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517 lines
15 KiB
C++
517 lines
15 KiB
C++
// flocking simulations
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// Copyright (C) 2018 Zeno and Tehora Rogue, see 'hyper.cpp' for details
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// based on Flocking by Daniel Shiffman (which in turn implements Boids by Craig Reynold)
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// https://processing.org/examples/flocking.html
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// Our implementation simplifies some equations a bit.
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// example parameters:
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// flocking on a torus:
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// -t2 3 0 0 3 0 -geo 1 -flocking 10 -rvshape 3
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// flocking on the Zebra quotient:
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// -geo 4 -flocking 10 -rvshape 3 -zoom .9
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// press 'o' when flocking active to change the parameters.
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#ifdef USE_THREADS
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#include <thread>
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int threads = 1;
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#endif
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template<class T> auto parallelize(long long N, T action) -> decltype(action(0,0)) {
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#ifndef USE_THREADS
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return action(0,N);
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#else
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if(threads == 1) return action(0,N);
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std::vector<std::thread> v;
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typedef decltype(action(0,0)) Res;
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std::vector<Res> results(threads);
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for(int k=0; k<threads; k++)
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v.emplace_back([&,k] () {
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results[k] = action(N*k/threads, N*(k+1)/threads);
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});
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for(std::thread& t:v) t.join();
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Res res = 0;
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for(Res r: results) res += r;
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return res;
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#endif
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}
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#include "rogueviz.h"
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namespace rogueviz {
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namespace flocking {
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int flock_id;
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int N;
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bool draw_lines = false;
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int follow = 0;
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string follow_names[3] = {"nothing", "specific boid", "center of mass"};
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map<cell*, map<cell*, transmatrix>> relmatrices;
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ld ini_speed = .5;
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ld max_speed = 1;
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ld sep_factor = 1.5;
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ld sep_range = .25;
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ld align_factor = 1;
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ld align_range = .5;
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ld coh_factor = 1;
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ld coh_range = 2.5;
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ld check_range = 2.5;
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char shape = 'b';
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vector<tuple<shiftpoint, shiftpoint, color_t> > lines;
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// parameters of each boid
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// m->base: the cell it is currently on
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// m->vel: velocity
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// m->at: determines the position and speed:
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// m->at * (0, 0, 1) is the current position (in Minkowski hyperboloid coordinates relative to m->base)
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// m->at * (m->vel, 0, 0) is the current velocity vector (tangent to the Minkowski hyperboloid)
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// m->pat: like m->at but relative to the screen
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void init() {
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if(!bounded) {
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addMessage("Flocking simulation needs a bounded space.");
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return;
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}
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stop_game();
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rogueviz::init(&flock_id, RV_GRAPH);
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vdata.resize(N);
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const auto v = currentmap->allcells();
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printf("computing relmatrices...\n");
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// relmatrices[c1][c2] is the matrix we have to multiply by to
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// change from c1-relative coordinates to c2-relative coordinates
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for(cell* c1: v) {
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manual_celllister cl;
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cl.add(c1);
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for(int i=0; i<isize(cl.lst); i++) {
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cell *c2 = cl.lst[i];
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transmatrix T = calc_relative_matrix(c2, c1, C0);
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if(hypot_d(WDIM, inverse_exp(shiftless(tC0(T)))) <= check_range) {
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relmatrices[c1][c2] = T;
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forCellEx(c3, c2) cl.add(c3);
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}
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}
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}
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printf("setting up...\n");
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for(int i=0; i<N; i++) {
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vertexdata& vd = vdata[i];
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// set initial base and at to random cell and random position there
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createViz(i, v[hrand(isize(v))], Id);
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rotate_object(vd.m->pat.T, vd.m->ori, random_spin());
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apply_parallel_transport(vd.m->pat.T, vd.m->ori, xtangent(hrand(100) / 200.));
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vd.name = its(i+1);
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vd.cp = dftcolor;
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vd.cp.color2 = ((hrand(0x1000000) << 8) + 0xFF) | 0x808080FF;
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vd.cp.shade = shape;
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vd.m->vel = ini_speed;
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}
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storeall();
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printf("done\n");
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}
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int precision = 10;
