🍃 lots of fixes and clean up
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487f5880d7
@ -33,35 +33,46 @@
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MatrixPanel_I2S_DMA *matrix = nullptr;
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int start_x = 5;
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int start_y = 5;
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int end_x = 59;
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int end_y = 27;
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int anchor_x = 16;
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int anchor_y = 24;
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#define BLOB_POINTS 32
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#define BLOB_RADIUS 12
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typedef struct {
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int x_coords[BLOB_POINTS];
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int y_coords[BLOB_POINTS];
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} Blob;
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#define NUM_AGENTS 64
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#define AGENT_MOVE_DISTANCE 1
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#define AGENT_DROP_AMOUNT 100
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#define AGENT_DROP_AMOUNT 1
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#define AGENT_ANGLE 0.175
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#define NUM_ITERATIONS 1000
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typedef struct {
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int x_position;
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int y_position;
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float heading;
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} SlimeAgent;
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uint16_t attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
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uint8_t attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
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int iterations = 0;
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SlimeAgent agents[NUM_AGENTS];
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Blob blob;
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void init_attractant() {
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memset(attractant, (uint8_t) 0, sizeof attractant);
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// draw a circle out of attractant
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//for (int p = 0; p < 64; p++) {
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// float angle = ((PI * 2) / 64) * p;
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// int x = 31 + round(10 * sin(angle));
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// int y = 15 + round(10 * cos(angle));
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// attractant[x][y] = 15;
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//}
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}
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void init_agents() {
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for(int a = 0; a < NUM_AGENTS; a++) {
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float angle = ((PI * 2) / NUM_AGENTS) * a;
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//agents[a].x_position = 31 + round(10*sin(angle));
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//agents[a].y_position = 15 + round(10*cos(angle));
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// agents[a].heading = ((PI * 2) / NUM_AGENTS) * );
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agents[a].x_position = random(12, 52);
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agents[a].y_position = random(12, 20);
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agents[a].heading = (random(0, 100) / 100.0) * (PI*2);
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}
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}
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void setup(){
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Serial.begin(BAUD_RATE);
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@ -85,80 +96,51 @@ void setup(){
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matrix->setBrightness8(64);
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matrix->fillScreenRGB888(0, 0, 0);
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//for(int i = 0; i < BLOB_POINTS; i++) {
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// //float angle = (360 / BLOB_POINTS) * (i+1);
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// float angle = ((PI * 2) / BLOB_POINTS) * (i+1);
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// blob.x_coords[i] = random(-6, 7) + 31 + round(BLOB_RADIUS * sin(angle));
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// blob.y_coords[i] = random(-2, 7) + 15 + round(BLOB_RADIUS * cos(angle));
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// //blob.x_coords[i] = random(0, 64);
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// //blob.y_coords[i] = random(0, 32);
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//}
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for(int a = 0; a < NUM_AGENTS; a++) {
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agents[a].x_position = random(12, 52);
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agents[a].y_position = random(12, 20);
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agents[a].heading = (random(0, 100) / 100.0) * (PI*2);
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init_agents();
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init_attractant();
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}
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for(int x = 0; x<PANEL_WIDTH; x++) {
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for(int y = 0; y<PANEL_HEIGHT; y++){
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attractant[x][y] = 0;
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}
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}
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}
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int interpolate(int from, int to, float percent) {
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int difference = to - from;
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return from + ( difference * percent );
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}
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void draw_bezier(int x1, int y1, int x2, int y2, int x3, int y3) {
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// draw lines to p2
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//matrix->drawLine(x1, y1, x2, y2, matrix->color565(16, 16, 16));
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//matrix->drawLine(x2, y2, x3, y3, matrix->color565(16, 16, 16));
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for (float percent = 0; percent < 1; percent += 0.01) {
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int xa = interpolate(x1, x2, percent);
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int ya = interpolate(y1, y2, percent);
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int xb = interpolate(x2, x3, percent);
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int yb = interpolate(y2, y3, percent);
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//matrix->drawLine(xa, ya, xb, yb, matrix->color565(0, 128, 0));
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int x = interpolate(xa, xb, percent);
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int y = interpolate(ya, yb, percent);
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matrix->drawPixel(x, y, matrix->color565(106, 95, 219));
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}
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}
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bool is_in_bounds(int x, int y) {
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return (x < PANEL_WIDTH) and (y < PANEL_HEIGHT) and (x >= 0) and (y >= 0);
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}
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void draw_bg() {
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int h_lines = round(PANEL_HEIGHT / 7);
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int v_lines = round(PANEL_WIDTH / 7);
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for(int v = 0; v <= v_lines; v++) {
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matrix->drawFastVLine(v*7+2, 0, PANEL_HEIGHT, matrix->color565(41, 17, 76));
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}
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for(int h = 0; h <= h_lines; h++) {
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matrix->drawFastHLine(0, 7*h + 1, PANEL_WIDTH, matrix->color565(41, 17, 76));
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}
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}
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void draw_attractant() {
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for(int x = 0; x<PANEL_WIDTH; x++) {
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for(int y = 0; y<PANEL_HEIGHT; y++){
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if (attractant[x][y] > 20) {
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matrix->drawPixel(x, y, matrix->color565(
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int((255.0 / 255.0) * attractant[x][y]),
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int((80.0 / 255.0) * attractant[x][y]),
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int((83.0 / 255.0) * attractant[x][y])
