Updates to ant

hasnainroopawalla · Sep 2, 2023 · 5f6c898 · 5f6c898
1 parent 769e516
commit 5f6c898
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Showing 6 changed files with 22 additions and 36 deletions.
diff --git a/src/aco/ant.ts b/src/aco/ant.ts
@@ -45,22 +45,22 @@ export class Ant {
   }
 
   private approachTarget(target: Vector): void {
-    // TODO: modify
-    const bearing = new Vector(
-      target.x - this.position.x,
-      target.y - this.position.y
-    );
-    this.desiredVelocity = bearing.normalize();
+    this.desiredVelocity = target.sub(this.position).normalize();
   }
 
   private getAntennas(): IAntennas {
-    // TODO: remove magic numbers
     const leftAntenna = this.position.add(
-      this.desiredVelocity.rotate(-2.35 / 2).mult(90)
+      this.desiredVelocity
+        .rotate(-config.antAntennaRotation)
+        .mult(config.antAntennaRange)
+    );
+    const frontAntenna = this.position.add(
+      this.desiredVelocity.mult(config.antAntennaRange)
     );
-    const frontAntenna = this.position.add(this.desiredVelocity.mult(90));
     const rightAntenna = this.position.add(
-      this.desiredVelocity.rotate(2.35 / 2).mult(90)
+      this.desiredVelocity
+        .rotate(config.antAntennaRotation)
+        .mult(config.antAntennaRange)
     );
 
     config.showAntAntennas &&
@@ -130,20 +130,19 @@ export class Ant {
       );
     }
 
-    if (this.targetFoodItem) {
+    if (!this.targetFoodItem) {
+      // follow food pheromones if no food item is found within perception range
+      this.handleAntennaSteering(IPheromoneType.Food);
+    } else {
       // check if reserved food item is picked up
       if (this.targetFoodItem.collide(this.position)) {
         // rotate 180 degrees
         this.desiredVelocity.rotate(Math.PI, true);
         this.targetFoodItem.pickedUp();
         this.returningHome();
       } else {
-        // TODO: improve if-else condition
         this.approachTarget(this.targetFoodItem.position);
       }
-    } else {
-      // follow food pheromones if no food item is found within perception range
-      this.handleAntennaSteering(IPheromoneType.Food);
     }
   }
 
@@ -208,7 +207,6 @@ export class Ant {
     this.position.add(this.velocity.mult(config.antMaxSpeed), true);
   }
 
-  // TODO: Create a wrapper for render methods to handle push/pop logic
   private renderAnt() {
     this.p.push();
     this.p.strokeWeight(config.antStrokeWeight);

diff --git a/src/aco/config.ts b/src/aco/config.ts
@@ -3,6 +3,7 @@ export const config = {
   frameRate: 60,
   // world
   worldBackground: "#78624f",
+  foodClusterSize: 7,
   // food item
   foodItemSize: 4, // diameter
   foodItemColor: "#39FF14",
@@ -14,6 +15,7 @@ export const config = {
   colonyColor: "#ffffff",
   colonyStrokeWeight: 1,
   colonyTextSize: 20,
+  // ant
   antWanderStrength: 0.2,
   antMaxSpeed: 2.5,
   antSteeringLimit: 0.1,
@@ -27,6 +29,8 @@ export const config = {
   antPerceptionStrokeWeight: 1,
   showAntAntennas: false,
   antAntennaRadius: 70,
+  antAntennaRange: 90,
+  antAntennaRotation: 1.1,
   antObstacleAngleRange: 0.7,
   // pheromone
   pheromoneSize: 4,

diff --git a/src/aco/obstacle.ts b/src/aco/obstacle.ts
diff --git a/src/aco/sketch.ts b/src/aco/sketch.ts
@@ -5,7 +5,6 @@ import { IConfig } from "./sketch.interface";
 let world: World;
 let canvasInteractionEnabled = true;
 const numAnts: number = 200;
-const foodClusterSize: number = 7;
 
 export const updateAcoConfig = <T extends keyof IConfig>(
   param: T,
@@ -23,9 +22,9 @@ export const sketch = (p: p5) => {
     for (let i = 0; i < numAnts; i++) {
       world.createAnt();
     }
-    world.createFoodCluster(250, 250, foodClusterSize);
-    world.createFoodCluster(1000, 150, foodClusterSize);
-    world.createFoodCluster(1020, 550, foodClusterSize);
+    world.createFoodCluster(250, 250, config.foodClusterSize);
+    world.createFoodCluster(1000, 150, config.foodClusterSize);
+    world.createFoodCluster(1020, 550, config.foodClusterSize);
   };
 
   p.draw = () => {
@@ -36,6 +35,6 @@ export const sketch = (p: p5) => {
     if (!canvasInteractionEnabled) {
       return;
     }
-    world.createFoodCluster(p.mouseX, p.mouseY, foodClusterSize);
+    world.createFoodCluster(p.mouseX, p.mouseY, config.foodClusterSize);
   };
 };
diff --git a/src/components/app.tsx b/src/components/app.tsx
@@ -11,7 +11,6 @@ export const App = () => {
         updateAcoConfig={updateAcoConfig}
       />
       <Sketch />
-      {/* Add footer for GitHub source */}
     </>
   );
 };
diff --git a/src/components/control-panel/checkbox.tsx b/src/components/control-panel/checkbox.tsx
@@ -19,7 +19,6 @@ export const Checkbox = (props: ICheckboxProps) => {
     setValue(newValue);
   };
 
-  // TODO: Change checked color to blue
   return (
     <input
       type="checkbox"