This commit was generated by cvs2svn to compensate for changes in r5287,svn2git-root

which included commits to RCS files with non-trunk default branches.

svn path=/trunk/externals/boids/; revision=5288

6 files changed, 2993 insertions, 0 deletions

diff --git a/boids2d/boids2d-help.pd b/boids2d/boids2d-help.pd
new file mode 100644
index 0000000..332af5f
--- /dev/null
+++ b/boids2d/boids2d-help.pd
@@ -0,0 +1,720 @@
+#N canvas 0 22 975 712 10;
+#X obj 604 10 import jasch_lib;
+#X msg -99 601 dump;
+#X msg 266 113 neighbors \$1;
+#X floatatom 266 98 5 0 4 0 - neighbors -;
+#X floatatom 266 133 5 0 0 0 - maxspeed -;
+#X msg 266 148 maxspeed \$1;
+#X floatatom 266 168 5 0 0 0 - minspeed -;
+#X msg 266 183 minspeed \$1;
+#X floatatom 266 203 5 0 0 0 - center -;
+#X msg 266 218 center \$1;
+#X floatatom 266 238 5 0 0 0 - attract -;
+#X msg 266 253 attract \$1;
+#X floatatom 266 273 5 0 0 0 - match -;
+#X msg 266 288 match \$1;
+#X floatatom 266 308 5 0 0 0 - avoid -;
+#X msg 266 323 avoid \$1;
+#X obj -125 411 r boidParam;
+#X floatatom 266 343 5 0 0 0 - repel -;
+#X msg 266 358 repel \$1;
+#X floatatom 266 378 5 0 0 0 - edgedist -;
+#X msg 266 393 edgedist \$1;
+#X floatatom 266 413 5 0 0 0 - speed -;
+#X msg 266 428 speed \$1;
+#X floatatom 266 448 5 0 0 0 - inertia -;
+#X msg 266 463 inertia \$1;
+#X floatatom 266 483 5 0 0 0 - accel -;
+#X msg 266 498 accel \$1;
+#X floatatom 266 518 5 0 0 0 - prefdist -;
+#X msg 266 533 prefdist \$1;
+#X msg -99 620 reset;
+#X text 357 148 maximum speed of speed range;
+#X text 359 182 minimum speed of speed range;
+#X text 356 217 strength of centering instinct;
+#X text 358 428 overall speed;
+#X text 359 499 speed of acceleration;
+#X text 359 530 preferred distance from neighbors;
+#X floatatom 267 556 5 0 0 0 - flyrect[0] -;
+#X floatatom 306 556 5 0 0 0 - flyrect[1] -;
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+#X msg 266 78 number \$1;
+#X text 357 76 number of boids;
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+#X msg -99 582 mode \$1;
+#X text -35 582 output mode;
+#X obj 266 676 s boidParam;
+#X obj -99 641 s boidParam;
+#X text -35 601 parameter dump;
+#X text -36 621 reset boids randomly inside flyrect;
+#X text 357 111 number of neighbors each boid consults when flocking
+;
+#X text 356 288 strength of neighbor speed matching instinct;
+#X text 356 323 strength of neighbor avoidance instinct;
+#X text 356 355 strength of wall avoidance instinct;
+#X text 358 391 distance of vision for avoiding wall edges;
+#X text 359 462 willingness to change speed and direction;
+#X text 355 251 strength of attraction to 'attractpt';
+#X text -191 84 (c) 1995-98 Eric L. Singer (eric@ericsinger.com);
+#X text -191 126 Based on Simon Fraser's implementation of Craig Reynolds'
+Boids algorithm. Boids is free for non-commercial use;
+#X text -191 159 Boids is a bird flight and animal flock simulator.
+It is based on the same algorithm which was used in Jurassic Park for
+the herding dinosaurs.;
+#X text -191 208 Boids takes an integer argument which is the number
+of boids. Each time Boids receives a bang \, it calculates and outputs
+the new positions of the boids. The output consists of thew coordiantes
+for each boid \, the number and type depending on the mode.;
+#X text -190 282 The flight parameters can be changed with messages.
+Use the 'dump' message to output a list of the current parameter settings.
+;
+#X text -190 328 For more information about the Boids algorithm \,
+see Craig Reynolds' Web site at "http://reality.sgi.com/employees/craig/boids.html".
+;
+#X text -188 64 arguments: <float> number of boids \, <float> output
+mode;
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+#X msg 15 288 \; repel 3.5;
+#X msg 15 258 \; avoid 3.5;
+#X msg 15 318 \; edgedist 3;
+#X msg 15 379 \; inertia 4.5;
+#X msg 15 408 \; accel 2.5;
+#X connect 0 0 4 0;
+#X connect 1 0 4 0;
+#X connect 4 0 2 0;
+#X connect 4 0 7 0;
+#X connect 4 0 8 0;
+#X connect 4 0 9 0;
+#X connect 4 0 10 0;
+#X connect 4 0 11 0;
+#X connect 4 0 13 0;
+#X connect 4 0 12 0;
+#X connect 4 0 3 0;
+#X connect 4 0 15 0;
+#X connect 4 0 16 0;
+#X connect 4 0 6 0;
+#X connect 5 0 4 0;
+#X restore 57 411 pd init;
+#X obj -151 438 boids2d 16 0;
+#X obj -150 488 print boids2d;
+#X msg 266 592 flyrect \$1 \$2 \$3 \$4;
+#X msg 266 652 attractpt \$1 \$2;
+#X text 389 614 point to which boids are attracted (x/y);
+#X text 392 575 bounding box (walls) in which to fly (l/t/r/b);
+#X connect 1 0 49 0;
+#X connect 2 0 48 0;
+#X connect 3 0 2 0;
+#X connect 4 0 5 0;
+#X connect 5 0 48 0;
+#X connect 6 0 7 0;
+#X connect 7 0 48 0;
+#X connect 8 0 9 0;
+#X connect 9 0 48 0;
+#X connect 10 0 11 0;
+#X connect 11 0 48 0;
+#X connect 12 0 13 0;
+#X connect 13 0 48 0;
+#X connect 14 0 15 0;
+#X connect 15 0 48 0;
+#X connect 16 0 75 0;
+#X connect 17 0 18 0;
+#X connect 18 0 48 0;
+#X connect 19 0 20 0;
+#X connect 20 0 48 0;
+#X connect 21 0 22 0;
+#X connect 22 0 48 0;
+#X connect 23 0 24 0;
+#X connect 24 0 48 0;
+#X connect 25 0 26 0;
+#X connect 26 0 48 0;
+#X connect 27 0 28 0;
+#X connect 28 0 48 0;
+#X connect 29 0 49 0;
+#X connect 36 0 70 0;
+#X connect 37 0 70 1;
+#X connect 38 0 70 2;
+#X connect 39 0 70 3;
+#X connect 40 0 71 0;
+#X connect 41 0 71 1;
+#X connect 42 0 43 0;
+#X connect 43 0 48 0;
+#X connect 45 0 46 0;
+#X connect 46 0 49 0;
+#X connect 68 0 75 0;
+#X connect 70 0 77 0;
+#X connect 71 0 78 0;
+#X connect 72 0 71 2;
+#X connect 75 0 76 0;
+#X connect 75 1 66 0;
+#X connect 77 0 48 0;
+#X connect 78 0 48 0;
diff --git a/boids2d/boids2d.c b/boids2d/boids2d.c
new file mode 100644
index 0000000..4d23fb3
--- /dev/null
+++ b/boids2d/boids2d.c
@@ -0,0 +1 @@
+/*

	boids2d 08/2005 a.sier / jasch adapted from boids by eric singer © 1995-2003 eric l. singer
	free for non-commercial use
*/

#include 	"m_pd.h"
#include	<stdlib.h>
#include	<math.h>

// constants
#define			kAssistInlet	1
#define			kAssistOutlet	2
#define			kMaxLong		0xFFFFFFFF
#define			kMaxNeighbors	4

// util
#define MAX(a,b) ((a)>(b)?(a):(b))
#define CLIP(x,a,b) (x)=(x)<(a)?(a):(x)>(b)?(b):(x)

// initial flight parameters
const short			kNumBoids		= 12;	// number of boids
const short			kNumNeighbors	= 2;	// must be <= kMaxNeighbors
const double 		kMinSpeed		= 0.15;	// boids' minimum speed
const double		kMaxSpeed		= 0.25;	// boids' maximum speed
const double		kCenterWeight	= 0.25;	// flock centering
const double		kAttractWeight	= 0.300;// attraction point seeking
const double		kMatchWeight	= 0.100;// neighbors velocity matching
const double		kAvoidWeight	= 0.10;	// neighbors avoidance
const double		kWallsWeight	= 0.500;// wall avoidance [210]
const double		kEdgeDist		= 0.5;	// vision distance to avoid wall edges [5]
const double		kSpeedupFactor	= 0.100;// alter animation speed
const double		kInertiaFactor	= 0.20;	// willingness to change speed & direction
const double		kAccelFactor	= 0.100;// neighbor avoidance accelerate or decelerate rate
const double		kPrefDist		= 0.25;	// preferred distance from neighbors
const double		kFlyRectTop		= 1.0;	// fly rect boundaries
const double		kFlyRectLeft	= -1.0;	
const double		kFlyRectBottom	= -1.0;	
const double		kFlyRectRight	= 1.0;	
// const double		kFlyRectFront	= 1.0;	
// const double		kFlyRectBack	= -1.0;	


// typedefs
typedef struct Velocity {
	double		x;
	double		y;
//	double		z;
} Velocity;

typedef struct Point2d {
	double		x;
	double		y;
//	double		z;
} Point2d;

typedef struct Box3D {
	double		left, right;
	double		top, bottom;
//	double		front, back;
} Box3D;

typedef struct _Boid {
	Point2d		oldPos;
	Point2d		newPos;
	Velocity	oldDir;
	Velocity	newDir;
	double		speed;
	short		neighbor[kMaxNeighbors];
	double		neighborDistSqr[kMaxNeighbors];
} t_one_boid, *BoidPtr;

typedef struct _FlockObject {
	t_object	ob;
	void		*out1, *out2;
	short		mode;
	long		numBoids;
	long		numNeighbors;
	Box3D		flyRect;
	double 		minSpeed;
	double		maxSpeed;
	double		centerWeight;
	double		attractWeight;
	double		matchWeight;
	double		avoidWeight;
	double		wallsWeight;
	double		edgeDist;
	double		speedupFactor;
	double		inertiaFactor;
	double		accelFactor;
	double		prefDist;
	double		prefDistSqr;
	Point2d		centerPt;
	Point2d		attractPt;
	BoidPtr		boid;
	double 		d2r, r2d;
} t_boids, *FlockPtr;

// variables
// void 		*flock;
t_symbol 	*ps_nothing;