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)
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);
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}
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}
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}
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}
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void loop() {
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matrix ->flipDMABuffer();
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//matrix->clearScreen();
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matrix->fillScreenRGB888(15, 0, 10);
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// draw grid
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int h_lines = PANEL_HEIGHT / 7;
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int v_lines = PANEL_WIDTH / 7;
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for(int i = 0; i < PANEL_WIDTH; i++) {
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if(i % 7 == 2) {
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matrix->drawFastVLine(i, 0, PANEL_HEIGHT, matrix->color565(41, 17, 76));
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}
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}
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for(int i = 0; i <= h_lines; i++) {
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matrix->drawFastHLine(0, 7*i + 1, PANEL_WIDTH, matrix->color565(41, 17, 76));
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}
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for(int x = 0; x<PANEL_WIDTH; x++) {
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for(int y = 0; y<PANEL_HEIGHT; y++){
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matrix->drawPixel(x, y, attractant[x][y]);
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}
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}
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// draw background and organism
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draw_bg();
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draw_attractant();
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for(int a = 0; a < NUM_AGENTS; a++) {
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matrix->drawPixel(agents[a].x_position, agents[a].y_position, attractant[agents[a].x_position][agents[a].y_position]);
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//matrix->drawPixel(agents[a].x_position, agents[a].y_position, matrix->color565(0, 0, attractant[agents[a].x_position][agents[a].y_position]));
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// motor step
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// check if agent can move forward
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float target_x = agents[a].x_position + cos(agents[a].heading) * AGENT_MOVE_DISTANCE;
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@ -168,57 +150,39 @@ void loop() {
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if (is_in_bounds(move_x, move_y)) {
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agents[a].x_position = move_x;
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agents[a].y_position = move_y;
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if (attractant[move_x][move_y] != 255) {
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attractant[move_x][move_y] += AGENT_DROP_AMOUNT;
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}
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} else {
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agents[a].heading += (random(0,2) *2 -1 ) * (random(0, 30) / 100.0) * PI*2;
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agents[a].heading += (random(-1,2) *2 - 1 ) * 30 / 100.0 * PI*2;
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}
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// sample step
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int front_x = round(agents[a].x_position + cos(agents[a].heading) * AGENT_MOVE_DISTANCE);
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int front_y = round(agents[a].y_position + sin(agents[a].heading) * AGENT_MOVE_DISTANCE);
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int left_x = round(agents[a].x_position + cos(agents[a].heading - ((random(0,30) / 100.0) * (PI * 2))));
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int left_y = round(agents[a].y_position + cos(agents[a].heading - ((random(0,30) / 100.0) * (PI * 2))));
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int right_x = round(agents[a].x_position + cos(agents[a].heading + ((random(0,30) / 100.0) * (PI * 2))));
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int right_y = round(agents[a].y_position + cos(agents[a].heading + ((random(0,30) / 100.0) * (PI * 2))));
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int left_x = round(agents[a].x_position + cos(agents[a].heading - (AGENT_ANGLE * (PI * 2))));
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int left_y = round(agents[a].y_position + sin(agents[a].heading - (AGENT_ANGLE * (PI * 2))));
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int right_x = round(agents[a].x_position + cos(agents[a].heading + (AGENT_ANGLE * (PI * 2))));
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int right_y = round(agents[a].y_position + sin(agents[a].heading + (AGENT_ANGLE * (PI * 2))));
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int front_value = attractant[front_x][front_y];
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int left_value = attractant[left_x][left_y];
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int right_value = attractant[right_x][right_y];
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if (front_value > right_value and front_value > left_value) {
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;
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} else if (front_value < right_value and front_value < left_value) {
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agents[a].heading += (random(0, 2) * 2 - 1) * (random(0, 30) / 100.0) * (PI*2) ;
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agents[a].heading += (random(0, 2) * 2 - 1) * (AGENT_ANGLE / 100.0) * (PI*2) ;
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} else if (left_value > right_value) {
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agents[a].heading -= ((random(0,30) / 100.0) * (PI * 2));
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agents[a].heading -= AGENT_ANGLE * (PI * 2);
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} else {
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agents[a].heading += ((random(0,30) / 100.0) * (PI * 2));
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agents[a].heading += AGENT_ANGLE * (PI * 2);
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}
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}
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//for(int i = 0; i < BLOB_POINTS; i+=2) {
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// int end_offset = i + 2;
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// if ( end_offset >= BLOB_POINTS) {
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// end_offset = 0;
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// }
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// draw_bezier(blob.x_coords[i],
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// blob.y_coords[i],
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// blob.x_coords[i+1],
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// blob.y_coords[i+1],
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// blob.x_coords[end_offset],
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// blob.y_coords[end_offset]
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// );
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// matrix->drawPixel(blob.x_coords[i], blob.y_coords[i], matrix->color565(128, 128, 128));
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// blob.x_coords[i+1] += random(-1, 2);
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// if (blob.x_coords[i+1] >= PANEL_WIDTH) {
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// blob.x_coords[i+1] = PANEL_WIDTH - 1;
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// }
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// if (blob.x_coords[i+1] < 0) {
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// blob.x_coords[i+1] = 0;
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// }
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// //blob.y_coords[i+1] += random(-1, 2);
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// //matrix->drawPixel(blob.x_coords[i], blob.y_coords[i], matrix->color565(0, 0, 128));
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// //matrix->drawPixel(blob.x_coords[i+1], blob.y_coords[i+1], matrix->color565(128, 0, 0));
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// //matrix->drawPixel(blob.x_coords[end_offset], blob.y_coords[end_offset], matrix->color565(0, 0, 128));
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//}
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delay(100);
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delay(10);
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iterations++;
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if (iterations >= NUM_ITERATIONS) {
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init_attractant();
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init_agents();
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iterations = 0;
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}
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}
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