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basic flocking algo by Dan Shiffman
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‎processing-mode/example3/example3.py‎

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import traceback
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import py5_tools
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import py5
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from py5 import object_conversion
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def cluster_boids():
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pass
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py5_tools.register_processing_mode_key("cluster_boids", cluster_boids)
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# run the sketch in processing mode, specifying the Java class to instantiate
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py5.run_sketch(jclassname='test.Example3Sketch')

‎processing-mode/example3/java/pom.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
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<modelVersion>4.0.0</modelVersion>
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<groupId>py5</groupId>
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<artifactId>py5-processing-mode-example3</artifactId>
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<version>0.1</version>
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<name>py5-processing-mode-example3</name>
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<url>https://py5coding.org/</url>
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<properties>
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<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
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<maven.compiler.source>17</maven.compiler.source>
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<maven.compiler.target>17</maven.compiler.target>
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<jarlocation>${env.CONDA_PREFIX}/lib/python3.10/site-packages/py5/jars</jarlocation>
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</properties>
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<dependencies>
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<dependency>
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<groupId>py5</groupId>
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<artifactId>py5-processing4</artifactId>
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<version>0.9.0.dev0</version>
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<scope>system</scope>
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<systemPath>${jarlocation}/core.jar</systemPath>
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</dependency>
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<dependency>
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<groupId>py5</groupId>
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<artifactId>py5-jogl</artifactId>
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<version>0.9.0.dev0</version>
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<scope>system</scope>
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<systemPath>${jarlocation}/jogl-all.jar</systemPath>
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</dependency>
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<dependency>
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<groupId>py5</groupId>
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<artifactId>py5</artifactId>
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<version>0.9.0.dev0</version>
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<scope>system</scope>
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<systemPath>${jarlocation}/py5.jar</systemPath>
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</dependency>
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</dependencies>
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<build>
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<plugins>
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<plugin>
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<groupId>org.apache.maven.plugins</groupId>
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<artifactId>maven-dependency-plugin</artifactId>
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<version>3.2.0</version>
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<executions>
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<execution>
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<id>copy</id>
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<phase>package</phase>
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<goals>
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<goal>copy</goal>
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</goals>
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</execution>
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</executions>
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<configuration>
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<artifactItems>
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<artifactItem>
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<groupId>py5</groupId>
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<artifactId>py5-processing-mode-example3</artifactId>
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<version>0.1</version>
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<type>jar</type>
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<overWrite>true</overWrite>
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<outputDirectory>${project.basedir}/../jars</outputDirectory>
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<destFileName>py5-processing-mode-example3.jar</destFileName>
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</artifactItem>
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</artifactItems>
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</configuration>
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</plugin>
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</plugins>
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</build>
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</project>

