added AI support

src/Behaviors/Behavior.ts

@@ -0,0 +1,14 @@
+import Emitter from "../Events/Emitter";
+import Receiver from "../Events/Receiver";
+
+export default abstract class Behavior {
+    protected receiver: Receiver;
+    protected emitter: Emitter;
+
+    constructor(){
+        this.receiver = new Receiver();
+        this.emitter = new Emitter();
+    }
+
+    abstract doBehavior(deltaT: number): void;
+}

src/BoidDemo.ts

@@ -0,0 +1,57 @@
+import Vec2 from "./DataTypes/Vec2";
+import Debug from "./Debug/Debug";
+import Point from "./Nodes/Graphics/Point";
+import Scene from "./Scene/Scene";
+import SceneGraphQuadTree from "./SceneGraph/SceneGraphQuadTree";
+import Color from "./Utils/Color";
+import Boid from "./_DemoClasses/Boid";
+import BoidBehavior from "./_DemoClasses/BoidBehavior";
+import FlockBehavior from "./_DemoClasses/FlockBehavior";
+
+/**
+ * This demo emphasizes an ai system for the game engine with component architecture
+ * Boids move around with components
+ * Boids have randomized affects (maybe?)
+ * Boids respond to player movement
+ */
+export default class BoidDemo extends Scene {
+    boids: Array<Boid>;
+
+    startScene(){
+        // Set the world size
+        this.worldSize = new Vec2(800, 600);
+        this.sceneGraph = new SceneGraphQuadTree(this.viewport, this);
+        this.viewport.setBounds(0, 0, 800, 600)
+        this.viewport.setCenter(400, 300);
+
+        let layer = this.addLayer()
+        this.boids = new Array();
+
+        // Create a bunch of boids
+        for(let i = 0; i < 200; i++){
+            let boid = this.add.graphic(Boid, layer, new Vec2(this.worldSize.x*Math.random(), this.worldSize.y*Math.random()));
+            let separation = 3;
+            let alignment = 1;
+            let cohesion = 3;
+            boid.addBehavior(new BoidBehavior(this, boid, separation, alignment, cohesion));
+            boid.addBehavior(new FlockBehavior(this, boid, this.boids, 75, 50));
+            boid.setSize(5, 5);
+            this.boids.push(boid);
+        }
+    }
+
+    updateScene(deltaT: number): void {
+        for(let boid of this.boids){
+            boid.setColor(Color.RED);
+        }
+        
+        for(let boid of this.boids){
+            boid.getBehavior(FlockBehavior).doBehavior(deltaT);
+        }
+
+        
+        for(let boid of this.boids){
+            boid.getBehavior(BoidBehavior).doBehavior(deltaT);
+        }
+    }
+}

src/DataTypes/AABB.ts

@@ -1,5 +1,6 @@
 import Shape from "./Shape";
 import Vec2 from "./Vec2";
+import MathUtils from "../Utils/MathUtils";
 
 export default class AABB extends Shape {
 
@@ -101,6 +102,68 @@ export default class AABB extends Shape {
             && point.y > this.y - this.hh && point.y <= this.y + this.hh
     }
 
