如何加起转向力来实现植绒行为

Question

我正在尝试实施基于Cornrad Prkers算法的植绒boids程序。我似乎在总结所有力量（对齐，凝聚力和分离）方面遇到了问题。我一直在做一个奇怪的行为。

算法的对齐部分负责速度匹配。

public Point alignment(Boids boid){

    double xVelocity = 0;
    double yVelocity = 0;

    ArrayList<Boids> neighborhood = new ArrayList<Boids>();
    neighborhood = neighborHood(boid, Boids.DetectionRange);
    if(neighborhood.size() > 1){

        for(int i = 0; i < neighborhood.size(); i++){
                Boids otherBoid = neighborhood.get(i);
                if(boid != otherBoid){
                    xVelocity += otherBoid.velocity.x;
                    yVelocity += otherBoid.velocity.y;
                }
        }
        xVelocity /= neighborhood.size();
        yVelocity /= neighborhood.size();
    }
    else{
        return new Point(0, 0);
    }
    return new Point((int)xVelocity, (int)yVelocity);
}

分离负责避免暴露

public Point sepration(Boids boid){
    double xPosition = boid.location.x;
    double yPosition = boid.location.y;
    double xDistance = 0;
    double yDistance = 0;
    ArrayList<Boids> neighborhood = new ArrayList<Boids>();
    neighborhood = neighborHood(boid, Boids.SeperationRange);
    if (neighborhood.size() > 1){
    for(int i = 0; i < neighborhood.size(); i++){
        Boids otherBoid = this.get(i);
        if(boid != otherBoid){
            xDistance = (int) (boid.location.x - otherBoid.location.x);
            yDistance = (int) (boid.location.y - otherBoid.location.y);

            if(boid.checkCollision(otherBoid.getLocation())){
                if(xDistance > 0 && xDistance < Boids.SeperationRange){
                    xPosition -= xDistance;
                }                   
                if(yDistance > 0 && yDistance <  Boids.SeperationRange){
                    yPosition -= yDistance;
                }
            }
        }
    }
 }else{
        return new Point(0,0);
    }
    xPosition /= neighborhood.size();
    yPosition /= neighborhood.size();

    return new Point((int)xPosition, (int)yPosition);
}

凝聚力是植绒行为的原因，只要它们在检测范围内，就会相互吸引。

public Point cohesion(Boids boid){
    int x = 0;
    int y = 0;
    ArrayList<Boids> neighborhood = new ArrayList<Boids>();
    neighborhood = neighborHood(boid, Boids.DetectionRange);
    if (neighborhood.size() > 0){
    for(int i = 0; i < neighborhood.size(); i++){
        Boids otherBoid = neighborhood.get(i);
            if(boid != otherBoid){
                x += otherBoid.location.x;
                y += otherBoid.location.y;
            }
            x /= neighborhood.size();
            y /= neighborhood.size();
        }
    }else{
        return new Point(0 , 0); // empty vector
    }
    return new Point(x, y);
}

每个导向行为都返回一个向量（Java中的Point），然后我将其标准化，然后应用单位向量的加权力，将其移动一个单位到其目标点。