71 lines
2.2 KiB
GLSL
71 lines
2.2 KiB
GLSL
#[compute]
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#version 450
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// Invocations in the (x, y, z) dimension
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layout(local_size_x = 64, local_size_y = 1, local_size_z = 1) in;
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layout(r32f, binding = 0) uniform restrict readonly image2D current_trail;
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layout(r32f, binding = 1) uniform restrict writeonly image2D output_trail;
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layout(binding = 2) restrict buffer AgentBuffer {
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vec2 positions[1024*1024];
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float headings[1024*1024];
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} agent_buffer;
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layout(push_constant, std430) uniform Params {
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ivec2 texture_size;
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float sensor_angle;
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float sensor_distance;
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} params;
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const float SPEED = 1.0;
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void main() {
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ivec2 size = ivec2(params.texture_size.x - 1, params.texture_size.y - 1);
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uint id = gl_GlobalInvocationID.x;
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vec2 position = agent_buffer.positions[id];
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float heading = agent_buffer.headings[id];
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float sa = params.sensor_angle;
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float left_heading = heading - sa;
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float right_heading = heading + sa;
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vec2 left_detect_dir = vec2(cos(left_heading), sin(left_heading));
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vec2 right_detect_dir = vec2(cos(right_heading), sin(right_heading));
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vec2 forward_detect_dir = vec2(cos(heading), sin(heading));
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float sd = params.sensor_distance;
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vec2 left_detect_pos = position + left_detect_dir * sd;
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vec2 right_detect_pos = position + right_detect_dir * sd;
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vec2 forward_detect_pos = position + forward_detect_dir * sd;
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left_detect_pos = mod(left_detect_pos, size);
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right_detect_pos = mod(right_detect_pos, size);
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forward_detect_pos = mod(forward_detect_pos, size);
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float left = imageLoad(current_trail, ivec2(left_detect_pos)).r;
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float right = imageLoad(current_trail, ivec2(right_detect_pos)).r;
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float forward = imageLoad(current_trail, ivec2(forward_detect_pos)).r;
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vec2 pos = position;
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if (left > forward && left > right) {
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pos += left_detect_dir * SPEED;
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} else if (right > forward && right > left) {
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pos += right_detect_dir * SPEED;
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} else {
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pos += forward_detect_dir * SPEED;
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}
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pos = mod(pos, size);
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agent_buffer.positions[id] = pos;
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ivec2 uv = ivec2(pos);
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float current_v = imageLoad(current_trail, uv).r;
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float new_v = current_v + 0.3;
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vec4 result = vec4(new_v, new_v, new_v, 1.0);
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imageStore(output_trail, uv, result);
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}
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