+
+    /**
+     * Returns the data from the intersection of this AABB with a line segment from a point in a direction
+     * @param point The point that the line segment starts from
+     * @param direction The direction the point will go
+     * @param distance The length of the line segment, if the direction is a unit vector
+     * @param paddingX Pads the AABB in the x axis
+     * @param paddingY Pads the AABB in the y axis
+     */
+    intersectSegment(point: Vec2, direction: Vec2, distance?: number, paddingX?: number, paddingY?: number): Hit {
+        // Scale by the distance if it has been provided
+        if(distance){
+            direction = direction.scaled(distance);
+        }
+
+        let _paddingX = paddingX ? paddingX : 0;
+        let _paddingY = paddingY ? paddingY : 0;
+
+        let scaleX = 1/direction.x;
+        let scaleY = 1/direction.y;
+
+        let signX = MathUtils.sign(scaleX);
+        let signY = MathUtils.sign(scaleY);
+
+        let tnearx = scaleX*(this.center.x - signX*(this.halfSize.x + _paddingX) - point.x);
+        let tneary = scaleX*(this.center.y - signY*(this.halfSize.y + _paddingY) - point.y);
+        let tfarx = scaleY*(this.center.x + signX*(this.halfSize.x + _paddingX) - point.x);
+        let tfary = scaleY*(this.center.y + signY*(this.halfSize.y + _paddingY) - point.y);
+        
+        if(tnearx > tfary || tneary > tfarx){
+            // We aren't colliding - we clear one axis before intersecting another
+            return null;
+        }
+
+        let tnear = Math.max(tnearx, tneary);
+        let tfar = Math.min(tfarx, tfary);
+
+        if(tnear >= 1 || tfar <= 0){
+            return null;
+        }
+
+        // We are colliding
+        let hit = new Hit();
+        hit.t = MathUtils.clamp01(tnear);
+
+        if(tnearx > tneary){
+            // We hit on the left or right size
+            hit.normal.x = -signX;
+            hit.normal.y = 0;
+        } else {
+            hit.normal.x = 0;
+            hit.normal.y = -signY;
+        }
+
+        hit.delta.x = (1.0 - hit.t) * -direction.x;
+        hit.delta.y = (1.0 - hit.t) * -direction.y;
+        hit.pos.x = point.x + direction.x * hit.t;
+        hit.pos.y = point.y + direction.y * hit.t;
+
+        return hit;
+    }
+
     /**
      * A simple boolean check of whether this AABB overlaps another
      * @param other 
@@ -138,3 +201,10 @@ export default class AABB extends Shape {
         return dx*dy;
     }
 }
+
+export class Hit {
+    t: number;
+    pos: Vec2 = Vec2.ZERO;
+    delta: Vec2 = Vec2.ZERO;
+    normal: Vec2 = Vec2.ZERO;
+}

src/DataTypes/RegionQuadTree.ts

@@ -178,10 +178,10 @@ export default class QuadTree<T extends Region & Unique> implements Collection {
         let hw = this.boundary.hw;
         let hh = this.boundary.hh;
 
-        this.nw = new QuadTree(new Vec2(x-hw/2, y-hh/2), new Vec2(hw/2, hh/2), this.maxDepth - 1);
+        this.nw = new QuadTree(new Vec2(x-hw/2, y-hh/2), new Vec2(hw/2, hh/2), this.maxDepth - 1, this.capacity);
-        this.ne = new QuadTree(new Vec2(x+hw/2, y-hh/2), new Vec2(hw/2, hh/2), this.maxDepth - 1)
+        this.ne = new QuadTree(new Vec2(x+hw/2, y-hh/2), new Vec2(hw/2, hh/2), this.maxDepth - 1, this.capacity);
-        this.sw = new QuadTree(new Vec2(x-hw/2, y+hh/2), new Vec2(hw/2, hh/2), this.maxDepth - 1)
+        this.sw = new QuadTree(new Vec2(x-hw/2, y+hh/2), new Vec2(hw/2, hh/2), this.maxDepth - 1, this.capacity);
-        this.se = new QuadTree(new Vec2(x+hw/2, y+hh/2), new Vec2(hw/2, hh/2), this.maxDepth - 1)
+        this.se = new QuadTree(new Vec2(x+hw/2, y+hh/2), new Vec2(hw/2, hh/2), this.maxDepth - 1, this.capacity);
 
         this.distributeItems();
     }
@@ -213,7 +213,6 @@ export default class QuadTree<T extends Region & Unique> implements Collection {
      * @param ctx 
      */
     public render_demo(ctx: CanvasRenderingContext2D): void {
-        return;
         ctx.strokeStyle = "#0000FF";
         ctx.strokeRect(this.boundary.x - this.boundary.hw, this.boundary.y - this.boundary.hh, 2*this.boundary.hw, 2*this.boundary.hh);
 

src/DataTypes/Vec2.ts

@@ -80,6 +80,14 @@ export default class Vec2 {
 		return this;
 	}
 
+	/**
+	 * Returns a new vector that is the normalized version of this one
+	 */
+	normalized(){
+		let mag = this.mag();
+		return new Vec2(this.x/mag, this.y/mag);
+	}
+
 	/**
 	 * Sets the vector's x and y based on the angle provided. Goes counter clockwise.
 	 * @param angle The angle in radians
@@ -205,6 +213,22 @@ export default class Vec2 {
 		return (this.x - other.x)*(this.x - other.x) + (this.y - other.y)*(this.y - other.y);
 	}
 
