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organism #3

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panki merged 17 commits from organism into master 2024-12-15 15:00:50 +01:00
Conversation 0 Commits 17 Files Changed 13 +80 -116
1 changed files with 80 additions and 116 deletions
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organism/src/main.cpp
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@ -33,35 +33,46 @@
MatrixPanel_I2S_DMA *matrix = nullptr; MatrixPanel_I2S_DMA *matrix = nullptr;
int start_x = 5;
int start_y = 5;
int end_x = 59;
int end_y = 27;
int anchor_x = 16;
int anchor_y = 24;
#define BLOB_POINTS 32
#define BLOB_RADIUS 12
typedef struct {
int x_coords[BLOB_POINTS];
int y_coords[BLOB_POINTS];
} Blob;
#define NUM_AGENTS 64 #define NUM_AGENTS 64
#define AGENT_MOVE_DISTANCE 1 #define AGENT_MOVE_DISTANCE 1
#define AGENT_DROP_AMOUNT 100 #define AGENT_DROP_AMOUNT 1
#define AGENT_ANGLE 0.175
#define NUM_ITERATIONS 1000
typedef struct { typedef struct {
int x_position; int x_position;
int y_position; int y_position;
float heading; float heading;
} SlimeAgent; } SlimeAgent;
uint16_t attractant[PANEL_WIDTH][PANEL_HEIGHT] = {}; uint8_t attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
int iterations = 0;
SlimeAgent agents[NUM_AGENTS]; SlimeAgent agents[NUM_AGENTS];
Blob blob; void init_attractant() {
memset(attractant, (uint8_t) 0, sizeof attractant);
// draw a circle out of attractant
//for (int p = 0; p < 64; p++) {
// float angle = ((PI * 2) / 64) * p;
// int x = 31 + round(10 * sin(angle));
// int y = 15 + round(10 * cos(angle));
// attractant[x][y] = 15;
//}
}
void init_agents() {
for(int a = 0; a < NUM_AGENTS; a++) {
float angle = ((PI * 2) / NUM_AGENTS) * a;
//agents[a].x_position = 31 + round(10*sin(angle));
//agents[a].y_position = 15 + round(10*cos(angle));
// agents[a].heading = ((PI * 2) / NUM_AGENTS) * );
agents[a].x_position = random(12, 52);
agents[a].y_position = random(12, 20);
agents[a].heading = (random(0, 100) / 100.0) * (PI*2);
}
}
void setup(){ void setup(){
Serial.begin(BAUD_RATE); Serial.begin(BAUD_RATE);
@ -85,80 +96,51 @@ void setup(){
matrix->setBrightness8(64); matrix->setBrightness8(64);
matrix->fillScreenRGB888(0, 0, 0); matrix->fillScreenRGB888(0, 0, 0);
//for(int i = 0; i < BLOB_POINTS; i++) { init_agents();
// //float angle = (360 / BLOB_POINTS) * (i+1); init_attractant();
// float angle = ((PI * 2) / BLOB_POINTS) * (i+1);
// blob.x_coords[i] = random(-6, 7) + 31 + round(BLOB_RADIUS * sin(angle));
// blob.y_coords[i] = random(-2, 7) + 15 + round(BLOB_RADIUS * cos(angle));
// //blob.x_coords[i] = random(0, 64);
// //blob.y_coords[i] = random(0, 32);
//}
for(int a = 0; a < NUM_AGENTS; a++) {
agents[a].x_position = random(12, 52);
agents[a].y_position = random(12, 20);
agents[a].heading = (random(0, 100) / 100.0) * (PI*2);
} }
for(int x = 0; x<PANEL_WIDTH; x++) {
for(int y = 0; y<PANEL_HEIGHT; y++){
attractant[x][y] = 0;
}
}
}
int interpolate(int from, int to, float percent) {
int difference = to - from;
return from + ( difference * percent );
}
void draw_bezier(int x1, int y1, int x2, int y2, int x3, int y3) {
// draw lines to p2
//matrix->drawLine(x1, y1, x2, y2, matrix->color565(16, 16, 16));
