breed [ birds bird ] breed [ dead-birds dead-bird ] birds-own [ flockmates ;; agentset of nearby turtles nearest-neighbor ;; closest one of our flockmates velocity ;; vector with x y and z components it is determined by the previous velocity ;; and the current acceleration at each step acceleration ;; vector with x y and z components, determined by the six urges ] ;; ;; Setup Procedures ;; to setup ca setxyz 0 -30 0 create-birds population [ place-bird set size 0.75 set velocity [ 0 0 0 ] set acceleration [ 0 0 0 ] set color yellow + 2 - random-float 6 ] ask turtle 0 [ set color red ] ;; checkered floor ask patches with [ pzcor = min-pzcor ] [ set pcolor 3 + green + ( pxcor + pycor ) mod 2 ] end to place-bird ;; turtle procedure setxyz random-xcor random-ycor random-zcor ;; make sure that the birds are not on the floor or inside the ;; any obstacles that have been created. while [ pcolor != black ] [ setxyz random-xcor random-ycor random-zcor ] end ;; ;; Runtime Procedures ;; to go ask birds [ flock ;; if we've hit something ;; we're a goner if pcolor != black [ hatch-dead-birds 1 [ bk 1 ] die ] ] ;; ask the dead ones to continue falling ask dead-birds [ fall ] tick end to flock ;; bird procedure ;; look for birds in my vicinity find-flockmates ;; acceleration at each step is determined ;; entirely by the urges set acceleration (list 0 0 0) add-urge world-center-urge world-center-constant add-urge wander-urge wander-constant add-urge avoid-obstacle-urge avoidance-constant ;; if I'm not in a flock ignore the flock related ;; urges if count flockmates > 0 [ add-urge spacing-urge spacing-constant add-urge center-urge center-constant add-urge velocity-urge velocity-constant ] ;; keep the acceleration within the accepted range if magnitude acceleration > max-acceleration [ set acceleration (scale max-acceleration normalize acceleration) ] ;; the new velocity of the bird is sum of the acceleration ;; and the old velocity. set velocity (add velocity acceleration) ;; keep the velocity within the accepted range if magnitude velocity > max-velocity [ set velocity (scale max-velocity normalize velocity) ] let nxcor xcor + ( item 0 velocity ) let nycor ycor + ( item 1 velocity ) let nzcor zcor + ( item 2 velocity ) facexyz nxcor nycor nzcor fd 0.1 * magnitude velocity end to add-urge [urge factor] ;; bird procedure set acceleration add acceleration scale factor normalize urge end to-report world-center-urge ;; bird reporter ifelse distancexyz 0 0 0 > 10 [ report (list (- xcor) (- ycor) (- zcor) ) ] [ report (list 0 0 0) ] end to-report center-urge ;; bird reporter ;; report the average distance from my flockmates ;; in each direction if count flockmates = 0 or center-constant = 0 [ report (list 0 0 0) ] report (map [ ?2 - ?1 ] (list xcor ycor zcor) (list mean [ xcor ] of flockmates mean [ ycor ] of flockmates mean [ zcor ] of flockmates ) ) end to-report velocity-urge ;; bird reporter ;; report the average difference in velocity ;; from my flock mates if count flockmates = 0 or velocity-constant = 0 [ report (list 0 0 0) ] report ( map [ ?1 - ?2 ] (list mean [ item 0 velocity ] of flockmates mean [ item 1 velocity ] of flockmates mean [ item 2 velocity ] of flockmates ) velocity ) end to-report wander-urge ;; turtle reporter ;; report 3 random numbers between -1 and 1 report n-values 3 [ (random-float 2) - 1 ] end to-report spacing-urge ;; turtle reporter let urge [ 0 0 0 ] ;; report the sum of the distances to birds ;; in my flock that are closer to me than ;; cruise-distance ask flockmates with [ distance myself < cruise-distance ] [ set urge add urge (subtract (list [xcor] of myself [ycor] of myself [zcor] of myself) (list xcor ycor zcor)) ] ;; when vertical spacing is not on ignore the ;; z component of the spacing urge. if not vertical-spacing? [ set urge lput 0 but-last urge ] report urge end to-report avoid-obstacle-urge ;; turtle reporter let urge (list 0 0 0) if avoidance-constant = 0 [ report urge ] ;; report the sum