// prototypes
void *boids2d_class;
void *Flock_new(t_symbol *s, long argc, t_atom *argv);
void Flock_free(t_boids *x);
void Flock_bang(t_boids *x);
void Flock_dump(t_boids *x);
void Flock_mode(t_boids *x, double arg);
void Flock_numNeighbors(t_boids *x, double arg);
void Flock_numBoids(t_boids *x, double arg);
void Flock_minSpeed(t_boids *x, double arg);
void Flock_maxSpeed(t_boids *x, double arg);
void Flock_centerWeight(t_boids *x, double arg);
void Flock_attractWeight(t_boids *x, double arg);
void Flock_matchWeight(t_boids *x, double arg);
void Flock_avoidWeight(t_boids *x, double arg);
void Flock_wallsWeight(t_boids *x, double arg);
void Flock_edgeDist(t_boids *x, double arg);
void Flock_speedupFactor(t_boids *x, double arg);
void Flock_inertiaFactor(t_boids *x, double arg);
void Flock_accelFactor(t_boids *x, double arg);
void Flock_prefDist(t_boids *x, double arg);
void Flock_flyRect(t_boids *x, t_symbol *msg, short argc, t_atom *argv);
void Flock_attractPt(t_boids *x, t_symbol *msg, short argc, t_atom *argv);
void Flock_reset(t_boids *x);
void Flock_resetBoids(t_boids *x);
void InitFlock(t_boids *x);
void FlightStep(t_boids *x);
Point2d FindFlockCenter(t_boids *x);
float MatchAndAvoidNeighbors(t_boids *x, short theBoid, Velocity *matchNeighborVel, Velocity *avoidNeighborVel);
Velocity SeekPoint(t_boids *x, short theBoid, Point2d seekPt);
Velocity AvoidWalls(t_boids *x, short theBoid);
int InFront(BoidPtr theBoid, BoidPtr neighbor);
void NormalizeVelocity(Velocity *direction);
double RandomInt(double minRange, double maxRange);
double DistSqrToPt(Point2d firstPoint, Point2d secondPoint);

void boids2d_setup(void)
{
	boids2d_class = class_new(gensym("boids2d"), (t_newmethod)Flock_new, 
			(t_method)Flock_free, sizeof(t_boids), 0, A_GIMME, 0);
	/*	setup((t_messlist **) &flock, (method)Flock_new, (method)Flock_free, (short) sizeof(FlockObject), 0L, A_LONG, A_DEFLONG, 0); */
	class_addfloat(boids2d_class,  (t_method) Flock_numBoids);
	class_addbang(boids2d_class,   (t_method) Flock_bang);
	class_addmethod(boids2d_class, (t_method) Flock_numNeighbors,		gensym("neighbors"), 	A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_numBoids,			gensym("number"), 		A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_mode,				gensym("mode"), 		A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_minSpeed,			gensym("minspeed"), 	A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_maxSpeed,			gensym("maxspeed"), 	A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_centerWeight,		gensym("center"), 		A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_attractWeight,		gensym("attract"), 		A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_matchWeight,		gensym("match"), 		A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_avoidWeight,		gensym("avoid"), 		A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_wallsWeight,		gensym("repel"), 		A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_edgeDist,			gensym("edgedist"), 	A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_speedupFactor,		gensym("speed"), 		A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_inertiaFactor,		gensym("inertia"),	 	A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_accelFactor,		gensym("accel"), 		A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_prefDist,			gensym("prefdist"), 	A_FLOAT, 0);
	class_addmethod(boids2d_class, (t_method) Flock_flyRect,			gensym("flyrect"), 		A_GIMME, 0);
	class_addmethod(boids2d_class, (t_method) Flock_attractPt, 			gensym("attractpt"), 	A_GIMME, 0);
	class_addmethod(boids2d_class, (t_method) Flock_resetBoids, 		gensym("reset"), 		0);
	class_addmethod(boids2d_class, (t_method) Flock_reset, 				gensym("init"), 		0);
	class_addmethod(boids2d_class, (t_method) Flock_dump, 				gensym("dump"), 		0);
	
	post("boids2d 2005-2006 a.sier / jasch   © 1995-2003 eric l. singer   "__DATE__" "__TIME__);	
	ps_nothing = gensym("");
}


void *Flock_new(t_symbol *s, long argc, t_atom *argv)
{	
	t_boids *x = (t_boids *)pd_new(boids2d_class);
	x->out1 = outlet_new(&x->ob, NULL);
	x->out2 = outlet_new(&x->ob, NULL);
	
	x->numBoids = 16;
	if((argc >= 1) && (argv[0].a_type == A_FLOAT)){
		x->numBoids = argv[0].a_w.w_float;
	}
	x->boid = (t_one_boid *)malloc(sizeof(t_one_boid) * x->numBoids);
	
	InitFlock(x);
	
	x->mode = 0;
	if((argc >= 2) && (argv[1].a_type == A_FLOAT)){
		x->mode = (short)(CLIP(argv[1].a_w.w_float, 0, 2));
	}
	
	x->d2r = 3.141592653589793238462643383279502884197169399375105820974944592307816406286208998628034825342117068/180.0;
	x->r2d = 180.0/3.141592653589793238462643383279502884197169399375105820974944592307816406286208998628034825342117068;
	
	return(x);
}


void Flock_free(t_boids *x)
{
	free(x->boid);
}

void Flock_bang(t_boids *x)
{
	short	i;
	t_atom 	outlist[10];
	t_atom 	*out;
	
	double 	tempNew_x, tempNew_y; 
	double 	tempOld_x, tempOld_y;
	double	delta_x, delta_y; 
	double 	azi, speed;
	// double tempspeed;
	
	out = outlist;
		
	FlightStep(x);


	switch(x->mode) { // newpos
		case 0:
		for (i = 0; i < x->numBoids; i++){
			SETFLOAT(out+0, i);
			SETFLOAT(out+1, x->boid[i].newPos.x);
			SETFLOAT(out+2, x->boid[i].newPos.y);
		//	SETFLOAT(out+3, x->boid[i].newPos.z);
			outlet_list(x->out1, 0L, 3, out);
		}
		break;
		case 1: //newpos + oldpos
		for (i = 0; i < x->numBoids; i++){
			SETFLOAT(out+0, i);
			SETFLOAT(out+1, x->boid[i].newPos.x);
			SETFLOAT(out+2, x->boid[i].newPos.y);
			// SETFLOAT(out+3, x->boid[i].newPos.z);
			SETFLOAT(out+3, x->boid[i].oldPos.x);
			SETFLOAT(out+4, x->boid[i].oldPos.y);
			// SETFLOAT(out+6, x->boid[i].oldPos.z);
			outlet_list(x->out1, 0L, 5, out);
		}
		break;
		case 2:
		for (i = 0; i < x->numBoids; i++){						
			tempNew_x = x->boid[i].newPos.x;
			tempNew_y = x->boid[i].newPos.y;
			// tempNew_z = x->boid[i].newPos.z;
			tempOld_x = x->boid[i].oldPos.x;
			tempOld_y = x->boid[i].oldPos.y;
			// tempOld_z = x->boid[i].oldPos.z;
			delta_x = tempNew_x - tempOld_x;
			delta_y = tempNew_y - tempOld_y;
			// delta_z = tempNew_z - tempOld_z;
			azi = atan2(delta_y, delta_x) * x->r2d;
			// ele = atan2(delta_y, delta_x) * x->r2d;
			speed = sqrt(delta_x * delta_x + delta_y * delta_y);//  + delta_z * delta_z);
			SETFLOAT(out+0, i);
			SETFLOAT(out+1, tempNew_x);
			SETFLOAT(out+2, tempNew_y);
			// SETFLOAT(out+3, tempNew_z);
			SETFLOAT(out+3, tempOld_x);
			SETFLOAT(out+4, tempOld_y);
			// SETFLOAT(out+6, tempOld_z);
			SETFLOAT(out+5, speed);
			SETFLOAT(out+6, azi);
			// SETFLOAT(out+9, ele);
			outlet_list(x->out1, 0L, 7, out);
		}
		break;	
	}
}

void Flock_dump(t_boids *x)
{
	t_atom	outList[6];
	
	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->numNeighbors;
	outlet_anything(x->out2, gensym("neighbors"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->minSpeed;
	outlet_anything(x->out2, gensym("minspeed"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->maxSpeed;
	outlet_anything(x->out2, gensym("maxspeed"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->centerWeight;
	outlet_anything(x->out2, gensym("center"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->attractWeight;
	outlet_anything(x->out2, gensym("attract"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->matchWeight;
	outlet_anything(x->out2, gensym("match"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->avoidWeight;
	outlet_anything(x->out2, gensym("avoid"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->wallsWeight;
	outlet_anything(x->out2, gensym("repel"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->edgeDist;
	outlet_anything(x->out2, gensym("edgedist"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->speedupFactor;
	outlet_anything(x->out2, gensym("speed"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->inertiaFactor;
	outlet_anything(x->out2, gensym("inertia"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->accelFactor;
	outlet_anything(x->out2, gensym("accel"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float = x->prefDist;
	outlet_anything(x->out2, gensym("prefdist"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->flyRect.left;
	outList[1].a_type = A_FLOAT;
	outList[1].a_w.w_float =  x->flyRect.top;
	outList[2].a_type = A_FLOAT;
	outList[2].a_w.w_float =  x->flyRect.right;
	outList[3].a_type = A_FLOAT;
	outList[3].a_w.w_float =  x->flyRect.bottom;
	/*outList[4].a_type = A_FLOAT;
	outList[4].a_w.w_float =  x->flyRect.front;
	outList[5].a_type = A_FLOAT;
	outList[5].a_w.w_float =  x->flyRect.back;*/
	outlet_anything(x->out2, gensym("flyrect"), 4, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->attractPt.x;
	outList[1].a_type = A_FLOAT;
	outList[1].a_w.w_float =  x->attractPt.y;
	/*outList[2].a_type = A_FLOAT;
	outList[2].a_w.w_float =  x->attractPt.z;*/
	outlet_anything(x->out2, gensym("attractpt"), 2, outList);
	
	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->mode;
	outlet_anything(x->out2, gensym("mode"), 1, outList);
	
	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->numBoids;
	outlet_anything(x->out2, gensym("number"), 1, outList);
}


void Flock_mode(t_boids *x, double arg)
{
	long m = (long)arg;
	x->mode = CLIP(m, 0, 2);
}

void Flock_numNeighbors(t_boids *x, double arg)
{
	x->numNeighbors = (long)arg;
}

void Flock_numBoids(t_boids *x, double arg)
{
	x->boid = (t_one_boid *)realloc(x->boid, sizeof(t_one_boid) * (long)arg);
	x->numBoids = (long)arg;
	Flock_resetBoids(x);
}

void Flock_minSpeed(t_boids *x, double arg)
{
	x->minSpeed = MAX(arg, 0.000001);
}

void Flock_maxSpeed(t_boids *x, double arg)
{
	x->maxSpeed = arg;
}

void Flock_centerWeight(t_boids *x, double arg)
{
	x->centerWeight = arg;
}

void Flock_attractWeight(t_boids *x, double arg)
{
	x->attractWeight = arg;
}

void Flock_matchWeight(t_boids *x, double arg)
{
	x->matchWeight = arg;
}

void Flock_avoidWeight(t_boids *x, double arg)
{
	x->avoidWeight = arg;
}

void Flock_wallsWeight(t_boids *x, double arg)
{
	x->wallsWeight = arg;
}

void Flock_edgeDist(t_boids *x, double arg)
{
	x->edgeDist = arg;
}

void Flock_speedupFactor(t_boids *x, double arg)
{
	x->speedupFactor = arg;
}

void Flock_inertiaFactor(t_boids *x, double arg)
{
	if(arg == 0){
		x->inertiaFactor = 0.000001;
	}else{
		x->inertiaFactor = arg;
	}
}