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void simulate(int delta) {
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int iter = 0;
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while(delta > precision && iter < 100) {
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simulate(precision); delta -= precision;
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iter++;
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}
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ld d = delta / 1000.;
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int N = isize(vdata);
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vector<transmatrix> pats(N);
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vector<transmatrix> oris(N);
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vector<ld> vels(N);
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using shmup::monster;
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map<cell*, vector<monster*>> monsat;
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for(int i=0; i<N; i++) {
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vertexdata& vd = vdata[i];
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auto m = vd.m;
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monsat[m->base].push_back(m);
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}
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lines.clear();
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parallelize(N, [&monsat, &d, &vels, &pats, &oris] (int a, int b) { for(int i=a; i<b; i++) {
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vertexdata& vd = vdata[i];
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auto m = vd.m;
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transmatrix I, Rot;
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bool use_rot = true;
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if(prod) {
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I = inverse(m->at);
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Rot = inverse(m->ori);
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}
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else if(nonisotropic) {
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I = gpushxto0(tC0(m->at));
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Rot = inverse(I * m->at);
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}
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else {
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I = inverse(m->at);
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Rot = Id;
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use_rot = false;
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}
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// we do all the computations here in the frame of reference
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// where m is at (0,0,1) and its velocity is (m->vel,0,0)
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hyperpoint velvec = hpxyz(m->vel, 0, 0);
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hyperpoint sep = hpxyz(0, 0, 0);
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int sep_count = 0;
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hyperpoint align = hpxyz(0, 0, 0);
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int align_count = 0;
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hyperpoint coh = hpxyz(0, 0, 0);
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int coh_count = 0;
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for(auto& p: relmatrices[m->base]) {
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auto f = monsat.find(p.first);
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if(f != monsat.end()) for(auto m2: f->second) if(m != m2) {
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ld vel2 = m2->vel;
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transmatrix at2 = I * p.second * m2->at;
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// at2 is like m2->at but relative to m->at
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// m2's position relative to m (tC0 means *(0,0,1))
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hyperpoint ac = inverse_exp(shiftless(tC0(at2)));
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if(use_rot) ac = Rot * ac;
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// distance and azimuth to m2
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ld di = hypot_d(WDIM, ac);
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color_t col = 0;
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if(di < align_range) {
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// we need to transfer m2's velocity vector to m's position
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// this is done by applying an isometry which sends m2 to m1
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// and maps the straight line on which m1 and m2 are to itself
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// note: in nonisotropic it is not clear whether we should
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// use gpushxto0, or parallel transport along the shortest geodesic
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align += gpushxto0(tC0(at2)) * at2 * hpxyz(vel2, 0, 0);
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align_count++;
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col |= 0xFF0040;
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}
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if(di < coh_range) {
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coh += tangent_length(ac, di);
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coh_count++;
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col |= 0xFF40;
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}
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if(di < sep_range && di > 0) {
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sep -= tangent_length(ac, 1 / di);
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sep_count++;
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col |= 0xFF000040;
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}
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if(col && draw_lines)
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lines.emplace_back(m->pat * C0, m->pat * at2 * C0, col);
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}
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}
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// a bit simpler rules than original
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if(sep_count) velvec += sep * (d * sep_factor / sep_count);
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if(align_count) velvec += align * (d * align_factor / align_count);
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if(coh_count) velvec += coh * (d * coh_factor / coh_count);
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// hypot2 is the length of a vector in R^2
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vels[i] = hypot_d(2, velvec);
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transmatrix alphaspin = rspintox(velvec); // spin(-atan2(velvec));
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if(vels[i] > max_speed) {
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velvec = velvec * (max_speed / vels[i]);
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vels[i] = max_speed;
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}
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pats[i] = m->at;
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oris[i] = m->ori;
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rotate_object(pats[i], oris[i], alphaspin);
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apply_parallel_transport(pats[i], oris[i], xtangent(vels[i] * d));
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fixmatrix(pats[i]);
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/* RogueViz does not correctly rotate them */
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if(prod) {
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hyperpoint h = oris[i] * xtangent(1);
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pats[i] = pats[i] * spin(-atan2(h[1], h[0]));
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oris[i] = spin(+atan2(h[1], h[0])) * oris[i];
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}
