​

let vehicles = [];

​

let foods = [];

let nest;

​

function setup() {

  createCanvas(800, 800);

​

  for (let i = 0; i < 70; i++) {

    vehicles.push(

      new Vehicle(

        random(width / 2 - 50, width / 2 + 50),

        random(height),

        random(7, 8)

      )

    );

  }

​

  bigFood(100, 100, 30);

  nest = new Nest(700, 700);

}

​

function draw() {

  background(0);

​

  if (foods.length == 0) {

    let a = random(0, 2 * PI);

    let r = 350;

    bigFood(width / 2 + sin(a) * r, height / 2 + cos(a) * r, 30);

  }

  if (nest.r == nest.energy) {

    let a = random(0, 2 * PI);

    let r = 150;

    nest = new Nest(width / 2 + sin(a) * r, height / 2 + cos(a) * r);

  }

​

  for (let i = 0; i < vehicles.length; i++) {

    let v = vehicles[i];

    let target;

​

    //let target = createVector(mouseX, mouseY);

    if (!v.isCarry) {

      let t = nearest(v.pos.x, v.pos.y, foods);

      //console.log(t);

      target = createVector(t.x, t.y);

      v.seek(target);

    } else {

      target = createVector(nest.x, nest.y);

      v.seek(target);

    }

​

    v.detect(vehicles);

    v.update();

    v.reappear();

    v.display();

  }

​

  for (let i = 0; i < foods.length; i++) {

    foods[i].update();

  }

​

  nest.update();

}

​

function mousePressed() {

  DEBUG_MODE = !DEBUG_MODE;

}

​

///// CLASS /////

​

class Vehicle {

  constructor(x = 0, y = 0, size = 1) {

    this.pos = createVector(x, y);

    this.vel = p5.Vector.random2D().mult(3);

    this.acc = createVector(0, 0);

    this.size = size;

    this.mass = 1;

    //

    this.angle = 0;

    //

    this.maxSpeed = 5;

    this.maxSteerForce = 1;

    // for detection

    this.detectVector = createVector();

    this.directionVector = createVector();

    this.predictDistance = 10;

    this.detectRadius = 20;

    this.wanderAngle = random(TWO_PI);

​

    this.isCarry = false;

  }

  detect(others) {

    for (let other of others) {

      if (this != other) {

        this.detectVector = p5.Vector.mult(

          this.vel.copy().normalize(),

          this.predictDistance

        );

        let centerPos = p5.Vector.add(this.pos, this.detectVector);

​

        let distance = centerPos.dist(other.pos);

        if (distance < this.detectRadius) {

          this.directionVector = p5.Vector.sub(other.pos, centerPos);

          this.directionVector.setMag(this.detectRadius);

          this.directionVector.mult(-1); // flip the vector to avoid

​

          let directionPos = p5.Vector.add(centerPos, this.directionVector);

          this.seek(directionPos);

        }

      }

    }

  }

  seek(targetPos) {

    let desiredVec = p5.Vector.sub(targetPos, this.pos);

​

    let distance = desiredVec.mag();

​

    for (let i = 0; i < foods.length; i++) {

      if (distance < 1 && foods[i].display && this.isCarry == false) {

        this.isCarry = true;

        foods[i].display = false;

      }

    }

    desiredVec.normalize();

    desiredVec.mult(this.maxSpeed);

​

    let steerForce = p5.Vector.sub(desiredVec, this.vel);

    steerForce.limit(this.maxSteerForce);

​

    this.applyForce(steerForce);

  }

  reappear() {

    if (this.pos.x < 0) {

      this.pos.x = width;

    } else if (this.pos.x > width) {

      this.pos.x = 0;

    }

    if (this.pos.y < 0) {

      this.pos.y = height;

    } else if (this.pos.y > height) {

      this.pos.y = 0;

    }

  }

  applyForce(f) {

    if (this.mass > 0) {

      let force = p5.Vector.div(f, this.mass);

      this.acc.add(force);

    }

  }

  update() {

    this.vel.add(this.acc);

    this.pos.add(this.vel);

    this.acc.mult(0);

    //

    this.angle = this.vel.heading();

  }

  display() {

    push();

    translate(this.pos.x, this.pos.y);

​

    push(); // push for rotation

    rotate(this.angle);

    // draw the vehicle

    stroke(255);

    fill(255, 150);

    triangle(0, 0, -this.size, -this.size * 0.4, -this.size, this.size * 0.4);

    pop(); // pop for rotation

​

    if (this.isCarry) {

      push();

      noStroke();

      fill(242, 97, 63, 200);

      circle(0, 0, 10);

      pop();

    }

​

    if (DEBUG_MODE) {

      // draw detecting graphics

      noFill();

      stroke(255, 0, 0);

      line(0, 0, this.detectVector.x, this.detectVector.y);

​

      translate(this.detectVector.x, this.detectVector.y);

      ellipse(0, 0, this.detectRadius * 2, this.detectRadius * 2);

​

      stroke(0, 255, 0);

      line(0, 0, this.directionVector.x, this.directionVector.y);

    }

​

    pop();

  }

}

​

class Food {

  constructor(x, y) {

    this.x = x;

    this.y = y;

    this.isAvi = true;

    this.display = true;

  }

  update() {

    if (this.display) {

      push();

      noStroke();

      fill(242, 97, 63, 200);

      circle(this.x, this.y, 10);

      pop();

    }

  }

}

​

function bigFood(x, y, r) {

  for (let i = 0; i < floor(r) * 5; i++) {

    let tx = random(-r, r);

    let ty = random(-r, r);

    if (dist(tx, ty, 0, 0) < r) {

      foods.push(new Food(x + tx, y + ty));

    }

  }

}

​

function nearest(x, y, list) {

  let flag,

    disTemp = 2 * height;

  //console.log(list[0]);

  for (let i = 0; i < list.length; i++) {

    let dis = dist(x, y, list[i].x, list[i].y);

    if (dis < disTemp) {

      disTemp = dis;

      flag = i;

    }

  }

  return list[flag];

}

​

class Nest {

  constructor(x, y) {

    this.x = x;

    this.y = y;

    this.r = 80;

    this.energy = 0;

  }

  update() {

    for (let i = 0; i < vehicles.length; i++) {

      let dis = dist(vehicles[i].pos.x, vehicles[i].pos.y, this.x, this.y);

      if (dis < this.r - 30 && vehicles[i].isCarry) {

        for (let j = 0; j < foods.length; j++) {

          if (foods[j].display == false) {

            foods.splice(j, 1);

            break;

          }

        }

        //console.log(foods.length);

        vehicles[i].isCarry = false;

        this.energy += 1;

      }

    }

​

    push();

    stroke(255);

    strokeWeight(3);

    noFill();

    circle(this.x, this.y, this.r);

    fill(242, 97, 63, 200);

    this.energy = constrain(this.energy, 0, this.r);

    noStroke();

    circle(this.x, this.y, this.energy);

    pop();

  }

}

​