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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 +262 -183
8 changed files with 262 additions and 183 deletions
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105
organism/src/blur.cpp Normal file
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@ -0,0 +1,105 @@
#include <Arduino.h>
#include "constants.h"
#include "config.h"
#include "util.h"
void setupGaussianKernel(float* kernel, int width, float sigma) {
float sum = 0.0;
for(int i = 0; i < width; i++) {
//kernel[width+i] = exp( -(i*i) / (2 * sigma * sigma)) / (PI * 2 * sigma * sigma);
kernel[i] = exp(-0.5f * (i * i) / (sigma * sigma));
sum += kernel[width];
}
for(int i; i < width; i++) {
kernel[i] = sum/width;
}
}
//float first_pass[PANEL_WIDTH][PANEL_HEIGHT];
void gaussian_blur(float *field[PANEL_WIDTH][PANEL_HEIGHT]) {
float kernel[GAUSS_WIDTH];
float first_pass[PANEL_WIDTH][PANEL_HEIGHT];
memset(first_pass, 0.0, sizeof first_pass);
setupGaussianKernel(kernel, GAUSS_WIDTH, GAUSS_SIGMA);
// horizontal pass
for (int x = 0; x < PANEL_WIDTH; x++) {
for(int y = 0; y < PANEL_HEIGHT; y++) {
float sum = *field[x][y] * DECAY_FACTOR * kernel[0]; //0.0;
int additions = 1;
for (int x_offset = 1; x_offset < GAUSS_WIDTH; x_offset++) {
if (is_in_bounds(x+x_offset, y)) {
sum += *field[x + x_offset][y] * kernel[x_offset];
additions++;
}
if (is_in_bounds(x-x_offset, y)) {
sum += *field[x - x_offset][y] * kernel[x_offset];
additions++;
}
}
first_pass[x][y] = sum/GAUSS_WIDTH;
}
}
// vertical pass
for (int x = 0; x < PANEL_WIDTH; x++) {
for(int y = 0; y < PANEL_HEIGHT; y++) {
float sum = first_pass[x][y] * kernel[0]; //0.0;
int additions = 1;
for (int y_offset = 1; y_offset < GAUSS_WIDTH; y_offset++) {
if (is_in_bounds(x, y + y_offset)) {
sum += first_pass[x][y + y_offset] * kernel[y_offset];
additions++;
}
if (is_in_bounds(x, y - y_offset)) {
sum += first_pass[x][y - y_offset] * kernel[y_offset];
additions++;
}
}
*field[x][y] = sum/GAUSS_WIDTH;
}
}
}
void box_blur(float field[PANEL_WIDTH][PANEL_HEIGHT]) {
auto first_pass = new float[PANEL_WIDTH][PANEL_HEIGHT]();
// horizontal pass
for (int x = 0; x < PANEL_WIDTH; x++) {
for(int y = 0; y < PANEL_HEIGHT; y++) {
float sum;
sum = field[x][y] * DECAY_FACTOR; //0.0;
int additions = 1;
for (int x_offset = 1; x_offset < BLUR_KERNEL_SIZE; x_offset++) {
if (is_in_bounds(x+x_offset, y)) {
sum += field[x + x_offset][y];
additions++;
}
if (is_in_bounds(x-x_offset, y)) {
sum += field[x - x_offset][y];
additions++;
}
}
first_pass[x][y] = (sum/additions);
}
}
// vertical pass
for (int x = 0; x < PANEL_WIDTH; x++) {
for(int y = 0; y < PANEL_HEIGHT; y++) {
float sum = first_pass[x][y]; //0.0;
int additions = 1;
for (int y_offset = 1; y_offset < BLUR_KERNEL_SIZE; y_offset++) {
if (is_in_bounds(x, y + y_offset)) {
sum += first_pass[x][y + y_offset];
additions++;
}
if (is_in_bounds(x, y - y_offset)) {
sum += first_pass[x][y - y_offset];
additions++;
}
}
float result = (sum/additions); // * DECAY_FACTOR;
//attractant[x][y] = (((8.0*attractant[x][y]) + result) / 9.0);
field[x][y] = result;
}
}
delete[] first_pass;
}

3
organism/src/blur.h Normal file
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@ -0,0 +1,3 @@
#include "constants.h"
void gaussian_blur(float *field[PANEL_WIDTH][PANEL_HEIGHT]);
void box_blur(float field[PANEL_WIDTH][PANEL_HEIGHT]);

