change perlin noise for simplex noise
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/*
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===============================================================================
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Ported the SimplexNoise algorithm from the C++ versions mentioned below
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to a reuseable Arduino Library.
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By Jordan Shaw / http://jordanshaw.com / 2017-02
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A C++ port of a speed-improved simplex noise algorithm for 2D in Java.
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Based on example code by Stefan Gustavson (stegu@itn.liu.se).
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Optimisations by Peter Eastman (peastman@drizzle.stanford.edu).
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Better rank ordering method by Stefan Gustavson in 2012.
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C++ port and minor type and algorithm changes by Josh Koch (jdk1337@gmail.com).
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This could be speeded up even further, but it's useful as it is.
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Version 2012-04-12
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The original Java code was placed in the public domain by its original author,
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Stefan Gustavson. You may use it as you see fit,
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but attribution is appreciated.
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Original gist url: https://gist.github.com/Slipyx/2372043
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===============================================================================
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*/
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#include <math.h>
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#include "Arduino.h"
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#include "SimplexNoise.h"
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// Private static member definitions
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const double SimplexNoise::F2 = 0.5 * (sqrt( 3.0 ) - 1.0);
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const double SimplexNoise::G2 = (3.0 - sqrt( 3.0 )) / 6.0;
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const uint8_t SimplexNoise::p[256] = {
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151,160,137,91,90,15,131,13,201,95,96,53,194,233,7,225,140,36,103,30,69,
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142,8,99,37,240,21,10,23,190,6,148,247,120,234,75,0,26,197,62,94,252,219,
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203,117,35,11,32,57,177,33,88,237,149,56,87,174,20,125,136,171,168,68,175,
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74,165,71,134,139,48,27,166,77,146,158,231,83,111,229,122,60,211,133,230,
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220,105,92,41,55,46,245,40,244,102,143,54,65,25,63,161,1,216,80,73,209,76,
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132,187,208,89,18,169,200,196,135,130,116,188,159,86,164,100,109,198,173,
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186,3,64,52,217,226,250,124,123,5,202,38,147,118,126,255,82,85,212,207,206,
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59,227,47,16,58,17,182,189,28,42,223,183,170,213,119,248,152,2,44,154,163,
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70,221,153,101,155,167,43,172,9,129,22,39,253,19,98,108,110,79,113,224,232,
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178,185,112,104,218,246,97,228,251,34,242,193,238,210,144,12,191,179,162,
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241,81,51,145,235,249,14,239,107,49,192,214,31,181,199,106,157,184,84,204,
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176,115,121,50,45,127,4,150,254,138,236,205,93,222,114,67,29,24,72,243,141,
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128,195,78,66,215,61,156,180
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};
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const Grad SimplexNoise::grad3[12] = {
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Grad(1,1,0),Grad(-1,1,0),Grad(1,-1,0),Grad(-1,-1,0),Grad(1,0,1),
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Grad(-1,0,1),Grad(1,0,-1),Grad(-1,0,-1),Grad(0,1,1),Grad(0,-1,1),
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Grad(0,1,-1),Grad(0,-1,-1)
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};
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uint8_t SimplexNoise::perm[512] = {0};
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uint8_t SimplexNoise::permMod12[512] = {0};
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// Initialize permutaion arrays
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void SimplexNoise::init() {
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for ( uint16_t i = 0; i < 512; ++i ) {
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perm[i] = p[i & 255];
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permMod12[i] = static_cast<uint8_t>(perm[i] % 12);
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}
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delete[] &p; // lol what
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}
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// Fast floor
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int32_t SimplexNoise::fastFloor( double x ) {
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int32_t xi = static_cast<int32_t>(x);
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return x < xi ? xi - 1 : xi;
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}
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double SimplexNoise::dot( const Grad& g, double x, double y ) {
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return g.x * x + g.y * y;
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}
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// 2D SimplexNoise noise
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double SimplexNoise::noise( double xin, double yin ) {
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double s = (xin + yin) * F2;
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int32_t i = fastFloor( xin + s );
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int32_t j = fastFloor( yin + s );
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double t = (i + j) * G2;
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double x0 = xin - (i - t);
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double y0 = yin - (j - t);
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uint8_t i1 = 0, j1 = 1;
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if ( x0 > y0 ) {
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i1 = 1;
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j1 = 0;
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}
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double x1 = x0 - i1 + G2;
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double y1 = y0 - j1 + G2;
