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Pheromone sensing complete.

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Wally Hackenslacker
2016-06-27 10:46:11 -04:00
parent 437842a131
commit fdfe955787
3 changed files with 24 additions and 18 deletions
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22
pheromone.cpp
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@@ -94,10 +94,16 @@ 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);
unsigned int _x = m_width * x;
unsigned int _y = m_height - (m_height * y);
if((y > 1.0 || y < 0.0) || (x > 1.0 || x < 0.0))
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) {
MAP_POS(_y, _x) = MAX_PHERO_INTENSITY;
valid = true;
@@ -129,9 +135,9 @@ void PheromoneMap::s_evaporate() {
}
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 _x = x;
float _y = y;
float _r = radius;
float dist;
float cos_theta;
glm::vec2 v;
@@ -140,13 +146,13 @@ void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw
if(sensor == NULL)
return;
else {
v = glm::vec2(_r * cos(yaw), - _r * sin(yaw)) - glm::vec2(0.0, 0.0);
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);
vp = glm::vec2(j/float(m_width), 1.0f - (i/float(m_height))) - glm::vec2(_x, _y);
dist = glm::length(vp);
vp = glm::normalize(vp);
cos_theta = glm::dot(vp, v);