Playing with flocking models

core/turtle.go

@@ -2,6 +2,7 @@ package core
 
 import (
 	"image/color"
+	"math"
 	"math/rand"
 )
 
@@ -38,9 +39,9 @@ func NewTurtle(env *Environment, actor Actor) *Turtle {
 		turtle.actor = actor
 		turtle.atts = make(map[string]string)
 		if env.Check(turtle.xpos, turtle.ypos) == false {
+			turtle.setRandomHeading()
 			actor.Setup(env, turtle)
 			env.Occupy(turtle, turtle.xpos, turtle.ypos)
-			turtle.setRandomHeading()
 			return turtle
 		}
 	}
@@ -100,6 +101,11 @@ func (t *Turtle) SetAttribute(name, val string) {
 	t.atts[name] = val
 }
 
+func (t *Turtle) SetHeading(heading int) {
+	t.heading =heading
+}
+
+
 func (t *Turtle) TurnAround() {
 	t.heading = (t.heading + 4) % 8
 }
@@ -246,6 +252,87 @@ func (t *Turtle) FollowGradient(env *Environment, distance int, threshold float3
 	}
 }
 
+
+func (t *Turtle) AvoidAverageGradient(env *Environment, distance int, threshold float32, pheromone string) {
+
+	h0 := t.heading - 1
+	if h0 < 0 {
+		h0 = 7
+	}
+
+	dx0 := headings[h0][0] * distance
+	dy0 := headings[h0][1] * distance
+
+	x0 := (t.xpos + dx0)
+	y0 := (t.ypos + dy0)
+
+	dx := headings[t.heading][0] * distance
+	dy := headings[t.heading][1] * distance
+
+	x := (t.xpos + dx)
+	y := (t.ypos + dy)
+
+	h1 := (t.heading + 1) % 8
+	dx1 := headings[h1][0] * distance
+	dy1 := headings[h1][1] * distance
+
+	x1 := (t.xpos + dx1)
+	y1 := (t.ypos + dy1)
+
+	as0 := env.SniffNormalized(x0, y0, pheromone)
+	as := env.SniffNormalized(x, y, pheromone)
+	as1 := env.SniffNormalized(x1, y1, pheromone)
+
+	avg := float64((1 * as0) + (2*as) + (3 *as1) / (as0+as+as1))
+
+	heading := math.Round(avg)
+	if heading < 1 && as0 > threshold{
+		t.heading = h1
+	} else if heading > 2 && as1 > threshold {
+		t.heading = h0
+	}
+}
+
+func (t *Turtle) FollowAverageGradient(env *Environment, distance int, threshold float32, pheromone string) {
+
+	h0 := t.heading - 1
+	if h0 < 0 {
+		h0 = 7
+	}
+
+	dx0 := headings[h0][0] * distance
+	dy0 := headings[h0][1] * distance
+
+	x0 := (t.xpos + dx0)
+	y0 := (t.ypos + dy0)
+
+	dx := headings[t.heading][0] * distance
+	dy := headings[t.heading][1] * distance
+
+	x := (t.xpos + dx)
+	y := (t.ypos + dy)
+
+	h1 := (t.heading + 1) % 8
+	dx1 := headings[h1][0] * distance
+	dy1 := headings[h1][1] * distance
+
+	x1 := (t.xpos + dx1)
+	y1 := (t.ypos + dy1)
+
+	as0 := env.SniffNormalized(x0, y0, pheromone)
+	as := env.SniffNormalized(x, y, pheromone)
+	as1 := env.SniffNormalized(x1, y1, pheromone)
+
+	avg := float64((1 * as0) + (2*as) + (3 *as1) / (as0+as+as1))
+
+	heading := math.Round(avg)
+	if heading < 1 && as0 > threshold{
+		t.heading = h0
+	} else if heading > 2 && as1 > threshold {
+		t.heading = h1
+	}
+}
+
 func (t *Turtle) Check(env *Environment) *Turtle {
 	dx := headings[t.heading][0]
 	dy := headings[t.heading][1]

experiments/flocking/main.go

@@ -1 +1,63 @@
-package flocking
+package main
+
+import (
+"flag"
+"git.openprivacy.ca/sarah/microworlds/core"
+"git.openprivacy.ca/sarah/microworlds/experiments"
+"image/color"
+)
+
+var sniffDistance = flag.Int("sniffDistance", 3, "the distance a turtle can detect pheromone levels from")
+
+type Bird struct {
+
+}
+
+func (sm *Bird) Setup(env *core.Environment, t *core.Turtle) {
+	t.SetColor(color.RGBA{100, 255, 10, 0})
+	//t.SetHeading(5)
+}
+
+func (sm *Bird) Run(env *core.Environment, t *core.Turtle) {
+	//t.Wiggle()
+	if t.AmountAll(env,1,"bird") > 1 {
+		//t.Wiggle()
+		t.AvoidAverageGradient(env, 1, 2.5, "bird")
+		//t.Wiggle()
+		t.Step(env)
+		t.Drop(env, 2, "bird")
+	} else if t.AmountAll(env,1,"bird") > 2 {
+		t.AvoidAverageGradient(env, 1, 1, "bird")
+		t.Wiggle()
+		t.Step(env)
+		t.Drop(env, 1, "bird")
+	} else {
+		// t.TurnAround()
+	//	t.Wiggle()
+	//	t.Wiggle()
+	//	t.Wiggle()
+		t.FollowAverageGradient(env, 5, 1, "bird")
+		t.FollowAverageGradient(env, 4, 2, "bird")
+		t.FollowAverageGradient(env, 3, 3, "bird")
+		//t.FollowAverageGradient(env, 2, 4, "bird")
+
+		t.Step(env)
+		t.Drop(env, 1, "bird")
+	}
+}
+
+func main() {
+	experiment := new(experiments.Experiment)
+	experiment.InitializeExperiment()
+	experiment.InitTurtles(func() core.Actor {
+		sm := new(Bird)
+
+		return sm
+	})
+	experiment.InitPheromone("bird", color.RGBA{0x80, 0xaa, 0x00, 0x00})
+	experiment.OnStep = func(environment *core.Environment, turtles []*core.Turtle, i int) {
+		environment.EvaporateAndDiffuse(0.99, "bird")
+	}
+	experiment.Run()
+}
+