void Flock_accelFactor(t_boids *x, double arg)
{
	x->accelFactor = arg;
}

void Flock_prefDist(t_boids *x, double arg)
{
	x->prefDist = arg;
}

void Flock_flyRect(t_boids *x, t_symbol *msg, short argc, t_atom *argv)
{
	double temp[4];
	short i;
	if(argc == 4){
		for(i=0;i<4;i++) {
			if(argv[i].a_type == A_FLOAT) {
				temp[i] = (double)argv[i].a_w.w_float;	
			}
		}
		x->flyRect.left 		= temp[0];
		x->flyRect.top 		= temp[1];
		x->flyRect.right 	= temp[2];
		x->flyRect.bottom 	= temp[3];
		// x->flyRect.front 	= temp[4];
		// x->flyRect.back 		= temp[5];
	}else{
		error("boids2d: flyrect needs four values");
	}
}

void Flock_attractPt(t_boids *x, t_symbol *msg, short argc, t_atom *argv)
{
	double temp[2];
	short i;
	if(argc == 2){
	for(i=0;i<2;i++) {
		if(argv[i].a_type == A_FLOAT) {
			temp[i] = (double)argv[i].a_w.w_float;	
		}
	}
	x->attractPt.x = temp[0];
	x->attractPt.y = temp[1];
	// x->attractPt.z = temp[2];
	}else{
		error("boids2d: attractPt needs two values");
	}
}

void Flock_reset(t_boids *x)
{
	InitFlock(x);
}

void Flock_resetBoids(t_boids *x)
{
	long i, j;
	double rndAngle;
	
	for (i = 0; i <  x->numBoids; i++) { // init everything to 0.0
		x->boid[i].oldPos.x = 0.0;
		x->boid[i].oldPos.y = 0.0;
		// x->boid[i].oldPos.z = 0.0;

		x->boid[i].newPos.x = 0.0;
		x->boid[i].newPos.y = 0.0;
		// x->boid[i].newPos.z = 0.0;
		
		x->boid[i].oldDir.x = 0.0;
		x->boid[i].oldDir.y = 0.0;
		// x->boid[i].oldDir.z = 0.0;
		
		x->boid[i].newDir.x = 0.0;
		x->boid[i].newDir.y = 0.0;
		// x->boid[i].newDir.z = 0.0;
		
		x->boid[i].speed = 0.0;
		
		for(j=0; j<kMaxNeighbors;j++){
			x->boid[i].neighbor[j] = 0;
			x->boid[i].neighborDistSqr[j] = 0.0;
		}
	}
	for (i = 0; i <  x->numBoids; i++) {				// set the initial locations and velocities of the boids
		x->boid[i].newPos.x = x->boid[i].oldPos.x = RandomInt(x->flyRect.right,x->flyRect.left);		// set random location within flyRect
		x->boid[i].newPos.y = x->boid[i].oldPos.y = RandomInt(x->flyRect.bottom, x->flyRect.top);
		// x->boid[i].newPos.z = x->boid[i].oldPos.z = RandomInt(x->flyRect.back, x->flyRect.front);
		rndAngle = RandomInt(0, 360) * x->d2r;		// set velocity from random angle
		x->boid[i].newDir.x = sin(rndAngle);
		x->boid[i].newDir.y = cos(rndAngle);
		// x->boid[i].newDir.z = (cos(rndAngle) + sin(rndAngle)) * 0.5;
		x->boid[i].speed = (kMaxSpeed + kMinSpeed) * 0.5;
	}
}

void InitFlock(t_boids *x)
{
	x->numNeighbors		= kNumNeighbors;
	x->minSpeed			= kMinSpeed;
	x->maxSpeed			= kMaxSpeed;
	x->centerWeight		= kCenterWeight;
	x->attractWeight		= kAttractWeight;
	x->matchWeight		= kMatchWeight;
	x->avoidWeight		= kAvoidWeight;
	x->wallsWeight		= kWallsWeight;
	x->edgeDist			= kEdgeDist;
	x->speedupFactor		= kSpeedupFactor;
	x->inertiaFactor		= kInertiaFactor;
	x->accelFactor		= kAccelFactor;
	x->prefDist			= kPrefDist;
	x->prefDistSqr		= kPrefDist * kPrefDist;
	x->flyRect.top		= kFlyRectTop;
	x->flyRect.left		= kFlyRectLeft;
	x->flyRect.bottom	= kFlyRectBottom;
	x->flyRect.right		= kFlyRectRight;
	// x->flyRect.front		= kFlyRectFront;
	// x->flyRect.back		= kFlyRectBack;
	x->attractPt.x		= (kFlyRectLeft + kFlyRectRight) * 0.5;
	x->attractPt.y		= (kFlyRectTop + kFlyRectBottom) * 0.5;
	// x->attractPt.z		= (kFlyRectFront + kFlyRectBack) * 0.5;
	Flock_resetBoids(x);
}

void FlightStep(t_boids *x)
{
	Velocity		goCenterVel;
	Velocity		goAttractVel;
	Velocity		matchNeighborVel;
	Velocity		avoidWallsVel;
	Velocity		avoidNeighborVel;
	float			avoidNeighborSpeed;
	const Velocity	zeroVel	= {0.0, 0.0};//, 0.0};
	short			i;

	x->centerPt = FindFlockCenter(x);
	for (i = 0; i <  x->numBoids; i++) {						// save position and velocity
		x->boid[i].oldPos.x = x->boid[i].newPos.x;
		x->boid[i].oldPos.y = x->boid[i].newPos.y;
		// x->boid[i].oldPos.z = x->boid[i].newPos.z;
		
		x->boid[i].oldDir.x = x->boid[i].newDir.x;
		x->boid[i].oldDir.y = x->boid[i].newDir.y;
		// x->boid[i].oldDir.z = x->boid[i].newDir.z;
	}
	for (i = 0; i < x->numBoids; i++) {
		if (x->numNeighbors > 0) {							// get all velocity components
			avoidNeighborSpeed = MatchAndAvoidNeighbors(x, i,&matchNeighborVel, &avoidNeighborVel);
		} else {
			matchNeighborVel = zeroVel;
			avoidNeighborVel = zeroVel;
			avoidNeighborSpeed = 0;
		}
		goCenterVel = SeekPoint(x, i, x->centerPt);			
		goAttractVel = SeekPoint(x, i, x->attractPt);
		avoidWallsVel = AvoidWalls(x, i);
	
		// compute resultant velocity using weights and inertia
		x->boid[i].newDir.x = x->inertiaFactor * (x->boid[i].oldDir.x) +
							(x->centerWeight * goCenterVel.x +
							 x->attractWeight * goAttractVel.x +
							 x->matchWeight * matchNeighborVel.x +
							 x->avoidWeight * avoidNeighborVel.x +
							 x->wallsWeight * avoidWallsVel.x) / x->inertiaFactor;
		x->boid[i].newDir.y = x->inertiaFactor * (x->boid[i].oldDir.y) +
							(x->centerWeight * goCenterVel.y +
							 x->attractWeight * goAttractVel.y +
							 x->matchWeight * matchNeighborVel.y +
							 x->avoidWeight * avoidNeighborVel.y +
							 x->wallsWeight * avoidWallsVel.y) / x->inertiaFactor;
		/*x->boid[i].newDir.z = x->inertiaFactor * (x->boid[i].oldDir.z) +
							(x->centerWeight * goCenterVel.z +
							 x->attractWeight * goAttractVel.z +
							 x->matchWeight * matchNeighborVel.z +
							 x->avoidWeight * avoidNeighborVel.z +
							 x->wallsWeight * avoidWallsVel.z) / x->inertiaFactor;*/
		NormalizeVelocity(&(x->boid[i].newDir));	// normalize velocity so its length is unity

		// set to avoidNeighborSpeed bounded by minSpeed and maxSpeed
		if ((avoidNeighborSpeed >= x->minSpeed) &&
				(avoidNeighborSpeed <= x->maxSpeed))
			x->boid[i].speed = avoidNeighborSpeed;
		else if (avoidNeighborSpeed > x->maxSpeed)
			x->boid[i].speed = x->maxSpeed;
		else
			x->boid[i].speed = x->minSpeed;

		// calculate new position, applying speedupFactor
		x->boid[i].newPos.x += x->boid[i].newDir.x * x->boid[i].speed * (x->speedupFactor / 100.0);
		x->boid[i].newPos.y += x->boid[i].newDir.y * x->boid[i].speed * (x->speedupFactor / 100.0);
		// x->boid[i].newPos.z += x->boid[i].newDir.z * x->boid[i].speed * (x->speedupFactor / 100.0);

	}
}

Point2d FindFlockCenter(t_boids *x)
{
	double			totalH = 0, totalV = 0, totalD = 0;
	Point2d			centerPoint;
	short			i;

	for (i = 0 ; i <  x->numBoids; i++)
	{
		totalH += x->boid[i].oldPos.x;
		totalV += x->boid[i].oldPos.y;
		// totalD += x->boid[i].oldPos.z;
	}
	centerPoint.x = (double)(totalH / x->numBoids);
	centerPoint.y = (double)(totalV / x->numBoids);
	// centerPoint.z = (double)	(totalD / x->numBoids);
		
	return(centerPoint);
}

float MatchAndAvoidNeighbors(t_boids *x, short theBoid, Velocity *matchNeighborVel, Velocity *avoidNeighborVel)
{
	short			i, j, neighbor;
	double			distSqr;
	double			dist, distH, distV,distD;
	double			tempSpeed;
	short			numClose = 0;
	Velocity		totalVel = {0.0,0.0};//,0.0};

	/**********************/
	/* Find the neighbors */	
	/**********************/

	/* special case of one neighbor */
	if (x->numNeighbors == 1) {
		x->boid[theBoid].neighborDistSqr[0] = kMaxLong;
	
		for (i = 0; i < x->numBoids; i++) {
			if (i != theBoid) {
				distSqr = DistSqrToPt(x->boid[theBoid].oldPos, x->boid[i].oldPos);
				
				/* if this one is closer than the closest so far, then remember it */
				if (x->boid[theBoid].neighborDistSqr[0] > distSqr) {
					x->boid[theBoid].neighborDistSqr[0] = distSqr;
					x->boid[theBoid].neighbor[0] = i;
				}
			}
		}
	}
	/* more than one neighbor */
	else {
		for (j = 0; j < x->numNeighbors; j++)
			x->boid[theBoid].neighborDistSqr[j] = kMaxLong;
		
		for (i = 0 ; i < x->numBoids; i++) {
			/* if this one is not me... */
			if (i != theBoid) {
				distSqr = DistSqrToPt(x->boid[theBoid].oldPos, x->boid[i].oldPos);
	
				/* if distSqr is less than the distance at the bottom of the array, sort into array */
				if (distSqr < x->boid[theBoid].neighborDistSqr[x->numNeighbors-1]) {
					j = x->numNeighbors - 1;
				
					/* sort distSqr in to keep array in size order, smallest first */
					while ((distSqr < x->boid[theBoid].neighborDistSqr[j-1]) && (j > 0)) {
						x->boid[theBoid].neighborDistSqr[j] = x->boid[theBoid].neighborDistSqr[j - 1];
						x->boid[theBoid].neighbor[j] = x->boid[theBoid].neighbor[j - 1];
						j--;
					}
					x->boid[theBoid].neighborDistSqr[j] = distSqr;
					x->boid[theBoid].neighbor[j] = i;					
				}
			}
		}
	}