of the distances from ;; any patches that are obstacles ;; in each direction ask patches in-radius vision with [ pcolor != black ] [ set urge add urge subtract (list [xcor] of myself [ycor] of myself [zcor] of myself) (list pxcor pycor pzcor) ] report urge end to find-flockmates ;; turtle reporter ;; latch on to the nearby birds set flockmates other birds in-radius vision end to fall ;; dead-bird procedure if zcor > min-pzcor + 1 [ set zcor zcor - 0.5 ] end ;; ;; world building ;; to build-cubes ask n-of 20 patches [ set pcolor blue + random 3 ask neighbors [ set pcolor blue + random 3 ] ] end to build-wall let x max-pxcor - random world-width let ydir 1 - random 2 if ydir = 0 [ set ydir -1 ] let height random max-pxcor ask patches with [ pxcor = x and ydir * pycor < 0 and pzcor < height ] [ set pcolor gray + random 2 ] end ;; ;; vector operations ;; to-report add [ v1 v2 ] report (map [ ?1 + ?2 ] v1 v2) end to-report subtract [ v1 v2 ] report (map [ ?1 - ?2 ] v1 v2) end to-report scale [ scalar vector ] report map [ scalar * ? ] vector end to-report magnitude [ vector ] report sqrt sum map [ ? * ? ] vector end to-report normalize [ vector ] let m magnitude vector if m = 0 [ report vector ] report map [ ? / m ] vector end ; *** NetLogo 3D Preview 5 Model Copyright Notice *** ; ; Copyright 2005 by Uri Wilensky. All rights reserved. ; ; Permission to use, modify or redistribute this model is hereby granted, ; provided that both of the following requirements are followed: ; a) this copyright notice is included. ; b) this model will not be redistributed for profit without permission ; from Uri Wilensky. ; Contact Uri Wilensky for appropriate licenses for redistribution for ; profit. ; ; To refer to this model in academic publications, please use: ; Wilensky, U. (2005). NetLogo Flocking 3D Alternate model. ; http://ccl.northwestern.edu/netlogo/models/Flocking3DAlternate. ; Center for Connected Learning and Computer-Based Modeling, ; Northwestern University, Evanston, IL. ; ; In other publications, please use: ; Copyright 2005 Uri Wilensky. All rights reserved. ; See http://ccl.northwestern.edu/netlogo/models/Flocking3DAlternate ; for terms of use. ; ; *** End of NetLogo 3D Preview 5 Model Copyright Notice *** @#$#@#$#@ GRAPHICS-WINDOW 0 0 260 281 12 12 10.0 1 10 1 1 1 0 1 1 1 -12 12 -12 12 -12 12 1 1 1 ticks BUTTON 107 67 194 100 NIL setup NIL 1 T OBSERVER NIL NIL NIL NIL BUTTON 197 67 288 100 go go T 1 T OBSERVER NIL NIL NIL NIL SLIDER 94 32 309 65 population population 0 200 60 1 1 NIL HORIZONTAL SLIDER 111 233 283 266 vision vision 0 10 1.5 0.1 1 NIL HORIZONTAL SLIDER 186 405 358 438 wander-constant wander-constant 0 20 4 1 1 NIL HORIZONTAL SLIDER 186 370 358 403 world-center-constant world-center-constant 0 20 10 1 1 NIL HORIZONTAL SLIDER 13 370 185 403 center-constant center-constant 0 20 8 1 1 NIL HORIZONTAL SLIDER 13 405 185 438 velocity-constant velocity-constant 0 20 6 1 1 NIL HORIZONTAL SLIDER 190 302 362 335 spacing-constant spacing-constant 0 20 14 1 1 NIL HORIZONTAL SLIDER 17 268 189 301 max-velocity max-velocity 0 20 4 1 1 NIL HORIZONTAL SLIDER 190 268 362 301 max-acceleration max-acceleration 0 20 1 1 1 NIL HORIZONTAL SLIDER 17 302 189 335 cruise-distance cruise-distance 0 5 1 0.1 1 NIL HORIZONTAL BUTTON 118 193 276 226 follow red bird follow turtle 0 NIL 1 T OBSERVER NIL NIL NIL NIL SWITCH 105 336 277 369 vertical-spacing? vertical-spacing? 