18
organism/src/config.h Normal file
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@ -0,0 +1,18 @@
// gaussian blur
#define GAUSS_WIDTH 1
#define GAUSS_SIGMA 1.0
#define DECAY_FACTOR 0.9
// box blur
#define BLUR_KERNEL_SIZE 1
// agent params
#define NUM_AGENTS_MIN 64
#define NUM_AGENTS_MAX 301
#define AGENT_DROP_AMOUNT 10
#define AGENT_SENSOR_DISTANCE_MIN 2.0
#define AGENT_SENSOR_DISTANCE_MAX 3.5
// general params
#define NUM_ITERATIONS 500
#define SPAWN_MIN_X 2
#define SPAWN_MAX_X 63
#define SPAWN_MIN_Y 2
#define SPAWN_MAX_Y 31

252
organism/src/main.cpp
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@ -4,7 +4,12 @@
#include "main.h"
#include "constants.h"
#include "config.h"
#include "overlay.h"
#include "util.h"
#include "visual.h"
#include "blur.h"
#include <vector>
@ -12,8 +17,8 @@
MatrixPanel_I2S_DMA *matrix = nullptr;
#define AGENT_DROP_AMOUNT 10
#define NUM_ITERATIONS 500
//#define AGENT_DROP_AMOUNT 10
//#define NUM_ITERATIONS 500
struct SlimeAgent {
int x_position;
int y_position;
@ -63,33 +68,19 @@ void init_agents() {
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(2000, 3500) / 1000.0;
NUM_AGENTS = random(64, 301);
AGENT_SENSOR_DISTANCE = random(AGENT_SENSOR_DISTANCE_MIN * 1000.0, AGENT_SENSOR_DISTANCE_MAX * 1000.0) / 1000.0;
NUM_AGENTS = random(NUM_AGENTS_MIN, NUM_AGENTS_MAX);
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));
//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.push_back({
random(2,63),
random(2,31),
random(SPAWN_MIN_X, SPAWN_MAX_X),
random(SPAWN_MIN_Y, SPAWN_MAX_Y),
(random(0, 100) / 100.0) * (PI*2)
});
//agents.push_back({
// random(6,58),
// random(4,28),
// (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);
}
}
@ -124,166 +115,57 @@ void setup(){
init_attractant();
}
bool is_in_bounds(int x, int y) {
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] > 17.0) {
// matrix->drawPixel(x, y, matrix->color565(
// int((255.0 / 255.0) * round(attractant[x][y])),
// int((80.0 / 255.0) * round(attractant[x][y])),
// int((83.0 / 255.0) * round(attractant[x][y]))
// )
// );
// }
// }
// }
//}
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] > 17.0) {
matrix->drawPixel(x, y, matrix->color565(
int((255.0 / 255.0) * round(attractant[x][y])),
int((80.0 / 255.0) * round(attractant[x][y])),
int((83.0 / 255.0) * round(attractant[x][y]))
)
);
}
}
}
}
void setupGaussianKernel(float* kernel, int width, float sigma) {
float sum = 0.0;
for(int i = 0; i < width; i++) {
//kernel[width+i] = exp( -(i*i) / (2 * sigma * sigma)) / (PI * 2 * sigma * sigma);
kernel[i] = exp(-0.5f * (i * i) / (sigma * sigma));
sum += kernel[width];
}
for(int i; i < width; i++) {
kernel[i] = sum/width;
}
}
#define GAUSS_WIDTH 1
#define GAUSS_SIGMA 1.0
#define DECAY_FACTOR 0.9
float first_pass[PANEL_WIDTH][PANEL_HEIGHT];
void gaussian_blur() {
float kernel[GAUSS_WIDTH];
memset(first_pass, 0.0, sizeof first_pass);
setupGaussianKernel(kernel, GAUSS_WIDTH, GAUSS_SIGMA);
// horizontal pass
for (int x = 0; x < PANEL_WIDTH; x++) {
for(int y = 0; y < PANEL_HEIGHT; y++) {
float sum = attractant[x][y] * DECAY_FACTOR * kernel[0]; //0.0;
int additions = 1;
for (int x_offset = 1; x_offset < GAUSS_WIDTH; x_offset++) {
if (is_in_bounds(x+x_offset, y)) {
sum += attractant[x + x_offset][y] * kernel[x_offset];
additions++;
}
if (is_in_bounds(x-x_offset, y)) {
sum += attractant[x - x_offset][y] * kernel[x_offset];
additions++;
}
}
first_pass[x][y] = sum/GAUSS_WIDTH;
}
}
// vertical pass
for (int x = 0; x < PANEL_WIDTH; x++) {
for(int y = 0; y < PANEL_HEIGHT; y++) {
float sum = first_pass[x][y] * kernel[0]; //0.0;
int additions = 1;
for (int y_offset = 1; y_offset < GAUSS_WIDTH; y_offset++) {