	/*********************************/
	/* Match and avoid the neighbors */	
	/*********************************/

	matchNeighborVel->x = 0;
	matchNeighborVel->y = 0;
	// matchNeighborVel->z = 0;
	
	// set tempSpeed to old speed
	tempSpeed = x->boid[theBoid].speed;
	
	for (i = 0; i < x->numNeighbors; i++) {
		neighbor = x->boid[theBoid].neighbor[i];
		
		// calculate matchNeighborVel by averaging the neighbor velocities
		matchNeighborVel->x += x->boid[neighbor].oldDir.x;
		matchNeighborVel->y += x->boid[neighbor].oldDir.y;
		// matchNeighborVel->z += x->boid[neighbor].oldDir.z;
			
		// if distance is less than preferred distance, then neighbor influences boid
		distSqr = x->boid[theBoid].neighborDistSqr[i];
		if (distSqr < x->prefDistSqr) {
			dist = sqrt(distSqr);

			distH = x->boid[neighbor].oldPos.x - x->boid[theBoid].oldPos.x;
			distV = x->boid[neighbor].oldPos.y - x->boid[theBoid].oldPos.y;
			// distD = x->boid[neighbor].oldPos.z - x->boid[theBoid].oldPos.z;
			
			if(dist == 0.0) dist = 0.0000001;
			totalVel.x = totalVel.x - distH - (distH * ((float) x->prefDist / (dist)));
			totalVel.y = totalVel.y - distV - (distV * ((float) x->prefDist / (dist)));
			// totalVel.z = totalVel.z - distD - (distV * ((float) x->prefDist / (dist)));
		
			numClose++;
		}
		if (InFront(&(x->boid[theBoid]), &(x->boid[neighbor]))) {	// adjust speed
			if (distSqr < x->prefDistSqr) 
				tempSpeed /= (x->accelFactor / 100.0);
			else
				tempSpeed *= (x->accelFactor / 100.0);
		}
		else {
			if (distSqr < x->prefDistSqr)
				tempSpeed *= (x->accelFactor / 100.0);
			else
				tempSpeed /= (x->accelFactor / 100.0);
		}
	}
	if (numClose) {
		avoidNeighborVel->x = totalVel.x / numClose;
		avoidNeighborVel->y = totalVel.y / numClose;
		// avoidNeighborVel->z = totalVel.z / numClose;
		NormalizeVelocity(matchNeighborVel);
	}
	else {
		avoidNeighborVel->x = 0;
		avoidNeighborVel->y = 0;
		// avoidNeighborVel->z = 0;
	}
	return(tempSpeed);
}


Velocity SeekPoint(t_boids *x, short theBoid, Point2d seekPt)
{
	Velocity	tempDir;
	tempDir.x = seekPt.x - x->boid[theBoid].oldPos.x;	
	tempDir.y = seekPt.y - x->boid[theBoid].oldPos.y;
	// tempDir.z = seekPt.z - x->boid[theBoid].oldPos.z;
	NormalizeVelocity(&tempDir);
	return(tempDir);
}


Velocity AvoidWalls(t_boids *x, short theBoid)
{
	Point2d		testPoint;
	Velocity	tempVel = {0.0, 0.0};//, 0.0};
		
	/* calculate test point in front of the nose of the boid */
	/* distance depends on the boid's speed and the avoid edge constant */
	testPoint.x = x->boid[theBoid].oldPos.x + x->boid[theBoid].oldDir.x * x->boid[theBoid].speed * x->edgeDist;
	testPoint.y = x->boid[theBoid].oldPos.y + x->boid[theBoid].oldDir.y * x->boid[theBoid].speed * x->edgeDist;
	// testPoint.z = x->boid[theBoid].oldPos.z + x->boid[theBoid].oldDir.z * x->boid[theBoid].speed * x->edgeDist;

	/* if test point is out of the left (right) side of x->flyRect, */
	/* return a positive (negative) horizontal velocity component */
	if (testPoint.x < x->flyRect.left)
		tempVel.x = fabs(x->boid[theBoid].oldDir.x);
	else if (testPoint.x > x->flyRect.right)
		tempVel.x = - fabs(x->boid[theBoid].oldDir.x);

	/* same with top and bottom */
	if (testPoint.y < x->flyRect.top)
		tempVel.y = fabs(x->boid[theBoid].oldDir.y);
	else if (testPoint.y > x->flyRect.bottom)
		tempVel.y = - fabs(x->boid[theBoid].oldDir.y);

	/* same with front and back
	if (testPoint.z < x->flyRect.front)
		tempVel.z = fabs(x->boid[theBoid].oldDir.z);
	else if (testPoint.z > x->flyRect.back)
		tempVel.z = - fabs(x->boid[theBoid].oldDir.z);
	*/
	
	return(tempVel);
}


int InFront(BoidPtr theBoid, BoidPtr neighbor)
{
	float	grad, intercept;
	int result;
	
/* 

Find the gradient and y-intercept of a line passing through theBoid's oldPos
perpendicular to its direction of motion.  Another boid is in front of theBoid
if it is to the right or left of this linedepending on whether theBoid is moving
right or left.  However, if theBoid is travelling vertically then just compare
their vertical coordinates.	

*/
	// xy plane
	
	// if theBoid is not travelling vertically...
	if (theBoid->oldDir.x != 0) {
		// calculate gradient of a line _perpendicular_ to its direction (hence the minus)
		grad = -theBoid->oldDir.y / theBoid->oldDir.x;
		
		// calculate where this line hits the y axis (from y = mx + c)
		intercept = theBoid->oldPos.y - (grad * theBoid->oldPos.x);

		/* compare the horizontal position of the neighbor boid with */
		/* the point on the line that has its vertical coordinate */
		if (neighbor->oldPos.x >= ((neighbor->oldPos.y - intercept) / grad)) {
			/* return true if the first boid's horizontal movement is +ve */
			result = (theBoid->oldDir.x > 0);

			if (result==0) return 0;
			else goto next;
			
		} else {
			/* return true if the first boid's horizontal movement is +ve */
			result = (theBoid->oldDir.x < 0);
			if (result==0) return 0;
			else goto next;
		}
	}
	/* else theBoid is travelling vertically, so just compare vertical coordinates */
	else if (theBoid->oldDir.y > 0) {
		result = (neighbor->oldPos.y > theBoid->oldPos.y);
		if (result==0){ 
			return 0;
		}else{
			goto next;
		}
	}else{
		result = (neighbor->oldPos.y < theBoid->oldPos.y);
		if (result==0){
			return 0;
		} else {
			goto next;
		}
	}
next:
/*
	// yz plane
	
	// if theBoid is not travelling vertically... 
	if (theBoid->oldDir.y != 0) {
		// calculate gradient of a line _perpendicular_ to its direction (hence the minus) 
		grad = -theBoid->oldDir.z / theBoid->oldDir.y;
		
		// calculate where this line hits the y axis (from y = mx + c) 
		intercept = theBoid->oldPos.z - (grad * theBoid->oldPos.y);

		// compare the horizontal position of the neighbor boid with 
		// the point on the line that has its vertical coordinate 
		if (neighbor->oldPos.y >= ((neighbor->oldPos.z - intercept) / grad)) {
			// return true if the first boid's horizontal movement is +ve 
			result = (theBoid->oldDir.y > 0);
			if (result==0){ 
				return 0;
			}else{
				goto next2;
			}
		} else {
			// return true if the first boid's horizontal movement is +ve 
			result = (theBoid->oldDir.y < 0);
			if (result==0){
				return 0;
			}else{
				goto next2;
			}
		}
	}
	// else theBoid is travelling vertically, so just compare vertical coordinates 
	else if (theBoid->oldDir.z > 0) {
		result = (neighbor->oldPos.z > theBoid->oldPos.z);
		if (result==0){ 
			return 0;
		}else{
			goto next2;
		}
	}else{
		result = (neighbor->oldPos.z < theBoid->oldPos.z);
		if (result==0){
			return 0;
		}else{
			goto next2;
		}
	}
next2: */
	return 1;
}

void NormalizeVelocity(Velocity *direction)
{
	float	my_hypot;
	
	my_hypot = sqrt(direction->x * direction->x + direction->y * direction->y);// + direction->z * direction->z );

	if (my_hypot != 0.0) {
		direction->x = direction->x / my_hypot;
		direction->y = direction->y / my_hypot;
		// direction->z = direction->z / my_hypot;
	}
}

double RandomInt(double minRange, double maxRange)
{
	unsigned short	qdRdm;
	double			t, result;
	
	qdRdm = rand();
	t = (double)qdRdm / 65536.0; 	// now 0 <= t <= 1
	result = (t * (maxRange - minRange)) + minRange;
	return(result);
}