+	/**
+	 * Returns the distance between this vector and another vector
+	 * @param other 
+	 */
+	distanceTo(other: Vec2): number {
+		return Math.sqrt(this.distanceSqTo(other));
+	}
+
+	/**
+	 * Returns the dot product of this vector and another
+	 * @param other 
+	 */
+	dot(other: Vec2): number {
+		return this.x*other.x + this.y*other.y;
+	}
+
 	/**
 	 * Returns a string representation of this vector rounded to 1 decimal point
 	 */

src/Loop/GameLoop.ts

@@ -28,6 +28,8 @@ export default class GameLoop {
 	private started: boolean;
 	private running: boolean;
     private frameDelta: number;
+    private panic: boolean;
+    private numUpdateSteps: number;
 
     // Game canvas and its width and height
 	readonly GAME_CANVAS: HTMLCanvasElement;
@@ -61,7 +63,7 @@ export default class GameLoop {
         this.running = false;
 
         // Get the game canvas and give it a background color
-        this.GAME_CANVAS = document.getElementById("game-canvas") as HTMLCanvasElement;
+        this.GAME_CANVAS = <HTMLCanvasElement>document.getElementById("game-canvas");
         this.GAME_CANVAS.style.setProperty("background-color", "whitesmoke");
     
         // Give the canvas a size and get the rendering context
@@ -169,17 +171,40 @@ export default class GameLoop {
         this.lastFrameTime = timestamp;
 
         // Update while we can (This will present problems if we leave the window)
-        let i = 0;
+        this.numUpdateSteps = 0;
         while(this.frameDelta >= this.simulationTimestep){
             this.update(this.simulationTimestep/1000);
             this.frameDelta -= this.simulationTimestep;
 
+            this.numUpdateSteps++;
+            if(this.numUpdateSteps > 100){
+                this.panic = true;
+            }
+
             // Update the frame of the game
             this.updateFrameCount(this.simulationTimestep);
         }
 
         // Updates are done, draw
         this.render();
+
+        // End the frame
+        this.end();
+
+        this.panic = false;
+    }
+
+    end(){
+        if(this.panic) {
+            var discardedTime = Math.round(this.resetFrameDelta());
+            console.warn('Main loop panicked, probably because the browser tab was put in the background. Discarding ' + discardedTime + 'ms');
+        }
+    }
+
+    resetFrameDelta() : number {
+        var oldFrameDelta = this.frameDelta;
+        this.frameDelta = 0;
+        return oldFrameDelta;
     }
 
     /**

src/Nodes/GameNode.ts

@@ -7,6 +7,7 @@ import Scene from "../Scene/Scene";
 import Layer from "../Scene/Layer";
 import { Positioned, Unique } from "../DataTypes/Interfaces/Descriptors"
 import UIElement from "./UIElement";
+import Behavior from "../Behaviors/Behavior";
 
 /**
  * The representation of an object in the game world
@@ -19,6 +20,7 @@ export default abstract class GameNode implements Positioned, Unique {
 	protected scene: Scene;
 	protected layer: Layer;
 	private id: number;
+	protected behaviors: Array<Behavior>;
 
 	constructor(){
 		this.input = InputReceiver.getInstance();
@@ -26,6 +28,7 @@ export default abstract class GameNode implements Positioned, Unique {
 		this._position.setOnChange(this.positionChanged);
 		this.receiver = new Receiver();
 		this.emitter = new Emitter();
+		this.behaviors = new Array();
 	}
 
 	setScene(scene: Scene): void {
@@ -74,6 +77,33 @@ export default abstract class GameNode implements Positioned, Unique {
 		return this.id;
 	}
 
+	/**
+	 * Adds a behavior to the list of behaviors in this GameNode
+	 * @param behavior The behavior to add to this GameNode
+	 */
+	addBehavior(behavior: Behavior): void {
+		this.behaviors.push(behavior);
+	}
+
+	/**
+	 * Does all of the behaviors of this GameNode
+	 */
+	doBehaviors(deltaT: number): void {
+		this.behaviors.forEach(behavior => behavior.doBehavior(deltaT));
+	}
+
+	getBehavior<T extends Behavior>(constr: new (...args: any) => T): T {
+		let query = null;
+
+		for(let behavior of this.behaviors){
+			if(behavior instanceof constr){
+				query = <T>behavior;
+			}
+		}
+
+		return query;
+	}
+
 	/**
 	 * Called if the position vector is modified or replaced
 	 */

src/SceneGraph/SceneGraphArray.ts

@@ -45,7 +45,15 @@ export default class SceneGraphArray extends SceneGraph{
     }
 
     getNodesInRegion(boundary: AABB): Array<CanvasNode> {
-        return [];
+        let results = [];
+
+        for(let node of this.nodeList){
+            if(boundary.overlapArea(node.getBoundary())){
+                results.push(node);
+            }
+        }
+
+        return results;
     }
 
