ignore the blurring for now...
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@ -33,7 +33,7 @@
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MatrixPanel_I2S_DMA *matrix = nullptr;
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#define NUM_AGENTS 64
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#define NUM_AGENTS 128
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#define AGENT_MOVE_DISTANCE 1
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#define AGENT_DROP_AMOUNT 1
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#define AGENT_ANGLE 0.175
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@ -44,18 +44,18 @@ typedef struct {
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float heading;
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} SlimeAgent;
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uint8_t attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
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float attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
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int iterations = 0;
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SlimeAgent agents[NUM_AGENTS];
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void init_attractant() {
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memset(attractant, (uint8_t) 0, sizeof attractant);
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memset(attractant, 0.0, 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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// attractant[x][y] = 15.0;
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//}
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}
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@ -66,8 +66,10 @@ void init_agents() {
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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].x_position = random(12, 52);
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//agents[a].y_position = random(12, 20);
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agents[a].x_position = random(0, 64);
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agents[a].y_position = random(0, 32);
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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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@ -76,6 +78,9 @@ void init_agents() {
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void setup(){
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Serial.begin(BAUD_RATE);
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//while (!Serial) {
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// ; // wait for serial port to connect. Needed for native USB
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//}
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pinMode(ONBOARD_LED, OUTPUT);
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// redefine pins if required
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@ -118,11 +123,11 @@ void draw_bg() {
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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] > 0) {
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if (attractant[x][y] > 20.0) {
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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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int((255.0 / 255.0) * round(attractant[x][y])),
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int((80.0 / 255.0) * round(attractant[x][y])),
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int((83.0 / 255.0) * round(attractant[x][y]))
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)
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);
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}
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@ -145,7 +150,7 @@ void setupGaussianKernel(float* kernel, int width, float sigma) {
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#define GAUSS_WIDTH 5
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#define GAUSS_SIGMA 1.0
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#define DECAY_FACTOR 0.9
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#define DECAY_FACTOR 0.95
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void gaussian_blur() {
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float kernel[GAUSS_WIDTH];
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uint8_t first_pass[PANEL_WIDTH][PANEL_HEIGHT];
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@ -184,20 +189,22 @@ void gaussian_blur() {
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additions++;
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}
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}
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attractant[x][y] = (int) round((sum/GAUSS_WIDTH) * DECAY_FACTOR);
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attractant[x][y] = (sum/GAUSS_WIDTH) * DECAY_FACTOR;
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}
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}
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}
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#define BLUR_KERNEL_SIZE 3
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float first_pass[PANEL_WIDTH][PANEL_HEIGHT];
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void box_blur() {
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uint8_t first_pass[PANEL_WIDTH][PANEL_HEIGHT];
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memset(first_pass, (uint8_t) 0, sizeof first_pass);
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//Serial.println("memset: starting");
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memset(first_pass, 0.0, sizeof first_pass);
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//Serial.println("memset: passed");
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// horizontal pass
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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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int sum = attractant[x][y]; //0.0;
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float sum;
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sum = attractant[x][y]; //0.0;
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int additions = 1;
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for (int x_offset = 1; x_offset < BLUR_KERNEL_SIZE; x_offset++) {
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if (is_in_bounds(x+x_offset, y)) {
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@ -209,7 +216,7 @@ void box_blur() {
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additions++;
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}
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}
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first_pass[x][y] = (int) round((sum/additions) * DECAY_FACTOR);
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first_pass[x][y] = (sum/additions);
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}
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}
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// vertical pass
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@ -227,7 +234,11 @@ void box_blur() {
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additions++;
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}
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}
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attractant[x][y] = (int) round((sum/additions) * DECAY_FACTOR);
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float result = (sum/additions); // * DECAY_FACTOR;
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//Serial.printf("result: %f", result); //additions: %d\n", sum, additions);
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attractant[x][y] = (((8.0*attractant[x][y]) + result) / 9.0);
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attractant[x][y] = attractant[x][y] * DECAY_FACTOR;
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}
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}
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}
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@ -252,7 +263,7 @@ 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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if (attractant[move_x][move_y] < 254.0) {
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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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@ -265,9 +276,9 @@ void loop() {
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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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float front_value = attractant[front_x][front_y];
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float left_value = attractant[left_x][left_y];
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float 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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@ -280,9 +291,10 @@ void loop() {
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}
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delay(10);
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iterations++;
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if (iterations % 64 == 0) {
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if (iterations > 64 && iterations % 64 == 0) { // (( == 0) {
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//gaussian_blur();
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box_blur();
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//box_blur();
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;
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}
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if (iterations >= NUM_ITERATIONS) {
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init_attractant();
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