Boid Playground

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Flocking Controls

Cohesion ? Steers each boid gently toward the local flock center. 0.0004

Separation ? Pushes nearby boids apart so they do not stack up or collide. 0.280 Alignment ? Encourages each boid to match the heading and speed of neighbors. 0.0100 Visual Range ? Sets how far away a boid can sense the flock when applying the three rules. 150 px

Safety Controls

SafeBoid

Classical Separation ? Adds the original boid separation rule before the safety filter so you can compare filtered flocking with and without it. Active Threats ? Limits how many nearby threats are turned into active safety constraints for each agent every frame. 4

Diagnostics

Live

Avg. Unsafe 0.0000

More Metrics

Avg. Polarization 0.0000

Polarization ? Instant heading agreement. Values near 1 mean strong aligned flocking. Moving and staying together without a leader 0.0000

Avg. Milling 0.0000

Milling ? Instant rotational order around the group center. Higher values mean clearer circular milling. Milling model 0.0000

Avg. NN Dist. 0.00

NN Dist. ? Instant average distance to each agent's closest neighbor. Smaller values mean tighter spacing. Density metric 0.00

Avg. Extension 0.00

Extension ? Instant spread of the flock, implemented here as mean distance to the group centroid. Extension metric 0.00

Advanced Controls

Hidden panel

Max Velocity 3.80 Max Acceleration 0.280 Number of Agents 200

Controller Infeasible