//matrix->drawLine(x2, y2, x3, y3, matrix->color565(16, 16, 16));
for (float percent = 0; percent < 1; percent += 0.01) {
int xa = interpolate(x1, x2, percent);
int ya = interpolate(y1, y2, percent);
int xb = interpolate(x2, x3, percent);
int yb = interpolate(y2, y3, percent);
//matrix->drawLine(xa, ya, xb, yb, matrix->color565(0, 128, 0));
int x = interpolate(xa, xb, percent);
int y = interpolate(ya, yb, percent);
matrix->drawPixel(x, y, matrix->color565(106, 95, 219));
}
}
bool is_in_bounds(int x, int y) { bool is_in_bounds(int x, int y) {
return (x < PANEL_WIDTH) and (y < PANEL_HEIGHT) and (x >= 0) and (y >= 0); return (x < PANEL_WIDTH) and (y < PANEL_HEIGHT) and (x >= 0) and (y >= 0);
} }
void draw_bg() {
int h_lines = round(PANEL_HEIGHT / 7);
int v_lines = round(PANEL_WIDTH / 7);
for(int v = 0; v <= v_lines; v++) {
matrix->drawFastVLine(v*7+2, 0, PANEL_HEIGHT, matrix->color565(41, 17, 76));
}
for(int h = 0; h <= h_lines; h++) {
matrix->drawFastHLine(0, 7*h + 1, PANEL_WIDTH, matrix->color565(41, 17, 76));
}
}
void draw_attractant() {
for(int x = 0; x<PANEL_WIDTH; x++) {
for(int y = 0; y<PANEL_HEIGHT; y++){
if (attractant[x][y] > 20) {
matrix->drawPixel(x, y, matrix->color565(
int((255.0 / 255.0) * attractant[x][y]),
int((80.0 / 255.0) * attractant[x][y]),
int((83.0 / 255.0) * attractant[x][y])
)
);
}
}
}
}
void loop() { void loop() {
matrix ->flipDMABuffer(); matrix ->flipDMABuffer();
//matrix->clearScreen(); //matrix->clearScreen();
matrix->fillScreenRGB888(15, 0, 10); matrix->fillScreenRGB888(15, 0, 10);
// draw grid
int h_lines = PANEL_HEIGHT / 7; // draw background and organism
int v_lines = PANEL_WIDTH / 7; draw_bg();
for(int i = 0; i < PANEL_WIDTH; i++) { draw_attractant();
if(i % 7 == 2) {
matrix->drawFastVLine(i, 0, PANEL_HEIGHT, matrix->color565(41, 17, 76));
}
}
for(int i = 0; i <= h_lines; i++) {
matrix->drawFastHLine(0, 7*i + 1, PANEL_WIDTH, matrix->color565(41, 17, 76));
}
for(int x = 0; x<PANEL_WIDTH; x++) {
for(int y = 0; y<PANEL_HEIGHT; y++){
matrix->drawPixel(x, y, attractant[x][y]);
}
}
for(int a = 0; a < NUM_AGENTS; a++) { for(int a = 0; a < NUM_AGENTS; a++) {
matrix->drawPixel(agents[a].x_position, agents[a].y_position, attractant[agents[a].x_position][agents[a].y_position]); //matrix->drawPixel(agents[a].x_position, agents[a].y_position, matrix->color565(0, 0, attractant[agents[a].x_position][agents[a].y_position]));
// motor step // motor step
// check if agent can move forward // check if agent can move forward
float target_x = agents[a].x_position + cos(agents[a].heading) * AGENT_MOVE_DISTANCE; float target_x = agents[a].x_position + cos(agents[a].heading) * AGENT_MOVE_DISTANCE;
@ -168,57 +150,39 @@ void loop() {
if (is_in_bounds(move_x, move_y)) { if (is_in_bounds(move_x, move_y)) {
agents[a].x_position = move_x; agents[a].x_position = move_x;
agents[a].y_position = move_y; agents[a].y_position = move_y;
if (attractant[move_x][move_y] != 255) {
attractant[move_x][move_y] += AGENT_DROP_AMOUNT; attractant[move_x][move_y] += AGENT_DROP_AMOUNT;
}
} else { } else {
agents[a].heading += (random(0,2) *2 -1 ) * (random(0, 30) / 100.0) * PI*2; agents[a].heading += (random(-1,2) *2 - 1 ) * 30 / 100.0 * PI*2;
} }
// sample step // sample step