0 1 -1000 SLIDER 103 439 275 472 avoidance-constant avoidance-constant 0 100 50 1 1 NIL HORIZONTAL MONITOR 132 140 253 185 NIL count dead-birds 3 1 11 BUTTON 96 102 194 135 NIL build-cubes NIL 1 T OBSERVER NIL NIL NIL NIL BUTTON 197 102 295 135 NIL build-wall NIL 1 T OBSERVER NIL NIL NIL NIL @#$#@#$#@ WHAT IS IT? ----------- This is a vector-based 3D flocking model, based on Jon Klein's implementation of Craig Reynolds' Boids algorithm. Each bird is influenced by a series of urges. By assigning different weights to each urge, the birds exhibit different flocking behaviors. HOW IT WORKS ------------ Each bird has vectors for velocity and acceleration, that is, a velocity and acceleration in the x, y, and z directions. Each of these vectors is influenced by six urges, to be near the center of the flock, to have the same velocity as the rest of the flock, to be keep spacing correct, to avoid colliding with obstacles, to be near to the center of the world and to wander throughout the world. Each of these factors affects the resulting velocity and acceleration; however, the sliders in the interface weight the amount that each has an effect. HOW TO USE IT ------------- Choose the number of birds with the POPULATION slider. Press SETUP to create the birds. Press GO to start the simulation. BUILD-CUBES randomly places floating-ball obstacles throughout the world. BUILD-WALL creates a randomly placed wall. VISION is the distance that a bird can see around it. MAX-VELOCITY is the fastest a bird can go and MAX-ACCELERATION is the fastest a bird can accelerate. CRUISE-DISTANCE is the minimum distance from a nearby bird for a bird to feel comfortable. A bird's movement is determined by the set of urges acting on that bird: CENTER-CONSTANT - urge to move towards the center of its flock VELOCITY-CONSTANT - urge to align its velocity with the velocity of her flockmates SPACING-CONSTANT - urge to be no closer than CRUISE-DISTANCE from other birds AVOIDANCE-CONSTANT - urge to avoid colliding with obstacles WORLD-CENTER-CONSTANT - urge to avoid the edges of the world WANDER-CONSTANT - urge to move in a random way The urge-constant sliders control the weight of each urge in determining the birds' behavior. If the VERTICAL-SPACING? switch is off the spacing urge only operates horizontally. If a bird hits an obstacle, the bird dies. The COUNT DEAD-BIRDS monitor shows the number of dead birds. THINGS TO NOTICE ---------------- Compare how long it takes the birds to form flocks in this model to how long it takes in the regular 3D Flocking model. Given the default settings the flocks travel in a circular pattern. THINGS TO TRY ------------- Turn VERTICAL-SPACING? off and notice how it changes the shape of the flocks. Try changing the different constants so that the birds become better or worse at avoiding obstacles. EXTENDING THE MODEL ------------------- Try adding different urges to the model; also try making different types of obstacles for birds to avoid. Create different breeds of birds that behave differently from each other and see how they interact. NETLOGO FEATURES ---------------- This model uses lists and map fairly extensively to represent and manipulate vectors. CREDITS AND REFERENCES ---------------------- This model is based on Jon Klein's "Swarm" demo for breve, (see http://www.spiderland.org/breve/) which was inspired by Craig Reynolds classic Boids flocking algorithm. To refer to this model in academic publications, please use: Wilensky, U. (2005). NetLogo Flocking 3D Alternate model. http://ccl.northwestern.edu/netlogo/models/Flocking3DAlternate. Center for Connected Learning and Computer-Based Modeling, Northwestern University, Evanston, IL. In other publications, please use: Copyright 2005 Uri Wilensky. All rights reserved. See http://ccl.northwestern.edu/netlogo/models/Flocking3DAlternate for terms of use. @#$#@#$#@ default true 0 Polygon -7500403 true true 150 5 40 250 150 205 260 250 airplane true 0 Polygon -7500403 true true 150 0 135 15 120 60 120 105 15 165 15 195 120 180 135 240 105 270 120 285 150 270 180 285 210 270 165 240 180 180 285 195 285 165 180 105 180 60 165 15 arrow true 0 Polygon -7500403 true true 150 0 0 150 105 150 105 293 195 293 195 150 300 150 box false 0 Polygon -7500403 true true 150 285 285 225 285 75 150 135 Polygon -7500403 true true 150 135 15 75 150 15 285 75 Polygon -7500403 true true 15 75 15 225 150 285 150 135 Line -16777216 false 150 285 150 135 Line -16777216 false 150 135 15 75 Line -16777216 false 150 135 285 75 bug true 0 Circle -7500403 true