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double x2 = x0 - 1.0 + 2.0 * G2;
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double y2 = y0 - 1.0 + 2.0 * G2;
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uint8_t ii = i & 255;
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uint8_t jj = j & 255;
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uint8_t gi0 = permMod12[ii + perm[jj]];
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uint8_t gi1 = permMod12[ii + i1 + perm[jj + j1]];
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uint8_t gi2 = permMod12[ii + 1 + perm[jj + 1]];
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double n0 = 0.0;
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double t0 = 0.5 - x0 * x0 - y0 * y0;
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if ( t0 >= 0.0 ) {
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t0 *= t0;
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n0 = t0 * t0 * dot( grad3[gi0], x0, y0 );
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}
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double n1 = 0.0;
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double t1 = 0.5 - x1 * x1 - y1 * y1;
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if ( t1 >= 0.0 ) {
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t1 *= t1;
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n1 = t1 * t1 * dot( grad3[gi1], x1, y1 );
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}
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double n2 = 0.0;
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double t2 = 0.5 - x2 * x2 - y2 * y2;
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if ( t2 >= 0.0 ) {
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t2 *= t2;
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n2 = t2 * t2 * dot( grad3[gi2], x2, y2 );
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}
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return 70.0 * (n0 + n1 + n2);
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}
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@ -0,0 +1,54 @@
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/*
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===============================================================================
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Ported the SimplexNoise algorithm from the C++ versions mentioned below
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to a reuseable Arduino Library.
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By Jordan Shaw / http://jordanshaw.com / 2017-02
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A C++ port of a speed-improved simplex noise algorithm for 2D in Java.
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Based on example code by Stefan Gustavson (stegu@itn.liu.se).
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Optimisations by Peter Eastman (peastman@drizzle.stanford.edu).
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Better rank ordering method by Stefan Gustavson in 2012.
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C++ port and minor type and algorithm changes by Josh Koch (jdk1337@gmail.com).
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This could be speeded up even further, but it's useful as it is.
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Version 2012-04-12
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The original Java code was placed in the public domain by its original author,
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Stefan Gustavson. You may use it as you see fit,
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but attribution is appreciated.
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Original gist url: https://gist.github.com/Slipyx/2372043
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===============================================================================
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*/
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#ifndef SimplexNoise_h
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#define SimplexNoise_h
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#include <math.h>
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#include "Arduino.h"
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class Grad {
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public:
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Grad( int8_t x, int8_t y, int8_t z ) : x(x), y(y), z(z) {}
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int8_t x, y, z;
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};
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class SimplexNoise {
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public:
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// Initialize permutation arrays
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static void init();
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// 2D simplex noise
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static double noise( double xin, double yin );
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private:
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static int32_t fastFloor( double x );
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static double dot( const Grad& g, double x, double y );
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static const double F2;
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static const double G2;
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static const Grad grad3[12];
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static const uint8_t p[256];
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static uint8_t perm[512];
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static uint8_t permMod12[512];
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};
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#endif
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@ -4,6 +4,7 @@
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#include "servo-control.hpp"
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#include "movement.hpp"
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#include "noise.hpp"
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#include "SimplexNoise.h" //Library from https://github.com/jshaw/SimplexNoise
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#define DENOISE_PREVIOUS_INERTIA_RATE 0.9999
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#define DENOISE_CURRENT_INERTIA_RATE 0.0001
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@ -96,7 +97,7 @@ void loop() {
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if (loopmillis-last_loop_readpos_millis>100 && loopmillis-last_servo_send_millis>=4) { //limit frequency and minimum delay after send positions
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last_loop_readpos_millis=loopmillis;
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read_servos_positions(); //takes around 8000us for all servos
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read_servos_positions(); //takes around 8000us for all servos. read and send over serial.
