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playing around, agents are now stored in a vector

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This commit is contained in:
Felix Pankratz 2024-12-13 21:59:56 +01:00
parent 494d0d1283
commit b9bd58f34b
1 changed files with 42 additions and 19 deletions
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61
organism/src/main.cpp
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@ -5,6 +5,8 @@
#include "main.h"
#include "overlay.h"
#include <vector>
#define R1 42
#define G1 40
#define BL1 41
@ -34,18 +36,20 @@
MatrixPanel_I2S_DMA *matrix = nullptr;
#define NUM_AGENTS 128
//#define NUM_AGENTS 300
//#define AGENT_MOVE_DISTANCE 1
#define AGENT_DROP_AMOUNT 1
#define AGENT_DROP_AMOUNT 1 //5
//#define AGENT_ANGLE 0.175
#define NUM_ITERATIONS 1000
typedef struct {
struct SlimeAgent {
int x_position;
int y_position;
float heading;
} SlimeAgent;
};
int NUM_AGENTS;
int AGENT_MOVE_DISTANCE;
float AGENT_SENSOR_DISTANCE;
float AGENT_MOVE_ANGLE;
@ -53,7 +57,8 @@ float AGENT_SENSOR_ANGLE;
float attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
int iterations = 0;
SlimeAgent agents[NUM_AGENTS];
//SlimeAgent agents[NUM_AGENTS];
std::vector<SlimeAgent> agents;
void init_attractant() {
memset(attractant, 0.0, sizeof attractant);
@ -70,7 +75,7 @@ void init_attractant() {
// for(int y = 0; y < PANEL_HEIGHT; y++) {
// int pixel_num = (y * PANEL_WIDTH) + x;
// if(overlay[ pixel_num / 8 ] & (1 << (7 - (pixel_num % 8)) ) ){
// attractant[x][y] = 15.0;
// attractant[x][y] = 255.0;
// }
// }
//}
@ -78,10 +83,21 @@ void init_attractant() {
void init_agents() {
AGENT_MOVE_DISTANCE = 1; //random(1, 3);
AGENT_MOVE_ANGLE = random(0, 334) / 1000.0;
AGENT_SENSOR_ANGLE = random(0, 334) / 1000.0;
//AGENT_MOVE_ANGLE = random(0, 334) / 1000.0;
AGENT_MOVE_ANGLE = 0.175;//random(0, 334) / 1000.0;
//AGENT_SENSOR_ANGLE = random(0, 334) / 1000.0;
if (random(0, 2) > 0) {
AGENT_SENSOR_ANGLE = 0.175;
} else {
AGENT_SENSOR_ANGLE = 0.0875;
}
//AGENT_SENSOR_DISTANCE = random(100, 400) / 1000.0;
AGENT_SENSOR_DISTANCE = random(3000, 5000) / 1000.0;
//AGENT_SENSOR_DISTANCE = random(3000, 5000) / 1000.0;
AGENT_SENSOR_DISTANCE = random(2000, 3500) / 1000.0;
NUM_AGENTS = random(64, 301);
agents.clear();
for(int a = 0; a < NUM_AGENTS; a++) {
float angle = ((PI * 2) / NUM_AGENTS) * a;
//agents[a].x_position = 31 + round(10*sin(angle));
@ -90,9 +106,14 @@ void init_agents() {
//agents[a].x_position = random(12, 52);
//agents[a].y_position = random(12, 20);
agents[a].x_position = random(0, 64);
agents[a].y_position = random(0, 32);
agents[a].heading = (random(0, 100) / 100.0) * (PI*2);
agents.push_back({
random(0,64),
random(0,32),
(random(0, 100) / 100.0) * (PI*2)
});
//agents[a].x_position = random(0, 64);
//agents[a].y_position = random(0, 32);
//agents[a].heading = (random(0, 100) / 100.0) * (PI*2);
}
}
@ -170,7 +191,7 @@ void setupGaussianKernel(float* kernel, int width, float sigma) {
Serial.printf("%f %f %f\n", kernel[0], kernel[1], kernel[2]);
}
#define GAUSS_WIDTH 5
#define GAUSS_WIDTH 1
#define GAUSS_SIGMA 1.0
#define DECAY_FACTOR 0.9
float first_pass[PANEL_WIDTH][PANEL_HEIGHT];
@ -217,7 +238,7 @@ void gaussian_blur() {
}
}
#define BLUR_KERNEL_SIZE 3
#define BLUR_KERNEL_SIZE 1
void box_blur() {
//Serial.println("memset: starting");
memset(first_pass, 0.0, sizeof first_pass);
@ -259,7 +280,8 @@ void box_blur() {
float result = (sum/additions); // * DECAY_FACTOR;
//Serial.printf("result: %f", result); //additions: %d\n", sum, additions);
attractant[x][y] = (((8.0*attractant[x][y]) + result) / 9.0);
//attractant[x][y] = (((8.0*attractant[x][y]) + result) / 9.0);
attractant[x][y] = result;
}
}
}
@ -285,11 +307,12 @@ void loop() {
if (is_in_bounds(move_x, move_y)) {
agents[a].x_position = move_x;
agents[a].y_position = move_y;
if (attractant[move_x][move_y] < 254.0) {
if (attractant[move_x][move_y] < 255.0 - AGENT_DROP_AMOUNT) {
attractant[move_x][move_y] += AGENT_DROP_AMOUNT;
}
} else {
agents[a].heading += (random(-1,2) *2 - 1 ) * 30 / 100.0 * PI*2;
agents[a].heading = (random(0, 100)/100.0) * (PI*2);
// agents[a].heading = (2*PI) - agents[a].heading;//(random(0, 100)/100.0) * (PI*2);
}
}
// sample step
@ -315,9 +338,9 @@ void loop() {
}
}
iterations++;
if (iterations > 64 && iterations % 64 == 0) { // (( == 0) {
//gaussian_blur();
if (iterations % 4 == 0) { //64 && iterations % 64 == 0) { // (( == 0) {
//box_blur();
//gaussian_blur();
;
}
if (iterations >= NUM_ITERATIONS) {