true 96 182 108 Circle -7500403 true true 110 127 80 Circle -7500403 true true 110 75 80 Line -7500403 true 150 100 80 30 Line -7500403 true 150 100 220 30 butterfly true 0 Polygon -7500403 true true 150 165 209 199 225 225 225 255 195 270 165 255 150 240 Polygon -7500403 true true 150 165 89 198 75 225 75 255 105 270 135 255 150 240 Polygon -7500403 true true 139 148 100 105 55 90 25 90 10 105 10 135 25 180 40 195 85 194 139 163 Polygon -7500403 true true 162 150 200 105 245 90 275 90 290 105 290 135 275 180 260 195 215 195 162 165 Polygon -16777216 true false 150 255 135 225 120 150 135 120 150 105 165 120 180 150 165 225 Circle -16777216 true false 135 90 30 Line -16777216 false 150 105 195 60 Line -16777216 false 150 105 105 60 car false 0 Polygon -7500403 true true 300 180 279 164 261 144 240 135 226 132 213 106 203 84 185 63 159 50 135 50 75 60 0 150 0 165 0 225 300 225 300 180 Circle -16777216 true false 180 180 90 Circle -16777216 true false 30 180 90 Polygon -16777216 true false 162 80 132 78 134 135 209 135 194 105 189 96 180 89 Circle -7500403 true true 47 195 58 Circle -7500403 true true 195 195 58 circle false 0 Circle -7500403 true true 0 0 300 circle 2 false 0 Circle -7500403 true true 0 0 300 Circle -16777216 true false 30 30 240 cow false 0 Polygon -7500403 true true 200 193 197 249 179 249 177 196 166 187 140 189 93 191 78 179 72 211 49 209 48 181 37 149 25 120 25 89 45 72 103 84 179 75 198 76 252 64 272 81 293 103 285 121 255 121 242 118 224 167 Polygon -7500403 true true 73 210 86 251 62 249 48 208 Polygon -7500403 true true 25 114 16 195 9 204 23 213 25 200 39 123 cylinder false 0 Circle -7500403 true true 0 0 300 dot false 0 Circle -7500403 true true 90 90 120 face happy false 0 Circle -7500403 true true 8 8 285 Circle -16777216 true false 60 75 60 Circle -16777216 true false 180 75 60 Polygon -16777216 true false 150 255 90 239 62 213 47 191 67 179 90 203 109 218 150 225 192 218 210 203 227 181 251 194 236 217 212 240 face neutral false 0 Circle -7500403 true true 8 7 285 Circle -16777216 true false 60 75 60 Circle -16777216 true false 180 75 60 Rectangle -16777216 true false 60 195 240 225 face sad false 0 Circle -7500403 true true 8 8 285 Circle -16777216 true false 60 75 60 Circle -16777216 true false 180 75 60 Polygon -16777216 true false 150 168 90 184 62 210 47 232 67 244 90 220 109 205 150 198 192 205 210 220 227 242 251 229 236 206 212 183 fish false 0 Polygon -1 true false 44 131 21 87 15 86 0 120 15 150 0 180 13 214 20 212 45 166 Polygon -1 true false 135 195 119 235 95 218 76 210 46 204 60 165 Polygon -1 true false 75 45 83 77 71 103 86 114 166 78 135 60 Polygon -7500403 true true 30 136 151 77 226 81 280 119 292 146 292 160 287 170 270 195 195 210 151 212 30 166 Circle -16777216 true false 215 106 30 flag false 0 Rectangle -7500403 true true 60 15 75 300 Polygon -7500403 true true 90 150 270 90 90 30 Line -7500403 true 75 135 90 135 Line -7500403 true 75 45 90 45 flower false 0 Polygon -10899396 true false 135 120 165 165 180 210 180 240 150 300 165 300 195 240 195 195 165 135 Circle -7500403 true true 85 132 38 Circle -7500403 true true 130 147 38 Circle -7500403 true true 192 85 38 Circle -7500403 true true 85 40 38 Circle -7500403 true true 177 40 38 Circle -7500403 true true 177 132 38 Circle -7500403 true true 70 85 38 Circle -7500403 true true 130 25 38 Circle -7500403 true true 96 51 108 Circle -16777216 true false 113 68 74 Polygon -10899396 true false 189 233 219 188 249 173 279 188 234 218 Polygon -10899396 true false 180 255 150 210 105 210 75 240 135 240 house false 0 Rectangle -7500403 true true 45 120 255 285 Rectangle -16777216 true false 120 210 180 285 Polygon -7500403 true true 15 120 150 15 285 120 Line -16777216 false 30 120 270 120 leaf false 0 Polygon -7500403 true true 150 210 135 195 120 210 60 210 30 195 60 180 60 165 15 135 30 120 15 105 40 104 45 90 60 90 90 105 105 120 120 120 105 60 120 60 135 30 150 15 165 30 180 60 195 60 180 120 195 120 210 105 240 90 