pos(2) = **sin(2**pi/180)。 for iBoid = 1:Boids_pop_size Boid = Boids_pop(iBoid)。 v1 = Boids_rule1(Boids_pop, Boids_pop(iBoid),Boids_params, bang )。 v2 = Boids_rule2(Boids_pop, Boids_pop(iBoid), )。 v3 = Boids_rule3(Boids_pop, Boids_pop(iBoid))。 v4 = Boids_avoid_shark(Boid, Hazard, Boids_params)。 if (Hunter_Hunted == 2) v4 = *v4。 else v4 = *v4。 end Boid = Boids_limit_velocity(Boid, Boids_params)。 Boid = Boids_limit_position(Boid, Boids_params)。 = + v1 + v2 + v3 + v4。 = + 。 new_Boids_pop= [new_Boids_pop 。 Boid]。end c++編寫的三維群聚模型include include include include include include //// static variable initialization//// visible friends list (work space reused by each flock boid)CBoid * CBoid::VisibleFriendsList[] = {NULL}。//// constructor and destructor methods//// Constructor 1.// Creates an individual boid with randomized position and velocity.CBoid::CBoid (short id_v){ifdef BOID_DEBUG myprintf(\nCBoid constructor 1 called for boid %d.\n,id_v)。endif m_id = id_v。 m_perception_range = Default_Perception_Range。 // generate random position各代產(chǎn)生的隨機位置 = RAND() * CBox::WorldPtrGetBoxWidth()/3。 = RAND() * CBox::WorldPtrGetBoxHeight()/3。 = RAND() * CBox::WorldPtrGetBoxLength()/3。 // flip positions for greater randomness產(chǎn)生隨機速度 if (RAND() ) *= 1。 if (RAND() ) *= 1。 if (RAND() ) *= 1。 // generate random velocity = RAND()。 = RAND()。 // flip velocities for greater randomness if (RAND() ) *= 1。 if (RAND() ) *= 1。速度更新 // pute speed based on velocity m_speed = ()。 // zero out orientation初始方向 = = = 0。 // other values m_num_flockmates_seen = 0。 m_nearest_flockmate = NULL。 m_dist_to_nearest_flockmate = INFINITY。 m_num_enemies_seen = 0。 m_nearest_enemy = NULL。 m_dist_to_nearest_enemy = INFINITY。 m_next = m_prev = NULL。產(chǎn)生一個特殊位置和速度ifdef BOID_DEBUG PrintData()。endif} // Constructor 2.// Creates an individual boid with specific position and velocity.CBoid::CBoid (short id_v, vector * pos_v, vector * vel_v, vector * ang_v){ifdef BOID_DEBUG myprintf(\nCBoid constructor 2 called for boid %d.\n,id_v)。endif m_id = id_v。 m_perception_range = Default_Perception_Range。 m_pos = pos_v。 m_vel = vel_v。 m_ang = ang_v。 m_speed = vel_vlength()。 m_num_flockmates_seen = 0。 m_nearest_flockmate = NULL。 m_dist_to_nearest_flockmate = INFINITY。 m_num_enemies_seen = 0。 m_nearest_enemy = NULL。 m_dist_to_nearest_enemy = INFINITY。 m_next = m_prev = NULL。ifdef BOID_DEBUG PrintData()。endif} // Destructor.// Destroys indicated boid.CBoid::~CBoid (void){ifdef BOID_DEBUG myprintf(\nCBoid destructor called for boid %x\n,this)。endif}//////////////////////////// public flocking methods//////////////////////////公共聚集方式// FlockIt.// Used for framebyframe updates。 no time deltas on positions.void CBoid::FlockIt (int flock_id, CBoid *first_boid){ vector acc。ifdef BOID_DEBUG實時更新位置 myprintf(\n=====\nUpdate for %d\n, m_id)。 myprintf(pos before = %f %f %f\n,)。endif // Step 1: Update our position. // Update our position based on the velocity // vector we puted last time around. m_oldpos = m_pos。 // save off our previous position m_pos += m_vel。 // apply velocities. // Step 2: SeeFriends. // Determine if we can see any of our flockmates. SeeFriends (first_boid)。 // Step 3: Flocking behavior. // Do we see any of our flockmates? If yes, it39。s time to implement // the first Three Rules (they don39。t matter if we can39。t see anybody) if (m_num_flockmates_seen) { // Step 4: Implement Rule 1 (Separation). // Try to maintain our desired separation distance from our nearest flockmate. AccumulateChanges (acc, KeepDistance())。 // Step 5: Implement Rule 2 (Alignment). // Try to move the same way our nearest flockmate does. AccumulateChanges (acc, MatchHeading())。 // Step 6: Implement Rule 3 (Cohesion).6．向中心凝聚 // Try to move towards the center