CS计算机代考程序代写 —

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— Jan & Uwe R. Zimmer, Australia, September 2019
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package body Swarm_Configuration is

use Real_Elementary_Functions;

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— Inter_Swarm_Acceleration —
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function Inter_Swarm_Attraction (x : Distances) return Acc_Scalar is

Attract_Close : constant Acc_Scalar := -((Arctan ((x – Attract_Close_Centre) * Attract_Close_Steepness) / Pi) + 0.5);
Attract_Far : constant Acc_Scalar := +((Arctan ((x – Attract_Far_Centre) * Attract_Far_Steepness) / Pi) – 0.5);

begin
return -Attract_Strength * Attract_Close * Attract_Far;
end Inter_Swarm_Attraction;

—

function Inter_Swarm_Repulsion (x : Distances) return Acc_Scalar is

Repulse : constant Acc_Scalar := -((Arctan ((x – Repulse_Centre) * Repulse_Steepness) / Pi) – 0.5);

begin
return Repulse_Strength * Repulse;
end Inter_Swarm_Repulsion;

—

function Inter_Swarm_Acceleration (x : Distances) return Acc_Scalar is

(Inter_Swarm_Repulsion (x) + Inter_Swarm_Attraction (x));

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function Approach_Acceleration (x : Distances;
Velocity_Towards_Goal : Real) return Acc_Scalar is

(Approach_Strength * (Max_Approach_Velocity * Arctan (Approach_Steepness * x) – Velocity_Towards_Goal));

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function Approach_Acceleration (Velocity_Towards_Goal : Real) return Acc_Scalar is

(Approach_Strength * (Max_Approach_Velocity – Velocity_Towards_Goal));

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function Velocity_Matching (Velocity, Velocity_Difference : Velocities) return Accelerations is

Proposed_Acceleration : constant Accelerations := (-Velocity_Matching_Strength) * Velocity_Difference;
Small_Interval : constant Real := 0.01;

begin
if abs (Velocity + Small_Interval * Proposed_Acceleration) > abs (Velocity) then
return Proposed_Acceleration;
else
return Zero_Vector_3D;
end if;
end Velocity_Matching;

—

end Swarm_Configuration;