int front_x = round(agents[a].x_position + cos(agents[a].heading) * AGENT_MOVE_DISTANCE); int front_x = round(agents[a].x_position + cos(agents[a].heading) * AGENT_MOVE_DISTANCE);
int front_y = round(agents[a].y_position + sin(agents[a].heading) * AGENT_MOVE_DISTANCE); int front_y = round(agents[a].y_position + sin(agents[a].heading) * AGENT_MOVE_DISTANCE);
int left_x = round(agents[a].x_position + cos(agents[a].heading - ((random(0,30) / 100.0) * (PI * 2)))); int left_x = round(agents[a].x_position + cos(agents[a].heading - (AGENT_ANGLE * (PI * 2))));
int left_y = round(agents[a].y_position + cos(agents[a].heading - ((random(0,30) / 100.0) * (PI * 2)))); int left_y = round(agents[a].y_position + sin(agents[a].heading - (AGENT_ANGLE * (PI * 2))));
int right_x = round(agents[a].x_position + cos(agents[a].heading + ((random(0,30) / 100.0) * (PI * 2)))); int right_x = round(agents[a].x_position + cos(agents[a].heading + (AGENT_ANGLE * (PI * 2))));
int right_y = round(agents[a].y_position + cos(agents[a].heading + ((random(0,30) / 100.0) * (PI * 2)))); int right_y = round(agents[a].y_position + sin(agents[a].heading + (AGENT_ANGLE * (PI * 2))));
int front_value = attractant[front_x][front_y]; int front_value = attractant[front_x][front_y];
int left_value = attractant[left_x][left_y]; int left_value = attractant[left_x][left_y];
int right_value = attractant[right_x][right_y]; int right_value = attractant[right_x][right_y];
if (front_value > right_value and front_value > left_value) { if (front_value > right_value and front_value > left_value) {
; ;
} else if (front_value < right_value and front_value < left_value) { } else if (front_value < right_value and front_value < left_value) {
agents[a].heading += (random(0, 2) * 2 - 1) * (random(0, 30) / 100.0) * (PI*2) ; agents[a].heading += (random(0, 2) * 2 - 1) * (AGENT_ANGLE / 100.0) * (PI*2) ;
} else if (left_value > right_value) { } else if (left_value > right_value) {
agents[a].heading -= ((random(0,30) / 100.0) * (PI * 2)); agents[a].heading -= AGENT_ANGLE * (PI * 2);
} else { } else {
agents[a].heading += ((random(0,30) / 100.0) * (PI * 2)); agents[a].heading += AGENT_ANGLE * (PI * 2);
} }
} }
delay(10);
//for(int i = 0; i < BLOB_POINTS; i+=2) { iterations++;
// int end_offset = i + 2; if (iterations >= NUM_ITERATIONS) {
// if ( end_offset >= BLOB_POINTS) { init_attractant();
// end_offset = 0; init_agents();
// } iterations = 0;
// draw_bezier(blob.x_coords[i], }
// blob.y_coords[i],
// blob.x_coords[i+1],
// blob.y_coords[i+1],
// blob.x_coords[end_offset],
// blob.y_coords[end_offset]
// );
// matrix->drawPixel(blob.x_coords[i], blob.y_coords[i], matrix->color565(128, 128, 128));
// blob.x_coords[i+1] += random(-1, 2);
// if (blob.x_coords[i+1] >= PANEL_WIDTH) {
// blob.x_coords[i+1] = PANEL_WIDTH - 1;
// }
// if (blob.x_coords[i+1] < 0) {
// blob.x_coords[i+1] = 0;
// }
// //blob.y_coords[i+1] += random(-1, 2);
// //matrix->drawPixel(blob.x_coords[i], blob.y_coords[i], matrix->color565(0, 0, 128));
// //matrix->drawPixel(blob.x_coords[i+1], blob.y_coords[i+1], matrix->color565(128, 0, 0));
// //matrix->drawPixel(blob.x_coords[end_offset], blob.y_coords[end_offset], matrix->color565(0, 0, 128));
//}
delay(100);
} }