     update(deltaT: number): void {

src/SceneGraph/SceneGraphQuadTree.ts

@@ -14,7 +14,7 @@ export default class SceneGraphQuadTree extends SceneGraph {
         super(viewport, scene);
 
         let size = this.scene.getWorldSize();
-        this.qt = new RegionQuadTree(size.clone().scale(1/2), size.clone().scale(1/2), 5);
+        this.qt = new RegionQuadTree(size.clone().scale(1/2), size.clone().scale(1/2), 5, 30);
         this.nodes = new Array();
     }
 
@@ -44,11 +44,13 @@ export default class SceneGraphQuadTree extends SceneGraph {
             this.qt.insert(node);
         }
 
-        this.qt.forEach((node: CanvasNode) => {
+        this.nodes.forEach((node: CanvasNode) => node.update(deltaT));
-            if(!node.getLayer().isPaused()){
+        // TODO: forEach is buggy, some nodes are update multiple times
-                node.update(deltaT);
+        // this.qt.forEach((node: CanvasNode) => {
-            }
+        //     if(!node.getLayer().isPaused()){
-        });
+        //         node.update(deltaT);
+        //     }
+        // });
     }
 
     render(ctx: CanvasRenderingContext2D): void {

src/SceneGraph/Viewport.ts

@@ -158,6 +158,20 @@ export default class Viewport {
             pos.x = MathUtils.clamp(pos.x, this.boundary.left + this.view.hw, this.boundary.right - this.view.hw);
             pos.y = MathUtils.clamp(pos.y, this.boundary.top + this.view.hh, this.boundary.bottom - this.view.hh);
 
+            this.view.setCenter(pos);
+        } else {
+            if(this.lastPositions.getSize() > this.smoothingFactor){
+                this.lastPositions.dequeue();
+            }
+
+            let pos = Vec2.ZERO;
+            this.lastPositions.forEach(position => pos.add(position));
+            pos.scale(1/this.lastPositions.getSize());
+            
+            // Set this position either to the object or to its bounds
+            pos.x = MathUtils.clamp(pos.x, this.boundary.left + this.view.hw, this.boundary.right - this.view.hw);
+            pos.y = MathUtils.clamp(pos.y, this.boundary.top + this.view.hh, this.boundary.bottom - this.view.hh);
+
             this.view.setCenter(pos);
         }
     }

src/Utils/MathUtils.ts

@@ -1,4 +1,14 @@
+import Vec2 from "../DataTypes/Vec2";
+
 export default class MathUtils {
+    /**
+     * Returns the sign of the value provided
+     * @param x The value to extract the sign from
+     */
+    static sign(x: number): number {
+        return x < 0 ? -1 : 1;
+    }
+
     /**
      * Clamps the value x to the range [min, max], rounding up or down if needed
      * @param x The value to be clamped
@@ -11,6 +21,22 @@ export default class MathUtils {
         return x;
     }
 
+    /**
+     * Clamps the value x to the range between 0 and 1
+     * @param x The value to be clamped
+     */
+    static clamp01(x: number): number {
+        return MathUtils.clamp(x, 0, 1);
+    }
+
+    static clampMagnitude(v: Vec2, m: number): Vec2 {
+        if(v.magSq() > m*m){
+            return v.scaleTo(m);
+        } else{
+            return v;
+        }
+    }
+
     /**
 	 * Linear Interpolation
 	 * @param a The first value for the interpolation bound

