forked from sarah/microworlds
146 lines
2.6 KiB
Go
146 lines
2.6 KiB
Go
package core
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import (
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"math/rand"
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)
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type Turtle struct {
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xpos, ypos int
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heading int
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actor Actor
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}
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type NilActor struct {
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}
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func (NilActor) Setup(*Environment, *Turtle) {
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}
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func (NilActor) Run(*Environment, *Turtle) {
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}
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func NewTurtle(env *Environment, actor Actor) *Turtle {
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for {
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turtle := new(Turtle)
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turtle.xpos = rand.Intn(env.width)
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turtle.ypos = rand.Intn(env.height)
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turtle.actor = actor
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if env.Check(turtle.xpos, turtle.ypos) == false {
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actor.Setup(env, turtle)
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env.Occupy(turtle.xpos, turtle.ypos)
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turtle.setRandomHeading()
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return turtle
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}
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}
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}
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func (t *Turtle) Pos() (int, int) {
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return t.xpos, t.ypos
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}
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var headings = [][]int{{-1, -1}, {0, -1}, {1, -1}, {1, 0}, {1, 1}, {0, 1}, {-1, 1}, {-1, 0}}
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func (t *Turtle) setRandomHeading() {
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t.heading = rand.Intn(8)
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}
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func (t *Turtle) SetXY(x, y int) {
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t.xpos = x
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t.ypos = y
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}
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func (t *Turtle) Wiggle() {
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wiggle := rand.Intn(3) - 1
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h := (t.heading + wiggle) % 8
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if h < 0 {
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h = 7
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}
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t.heading = h
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}
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func (t *Turtle) TurnAround() {
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t.heading = (t.heading + 4) % 8
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}
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func (t *Turtle) Drop(env *Environment, amount float32, pheromone string) {
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env.Mark(pheromone, t.xpos, t.ypos, amount)
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}
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func (t *Turtle) FollowGradient(env *Environment, distance int, threshold float32, pheromone string) {
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h0 := t.heading - 1
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if h0 < 0 {
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h0 = 7
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}
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dx0 := headings[h0][0] * distance
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dy0 := headings[h0][1] * distance
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x0 := (t.xpos + dx0)
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y0 := (t.ypos + dy0)
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dx := headings[t.heading][0] * distance
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dy := headings[t.heading][1] * distance
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x := (t.xpos + dx)
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y := (t.ypos + dy)
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h1 := (t.heading + 1) % 8
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dx1 := headings[h1][0] * distance
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dy1 := headings[h1][1] * distance
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x1 := (t.xpos + dx1)
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y1 := (t.ypos + dy1)
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as0 := env.SniffNormalized(x0, y0, pheromone)
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if as0 < threshold {
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as0 = 0
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}
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as := env.SniffNormalized(x, y, pheromone)
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if as < threshold {
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as = 0
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}
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as1 := env.SniffNormalized(x1, y1, pheromone)
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if as1 < threshold {
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as1 = 0
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}
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if as0 > as && as0 > as1 {
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t.heading = h0
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} else if as1 > as && as1 > as0 {
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t.heading = h1
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}
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}
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func (t *Turtle) Step(env *Environment) bool {
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dx := headings[t.heading][0]
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dy := headings[t.heading][1]
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ox := t.xpos
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oy := t.ypos
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env.Leave(ox, oy)
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t.xpos = (t.xpos + dx) % (env.width)
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if t.xpos < 0 {
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t.xpos = env.width - 1
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}
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t.ypos = (t.ypos + dy) % (env.height)
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if t.ypos < 0 {
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t.ypos = env.height - 1
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}
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success := true
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if env.Check(t.xpos, t.ypos) == true {
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t.xpos = ox
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t.ypos = oy
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success = false
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}
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env.Occupy(t.xpos, t.ypos)
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return success
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}
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// Run the turtle program
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func (t *Turtle) Run(env *Environment) {
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t.actor.Run(env, t)
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}
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