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} return 0; });
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for(int i=0; i<N; i++) {
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vertexdata& vd = vdata[i];
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auto m = vd.m;
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// these two functions compute new base and at, based on pats[i]
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m->at = pats[i];
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m->ori = oris[i];
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virtualRebase(m);
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m->vel = vels[i];
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}
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shmup::fixStorage();
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}
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bool turn(int delta) {
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if(vizid != &flock_id) return false;
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simulate(delta), timetowait = 0;
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if(follow) {
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if(follow == 1) {
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gmatrix.clear();
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vdata[0].m->pat = shiftless(View * calc_relative_matrix(vdata[0].m->base, centerover, C0) * vdata[0].m->at);
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View = inverse(vdata[0].m->pat.T) * View;
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if(prod) {
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NLP = inverse(vdata[0].m->ori);
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NLP = hr::cspin(1, 2, 90 * degree) * spin(90 * degree) * NLP;
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if(NLP[0][2]) {
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auto downspin = -atan2(NLP[0][2], NLP[1][2]);
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NLP = spin(downspin) * NLP;
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}
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}
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else {
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View =spin(90 * degree) * View;
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if(GDIM == 3) {
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View = hr::cspin(1, 2, 90 * degree) * View;
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}
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}
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}
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if(follow == 2) {
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// we take the average in R^3 of all the boid positions of the Minkowski hyperboloid
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// (in quotient spaces, the representants closest to the current view
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// are taken), and normalize the result to project it back to the hyperboloid
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// (the same method is commonly used on the sphere AFAIK)
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hyperpoint h = Hypc;
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int cnt = 0;
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ld lev = 0;
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for(int i=0; i<N; i++) if(gmatrix.count(vdata[i].m->base)) {
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vdata[i].m->pat = gmatrix[vdata[i].m->base] * vdata[i].m->at;
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auto h1 = unshift(tC0(vdata[i].m->pat));
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cnt++;
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if(prod) {
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auto d1 = product_decompose(h1);
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lev += d1.first;
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h += d1.second;
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}
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else
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h += h1;
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}
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if(cnt) {
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h = normalize_flat(h);
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if(prod) h = zshift(h, lev / cnt);
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View = inverse(actual_view_transform) * gpushxto0(h) * actual_view_transform * View;
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}
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}
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optimizeview();
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compute_graphical_distance();
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gmatrix.clear();
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playermoved = false;
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}
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return false;
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// shmup::pc[0]->rebase();
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}
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#if CAP_COMMANDLINE
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int readArgs() {
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using namespace arg;
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// options before reading
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if(0) ;
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else if(argis("-flocking")) {
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PHASEFROM(2);
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shift(); N = argi();
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init();
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}
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else if(argis("-cohf")) {
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shift(); coh_factor = argf();
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}
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else if(argis("-alignf")) {
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shift(); align_factor = argf();
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}
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else if(argis("-sepf")) {
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shift(); sep_factor = argf();
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}
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else if(argis("-checkr")) {
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shift(); check_range = argf();
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}
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else if(argis("-cohr")) {
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shift(); coh_range = argf();
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}
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else if(argis("-alignr")) {
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shift(); align_range = argf();
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}
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else if(argis("-sepr")) {
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shift(); sep_range = argf();
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}
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else if(argis("-flockfollow")) {
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shift(); follow = argi();
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}
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else if(argis("-flockprec")) {
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shift(); precision = argi();
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}
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else if(argis("-flockshape")) {
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shift(); shape = argcs()[0];
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for(int i=0; i<N; i++)
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vdata[i].cp.shade = shape;
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}
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else if(argis("-flockspd")) {
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shift(); ini_speed = argf();
