organism/src/main.cpp

@@ -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) {