@thi.ng/boids/behaviors/braitenberg.js

n-dimensional boids simulation with modular behavior system

import { rotate } from "@thi.ng/vectors/rotate";
import { __ensureFn } from "../internal/ensure.js";
const braitenberg2 = (field, lookahead, angle, weight = 1) => {
  const dir = [];
  const left = [];
  const right = [];
  return {
    weight: __ensureFn(weight),
    update: (boid) => {
      const { add, maddN, normalize } = boid.api;
      normalize(dir, boid.vel.curr, lookahead);
      const pos = boid.pos.curr;
      const valC = field(pos);
      const valL = field(add(left, rotate(left, dir, angle), pos));
      const valR = field(add(right, rotate(right, dir, -angle), pos));
      return valC > valL && valC > valR ? boid.steerTowards(maddN(left, boid.vel.curr, -1, pos)) : valL === valR ? boid.api.ZERO : boid.steerTowards(valL > valR ? left : right);
    }
  };
};
export {
  braitenberg2
};