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shift(); max_speed = argf();
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}
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#ifdef USE_THREADS
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else if(argis("-threads")) {
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shift(); threads = argi();
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}
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#endif
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else return 1;
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return 0;
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}
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void flock_marker() {
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if(draw_lines)
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for(auto p: lines) queueline(get<0>(p), get<1>(p), get<2>(p), 0);
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}
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void show() {
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cmode = sm::SIDE | sm::MAYDARK;
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gamescreen(0);
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dialog::init(XLAT("flocking"), iinf[itPalace].color, 150, 0);
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dialog::addSelItem("initial speed", fts(ini_speed), 'i');
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dialog::add_action([]() {
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dialog::editNumber(ini_speed, 0, 2, .1, .5, "", "");
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});
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dialog::addSelItem("max speed", fts(max_speed), 'm');
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dialog::add_action([]() {
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dialog::editNumber(max_speed, 0, 2, .1, .5, "", "");
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});
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dialog::addSelItem("separation factor", fts(sep_factor), 's');
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dialog::add_action([]() {
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dialog::editNumber(sep_factor, 0, 2, .1, 1.5, "", "");
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});
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string rangehelp = "Increasing this parameter may also require increasing the 'check range' parameter.";
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dialog::addSelItem("separation range", fts(sep_range), 'S');
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dialog::add_action([rangehelp]() {
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dialog::editNumber(sep_range, 0, 2, .1, .5, "", rangehelp);
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});
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dialog::addSelItem("alignment factor", fts(align_factor), 'a');
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dialog::add_action([]() {
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dialog::editNumber(align_factor, 0, 2, .1, 1.5, "", "");
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});
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dialog::addSelItem("alignment range", fts(align_range), 'A');
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dialog::add_action([rangehelp]() {
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dialog::editNumber(align_range, 0, 2, .1, .5, "", rangehelp);
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});
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dialog::addSelItem("cohesion factor", fts(coh_factor), 'c');
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dialog::add_action([]() {
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dialog::editNumber(coh_factor, 0, 2, .1, 1.5, "", "");
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});
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dialog::addSelItem("cohesion range", fts(coh_range), 'C');
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dialog::add_action([rangehelp]() {
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dialog::editNumber(coh_range, 0, 2, .1, .5, "", rangehelp);
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});
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dialog::addSelItem("check range", fts(check_range), 't');
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dialog::add_action([]() {
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ld radius = 0;
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for(cell *c: currentmap->allcells())
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for(int i=0; i<c->degree(); i++) {
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hyperpoint h = nearcorner(c, i);
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radius = max(radius, hdist0(h));
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}
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dialog::editNumber(check_range, 0, 2, .1, .5, "",
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"Value used in the algorithm: "
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"only other boids in cells whose centers are at most 'check range' from the center of the current cell are considered. "
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"Should be more than the other ranges by at least double the cell radius (in the current geometry, double the radius is " + fts(radius*2) + "); "
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"but too large values slow the simulation down.\n\n"
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"Restart the simulation to apply the changes to this parameter. In quotient spaces, the simulation may not work correctly when the same cell is in range check_range "
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"in multiple directions."
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);
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});
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dialog::addSelItem("number of boids", its(N), 'n');
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dialog::add_action([]() {
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dialog::editNumber(N, 0, 1000, 1, 20, "", "");
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});
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dialog::addSelItem("precision", its(precision), 'p');
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dialog::add_action([]() {
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dialog::editNumber(precision, 0, 1000, 1, 10, "", "smaller number = more precise simulation");
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});
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dialog::addSelItem("change geometry", XLAT(ginf[geometry].shortname), 'g');
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hr::showquotients = true;
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dialog::add_action(runGeometryExperiments);
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dialog::addBoolItem_action("draw forces", draw_lines, 'l');
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dialog::addSelItem("follow", follow_names[follow], 'f');
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dialog::add_action([] () { follow++; follow %= 3; });
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dialog::addBreak(100);
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dialog::addItem("restart", 'r');
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dialog::add_action(init);
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dialog::addBack();
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dialog::display();
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}
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void o_key(o_funcs& v) {
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if(vizid == &flock_id) v.push_back(named_dialog("flocking", show));
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}
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auto hooks =
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addHook(hooks_args, 100, readArgs) +
|
|
addHook(shmup::hooks_turn, 100, turn) +
|
|
addHook(hooks_frame, 100, flock_marker) +
|
|
addHook(hooks_o_key, 80, o_key) +
|
|
0;
|
|
#endif
|
|
|
|
}
|
|
|
|
}
|