src/_DemoClasses/Boid.ts

@@ -0,0 +1,43 @@
+import Vec2 from "../DataTypes/Vec2";
+import Graphic from "../Nodes/Graphic";
+import BoidBehavior from "./BoidBehavior";
+
+export default class Boid extends Graphic {
+    direction: Vec2 = Vec2.UP.rotateCCW(Math.random()*2*Math.PI);
+    acceleration: Vec2 = Vec2.ZERO;
+    velocity: Vec2 = Vec2.ZERO;
+
+    constructor(position: Vec2){
+        super();
+        this.position = position;
+    }
+
+    update(deltaT: number){
+        this.position.add(this.velocity.scaled(deltaT));
+
+        this.position.x = (this.position.x + this.scene.getWorldSize().x)%this.scene.getWorldSize().x;
+        this.position.y = (this.position.y + this.scene.getWorldSize().y)%this.scene.getWorldSize().y;
+    }
+
+    render(ctx: CanvasRenderingContext2D): void {
+        let origin = this.getViewportOriginWithParallax();
+
+        let dirVec = this.direction.scaled(this.size.x, this.size.y);
+        let finVec1 = this.direction.clone().rotateCCW(Math.PI/2).scale(this.size.x/2, this.size.y/2).sub(this.direction.scaled(this.size.x/1.5, this.size.y/1.5));
+        let finVec2 = this.direction.clone().rotateCCW(-Math.PI/2).scale(this.size.x/2, this.size.y/2).sub(this.direction.scaled(this.size.x/1.5, this.size.y/1.5));
+
+        ctx.lineWidth = 1;
+        ctx.fillStyle = this.color.toString();
+        ctx.beginPath();
+        ctx.moveTo(this.position.x + dirVec.x, this.position.y + dirVec.y);
+        ctx.lineTo(this.position.x + finVec1.x, this.position.y + finVec1.y);
+        ctx.lineTo(this.position.x - dirVec.x/3, this.position.y - dirVec.y/3);
+        ctx.lineTo(this.position.x + finVec2.x,this.position.y + finVec2.y);
+        ctx.lineTo(this.position.x + dirVec.x, this.position.y + dirVec.y);
+        ctx.fill();
+
+        // ctx.fillStyle = this.color.toStringRGBA();
+        // ctx.fillRect(this.position.x - origin.x - this.size.x/2, this.position.y - origin.y - this.size.y/2,
+        //     this.size.x, this.size.y);
+    }
+}

src/_DemoClasses/BoidBehavior.ts

@@ -0,0 +1,82 @@
+import Behavior from "../Behaviors/Behavior";
+import AABB from "../DataTypes/AABB";
+import Vec2 from "../DataTypes/Vec2";
+import Debug from "../Debug/Debug";
+import Point from "../Nodes/Graphics/Point";
+import Scene from "../Scene/Scene";
+import Color from "../Utils/Color";
+import MathUtils from "../Utils/MathUtils";
+import Boid from "./Boid";
+import FlockBehavior from "./FlockBehavior";
+
+export default class BoidBehavior extends Behavior {
+    scene: Scene;
+    actor: Boid;
+    separationFactor: number;
+    alignmentFactor: number;
+    cohesionFactor: number;
+
+    static MIN_SPEED: number = 80;
+    static START_SPEED: number = 90;
+    static MAX_SPEED: number = 100;
+    static MAX_STEER_FORCE: number = 300;
+
+    constructor(scene: Scene, actor: Boid, separationFactor: number, alignmentFactor: number, cohesionFactor: number){
+        super();
+        this.scene = scene;
+        this.actor = actor;
+        this.separationFactor = separationFactor;
+        this.alignmentFactor = alignmentFactor;
+        this.cohesionFactor = cohesionFactor;        
+    }
+
+    doBehavior(deltaT: number): void {
+        if(this.actor.getId() < 1){
+            this.actor.setColor(Color.GREEN);
+        }
+
+        if(this.actor.velocity.x === 0 && this.actor.velocity.y === 0){
+            this.actor.velocity = this.actor.direction.scaled(BoidBehavior.START_SPEED * deltaT);
+        }
+
+        let flock = this.actor.getBehavior(FlockBehavior);
+
+        if(!flock.hasNeighbors){
+            // No neighbors, don't change velocity;
+            return;
+        }
+
+        let flockCenter = flock.flockCenter;
+        let flockHeading = flock.flockHeading;
+        let separationHeading = flock.separationHeading;
+
+        let offsetToFlockmateCenter = flockCenter.sub(this.actor.position);
+
+        let separationForce = this.steerTowards(separationHeading).scale(this.separationFactor);
+        let alignmentForce = this.steerTowards(flockHeading).scale(this.alignmentFactor);
+        let cohesionForce = this.steerTowards(offsetToFlockmateCenter).scale(this.cohesionFactor);
+
+        this.actor.acceleration = Vec2.ZERO;
+        this.actor.acceleration.add(separationForce).add(alignmentForce).add(cohesionForce);
+        this.actor.velocity.add(this.actor.acceleration.scaled(deltaT));
+        let speed = this.actor.velocity.mag();
+        this.actor.velocity.normalize();
+        this.actor.direction = this.actor.velocity.clone();
+        speed = MathUtils.clamp(speed, BoidBehavior.MIN_SPEED, BoidBehavior.MAX_SPEED);
+        this.actor.velocity.scale(speed);
+
+        if(this.actor.getId() < 1){
+            Debug.log("BoidDir", "Velocity: " + this.actor.velocity.toString());
+            Debug.log("BoidSep", "Separation: " + separationForce.toString());
+            Debug.log("BoidAl", "Alignment: " + alignmentForce.toString());
+            Debug.log("BoidCo", "Cohesion: " + cohesionForce.toString());
+            Debug.log("BoidSpd", "Speed: " + speed);
+        }
+    }
+
+    steerTowards(vec: Vec2){
+        let v = vec.normalize().scale(BoidBehavior.MAX_SPEED).sub(this.actor.velocity);
+        return MathUtils.clampMagnitude(v, BoidBehavior.MAX_STEER_FORCE);
+    }
+
+}