double DistSqrToPt(Point2d firstPoint, Point2d secondPoint)
{
	double	a, b,c;
	a = firstPoint.x - secondPoint.x;
	b = firstPoint.y - secondPoint.y;	
	//c = firstPoint.z - secondPoint.z;	
	return(a * a + b * b); // + c * c);
}
\ No newline at end of file
diff --git a/boids2d/makefile b/boids2d/makefile
new file mode 100644
index 0000000..18fe37f
--- /dev/null
+++ b/boids2d/makefile
@@ -0,0 +1,92 @@
+NAME=boids2d
+CSYM=boids2d
+
+current: pd_darwin
+
+# ----------------------- NT -----------------------
+
+pd_nt: $(NAME).dll
+
+.SUFFIXES: .dll
+
+PDNTCFLAGS = /W3 /WX /DNT /DPD /nologo
+VC="C:\Program Files\Microsoft Visual Studio\Vc98"
+
+PDNTINCLUDE = /I. /I..\..\src /I$(VC)\include
+
+PDNTLDIR = $(VC)\lib
+PDNTLIB = $(PDNTLDIR)\libc.lib \
+	$(PDNTLDIR)\oldnames.lib \
+	$(PDNTLDIR)\kernel32.lib \
+	..\..\bin\pd.lib 
+
+.c.dll:
+	cl $(PDNTCFLAGS) $(PDNTINCLUDE) /c $*.c
+	link /dll /export:$(CSYM)_setup $*.obj $(PDNTLIB)
+
+# ----------------------- IRIX 5.x -----------------------
+
+pd_irix5: $(NAME).pd_irix5
+
+.SUFFIXES: .pd_irix5
+
+SGICFLAGS5 = -o32 -DPD -DUNIX -DIRIX -O2
+
+SGIINCLUDE =  -I../../src
+
+.c.pd_irix5:
+	$(CC) $(SGICFLAGS5) $(SGIINCLUDE) -o $*.o -c $*.c
+	ld -elf -shared -rdata_shared -o $*.pd_irix5 $*.o
+	rm $*.o
+
+# ----------------------- IRIX 6.x -----------------------
+
+pd_irix6: $(NAME).pd_irix6
+
+.SUFFIXES: .pd_irix6
+
+SGICFLAGS6 = -n32 -DPD -DUNIX -DIRIX -DN32 -woff 1080,1064,1185 \
+	-OPT:roundoff=3 -OPT:IEEE_arithmetic=3 -OPT:cray_ivdep=true \
+	-Ofast=ip32
+
+.c.pd_irix6:
+	$(CC) $(SGICFLAGS6) $(SGIINCLUDE) -o $*.o -c $*.c
+	ld -n32 -IPA -shared -rdata_shared -o $*.pd_irix6 $*.o
+	rm $*.o
+
+# ----------------------- LINUX i386 -----------------------
+
+pd_linux: $(NAME).pd_linux
+
+.SUFFIXES: .pd_linux
+
+LINUXCFLAGS = -DPD -O2 -funroll-loops -fomit-frame-pointer  -fPIC \
+    -Wall -W -Wshadow -Wstrict-prototypes  \
+    -Wno-unused -Wno-parentheses -Wno-switch $(CFLAGS)
+
+LINUXINCLUDE =  -I../../src
+
+.c.pd_linux:
+	$(CC) $(LINUXCFLAGS) $(LINUXINCLUDE) -o $*.o -c $*.c
+	ld -export_dynamic  -shared -o $*.pd_linux $*.o -lc -lm
+	strip --strip-unneeded $*.pd_linux
+	rm -f $*.o
+
+# ----------------------- Mac OSX -----------------------
+
+pd_darwin: $(NAME).pd_darwin
+
+.SUFFIXES: .pd_darwin
+
+DARWINCFLAGS = -DPD -O2 -Wall -W -Wshadow -Wstrict-prototypes \
+    -Wno-unused -Wno-parentheses -Wno-switch
+
+.c.pd_darwin:
+	$(CC) $(DARWINCFLAGS) $(LINUXINCLUDE) -o $*.o -c $*.c
+	$(CC) -bundle -undefined suppress -flat_namespace -o $*.pd_darwin $*.o 
+	rm -f $*.o
+
+# ----------------------------------------------------------
+
+clean:
+	rm -f *.o *.pd_* so_locations
diff --git a/boids3d/boids3d-help.pd b/boids3d/boids3d-help.pd
new file mode 100644
index 0000000..4f8cdf4
--- /dev/null
+++ b/boids3d/boids3d-help.pd
@@ -0,0 +1,2087 @@
+#N canvas 0 22 963 700 10;
+#X obj 604 10 import jasch_lib;
+#X msg -99 601 dump;
+#X msg 266 113 neighbors \$1;
+#X floatatom 266 98 5 0 4 0 - neighbors -;
+#X floatatom 266 133 5 0 0 0 - maxspeed -;
+#X msg 266 148 maxspeed \$1;
+#X floatatom 266 168 5 0 0 0 - minspeed -;
+#X msg 266 183 minspeed \$1;
+#X floatatom 266 203 5 0 0 0 - center -;
+#X msg 266 218 center \$1;
+#X floatatom 266 238 5 0 0 0 - attract -;
+#X msg 266 253 attract \$1;
+#X floatatom 266 273 5 0 0 0 - match -;
+#X msg 266 288 match \$1;
+#X floatatom 266 308 5 0 0 0 - avoid -;
+#X msg 266 323 avoid \$1;
+#X obj -125 411 r boidParam;
+#X floatatom 266 343 5 0 0 0 - repel -;
+#X msg 266 358 repel \$1;
+#X floatatom 266 378 5 0 0 0 - edgedist -;
+#X msg 266 393 edgedist \$1;
+#X floatatom 266 413 5 0 0 0 - speed -;
+#X msg 266 428 speed \$1;
+#X floatatom 266 448 5 0 0 0 - inertia -;
+#X msg 266 463 inertia \$1;
+#X floatatom 266 483 5 0 0 0 - accel -;
+#X msg 266 498 accel \$1;
+#X floatatom 266 518 5 0 0 0 - prefdist -;
+#X msg 266 533 prefdist \$1;
+#X msg -99 620 reset;
+#X text 357 148 maximum speed of speed range;
+#X text 359 182 minimum speed of speed range;
+#X text 356 217 strength of centering instinct;
+#X text 358 428 overall speed;
+#X text 359 499 speed of acceleration;
+#X text 359 530 preferred distance from neighbors;
+#X floatatom 267 556 5 0 0 0 - flyrect[0] -;
+#X floatatom 306 556 5 0 0 0 - flyrect[1] -;
+#X floatatom 345 556 5 0 0 0 - flyrect[2] -;
+#X floatatom 384 556 5 0 0 0 - - -;
+#X floatatom 266 615 5 0 0 0 - - -;
+#X floatatom 306 615 5 0 0 0 - - -;
+#X floatatom 266 63 5 0 0 0 - - -;
+#X msg 266 78 number \$1;
+#X text 357 76 number of boids;
+#X floatatom -99 567 5 0 0 0 - - -;
+#X msg -99 582 mode \$1;
+#X text -35 582 output mode;
+#X obj 266 676 s boidParam;
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+#X text -35 601 parameter dump;
+#X text -36 621 reset boids randomly inside flyrect;
+#X text 357 111 number of neighbors each boid consults when flocking
+;
+#X text 356 288 strength of neighbor speed matching instinct;
+#X text 356 323 strength of neighbor avoidance instinct;
+#X text 356 355 strength of wall avoidance instinct;
+#X text 358 391 distance of vision for avoiding wall edges;
+#X text 359 462 willingness to change speed and direction;
+#X text 355 251 strength of attraction to 'attractpt';
+#X text -191 84 (c) 1995-98 Eric L. Singer (eric@ericsinger.com);
+#X text -191 126 Based on Simon Fraser's implementation of Craig Reynolds'
+Boids algorithm. Boids is free for non-commercial use;
+#X text -191 159 Boids is a bird flight and animal flock simulator.
+It is based on the same algorithm which was used in Jurassic Park for
+the herding dinosaurs.;
+#X text -191 208 Boids takes an integer argument which is the number
+of boids. Each time Boids receives a bang \, it calculates and outputs
+the new positions of the boids. The output consists of thew coordiantes
+for each boid \, the number and type depending on the mode.;
+#X text -190 282 The flight parameters can be changed with messages.
+Use the 'dump' message to output a list of the current parameter settings.
+;
+#X text -190 328 For more information about the Boids algorithm \,
+see Craig Reynolds' Web site at "http://reality.sgi.com/employees/craig/boids.html".
+;
+#X text -188 64 arguments: <float> number of boids \, <float> output
+mode;
+#X obj -72 460 print dump;
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diff --git a/boids3d/boids3d.c b/boids3d/boids3d.c
new file mode 100644
index 0000000..3e5438d
--- /dev/null
+++ b/boids3d/boids3d.c
@@ -0,0 +1 @@
+/*

	boids3d 2005 - 2006 a.sier / jasch 
	adapted from boids by eric singer © 1995-2003 eric l. singer
	free for non-commercial use
*/

#include 	"m_pd.h"
#include	<stdlib.h>
#include	<math.h>

// constants
#define			kAssistInlet	1
#define			kAssistOutlet	2
#define			kMaxLong		0xFFFFFFFF
#define			kMaxNeighbors	4

// util
#define MAX(a,b) ((a)>(b)?(a):(b))
#define CLIP(x,a,b) (x)=(x)<(a)?(a):(x)>(b)?(b):(x)

// initial flight parameters
const short			kNumBoids		= 12;	// number of boids
const short			kNumNeighbors	= 2;	// must be <= kMaxNeighbors
const double 		kMinSpeed		= 0.15;	// boids' minimum speed
const double		kMaxSpeed		= 0.25;	// boids' maximum speed
const double		kCenterWeight	= 0.25;	// flock centering
const double		kAttractWeight	= 0.300;// attraction point seeking
const double		kMatchWeight	= 0.100;// neighbors velocity matching
const double		kAvoidWeight	= 0.10;	// neighbors avoidance
const double		kWallsWeight	= 0.500;// wall avoidance [210]
const double		kEdgeDist		= 0.5;	// vision distance to avoid wall edges [5]
const double		kSpeedupFactor	= 0.100;// alter animation speed
const double		kInertiaFactor	= 0.20;	// willingness to change speed & direction
const double		kAccelFactor	= 0.100;// neighbor avoidance accelerate or decelerate rate
const double		kPrefDist		= 0.25;	// preferred distance from neighbors
const double		kFlyRectTop		= 1.0;	// fly rect boundaries
const double		kFlyRectLeft	= -1.0;	
const double		kFlyRectBottom	= -1.0;	
const double		kFlyRectRight	= 1.0;	
const double		kFlyRectFront	= 1.0;	
const double		kFlyRectBack	= -1.0;	


// typedefs
typedef struct Velocity {
	double		x;
	double		y;
	double		z;
} Velocity;

typedef struct Point3d {
	double		x;
	double		y;
	double		z;
} Point3d;

typedef struct Box3D {
	double		left, right;
	double		top, bottom;
	double		front, back;
} Box3D;

typedef struct _Boid {
	Point3d		oldPos;
	Point3d		newPos;
	Velocity	oldDir;
	Velocity	newDir;
	double		speed;
	short		neighbor[kMaxNeighbors];
	double		neighborDistSqr[kMaxNeighbors];
} t_one_boid, *BoidPtr;

typedef struct _FlockObject {
	t_object	ob;
	void		*out1, *out2;
	short		mode;
	long		numBoids;
	long		numNeighbors;
	Box3D		flyRect;
	double 		minSpeed;
	double		maxSpeed;
	double		centerWeight;
	double		attractWeight;
	double		matchWeight;
	double		avoidWeight;
	double		wallsWeight;
	double		edgeDist;
	double		speedupFactor;
	double		inertiaFactor;
	double		accelFactor;
	double		prefDist;
	double		prefDistSqr;
	Point3d		centerPt;
	Point3d		attractPt;
	BoidPtr		boid;
	double 		d2r, r2d;
} t_boids, *FlockPtr;


t_symbol 	*ps_nothing;

void *boids3d_class;
void *Flock_new(t_symbol *s, long argc, t_atom *argv);
void Flock_free(t_boids *x);
void Flock_bang(t_boids *x);
void Flock_dump(t_boids *x);
void Flock_mode(t_boids *x, double arg);
void Flock_numNeighbors(t_boids *x, double arg);
void Flock_numBoids(t_boids *x, double arg);
void Flock_minSpeed(t_boids *x, double arg);
void Flock_maxSpeed(t_boids *x, double arg);
void Flock_centerWeight(t_boids *x, double arg);
void Flock_attractWeight(t_boids *x, double arg);
void Flock_matchWeight(t_boids *x, double arg);
void Flock_avoidWeight(t_boids *x, double arg);
void Flock_wallsWeight(t_boids *x, double arg);
void Flock_edgeDist(t_boids *x, double arg);
void Flock_speedupFactor(t_boids *x, double arg);
void Flock_inertiaFactor(t_boids *x, double arg);
void Flock_accelFactor(t_boids *x, double arg);
void Flock_prefDist(t_boids *x, double arg);
void Flock_flyRect(t_boids *x, t_symbol *msg, short argc, t_atom *argv);
void Flock_attractPt(t_boids *x, t_symbol *msg, short argc, t_atom *argv);
void Flock_reset(t_boids *x);
void Flock_resetBoids(t_boids *x);
void InitFlock(t_boids *x);
void FlightStep(t_boids *x);
Point3d FindFlockCenter(t_boids *x);
float MatchAndAvoidNeighbors(t_boids *x, short theBoid, Velocity *matchNeighborVel, Velocity *avoidNeighborVel);
Velocity SeekPoint(t_boids *x, short theBoid, Point3d seekPt);
Velocity AvoidWalls(t_boids *x, short theBoid);
int InFront(BoidPtr theBoid, BoidPtr neighbor);
void NormalizeVelocity(Velocity *direction);
double RandomInt(double minRange, double maxRange);
double DistSqrToPt(Point3d firstPoint, Point3d secondPoint);

