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Complete enough.

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Wally Hackenslacker
2016-06-28 04:02:31 -04:00
parent cecd37420d
commit fecc196ae7
9 changed files with 211 additions and 95 deletions
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140
pheromone.cpp
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@@ -29,14 +29,16 @@
#include <cassert>
#include <pnglite.h>
#include <glm/glm.hpp>
#include <libplayerc++/playerc++.h>
#include "pheromone.hpp"
#define MAP_POS(X, Y) (data[((X) * m_height) + (Y)])
static const float EVAPORATION_RATE = 0.05f;
const unsigned char MAX_PHERO_INTENSITY = 255;
const unsigned char MIN_PHERO_INTENSITY = 1;
static const unsigned int MAX_ITERS = 1000;
static const float EVAPORATION_RATE = 0.1f;
const unsigned char MAX_PHERO_INTENSITY = 250;
const unsigned char MIN_PHERO_INTENSITY = 0;
static inline int sign(float f) {
return (f < 0.0f) ? -1 : ((f > 0.0f) ? 1 : 0);
@@ -46,6 +48,10 @@ static inline int side(glm::vec3 line, glm::vec3 v) {
return sign(glm::cross(line, v).z);
}
static inline float random_n(float r) {
return (((static_cast<float>(rand() % 256) / 256.0) - 0.5f) * 2.0f ) * r;
}
PheromoneMap::PheromoneMap(const char * file_name) {
load_map(file_name);
sem_init(&map_semaphore, 0, 1);
@@ -55,6 +61,7 @@ PheromoneMap::PheromoneMap(const char * file_name) {
PheromoneMap::~PheromoneMap() {
delete data;
delete tex_data;
sem_destroy(&map_semaphore);
if(tex_created) {
@@ -65,12 +72,13 @@ PheromoneMap::~PheromoneMap() {
}
void PheromoneMap::load_map(const char * file_name) {
unsigned char * _data;
png_t tex;
png_init(0, 0);
png_open_file_read(&tex, file_name);
data = new unsigned char[tex.width * tex.height * tex.bpp];
png_get_data(&tex, data);
_data = new unsigned char[tex.width * tex.height * tex.bpp];
png_get_data(&tex, _data);
std::cout << "Loaded map \"" << file_name << "\" :: " << tex.width << "x" << tex.height << "x" << (int)tex.bpp << std::endl;
m_width = tex.width;
@@ -78,6 +86,13 @@ void PheromoneMap::load_map(const char * file_name) {
m_bpp = tex.bpp;
png_close_file(&tex);
data = new int[tex.width * tex.height * tex.bpp];
tex_data = new unsigned char[tex.width * tex.height * tex.bpp];
for(unsigned int i = 0; i < (tex.width * tex.height * tex.bpp); i++) {
data[i] = _data[i];
}
delete _data;
}
GLuint PheromoneMap::s_build_texture() {
@@ -87,11 +102,15 @@ GLuint PheromoneMap::s_build_texture() {
glBindTexture(GL_TEXTURE_2D, handle);
glDeleteTextures(1, &handle);
}
for(unsigned int i = 0; i < (m_width * m_height * m_bpp); i++) {
tex_data[i] = static_cast<unsigned char>(data[i]);
}
glGenTextures(1, &handle);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, handle);
glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, m_width, m_height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, data);
glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, m_width, m_height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, tex_data);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
@@ -101,41 +120,61 @@ GLuint PheromoneMap::s_build_texture() {
return handle;
}
bool PheromoneMap::s_deposit_pheromone(float x, float y) {
bool valid = false;
unsigned int _x = m_width * x;
unsigned int _y = m_height - (m_height * y);
void PheromoneMap::s_deposit_pheromone(float x, float y, float yaw, float radius) {
unsigned int iters = 0, _x, _y;