if (is_in_bounds(x, y + y_offset)) {
sum += first_pass[x][y + y_offset] * kernel[y_offset];
additions++;
}
if (is_in_bounds(x, y - y_offset)) {
sum += first_pass[x][y - y_offset] * kernel[y_offset];
additions++;
}
}
attractant[x][y] = sum/GAUSS_WIDTH;
}
}
}
#define BLUR_KERNEL_SIZE 1
void box_blur() {
//Serial.println("memset: starting");
memset(first_pass, 0.0, sizeof first_pass);
//Serial.println("memset: passed");
// horizontal pass
for (int x = 0; x < PANEL_WIDTH; x++) {
for(int y = 0; y < PANEL_HEIGHT; y++) {
float sum;
sum = attractant[x][y] * DECAY_FACTOR; //0.0;
int additions = 1;
for (int x_offset = 1; x_offset < BLUR_KERNEL_SIZE; x_offset++) {
if (is_in_bounds(x+x_offset, y)) {
sum += attractant[x + x_offset][y];
additions++;
}
if (is_in_bounds(x-x_offset, y)) {
sum += attractant[x - x_offset][y];
additions++;
}
}
first_pass[x][y] = (sum/additions);
}
}
// vertical pass
for (int x = 0; x < PANEL_WIDTH; x++) {
for(int y = 0; y < PANEL_HEIGHT; y++) {
float sum = first_pass[x][y]; //0.0;
int additions = 1;
for (int y_offset = 1; y_offset < BLUR_KERNEL_SIZE; y_offset++) {
if (is_in_bounds(x, y + y_offset)) {
sum += first_pass[x][y + y_offset];
additions++;
}
if (is_in_bounds(x, y - y_offset)) {
sum += first_pass[x][y - y_offset];
additions++;
}
}
float result = (sum/additions); // * DECAY_FACTOR;
//attractant[x][y] = (((8.0*attractant[x][y]) + result) / 9.0);
attractant[x][y] = result;
}
}
}
int cleanup_x = 0;
void cleanup() {
int progress = iterations - NUM_ITERATIONS;
matrix->drawFastVLine(cleanup_x, 0, PANEL_HEIGHT, matrix->color565(254, 242, 255));
if (cleanup_x > 0) {
matrix->fillRect(0, 0, cleanup_x, PANEL_HEIGHT, matrix->color565(16, 0, 16));
}
int h_lines = round(PANEL_HEIGHT / 7);
int v_lines = round(cleanup_x / 7);
for(int v = 0; v < cleanup_x; v++) {
if (v%7 == 2) {
matrix->drawFastVLine(v, 0, PANEL_HEIGHT, matrix->color565(41, 17, 76));
}
}
for(int h = 0; h <= h_lines; h++) {
matrix->drawFastHLine(0, 7*h + 1, cleanup_x-1, matrix->color565(41, 17, 76));
}
cleanup_x++;
if (cleanup_x > PANEL_WIDTH) {
iterations = 0;
cleanup_x = 0;
init_attractant();
init_agents();
}
}
//int cleanup_x = 0;
//void cleanup() {
// int progress = iterations - NUM_ITERATIONS;
// matrix->drawFastVLine(cleanup_x, 0, PANEL_HEIGHT, matrix->color565(254, 242, 255));
// if (cleanup_x > 0) {
// matrix->fillRect(0, 0, cleanup_x, PANEL_HEIGHT, matrix->color565(16, 0, 16));
// }
// int h_lines = round(PANEL_HEIGHT / 7);
// int v_lines = round(cleanup_x / 7);
// for(int v = 0; v < cleanup_x; v++) {
// if (v%7 == 2) {
// matrix->drawFastVLine(v, 0, PANEL_HEIGHT, matrix->color565(41, 17, 76));
// }
// }
// for(int h = 0; h <= h_lines; h++) {
// matrix->drawFastHLine(0, 7*h + 1, cleanup_x-1, matrix->color565(41, 17, 76));
// }
// cleanup_x++;
// if (cleanup_x > PANEL_WIDTH) {
// iterations = 0;
// cleanup_x = 0;
// init_attractant();
// init_agents();
// }
//}
void loop() {
matrix ->flipDMABuffer();
@ -291,8 +173,8 @@ void loop() {
matrix->fillScreenRGB888(15, 0, 10);
// draw background and organism
draw_bg();
draw_attractant();
draw_bg(matrix);
draw_attractant(matrix, attractant);
for(int a = 0; a < NUM_AGENTS; a++) {
//matrix->drawPixel(agents[a].x_position, agents[a].y_position, matrix->color565(0, 0, attractant[agents[a].x_position][agents[a].y_position]));
@ -336,12 +218,16 @@ void loop() {
}
iterations++;
if (iterations % 2 == 0) { //64 && iterations % 64 == 0) { // (( == 0) {
box_blur();
box_blur(attractant);
//gaussian_blur();
;
}
if (iterations >= NUM_ITERATIONS) {
cleanup();
//cleanup();
if (cleanup(matrix, &iterations)) {
init_attractant();
init_agents();
}
}
}

