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Almost there...

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Wally Hackenslacker
2016-06-27 16:15:10 -04:00
parent fdfe955787
commit cecd37420d
7 changed files with 79 additions and 31 deletions
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56
pheromone.cpp
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@@ -26,6 +26,7 @@
#include <iostream>
#include <cstdlib>
#include <cmath>
#include <cassert>
#include <pnglite.h>
#include <glm/glm.hpp>
@@ -33,10 +34,18 @@
#define MAP_POS(X, Y) (data[((X) * m_height) + (Y)])
static const float EVAPORATION_RATE = 0.1f;
const unsigned char MAX_PHERO_INTENSITY = 250;
static const float EVAPORATION_RATE = 0.05f;
const unsigned char MAX_PHERO_INTENSITY = 255;
const unsigned char MIN_PHERO_INTENSITY = 1;
static inline int sign(float f) {
return (f < 0.0f) ? -1 : ((f > 0.0f) ? 1 : 0);
}
static inline int side(glm::vec3 line, glm::vec3 v) {
return sign(glm::cross(line, v).z);
}
PheromoneMap::PheromoneMap(const char * file_name) {
load_map(file_name);
sem_init(&map_semaphore, 0, 1);
@@ -99,12 +108,11 @@ bool PheromoneMap::s_deposit_pheromone(float x, float y) {
if((y > 1.0 || y < 0.0) || (x > 1.0 || x < 0.0))
return false;
if((_y >= m_height || _y < 0) || (_x >= m_width || _x < 0))
return false;
sem_wait(&map_semaphore); {
if((_y >= m_height || _y < 0) || (_x >= m_width || _x < 0))
return false;
if(MAP_POS(_y, _x) <= MAX_PHERO_INTENSITY) {
if(MAP_POS(_y, _x) >= MIN_PHERO_INTENSITY) {
MAP_POS(_y, _x) = MAX_PHERO_INTENSITY;
valid = true;
}
@@ -125,7 +133,7 @@ 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) {
p_eva = MAP_POS(i, j) * EVAPORATION_RATE;
MAP_POS(i, j) -= p_eva;
}
@@ -135,18 +143,22 @@ void PheromoneMap::s_evaporate() {
}
void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw, float radius) {
float _x = x;
float _y = y;
float _r = radius;
float _x = x;
float _y = y;
float dist;
float cos_theta;
float ang;
glm::vec2 v;
glm::vec2 vp;
glm::vec3 line;
glm::vec3 v3d;
if(sensor == NULL)
return;
else {
v = glm::vec2(_r * cos(yaw), _r * sin(yaw)) - glm::vec2(0.0, 0.0);
sensor->reset();
v = glm::vec2(radius * cos(yaw), radius * sin(yaw)) - glm::vec2(0.0, 0.0);
v = glm::normalize(v);
sem_wait(&map_semaphore); {
@@ -157,14 +169,28 @@ void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw
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;
if(cos_theta > 0.0f && dist <= radius) {
ang = acos(cos_theta);
line = glm::vec3(v.x, v.y, 0.0f);
v3d = glm::vec3(vp.x, vp.y, 0.0f);
if(side(line, v3d) > 0) {
assert(static_cast<unsigned int>(90.0f - ang) <= 90);
sensor->samples[static_cast<unsigned int>(90.0f - ang)] += MAP_POS(i, j);
sensor->sample_amnt[static_cast<unsigned int>(90.0f - ang)] += 1;
//MAP_POS(i, j) = MAX_PHERO_INTENSITY;
} else {
assert(static_cast<unsigned int>(90.0f + ang) < 180);
sensor->samples[static_cast<unsigned int>(90.0f + ang)] += MAP_POS(i, j);
sensor->sample_amnt[static_cast<unsigned int>(90.0f + ang)] += 1;
//MAP_POS(i, j) = MAX_PHERO_INTENSITY;
}
} else
continue;
}
}
} sem_post(&map_semaphore);
for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++)
sensor->samples[i] = (sensor->sample_amnt[i] > 0) ? (sensor->samples[i] / sensor->sample_amnt[i]) : 0.0f;
}
}