void boids3d_setup(void)
{
	boids3d_class = class_new(gensym("boids3d"), (t_newmethod)Flock_new, 
			(t_method)Flock_free, sizeof(t_boids), 0, A_GIMME, 0);
	class_addfloat(boids3d_class,  (t_method) Flock_numBoids);
	class_addbang(boids3d_class,   (t_method) Flock_bang);
	class_addmethod(boids3d_class, (t_method) Flock_numNeighbors,		gensym("neighbors"), 	A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_numBoids,			gensym("number"), 		A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_mode,				gensym("mode"), 		A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_minSpeed,			gensym("minspeed"), 	A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_maxSpeed,			gensym("maxspeed"), 	A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_centerWeight,		gensym("center"), 		A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_attractWeight,		gensym("attract"), 		A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_matchWeight,		gensym("match"), 		A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_avoidWeight,		gensym("avoid"), 		A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_wallsWeight,		gensym("repel"), 		A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_edgeDist,			gensym("edgedist"), 	A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_speedupFactor,		gensym("speed"), 		A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_inertiaFactor,		gensym("inertia"),	 	A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_accelFactor,		gensym("accel"), 		A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_prefDist,			gensym("prefdist"), 	A_FLOAT, 0);
	class_addmethod(boids3d_class, (t_method) Flock_flyRect,			gensym("flyrect"), 		A_GIMME, 0);
	class_addmethod(boids3d_class, (t_method) Flock_attractPt, 			gensym("attractpt"), 	A_GIMME, 0);
	class_addmethod(boids3d_class, (t_method) Flock_resetBoids, 		gensym("reset"), 		0);
	class_addmethod(boids3d_class, (t_method) Flock_reset, 				gensym("init"), 		0);
	class_addmethod(boids3d_class, (t_method) Flock_dump, 				gensym("dump"), 		0);
	
	post("boids3d 2005-2006 a.sier / jasch   © 1995-2003 eric l. singer   "__DATE__" "__TIME__);	
	ps_nothing = gensym("");
}


void *Flock_new(t_symbol *s, long argc, t_atom *argv)
{	
	t_boids *x = (t_boids *)pd_new(boids3d_class);
	x->out1 = outlet_new(&x->ob, NULL);
	x->out2 = outlet_new(&x->ob, NULL);
	
	x->numBoids = 16;
	if((argc >= 1) && (argv[0].a_type == A_FLOAT)){
		x->numBoids = argv[0].a_w.w_float;
	}
	x->boid = (t_one_boid *)malloc(sizeof(t_one_boid) * x->numBoids);
	
	InitFlock(x);
	
	x->mode = 0;
	if((argc >= 2) && (argv[1].a_type == A_FLOAT)){
		x->mode = (short)(CLIP(argv[1].a_w.w_float, 0, 2));
	}
	
	x->d2r = 3.141592653589793238462643383279502884197169399375105820974944592307816406286208998628034825342117068/180.0;
	x->r2d = 180.0/3.141592653589793238462643383279502884197169399375105820974944592307816406286208998628034825342117068;
	
	return(x);
}

void Flock_free(t_boids *x)
{
	free(x->boid);
}

void Flock_bang(t_boids *x)
{
	short	i;
	t_atom 	outlist[10];
	t_atom 	*out;
	
	double 	tempNew_x, tempNew_y, tempNew_z; 
	double 	tempOld_x, tempOld_y, tempOld_z;
	double	delta_x, delta_y, delta_z; 
	double 	azi, ele, speed;
	
	out = outlist;
		
	FlightStep(x);


	switch(x->mode) { // newpos
		case 0:
		for (i = 0; i < x->numBoids; i++){
			SETFLOAT(out+0, i);
			SETFLOAT(out+1, x->boid[i].newPos.x);
			SETFLOAT(out+2, x->boid[i].newPos.y);
			SETFLOAT(out+3, x->boid[i].newPos.z);
			outlet_list(x->out1, 0L, 4, out);
		}
		break;
		case 1: //newpos + oldpos
		for (i = 0; i < x->numBoids; i++){
			SETFLOAT(out+0, i);
			SETFLOAT(out+1, x->boid[i].newPos.x);
			SETFLOAT(out+2, x->boid[i].newPos.y);
			SETFLOAT(out+3, x->boid[i].newPos.z);
			SETFLOAT(out+4, x->boid[i].oldPos.x);
			SETFLOAT(out+5, x->boid[i].oldPos.y);
			SETFLOAT(out+6, x->boid[i].oldPos.z);
			outlet_list(x->out1, 0L, 7, out);
		}
		break;
		case 2:
		for (i = 0; i < x->numBoids; i++){						
			tempNew_x = x->boid[i].newPos.x;
			tempNew_y = x->boid[i].newPos.y;
			tempNew_z = x->boid[i].newPos.z;
			tempOld_x = x->boid[i].oldPos.x;
			tempOld_y = x->boid[i].oldPos.y;
			tempOld_z = x->boid[i].oldPos.z;
			delta_x = tempNew_x - tempOld_x;
			delta_y = tempNew_y - tempOld_y;
			delta_z = tempNew_z - tempOld_z;
			azi = atan2(delta_y, delta_x) * x->r2d;
			ele = atan2(delta_y, delta_x) * x->r2d;
			speed = sqrt(delta_x * delta_x + delta_y * delta_y  + delta_z * delta_z);
			SETFLOAT(out+0, i);
			SETFLOAT(out+1, tempNew_x);
			SETFLOAT(out+2, tempNew_y);
			SETFLOAT(out+3, tempNew_z);
			SETFLOAT(out+4, tempOld_x);
			SETFLOAT(out+5, tempOld_y);
			SETFLOAT(out+6, tempOld_z);
			SETFLOAT(out+7, speed);
			SETFLOAT(out+8, azi);
			SETFLOAT(out+9, ele);
			outlet_list(x->out1, 0L, 10, out);
		}
		break;	
	}
}

void Flock_dump(t_boids *x)
{
	t_atom	outList[6];
	
	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->numNeighbors;
	outlet_anything(x->out2, gensym("neighbors"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->minSpeed;
	outlet_anything(x->out2, gensym("minspeed"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->maxSpeed;
	outlet_anything(x->out2, gensym("maxspeed"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->centerWeight;
	outlet_anything(x->out2, gensym("center"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->attractWeight;
	outlet_anything(x->out2, gensym("attract"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->matchWeight;
	outlet_anything(x->out2, gensym("match"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->avoidWeight;
	outlet_anything(x->out2, gensym("avoid"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->wallsWeight;
	outlet_anything(x->out2, gensym("repel"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->edgeDist;
	outlet_anything(x->out2, gensym("edgedist"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->speedupFactor;
	outlet_anything(x->out2, gensym("speed"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->inertiaFactor;
	outlet_anything(x->out2, gensym("inertia"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->accelFactor;
	outlet_anything(x->out2, gensym("accel"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float = x->prefDist;
	outlet_anything(x->out2, gensym("prefdist"), 1, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->flyRect.left;
	outList[1].a_type = A_FLOAT;
	outList[1].a_w.w_float =  x->flyRect.top;
	outList[2].a_type = A_FLOAT;
	outList[2].a_w.w_float =  x->flyRect.right;
	outList[3].a_type = A_FLOAT;
	outList[3].a_w.w_float =  x->flyRect.bottom;
	outList[4].a_type = A_FLOAT;
	outList[4].a_w.w_float =  x->flyRect.front;
	outList[5].a_type = A_FLOAT;
	outList[5].a_w.w_float =  x->flyRect.back;
	outlet_anything(x->out2, gensym("flyrect"), 6, outList);

	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->attractPt.x;
	outList[1].a_type = A_FLOAT;
	outList[1].a_w.w_float =  x->attractPt.y;
	outList[2].a_type = A_FLOAT;
	outList[2].a_w.w_float =  x->attractPt.z;
	outlet_anything(x->out2, gensym("attractpt"), 3, outList);
	
	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->mode;
	outlet_anything(x->out2, gensym("mode"), 1, outList);
	
	outList[0].a_type = A_FLOAT;
	outList[0].a_w.w_float =  x->numBoids;
	outlet_anything(x->out2, gensym("number"), 1, outList);
}


void Flock_mode(t_boids *x, double arg)
{
	long m = (long)arg;
	x->mode = CLIP(m, 0, 2);
}

void Flock_numNeighbors(t_boids *x, double arg)
{
	x->numNeighbors = (long)arg;
}

void Flock_numBoids(t_boids *x, double arg)
{
	x->boid = (t_one_boid *)realloc(x->boid, sizeof(t_one_boid) * (long)arg);
	x->numBoids = (long)arg;
	Flock_resetBoids(x);
}

void Flock_minSpeed(t_boids *x, double arg)
{
	x->minSpeed = MAX(arg, 0.000001);
}

void Flock_maxSpeed(t_boids *x, double arg)
{
	x->maxSpeed = arg;
}

void Flock_centerWeight(t_boids *x, double arg)
{
	x->centerWeight = arg;
}

void Flock_attractWeight(t_boids *x, double arg)
{
	x->attractWeight = arg;
}

void Flock_matchWeight(t_boids *x, double arg)
{
	x->matchWeight = arg;
}

void Flock_avoidWeight(t_boids *x, double arg)
{
	x->avoidWeight = arg;
}

void Flock_wallsWeight(t_boids *x, double arg)
{
	x->wallsWeight = arg;
}

void Flock_edgeDist(t_boids *x, double arg)
{
	x->edgeDist = arg;
}

void Flock_speedupFactor(t_boids *x, double arg)
{
	x->speedupFactor = arg;
}

void Flock_inertiaFactor(t_boids *x, double arg)
{
	if(arg == 0){
		x->inertiaFactor = 0.000001;
	}else{
		x->inertiaFactor = arg;
	}
}

void Flock_accelFactor(t_boids *x, double arg)
{
	x->accelFactor = arg;
}

void Flock_prefDist(t_boids *x, double arg)
{
	x->prefDist = arg;
}

void Flock_flyRect(t_boids *x, t_symbol *msg, short argc, t_atom *argv)
{
	double temp[6];
	short i;
	if(argc == 6){
		for(i = 0; i < 6; i++) {
			if(argv[i].a_type == A_FLOAT) {
				temp[i] = (double)argv[i].a_w.w_float;	
			}
		}
		x->flyRect.left 	= temp[0];
		x->flyRect.top 		= temp[1];
		x->flyRect.right 	= temp[2];
		x->flyRect.bottom 	= temp[3];
		x->flyRect.front 	= temp[4];
		x->flyRect.back 	= temp[5];
	}else{
		error("boids3d: flyrect needs 6 values");
	}
}

void Flock_attractPt(t_boids *x, t_symbol *msg, short argc, t_atom *argv)
{
	double temp[3];
	short i;
	if(argc == 3){
	for(i = 0; i < 3 ; i++) {
		if(argv[i].a_type == A_FLOAT) {
			temp[i] = (double)argv[i].a_w.w_float;	
		}
	}
	x->attractPt.x = temp[0];
	x->attractPt.y = temp[1];
	x->attractPt.z = temp[2];
	}else{
		error("boids3d: attractPt needs 3 values");
	}
}

void Flock_reset(t_boids *x)
{
	InitFlock(x);
}

void Flock_resetBoids(t_boids *x)
{
	long i, j;
	double rndAngle;
	