bool valid = false;
float dist, cos_theta, r_x, r_y;
glm::vec2 v, vp;
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;
v = glm::vec2(radius * cos(yaw), radius * sin(yaw)) - glm::vec2(0.0, 0.0);
v = glm::normalize(v);
sem_wait(&map_semaphore); {
if(MAP_POS(_y, _x) >= MIN_PHERO_INTENSITY) {
MAP_POS(_y, _x) = MAX_PHERO_INTENSITY;
valid = true;
}
} sem_post(&map_semaphore);
return valid;
do {
do {
do {
do {
r_x = random_n(radius) + x;
r_y = random_n(radius) + y;
} while((r_x <= 0.0f && r_y <= 0.0f) || (r_x >= 1.0f && r_y >= 1.0f));
vp = glm::vec2(r_x, r_y) - glm::vec2(x, y);
dist = glm::length(vp);
} while(dist > radius);
vp = glm::normalize(vp);
cos_theta = glm::dot(vp, v);
} while(cos_theta > 0.0f);
_x = m_width * r_x;
_y = m_height - (m_height * r_y);
_x = _x < 0 ? _x = 0 : (_x >= m_width ? m_width - 1 : _x);
_y = _y < 0 ? _y = 0 : (_y >= m_height ? m_height - 1 : _y);
sem_wait(&map_semaphore); {
if(MAP_POS(_y, _x) <= MAX_PHERO_INTENSITY) {
MAP_POS(_y, _x) += rand() % MAX_PHERO_INTENSITY;
MAP_POS(_y, _x) = MAP_POS(_y, _x) > MAX_PHERO_INTENSITY ? MAX_PHERO_INTENSITY : MAP_POS(_y, _x);
valid = true;
}
} sem_post(&map_semaphore);
iters++;
if(iters > MAX_ITERS)
break;
} while(!valid);
}
void PheromoneMap::s_evaporate() {
unsigned char p_eva;
clock_t now = clock();
if(static_cast<float>(now - then) / CLOCKS_PER_SEC < 0.05) {
if(static_cast<float>(now - then) / CLOCKS_PER_SEC < 0.09) {
return;
}
then = now;
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) {
for(unsigned i = 0; i < m_height; i++) {
for(unsigned j = 0; j < m_width; j++) {
if(MAP_POS(i, j) <= MAX_PHERO_INTENSITY) {
p_eva = MAP_POS(i, j) * EVAPORATION_RATE;
MAP_POS(i, j) -= p_eva;
MAP_POS(i, j) = MAP_POS(i, j) < 0 ? 0 : MAP_POS(i, j);
}
}
}
@@ -143,15 +182,12 @@ 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 dist;
float cos_theta;
float ang;
glm::vec2 v;
glm::vec2 vp;
glm::vec3 line;
glm::vec3 v3d;
unsigned int index;
float dist;
float cos_theta;
float ang;
glm::vec2 v, vp;
glm::vec3 line, v3d;
if(sensor == NULL)
return;
@@ -162,27 +198,32 @@ void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw
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(j/float(m_width), 1.0f - (i/float(m_height))) - glm::vec2(_x, _y);
for(unsigned i = 0; i < m_height; i++) {
for(unsigned j = 0; j < m_width; j++) {
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);
if(cos_theta > 0.0f && dist <= radius) {
ang = acos(cos_theta);
cos_theta = cos_theta > 1.0f ? 1.0f : cos_theta;
ang = PlayerCc::rtod(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;
index = static_cast<unsigned int>((NUM_PHERO_SAMPLES / 2.0f) - ang);
index = index >= NUM_PHERO_SAMPLES ? NUM_PHERO_SAMPLES - 1 : index;
if(MAP_POS(i, j) > sensor->samples[index]) {
sensor->samples[index] += MAP_POS(i, j);
sensor->sample_amnt[index] += 1;
}
} 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;
index = static_cast<unsigned int>((NUM_PHERO_SAMPLES / 2.0f) + ang);
index = index >= NUM_PHERO_SAMPLES ? NUM_PHERO_SAMPLES - 1 : index;
if(MAP_POS(i, j) > sensor->samples[index]) {
sensor->samples[index] += MAP_POS(i, j);
sensor->sample_amnt[index] += 1;
}
}
} else
continue;
@@ -190,7 +231,8 @@ void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw
}
} sem_post(&map_semaphore);
for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++)
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;
}
}
}