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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 +42 -19
1 changed files with 42 additions and 19 deletions
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organism/src/main.cpp
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@ -5,6 +5,8 @@
#include "main.h" #include "main.h"
#include "overlay.h" #include "overlay.h"
#include <vector>
#define R1 42 #define R1 42
#define G1 40 #define G1 40
#define BL1 41 #define BL1 41
@ -34,18 +36,20 @@
MatrixPanel_I2S_DMA *matrix = nullptr; MatrixPanel_I2S_DMA *matrix = nullptr;
#define NUM_AGENTS 128 //#define NUM_AGENTS 300
//#define AGENT_MOVE_DISTANCE 1 //#define AGENT_MOVE_DISTANCE 1
#define AGENT_DROP_AMOUNT 1 #define AGENT_DROP_AMOUNT 1 //5
//#define AGENT_ANGLE 0.175 //#define AGENT_ANGLE 0.175
#define NUM_ITERATIONS 1000 #define NUM_ITERATIONS 1000
typedef struct { struct SlimeAgent {
int x_position; int x_position;
int y_position; int y_position;
float heading; float heading;
} SlimeAgent; };
int NUM_AGENTS;
int AGENT_MOVE_DISTANCE; int AGENT_MOVE_DISTANCE;
float AGENT_SENSOR_DISTANCE; float AGENT_SENSOR_DISTANCE;
float AGENT_MOVE_ANGLE; float AGENT_MOVE_ANGLE;
@ -53,7 +57,8 @@ float AGENT_SENSOR_ANGLE;
float attractant[PANEL_WIDTH][PANEL_HEIGHT] = {}; float attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
int iterations = 0; int iterations = 0;
SlimeAgent agents[NUM_AGENTS]; //SlimeAgent agents[NUM_AGENTS];
std::vector<SlimeAgent> agents;
void init_attractant() { void init_attractant() {
memset(attractant, 0.0, sizeof attractant); memset(attractant, 0.0, sizeof attractant);
@ -70,7 +75,7 @@ void init_attractant() {
// for(int y = 0; y < PANEL_HEIGHT; y++) { // for(int y = 0; y < PANEL_HEIGHT; y++) {
// int pixel_num = (y * PANEL_WIDTH) + x; // int pixel_num = (y * PANEL_WIDTH) + x;
// if(overlay[ pixel_num / 8 ] & (1 << (7 - (pixel_num % 8)) ) ){ // 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() { void init_agents() {
AGENT_MOVE_DISTANCE = 1; //random(1, 3); AGENT_MOVE_DISTANCE = 1; //random(1, 3);
AGENT_MOVE_ANGLE = random(0, 334) / 1000.0; //AGENT_MOVE_ANGLE = random(0, 334) / 1000.0;
AGENT_SENSOR_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(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++) { for(int a = 0; a < NUM_AGENTS; a++) {
float angle = ((PI * 2) / NUM_AGENTS) * a; float angle = ((PI * 2) / NUM_AGENTS) * a;
//agents[a].x_position = 31 + round(10*sin(angle)); //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].x_position = random(12, 52);
//agents[a].y_position = random(12, 20); //agents[a].y_position = random(12, 20);
agents[a].x_position = random(0, 64); agents.push_back({
agents[a].y_position = random(0, 32); random(0,64),
agents[a].heading = (random(0, 100) / 100.0) * (PI*2); 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]); 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 GAUSS_SIGMA 1.0
#define DECAY_FACTOR 0.9 #define DECAY_FACTOR 0.9
float first_pass[PANEL_WIDTH][PANEL_HEIGHT]; 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() { void box_blur() {
//Serial.println("memset: starting"); //Serial.println("memset: starting");
memset(first_pass, 0.0, sizeof first_pass); memset(first_pass, 0.0, sizeof first_pass);
@ -259,7 +280,8 @@ void box_blur() {
float result = (sum/additions); // * DECAY_FACTOR; float result = (sum/additions); // * DECAY_FACTOR;
//Serial.printf("result: %f", result); //additions: %d\n", sum, additions); //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)) { 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] < 254.0) { if (attractant[move_x][move_y] < 255.0 - AGENT_DROP_AMOUNT) {
attractant[move_x][move_y] += AGENT_DROP_AMOUNT; attractant[move_x][move_y] += AGENT_DROP_AMOUNT;
} }
} else { } 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 // sample step
@ -315,9 +338,9 @@ void loop() {
} }
} }
iterations++; iterations++;
if (iterations > 64 && iterations % 64 == 0) { // (( == 0) { if (iterations % 4 == 0) { //64 && iterations % 64 == 0) { // (( == 0) {
//gaussian_blur();
//box_blur(); //box_blur();
//gaussian_blur();
; ;
} }
if (iterations >= NUM_ITERATIONS) { if (iterations >= NUM_ITERATIONS) {