	for (i = 0; i <  x->numBoids; i++) { // init everything to 0.0
		x->boid[i].oldPos.x = 0.0;
		x->boid[i].oldPos.y = 0.0;
		x->boid[i].oldPos.z = 0.0;

		x->boid[i].newPos.x = 0.0;
		x->boid[i].newPos.y = 0.0;
		x->boid[i].newPos.z = 0.0;
		
		x->boid[i].oldDir.x = 0.0;
		x->boid[i].oldDir.y = 0.0;
		x->boid[i].oldDir.z = 0.0;
		
		x->boid[i].newDir.x = 0.0;
		x->boid[i].newDir.y = 0.0;
		x->boid[i].newDir.z = 0.0;
		
		x->boid[i].speed = 0.0;
		
		for(j=0; j<kMaxNeighbors;j++){
			x->boid[i].neighbor[j] = 0;
			x->boid[i].neighborDistSqr[j] = 0.0;
		}
	}
	for (i = 0; i <  x->numBoids; i++) {				// set the initial locations and velocities of the boids
		x->boid[i].newPos.x = x->boid[i].oldPos.x = RandomInt(x->flyRect.right,x->flyRect.left);		// set random location within flyRect
		x->boid[i].newPos.y = x->boid[i].oldPos.y = RandomInt(x->flyRect.bottom, x->flyRect.top);
		x->boid[i].newPos.z = x->boid[i].oldPos.z = RandomInt(x->flyRect.back, x->flyRect.front);
		rndAngle = RandomInt(0, 360) * x->d2r;		// set velocity from random angle
		x->boid[i].newDir.x = sin(rndAngle);
		x->boid[i].newDir.y = cos(rndAngle);
		x->boid[i].newDir.z = (cos(rndAngle) + sin(rndAngle)) * 0.5;
		x->boid[i].speed = (kMaxSpeed + kMinSpeed) * 0.5;
	}
}

void InitFlock(t_boids *x)
{
	x->numNeighbors		= kNumNeighbors;
	x->minSpeed			= kMinSpeed;
	x->maxSpeed			= kMaxSpeed;
	x->centerWeight		= kCenterWeight;
	x->attractWeight	= kAttractWeight;
	x->matchWeight		= kMatchWeight;
	x->avoidWeight		= kAvoidWeight;
	x->wallsWeight		= kWallsWeight;
	x->edgeDist			= kEdgeDist;
	x->speedupFactor	= kSpeedupFactor;
	x->inertiaFactor	= kInertiaFactor;
	x->accelFactor		= kAccelFactor;
	x->prefDist			= kPrefDist;
	x->prefDistSqr		= kPrefDist * kPrefDist;
	x->flyRect.top		= kFlyRectTop;
	x->flyRect.left		= kFlyRectLeft;
	x->flyRect.bottom	= kFlyRectBottom;
	x->flyRect.right	= kFlyRectRight;
	x->flyRect.front	= kFlyRectFront;
	x->flyRect.back		= kFlyRectBack;
	x->attractPt.x		= (kFlyRectLeft + kFlyRectRight) * 0.5;
	x->attractPt.y		= (kFlyRectTop + kFlyRectBottom) * 0.5;
	x->attractPt.z		= (kFlyRectFront + kFlyRectBack) * 0.5;
	Flock_resetBoids(x);
}

void FlightStep(t_boids *x)
{
	Velocity		goCenterVel;
	Velocity		goAttractVel;
	Velocity		matchNeighborVel;
	Velocity		avoidWallsVel;
	Velocity		avoidNeighborVel;
	float			avoidNeighborSpeed;
	const Velocity	zeroVel	= {0.0, 0.0, 0.0};
	short			i;

	x->centerPt = FindFlockCenter(x);
	for (i = 0; i <  x->numBoids; i++) {						// save position and velocity
		x->boid[i].oldPos.x = x->boid[i].newPos.x;
		x->boid[i].oldPos.y = x->boid[i].newPos.y;
		x->boid[i].oldPos.z = x->boid[i].newPos.z;
		
		x->boid[i].oldDir.x = x->boid[i].newDir.x;
		x->boid[i].oldDir.y = x->boid[i].newDir.y;
		x->boid[i].oldDir.z = x->boid[i].newDir.z;
	}
	for (i = 0; i < x->numBoids; i++) {
		if (x->numNeighbors > 0) {							// get all velocity components
			avoidNeighborSpeed = MatchAndAvoidNeighbors(x, i,&matchNeighborVel, &avoidNeighborVel);
		} else {
			matchNeighborVel = zeroVel;
			avoidNeighborVel = zeroVel;
			avoidNeighborSpeed = 0;
		}
		goCenterVel = SeekPoint(x, i, x->centerPt);			
		goAttractVel = SeekPoint(x, i, x->attractPt);
		avoidWallsVel = AvoidWalls(x, i);
	
		// compute resultant velocity using weights and inertia
		x->boid[i].newDir.x = x->inertiaFactor * (x->boid[i].oldDir.x) +
							(x->centerWeight * goCenterVel.x +
							 x->attractWeight * goAttractVel.x +
							 x->matchWeight * matchNeighborVel.x +
							 x->avoidWeight * avoidNeighborVel.x +
							 x->wallsWeight * avoidWallsVel.x) / x->inertiaFactor;
		x->boid[i].newDir.y = x->inertiaFactor * (x->boid[i].oldDir.y) +
							(x->centerWeight * goCenterVel.y +
							 x->attractWeight * goAttractVel.y +
							 x->matchWeight * matchNeighborVel.y +
							 x->avoidWeight * avoidNeighborVel.y +
							 x->wallsWeight * avoidWallsVel.y) / x->inertiaFactor;
		x->boid[i].newDir.z = x->inertiaFactor * (x->boid[i].oldDir.z) +
							(x->centerWeight * goCenterVel.z +
							 x->attractWeight * goAttractVel.z +
							 x->matchWeight * matchNeighborVel.z +
							 x->avoidWeight * avoidNeighborVel.z +
							 x->wallsWeight * avoidWallsVel.z) / x->inertiaFactor;
		NormalizeVelocity(&(x->boid[i].newDir));	// normalize velocity so its length is unity

		// set to avoidNeighborSpeed bounded by minSpeed and maxSpeed
		if ((avoidNeighborSpeed >= x->minSpeed) &&
				(avoidNeighborSpeed <= x->maxSpeed))
			x->boid[i].speed = avoidNeighborSpeed;
		else if (avoidNeighborSpeed > x->maxSpeed)
			x->boid[i].speed = x->maxSpeed;
		else
			x->boid[i].speed = x->minSpeed;

		// calculate new position, applying speedupFactor
		x->boid[i].newPos.x += x->boid[i].newDir.x * x->boid[i].speed * (x->speedupFactor / 100.0);
		x->boid[i].newPos.y += x->boid[i].newDir.y * x->boid[i].speed * (x->speedupFactor / 100.0);
		x->boid[i].newPos.z += x->boid[i].newDir.z * x->boid[i].speed * (x->speedupFactor / 100.0);

	}
}

Point3d FindFlockCenter(t_boids *x)
{
	double			totalH = 0, totalV = 0, totalD = 0;
	Point3d			centerPoint;
	register short	i;

	for (i = 0 ; i <  x->numBoids; i++)
	{
		totalH += x->boid[i].oldPos.x;
		totalV += x->boid[i].oldPos.y;
		totalD += x->boid[i].oldPos.z;
	}
	centerPoint.x = (double)	(totalH / x->numBoids);
	centerPoint.y = (double)	(totalV / x->numBoids);
	centerPoint.z = (double)	(totalD / x->numBoids);
		
	return(centerPoint);
}

float MatchAndAvoidNeighbors(t_boids *x, short theBoid, Velocity *matchNeighborVel, Velocity *avoidNeighborVel)
{
	short			i, j, neighbor;
	double			distSqr;
	double			dist, distH, distV,distD;
	double			tempSpeed;
	short			numClose = 0;
	Velocity		totalVel = {0.0, 0.0, 0.0};

	/**********************/
	/* Find the neighbors */	
	/**********************/

	/* special case of one neighbor */
	if (x->numNeighbors == 1) {
		x->boid[theBoid].neighborDistSqr[0] = kMaxLong;
	
		for (i = 0; i < x->numBoids; i++) {
			if (i != theBoid) {
				distSqr = DistSqrToPt(x->boid[theBoid].oldPos, x->boid[i].oldPos);
				
				/* if this one is closer than the closest so far, then remember it */
				if (x->boid[theBoid].neighborDistSqr[0] > distSqr) {
					x->boid[theBoid].neighborDistSqr[0] = distSqr;
					x->boid[theBoid].neighbor[0] = i;
				}
			}
		}
	}
	/* more than one neighbor */
	else {
		for (j = 0; j < x->numNeighbors; j++)
			x->boid[theBoid].neighborDistSqr[j] = kMaxLong;
		
		for (i = 0 ; i < x->numBoids; i++) {
			/* if this one is not me... */
			if (i != theBoid) {
				distSqr = DistSqrToPt(x->boid[theBoid].oldPos, x->boid[i].oldPos);
	
				/* if distSqr is less than the distance at the bottom of the array, sort into array */
				if (distSqr < x->boid[theBoid].neighborDistSqr[x->numNeighbors-1]) {
					j = x->numNeighbors - 1;
				
					/* sort distSqr in to keep array in size order, smallest first */
					while ((distSqr < x->boid[theBoid].neighborDistSqr[j-1]) && (j > 0)) {
						x->boid[theBoid].neighborDistSqr[j] = x->boid[theBoid].neighborDistSqr[j - 1];
						x->boid[theBoid].neighbor[j] = x->boid[theBoid].neighbor[j - 1];
						j--;
					}
					x->boid[theBoid].neighborDistSqr[j] = distSqr;
					x->boid[theBoid].neighbor[j] = i;					
				}
			}
		}
	}

	/*********************************/
	/* Match and avoid the neighbors */	
	/*********************************/

	matchNeighborVel->x = 0;
	matchNeighborVel->y = 0;
	matchNeighborVel->z = 0;
	
	// set tempSpeed to old speed
	tempSpeed = x->boid[theBoid].speed;
	
	for (i = 0; i < x->numNeighbors; i++) {
		neighbor = x->boid[theBoid].neighbor[i];
		
		// calculate matchNeighborVel by averaging the neighbor velocities
		matchNeighborVel->x += x->boid[neighbor].oldDir.x;
		matchNeighborVel->y += x->boid[neighbor].oldDir.y;
		matchNeighborVel->z += x->boid[neighbor].oldDir.z;
			