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}
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@ -7,6 +7,8 @@
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#include "servo-control.hpp"
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SimplexNoise sn;
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int angle_to_dxl_servo_position(const int deg);
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int rpm_to_dxl_servo_speed(const int rpm);
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@ -33,22 +35,25 @@ void matrix_weights_update(){
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matrix_weights[0][W_COS]=40.0;
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matrix_weights[1][W_SIN]=-20.0;
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//testing on servo
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/*
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matrix_weights[0][W_COS]=30 *map_mode;
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matrix_weights[0][W_NOISE]=90.0 *map_mode;
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matrix_weights[0][W_NOISESLOW]=0.0 *map_mode;
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matrix_weights[1][W_SIN]=30 *map_mode;
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matrix_weights[1][W_NOISE]=90.0 *map_mode;
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matrix_weights[1][W_NOISE]=70.0 *map_mode;
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matrix_weights[1][W_NOISESLOW]=20.0 *map_mode;
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matrix_weights[2][W_COS]=-30 *map_mode;
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matrix_weights[2][W_NOISE]=90.0 *map_mode;
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matrix_weights[2][W_NOISE]=50.0 *map_mode;
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matrix_weights[2][W_NOISESLOW]=40.0 *map_mode;
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matrix_weights[3][W_SIN]=-30 *map_mode;
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matrix_weights[3][W_NOISE]=90.0 *map_mode;
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matrix_weights[3][W_NOISE]=20.0 *map_mode;
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matrix_weights[3][W_NOISESLOW]=70.0 *map_mode;
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matrix_weights[4][W_COS]=30 *map_mode;
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matrix_weights[4][W_NOISE]=90.0 *map_mode;
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matrix_weights[4][W_NOISE]=0.0 *map_mode;
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matrix_weights[4][W_NOISESLOW]=60.0 *map_mode;
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matrix_weights[0][W_ROLL]=1.0* (1-map_mode);
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@ -56,7 +61,7 @@ void matrix_weights_update(){
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matrix_weights[2][W_ROLL]=1.0* (1-map_mode);
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matrix_weights[3][W_PITCH]=1.0* (1-map_mode);
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matrix_weights[4][W_ROLL]=1.0* (1-map_mode);
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*/
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/*
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matrix_weights[0][W_NOISE]=90.0*map_mode;
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@ -81,6 +86,7 @@ void matrix_weights_update(){
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matrix_weights[i][W_NOISE]*=sleeping;
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}
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@ -265,12 +271,18 @@ void map_servos_by_weights_with_initial_position_and_move(const int roll, const
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float vsin=sin((millis()+millis_add)/1000.0);
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float vcos=cos((millis()+millis_add)/1000.0);
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//unsigned long blastart=micros();
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for (uint8_t i=0;i<SERVO_COUNT;i++) {
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//unsigned long blastart=micros();
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float pnoise=0;//PerlinNoise2((millis()+millis_add)/500.0,i*10,0.25,3); //x,y,persistance,octaves
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float pnoiseslow=0;//PerlinNoise2((millis()+millis_add)/10000.0,i*10,0.20,3); //x,y,persistance,octaves
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//float pnoise=PerlinNoise2((millis()+millis_add)/500.0,i*10,0.25,3); //x,y,persistance,octaves
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//float pnoisesslow=0;//PerlinNoise2((millis()+millis_add)/10000.0,i*10,0.20,3); //x,y,persistance,octaves
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//Serial.print("perlin micros="); Serial.println(micros()-blastart);
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float pnoise=sn.noise((millis()+millis_add)/5000.0,i*10); //simplexnoise -1 to 1
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float pnoiseslow=sn.noise((millis()+millis_add)/50000.0,i*10); //simplexnoise -1 to 1
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int angle=0;
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angle=
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pitch*matrix_weights[i][W_PITCH]
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@ -280,12 +292,12 @@ void map_servos_by_weights_with_initial_position_and_move(const int roll, const
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+vsin*matrix_weights[i][W_SIN]
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+vcos*matrix_weights[i][W_COS];
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dxlSetGoalPosition(servos[i].id, servos[i].initial_position + (servos[i].joint_orientation * angle_to_dxl_servo_position(angle)));
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}
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//delay(1);
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//Serial.print("setgoalposition micros="); Serial.println(micros()-blastart);
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}
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@ -7,6 +7,9 @@
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#include <ax12.h>
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#include "noise.hpp"
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#include "SimplexNoise.h" //Library from https://github.com/jshaw/SimplexNoise
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#ifndef SERVO_CONTROL_HPP_
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#define SERVO_CONTROL_HPP_
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