255 90 263 104 285 105 270 120 285 135 240 165 240 180 270 195 240 210 180 210 165 195 Polygon -7500403 true true 135 195 135 240 120 255 105 255 105 285 135 285 165 240 165 195 line true 0 Line -7500403 true 150 0 150 300 line half true 0 Line -7500403 true 150 0 150 150 link true 0 Line -7500403 true 150 0 150 300 link direction true 0 Line -7500403 true 150 150 30 225 Line -7500403 true 150 150 270 225 pentagon false 0 Polygon -7500403 true true 150 15 15 120 60 285 240 285 285 120 person false 0 Circle -7500403 true true 110 5 80 Polygon -7500403 true true 105 90 120 195 90 285 105 300 135 300 150 225 165 300 195 300 210 285 180 195 195 90 Rectangle -7500403 true true 127 79 172 94 Polygon -7500403 true true 195 90 240 150 225 180 165 105 Polygon -7500403 true true 105 90 60 150 75 180 135 105 plant false 0 Rectangle -7500403 true true 135 90 165 300 Polygon -7500403 true true 135 255 90 210 45 195 75 255 135 285 Polygon -7500403 true true 165 255 210 210 255 195 225 255 165 285 Polygon -7500403 true true 135 180 90 135 45 120 75 180 135 210 Polygon -7500403 true true 165 180 165 210 225 180 255 120 210 135 Polygon -7500403 true true 135 105 90 60 45 45 75 105 135 135 Polygon -7500403 true true 165 105 165 135 225 105 255 45 210 60 Polygon -7500403 true true 135 90 120 45 150 15 180 45 165 90 square false 0 Rectangle -7500403 true true 30 30 270 270 square 2 false 0 Rectangle -7500403 true true 30 30 270 270 Rectangle -16777216 true false 60 60 240 240 star false 0 Polygon -7500403 true true 151 1 185 108 298 108 207 175 242 282 151 216 59 282 94 175 3 108 116 108 target false 0 Circle -7500403 true true 0 0 300 Circle -16777216 true false 30 30 240 Circle -7500403 true true 60 60 180 Circle -16777216 true false 90 90 120 Circle -7500403 true true 120 120 60 tree false 0 Circle -7500403 true true 118 3 94 Rectangle -6459832 true false 120 195 180 300 Circle -7500403 true true 65 21 108 Circle -7500403 true true 116 41 127 Circle -7500403 true true 45 90 120 Circle -7500403 true true 104 74 152 triangle false 0 Polygon -7500403 true true 150 30 15 255 285 255 triangle 2 false 0 Polygon -7500403 true true 150 30 15 255 285 255 Polygon -16777216 true false 151 99 225 223 75 224 truck false 0 Rectangle -7500403 true true 4 45 195 187 Polygon -7500403 true true 296 193 296 150 259 134 244 104 208 104 207 194 Rectangle -1 true false 195 60 195 105 Polygon -16777216 true false 238 112 252 141 219 141 218 112 Circle -16777216 true false 234 174 42 Rectangle -7500403 true true 181 185 214 194 Circle -16777216 true false 144 174 42 Circle -16777216 true false 24 174 42 Circle -7500403 false true 24 174 42 Circle -7500403 false true 144 174 42 Circle -7500403 false true 234 174 42 turtle true 0 Polygon -10899396 true false 215 204 240 233 246 254 228 266 215 252 193 210 Polygon -10899396 true false 195 90 225 75 245 75 260 89 269 108 261 124 240 105 225 105 210 105 Polygon -10899396 true false 105 90 75 75 55 75 40 89 31 108 39 124 60 105 75 105 90 105 Polygon -10899396 true false 132 85 134 64 107 51 108 17 150 2 192 18 192 52 169 65 172 87 Polygon -10899396 true false 85 204 60 233 54 254 72 266 85 252 107 210 Polygon -7500403 true true 119 75 179 75 209 101 224 135 220 225 175 261 128 261 81 224 74 135 88 99 wheel false 0 Circle -7500403 true true 3 3 294 Circle -16777216 true false 30 30 240 Line -7500403 true 150 285 150 15 Line -7500403 true 15 150 285 150 Circle -7500403 true true 120 120 60 Line -7500403 true 216 40 79 269 Line -7500403 true 40 84 269 221 Line -7500403 true 40 216 269 79 Line -7500403 true 84 40 221 269 x false 0 Polygon -7500403 true true 270 75 225 30 30 225 75 270 Polygon -7500403 true true 30 75 75 30 270 225 225 270 @#$#@#$#@ NetLogo 3D 4.1 @#$#@#$#@ setup watch turtle 0 repeat 500 [ go ] @#$#@#$#@ @#$#@#$#@ @#$#@#$#@ @#$#@#$#@ default 0.0 -0.2 0 0.0 1.0 0.0 1 1.0 0.0 0.2 0 0.0 1.0 link direction true 0 Line -7500403 true 150 150 90 180 Line -7500403 true 150 150 210 180 @#$#@#$#@ 0 @#$#@#$#@