		// if distance is less than preferred distance, then neighbor influences boid
		distSqr = x->boid[theBoid].neighborDistSqr[i];
		if (distSqr < x->prefDistSqr) {
			dist = sqrt(distSqr);

			distH = x->boid[neighbor].oldPos.x - x->boid[theBoid].oldPos.x;
			distV = x->boid[neighbor].oldPos.y - x->boid[theBoid].oldPos.y;
			distD = x->boid[neighbor].oldPos.z - x->boid[theBoid].oldPos.z;
			
			if(dist == 0.0) dist = 0.0000001;
			totalVel.x = totalVel.x - distH - (distH * ((float) x->prefDist / (dist)));
			totalVel.y = totalVel.y - distV - (distV * ((float) x->prefDist / (dist)));
			totalVel.z = totalVel.z - distD - (distV * ((float) x->prefDist / (dist)));
		
			numClose++;
		}
		if (InFront(&(x->boid[theBoid]), &(x->boid[neighbor]))) {	// adjust speed
			if (distSqr < x->prefDistSqr) 
				tempSpeed /= (x->accelFactor / 100.0);
			else
				tempSpeed *= (x->accelFactor / 100.0);
		}
		else {
			if (distSqr < x->prefDistSqr)
				tempSpeed *= (x->accelFactor / 100.0);
			else
				tempSpeed /= (x->accelFactor / 100.0);
		}
	}
	if (numClose) {
		avoidNeighborVel->x = totalVel.x / numClose;
		avoidNeighborVel->y = totalVel.y / numClose;
		avoidNeighborVel->z = totalVel.z / numClose;
		NormalizeVelocity(matchNeighborVel);
	}
	else {
		avoidNeighborVel->x = 0;
		avoidNeighborVel->y = 0;
		avoidNeighborVel->z = 0;
	}
	return(tempSpeed);
}


Velocity SeekPoint(t_boids *x, short theBoid, Point3d seekPt)
{
	Velocity	tempDir;
	tempDir.x = seekPt.x - x->boid[theBoid].oldPos.x;	
	tempDir.y = seekPt.y - x->boid[theBoid].oldPos.y;
	tempDir.z = seekPt.z - x->boid[theBoid].oldPos.z;
	NormalizeVelocity(&tempDir);
	return(tempDir);
}


Velocity AvoidWalls(t_boids *x, short theBoid)
{
	Point3d		testPoint;
	Velocity	tempVel = {0.0, 0.0, 0.0};
		
	/* calculate test point in front of the nose of the boid */
	/* distance depends on the boid's speed and the avoid edge constant */
	testPoint.x = x->boid[theBoid].oldPos.x + x->boid[theBoid].oldDir.x * x->boid[theBoid].speed * x->edgeDist;
	testPoint.y = x->boid[theBoid].oldPos.y + x->boid[theBoid].oldDir.y * x->boid[theBoid].speed * x->edgeDist;
	testPoint.z = x->boid[theBoid].oldPos.z + x->boid[theBoid].oldDir.z * x->boid[theBoid].speed * x->edgeDist;

	/* if test point is out of the left (right) side of x->flyRect, */
	/* return a positive (negative) horizontal velocity component */
	if (testPoint.x < x->flyRect.left)
		tempVel.x = fabs(x->boid[theBoid].oldDir.x);
	else if (testPoint.x > x->flyRect.right)
		tempVel.x = - fabs(x->boid[theBoid].oldDir.x);

	/* same with top and bottom */
	if (testPoint.y < x->flyRect.top)
		tempVel.y = fabs(x->boid[theBoid].oldDir.y);
	else if (testPoint.y > x->flyRect.bottom)
		tempVel.y = - fabs(x->boid[theBoid].oldDir.y);

	/* same with front and back */
	if (testPoint.z < x->flyRect.front)
		tempVel.z = fabs(x->boid[theBoid].oldDir.z);
	else if (testPoint.z > x->flyRect.back)
		tempVel.z = - fabs(x->boid[theBoid].oldDir.z);
		
	return(tempVel);
}


int InFront(BoidPtr theBoid, BoidPtr neighbor)
{
	float	grad, intercept;
	int result;
	
/* 

Find the gradient and y-intercept of a line passing through theBoid's oldPos
perpendicular to its direction of motion.  Another boid is in front of theBoid
if it is to the right or left of this linedepending on whether theBoid is moving
right or left.  However, if theBoid is travelling vertically then just compare
their vertical coordinates.	

*/
	// xy plane
	
	// if theBoid is not travelling vertically...
	if (theBoid->oldDir.x != 0) {
		// calculate gradient of a line _perpendicular_ to its direction (hence the minus)
		grad = -theBoid->oldDir.y / theBoid->oldDir.x;
		
		// calculate where this line hits the y axis (from y = mx + c)
		intercept = theBoid->oldPos.y - (grad * theBoid->oldPos.x);

		/* compare the horizontal position of the neighbor boid with */
		/* the point on the line that has its vertical coordinate */
		if (neighbor->oldPos.x >= ((neighbor->oldPos.y - intercept) / grad)) {
			/* return true if the first boid's horizontal movement is +ve */
			result = (theBoid->oldDir.x > 0);

			if (result==0) return 0;
			else goto next;
			
		} else {
			/* return true if the first boid's horizontal movement is +ve */
			result = (theBoid->oldDir.x < 0);
			if (result==0) return 0;
			else goto next;
		}
	}
	/* else theBoid is travelling vertically, so just compare vertical coordinates */
	else if (theBoid->oldDir.y > 0) {
		result = (neighbor->oldPos.y > theBoid->oldPos.y);
		if (result==0){ 
			return 0;
		}else{
			goto next;
		}
	}else{
		result = (neighbor->oldPos.y < theBoid->oldPos.y);
		if (result==0){
			return 0;
		} else {
			goto next;
		}
	}
next:
	// yz plane
	
	// if theBoid is not travelling vertically... 
	if (theBoid->oldDir.y != 0) {
		// calculate gradient of a line _perpendicular_ to its direction (hence the minus) 
		grad = -theBoid->oldDir.z / theBoid->oldDir.y;
		
		// calculate where this line hits the y axis (from y = mx + c) 
		intercept = theBoid->oldPos.z - (grad * theBoid->oldPos.y);

		// compare the horizontal position of the neighbor boid with 
		// the point on the line that has its vertical coordinate 
		if (neighbor->oldPos.y >= ((neighbor->oldPos.z - intercept) / grad)) {
			// return true if the first boid's horizontal movement is +ve 
			result = (theBoid->oldDir.y > 0);
			if (result==0){ 
				return 0;
			}else{
				goto next2;
			}
		} else {
			// return true if the first boid's horizontal movement is +ve 
			result = (theBoid->oldDir.y < 0);
			if (result==0){
				return 0;
			}else{
				goto next2;
			}
		}
	}
	// else theBoid is travelling vertically, so just compare vertical coordinates 
	else if (theBoid->oldDir.z > 0) {
		result = (neighbor->oldPos.z > theBoid->oldPos.z);
		if (result==0){ 
			return 0;
		}else{
			goto next2;
		}
	}else{
		result = (neighbor->oldPos.z < theBoid->oldPos.z);
		if (result==0){
			return 0;
		}else{
			goto next2;
		}
	}
next2:
	return 1;
}

void NormalizeVelocity(Velocity *direction)
{
	float	my_hypot;
	
	my_hypot = sqrt(direction->x * direction->x + direction->y * direction->y + direction->z * direction->z );

	if (my_hypot != 0.0) {
		direction->x = direction->x / my_hypot;
		direction->y = direction->y / my_hypot;
		direction->z = direction->z / my_hypot;
	}
}

double RandomInt(double minRange, double maxRange)
{
	unsigned short	qdRdm;
	double			t, result;
	
	qdRdm = rand();
	t = (double)qdRdm / 65536.0; 	// now 0 <= t <= 1
	result = (t * (maxRange - minRange)) + minRange;
	return(result);
}

double DistSqrToPt(Point3d firstPoint, Point3d secondPoint)
{
	double	a, b,c;
	a = firstPoint.x - secondPoint.x;
	b = firstPoint.y - secondPoint.y;	
	c = firstPoint.z - secondPoint.z;	
	return(a * a + b * b + c * c);
}
\ No newline at end of file
diff --git a/boids3d/makefile b/boids3d/makefile
new file mode 100644
index 0000000..43c143c
--- /dev/null
+++ b/boids3d/makefile
@@ -0,0 +1,92 @@
+NAME=boids3d
+CSYM=boids3d
+
+current: pd_darwin
+
+# ----------------------- NT -----------------------
+
+pd_nt: $(NAME).dll
+
+.SUFFIXES: .dll
+
+PDNTCFLAGS = /W3 /WX /DNT /DPD /nologo
+VC="C:\Program Files\Microsoft Visual Studio\Vc98"
+
+PDNTINCLUDE = /I. /I..\..\src /I$(VC)\include
+
+PDNTLDIR = $(VC)\lib
+PDNTLIB = $(PDNTLDIR)\libc.lib \
+	$(PDNTLDIR)\oldnames.lib \
+	$(PDNTLDIR)\kernel32.lib \
+	..\..\bin\pd.lib 
+
+.c.dll:
+	cl $(PDNTCFLAGS) $(PDNTINCLUDE) /c $*.c
+	link /dll /export:$(CSYM)_setup $*.obj $(PDNTLIB)
+
+# ----------------------- IRIX 5.x -----------------------
+
+pd_irix5: $(NAME).pd_irix5
+
+.SUFFIXES: .pd_irix5
+
+SGICFLAGS5 = -o32 -DPD -DUNIX -DIRIX -O2
+
+SGIINCLUDE =  -I../../src
+
+.c.pd_irix5:
+	$(CC) $(SGICFLAGS5) $(SGIINCLUDE) -o $*.o -c $*.c
+	ld -elf -shared -rdata_shared -o $*.pd_irix5 $*.o
+	rm $*.o
+
+# ----------------------- IRIX 6.x -----------------------
+
+pd_irix6: $(NAME).pd_irix6
+
+.SUFFIXES: .pd_irix6
+
+SGICFLAGS6 = -n32 -DPD -DUNIX -DIRIX -DN32 -woff 1080,1064,1185 \
+	-OPT:roundoff=3 -OPT:IEEE_arithmetic=3 -OPT:cray_ivdep=true \
+	-Ofast=ip32
+
+.c.pd_irix6:
+	$(CC) $(SGICFLAGS6) $(SGIINCLUDE) -o $*.o -c $*.c
+	ld -n32 -IPA -shared -rdata_shared -o $*.pd_irix6 $*.o
+	rm $*.o
+
+# ----------------------- LINUX i386 -----------------------
+
+pd_linux: $(NAME).pd_linux
+
+.SUFFIXES: .pd_linux
+
+LINUXCFLAGS = -DPD -O2 -funroll-loops -fomit-frame-pointer  -fPIC \
+    -Wall -W -Wshadow -Wstrict-prototypes  \
+    -Wno-unused -Wno-parentheses -Wno-switch $(CFLAGS)
+
+LINUXINCLUDE =  -I../../src
+
+.c.pd_linux:
+	$(CC) $(LINUXCFLAGS) $(LINUXINCLUDE) -o $*.o -c $*.c
+	ld -export_dynamic  -shared -o $*.pd_linux $*.o -lc -lm
+	strip --strip-unneeded $*.pd_linux
+	rm -f $*.o
+
+# ----------------------- Mac OSX -----------------------
+
+pd_darwin: $(NAME).pd_darwin
+
+.SUFFIXES: .pd_darwin
+
+DARWINCFLAGS = -DPD -O2 -Wall -W -Wshadow -Wstrict-prototypes \
+    -Wno-unused -Wno-parentheses -Wno-switch
+
+.c.pd_darwin:
+	$(CC) $(DARWINCFLAGS) $(LINUXINCLUDE) -o $*.o -c $*.c
+	$(CC) -bundle -undefined suppress -flat_namespace -o $*.pd_darwin $*.o 
+	rm -f $*.o
+
+# ----------------------------------------------------------
+
+clean:
+	rm -f *.o *.pd_* so_locations