src/_DemoClasses/FlockBehavior.ts

@@ -0,0 +1,83 @@
+import Behavior from "../Behaviors/Behavior";
+import AABB from "../DataTypes/AABB";
+import Vec2 from "../DataTypes/Vec2";
+import Point from "../Nodes/Graphics/Point";
+import Scene from "../Scene/Scene";
+import Color from "../Utils/Color";
+import Boid from "./Boid";
+import BoidBehavior from "./BoidBehavior";
+
+export default class FlockBehavior extends Behavior {
+    scene: Scene;
+    actor: Boid;
+    flock: Array<Boid>;
+    visibleRegion: AABB;
+    avoidRadius: number;
+    hasNeighbors: boolean;
+    flockCenter: Vec2;
+    flockHeading: Vec2;
+    separationHeading: Vec2;
+
+    constructor(scene: Scene, actor: Boid, flock: Array<Boid>, visionRange: number, avoidRadius: number) {
+        super();
+        this.scene = scene;
+        this.actor = actor;
+        this.flock = flock;
+
+        this.visibleRegion = new AABB(this.actor.getPosition().clone(), new Vec2(visionRange, visionRange));
+        this.avoidRadius = avoidRadius;
+    }
+
+    doBehavior(deltaT: number): void {
+        
+        // Update the visible region
+        this.visibleRegion.setCenter(this.actor.getPosition().clone());
+
+        let neighbors = this.scene.getSceneGraph().getNodesInRegion(this.visibleRegion);
+
+        neighbors = neighbors.filter(neighbor => {
+            return (neighbor instanceof Boid)
+                && (neighbor !== this.actor)
+                && this.actor.direction.dot(neighbor.position.clone().sub(this.actor.position).normalize()) > -0.866;
+            });
+
+        if(neighbors.length <= 0){
+            this.hasNeighbors = false;
+            return;
+        } else {
+            this.hasNeighbors = true;
+        }
+
+        // Draw a group
+        if(this.actor.getId() < 1){
+            this.actor.setColor(Color.GREEN);
+            for(let neighbor of neighbors){
+                if(neighbor === this.actor) continue;
+                (<Point>neighbor).setColor(Color.BLUE)
+            }
+        }
+
+        let flockCenter = Vec2.ZERO;
+        let flockHeading = Vec2.ZERO;
+        let separationHeading = Vec2.ZERO;
+
+        for(let neighbor of neighbors){
+            let neighborPos = neighbor.position;
+            flockCenter.add(neighborPos);
+
+            flockHeading.add((<Boid>neighbor).direction);
+
+            let dist = this.actor.position.distanceSqTo(neighborPos);
+            if(dist < this.avoidRadius*this.avoidRadius){
+                separationHeading.add(this.actor.position.clone().sub(neighborPos).scale(1/dist));
+            }
+        }
+
+        flockCenter.scale(1/neighbors.length);
+
+        this.flockCenter = flockCenter;
+        this.flockHeading = flockHeading;
+        this.separationHeading = separationHeading;
+    }
+
+}

src/main.ts

@@ -2,13 +2,14 @@ import GameLoop from "./Loop/GameLoop";
 import {} from "./index";
 import MainScene from "./MainScene"
 import QuadTreeScene from "./QuadTreeScene";
+import BoidDemo from "./BoidDemo";
 
 function main(){
     // Create the game object
     let game = new GameLoop({viewportSize: {x: 800, y: 600}});
     game.start();
     let sm = game.getSceneManager();
-    sm.addScene(MainScene);
+    sm.addScene(BoidDemo);
 }
 
 CanvasRenderingContext2D.prototype.roundedRect = function(x: number, y: number, w: number, h: number, r: number): void {