‎processing-mode/example3/java/src/main/java/test/Boid.java‎

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package test;
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import java.util.ArrayList;
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import processing.core.PVector;
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import py5.core.SketchBase;
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// The Boid class
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class Boid {
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protected SketchBase sketch;
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protected PVector position;
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protected PVector velocity;
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protected PVector acceleration;
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protected float r;
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protected float maxforce; // Maximum steering force
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protected float maxspeed; // Maximum speed
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Boid(SketchBase sketch, float x, float y) {
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this.sketch = sketch;
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acceleration = new PVector(0, 0);
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// This is a new PVector method not yet implemented in JS
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// velocity = PVector.random2D();
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// Leaving the code temporarily this way so that this example runs in JS
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float angle = sketch.random(SketchBase.TWO_PI);
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velocity = new PVector(SketchBase.cos(angle), SketchBase.sin(angle));
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position = new PVector(x, y);
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r = 2.0f;
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maxspeed = 2;
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maxforce = 0.03f;
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}
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void run(ArrayList<Boid> boids) {
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flock(boids);
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update();
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borders();
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render();
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}
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void applyForce(PVector force) {
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// We could add mass here if we want A = F / M
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acceleration.add(force);
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}
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// We accumulate a new acceleration each time based on three rules
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void flock(ArrayList<Boid> boids) {
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PVector sep = separate(boids); // Separation
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PVector ali = align(boids); // Alignment
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PVector coh = cohesion(boids); // Cohesion
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// Arbitrarily weight these forces
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sep.mult(1.5f);
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ali.mult(1.0f);
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coh.mult(1.0f);
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// Add the force vectors to acceleration
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applyForce(sep);
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applyForce(ali);
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applyForce(coh);
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}
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// Method to update position
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void update() {
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// Update velocity
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velocity.add(acceleration);
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// Limit speed
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velocity.limit(maxspeed);
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position.add(velocity);
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// Reset accelertion to 0 each cycle
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acceleration.mult(0);
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}
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// A method that calculates and applies a steering force towards a target
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// STEER = DESIRED MINUS VELOCITY
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PVector seek(PVector target) {
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PVector desired = PVector.sub(target, position); // A vector pointing from the position to the target
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// Scale to maximum speed
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desired.normalize();
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desired.mult(maxspeed);
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// Above two lines of code below could be condensed with new PVector setMag()
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// method
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// Not using this method until Processing.js catches up
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// desired.setMag(maxspeed);
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// Steering = Desired minus Velocity
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PVector steer = PVector.sub(desired, velocity);
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steer.limit(maxforce); // Limit to maximum steering force
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return steer;
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}
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void render() {
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// Draw a triangle rotated in the direction of velocity
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float theta = velocity.heading() + SketchBase.radians(90);
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sketch.fill(200, 100);
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sketch.stroke(255);
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sketch.pushMatrix();
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sketch.translate(position.x, position.y);
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sketch.rotate(theta);
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sketch.beginShape(SketchBase.TRIANGLES);
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sketch.vertex(0, -r * 2);
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sketch.vertex(-r, r * 2);
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sketch.vertex(r, r * 2);
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sketch.endShape();
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sketch.popMatrix();
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}
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// Wraparound
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void borders() {
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if (position.x < -r)
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position.x = sketch.width + r;
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if (position.y < -r)
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position.y = sketch.height + r;
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if (position.x > sketch.width + r)
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position.x = -r;
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if (position.y > sketch.height + r)
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position.y = -r;
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}
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// Separation
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// Method checks for nearby boids and steers away
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PVector separate(ArrayList<Boid> boids) {
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float desiredseparation = 25.0f;
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PVector steer = new PVector(0, 0, 0);
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int count = 0;
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// For every boid in the system, check if it's too close
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for (Boid other : boids) {
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float d = PVector.dist(position, other.position);
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// If the distance is greater than 0 and less than an arbitrary amount (0 when
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// you are yourself)
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if ((d > 0) && (d < desiredseparation)) {
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// Calculate vector pointing away from neighbor
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PVector diff = PVector.sub(position, other.position);
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diff.normalize();
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diff.div(d); // Weight by distance
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steer.add(diff);
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count++; // Keep track of how many
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}
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}
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// Average -- divide by how many
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if (count > 0) {
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steer.div((float) count);
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}
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// As long as the vector is greater than 0
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if (steer.mag() > 0) {
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// First two lines of code below could be condensed with new PVector setMag()
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// method
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// Not using this method until Processing.js catches up
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// steer.setMag(maxspeed);
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// Implement Reynolds: Steering = Desired - Velocity
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steer.normalize();
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steer.mult(maxspeed);
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steer.sub(velocity);
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steer.limit(maxforce);
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}
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return steer;
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}
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// Alignment
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// For every nearby boid in the system, calculate the average velocity
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PVector align(ArrayList<Boid> boids) {
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float neighbordist = 50;
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PVector sum = new PVector(0, 0);
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int count = 0;
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for (Boid other : boids) {
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float d = PVector.dist(position, other.position);
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if ((d > 0) && (d < neighbordist)) {
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sum.add(other.velocity);
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count++;
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}
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}
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if (count > 0) {
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sum.div((float) count);
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// First two lines of code below could be condensed with new PVector setMag()
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// method
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// Not using this method until Processing.js catches up
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// sum.setMag(maxspeed);
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// Implement Reynolds: Steering = Desired - Velocity
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sum.normalize();
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sum.mult(maxspeed);
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PVector steer = PVector.sub(sum, velocity);
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steer.limit(maxforce);
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return steer;
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} else {
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return new PVector(0, 0);
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}
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}
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// Cohesion
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// For the average position (i.e. center) of all nearby boids, calculate
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// steering vector towards that position
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PVector cohesion(ArrayList<Boid> boids) {
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float neighbordist = 50;
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PVector sum = new PVector(0, 0); // Start with empty vector to accumulate all positions
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int count = 0;
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for (Boid other : boids) {
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float d = PVector.dist(position, other.position);
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if ((d > 0) && (d < neighbordist)) {
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sum.add(other.position); // Add position
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count++;
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}
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}
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if (count > 0) {
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sum.div(count);
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return seek(sum); // Steer towards the position
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} else {
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return new PVector(0, 0);
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}
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}
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}

‎processing-mode/example3/java/src/main/java/test/Example3Sketch.java‎

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package test;
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import py5.core.SketchBase;
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/**
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* Flocking + Clustering
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* original Flocking Sketch by Daniel Shiffman.
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*
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* An implementation of Craig Reynold's Boids program to simulate
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* the flocking behavior of birds. Each boid steers itself based on
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* rules of avoidance, alignment, and coherence.
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*
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* Click the mouse to add a new boid.
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*/
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public class Example3Sketch extends SketchBase {
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protected Flock flock;
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public void settings() {
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size(640, 360);
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}
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public void setup() {
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flock = new Flock();
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// Add an initial set of boids into the system
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for (int i = 0; i < 150; i++) {
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flock.addBoid(new Boid(this, width / 2, height / 2));
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}
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}
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public void draw() {
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background(50);
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flock.run();
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}
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// Add a new boid into the System
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public void mousePressed() {
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flock.addBoid(new Boid(this, mouseX, mouseY));
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}
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}

‎processing-mode/example3/java/src/main/java/test/Flock.java‎

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package test;
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import java.util.ArrayList;
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// The Flock (a list of Boid objects)
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class Flock {
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protected ArrayList<Boid> boids; // An ArrayList for all the boids
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Flock() {
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boids = new ArrayList<Boid>(); // Initialize the ArrayList
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}
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void run() {
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for (Boid b : boids) {
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b.run(boids); // Passing the entire list of boids to each boid individually
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}
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}
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void addBoid(Boid b) {
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boids.add(b);
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}
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}

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