Sheep training flock of 10

2026-04-23 19:22:39 +01:00
parent fdac0ae0b0
commit 81dc2aca01
3 changed files with 113 additions and 61 deletions
@@ -204,6 +204,15 @@ while robot.step(timestep) != -1:
            fx += math.cos(wander_angle) * 0.5
            fy += math.sin(wander_angle) * 0.5

+    # Hard-stop clamp: within 0.5 m of a wall, zero any force component that
+    # would push further into it.  Prevents the flee force from pinning a sheep
+    # against the boundary when the dog approaches from outside.
+    HS = 0.5
+    if x < X_MIN + HS and fx < 0: fx = 0.0
+    if x > X_MAX - HS and fx > 0: fx = 0.0
+    if y < Y_MIN + HS and fy < 0: fy = 0.0
+    if y > Y_MAX - HS and fy > 0: fy = 0.0
+
    heading = math.atan2(fy, fx)
    mag     = math.hypot(fx, fy)
    speed   = max(WANDER_SPEED, min(FLEE_SPEED, mag * 3.0))