5
organism/src/util.cpp Normal file
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@ -0,0 +1,5 @@
#include "constants.h"
bool is_in_bounds(int x, int y) {
return (x < PANEL_WIDTH) and (y < PANEL_HEIGHT) and (x >= 0) and (y >= 0);
}

2
organism/src/util.h Normal file
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@ -0,0 +1,2 @@
bool is_in_bounds(int x, int y);

54
organism/src/visual.cpp Normal file
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@ -0,0 +1,54 @@
#include "constants.h"
#include "visual.h"
void draw_bg(MatrixPanel_I2S_DMA *matrix) {
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(MatrixPanel_I2S_DMA *matrix, float attractant[PANEL_WIDTH][PANEL_HEIGHT]) {
for(int x = 0; x<PANEL_WIDTH; x++) {
for(int y = 0; y<PANEL_HEIGHT; y++){
if (attractant[x][y] > 17.0) {
matrix->drawPixel(x, y, matrix->color565(
int((255.0 / 255.0) * round(attractant[x][y])),
int((80.0 / 255.0) * round(attractant[x][y])),
int((83.0 / 255.0) * round(attractant[x][y]))
)
);
}
}
}
}
int cleanup_x = 0;
bool cleanup(MatrixPanel_I2S_DMA *matrix, int* iterations) {
int progress = *iterations - NUM_ITERATIONS;
matrix->drawFastVLine(cleanup_x, 0, PANEL_HEIGHT, matrix->color565(254, 242, 255));
if (cleanup_x > 0) {
matrix->fillRect(0, 0, cleanup_x, PANEL_HEIGHT, matrix->color565(16, 0, 16));
}
int h_lines = round(PANEL_HEIGHT / 7);
int v_lines = round(cleanup_x / 7);
for(int v = 0; v < cleanup_x; v++) {
if (v%7 == 2) {
matrix->drawFastVLine(v, 0, PANEL_HEIGHT, matrix->color565(41, 17, 76));
}
}
for(int h = 0; h <= h_lines; h++) {
matrix->drawFastHLine(0, 7*h + 1, cleanup_x-1, matrix->color565(41, 17, 76));
}
cleanup_x++;
if (cleanup_x > PANEL_WIDTH) {
*iterations = 0;
cleanup_x = 0;
return true;
}
return false;
}

6
organism/src/visual.h Normal file
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@ -0,0 +1,6 @@
#include <ESP32-HUB75-MatrixPanel-I2S-DMA.h>
#include "constants.h"
#include "config.h"
void draw_bg(MatrixPanel_I2S_DMA *matrix);
void draw_attractant(MatrixPanel_I2S_DMA *matrix, float attractant[PANEL_WIDTH][PANEL_HEIGHT]);
bool cleanup(MatrixPanel_I2S_DMA *matrix, int* iterations);