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Pheromone sensing on the way.

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Wally Hackenslacker
2016-06-27 03:25:45 -04:00
parent fef86e140a
commit 437842a131
7 changed files with 128 additions and 13 deletions
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68
pheromone.cpp
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@@ -1,6 +1,33 @@
/*************************************************************************************
* Copyright (c) 2016, Miguel Angel Astor Romero *
* All rights reserved. *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
*************************************************************************************/
#include <iostream>
#include <cstdlib>
#include <cmath>
#include <pnglite.h>
#include <glm/glm.hpp>
#include "pheromone.hpp"
@@ -67,8 +94,8 @@ GLuint PheromoneMap::s_build_texture() {
bool PheromoneMap::s_deposit_pheromone(float x, float y) {
bool valid = false;
int _x = m_width * x;
int _y = m_height - (m_height * y);
int _x = m_width * x;
int _y = m_height - (m_height * y);
sem_wait(&map_semaphore); {
if(MAP_POS(_y, _x) <= MAX_PHERO_INTENSITY) {
@@ -92,7 +119,7 @@ void PheromoneMap::s_evaporate() {
sem_wait(&map_semaphore); {
for(unsigned i = 1; i < m_height - 1; i++) {
for(unsigned j = 1; j < m_width - 1; j++) {
if(MAP_POS(i, j) >= MIN_PHERO_INTENSITY && MAP_POS(i, j) <= MAX_PHERO_INTENSITY){
if(MAP_POS(i, j) >= MIN_PHERO_INTENSITY && MAP_POS(i, j) <= MAX_PHERO_INTENSITY) {
p_eva = MAP_POS(i, j) * EVAPORATION_RATE;
MAP_POS(i, j) -= p_eva;
}
@@ -100,3 +127,38 @@ void PheromoneMap::s_evaporate() {
}
} sem_post(&map_semaphore);
}
void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw, float radius) {
int _x = m_width * x;
int _y = m_height - (m_height * y);
float _r = m_width * radius;
float dist;
float cos_theta;
glm::vec2 v;
glm::vec2 vp;
if(sensor == NULL)
return;
else {
v = glm::vec2(_r * cos(yaw), - _r * sin(yaw)) - glm::vec2(0.0, 0.0);
v = glm::normalize(v);
sem_wait(&map_semaphore); {
for(unsigned i = 1; i < m_height - 1; i++) {
for(unsigned j = 1; j < m_width - 1; j++) {
vp = glm::vec2(i, j) - glm::vec2(_y, _x);
dist = glm::length(vp);
vp = glm::normalize(vp);
cos_theta = glm::dot(vp, v);
if(cos_theta > 0.0f && dist <= _r) {
if(MAP_POS(i, j) >= MIN_PHERO_INTENSITY && MAP_POS(i, j) <= MAX_PHERO_INTENSITY) {
MAP_POS(i, j) = MAX_PHERO_INTENSITY;
}
} else
continue;
}
}
} sem_post(&map_semaphore);
}
}