99 lines
3.7 KiB
C++
99 lines
3.7 KiB
C++
/*************************************************************************************
|
|
* 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. *
|
|
*************************************************************************************/
|
|
|
|
#ifndef PHEROMONE_HPP
|
|
#define PHEROMONE_HPP
|
|
|
|
#include <cstring>
|
|
#include <ctime>
|
|
#include <semaphore.h>
|
|
#include <GL/gl.h>
|
|
|
|
extern const unsigned char MAX_PHERO_INTENSITY;
|
|
extern const unsigned char MIN_PHERO_INTENSITY;
|
|
|
|
const unsigned int NUM_PHERO_SAMPLES = 180;
|
|
|
|
typedef struct PHERO_SENSOR {
|
|
float samples[NUM_PHERO_SAMPLES];
|
|
unsigned int sample_amnt[NUM_PHERO_SAMPLES];
|
|
float probs[NUM_PHERO_SAMPLES];
|
|
|
|
PHERO_SENSOR() {
|
|
reset();
|
|
}
|
|
|
|
void reset() {
|
|
memset(sample_amnt, 0, sizeof(unsigned int) * NUM_PHERO_SAMPLES);
|
|
for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++) {
|
|
samples[i] = 0.0f;
|
|
probs[i] = 0.0f;
|
|
}
|
|
}
|
|
|
|
void set_probabilities() {
|
|
float phero_sum = 0.0f;
|
|
|
|
for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++)
|
|
phero_sum += samples[i];
|
|
|
|
for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++) {
|
|
probs[i] = 1.0f / (samples[i] / phero_sum);
|
|
}
|
|
}
|
|
|
|
float operator[](unsigned int index) {
|
|
if(index >= NUM_PHERO_SAMPLES)
|
|
return -1.0f;
|
|
else
|
|
return samples[index];
|
|
}
|
|
} phero_sensor_t;
|
|
|
|
class PheromoneMap {
|
|
public:
|
|
PheromoneMap(const char * file_name);
|
|
~PheromoneMap();
|
|
|
|
GLuint s_build_texture();
|
|
bool s_deposit_pheromone(float x, float y);
|
|
void s_evaporate();
|
|
void s_sample(phero_sensor_t * sensor, float x, float y, float yaw, float radius);
|
|
|
|
private:
|
|
unsigned char * data;
|
|
unsigned m_width;
|
|
unsigned m_height;
|
|
unsigned char m_bpp;
|
|
sem_t map_semaphore;
|
|
bool tex_created;
|
|
GLuint handle;
|
|
clock_t then;
|
|
|
|
void load_map(const char * file_name);
|
|
};
|
|
|
|
#endif
|