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#include <stdio.h>
#include <cstdlib>
#include <time.h>
#include <math.h>
#include <iostream>
#include <gl\glut.h>
#include <Windows.h>
/*DISPLAY*/
#define WIDTH 400
#define HEIGHT 400
/*GENERAL*/
#define GLOBAL 0.3
#define PERSONAL 0.3
#define INERT 0.3
#define DELAY 100
/*SWARM*/
#define N 60 //NUmber of agents
#define K 200 //Number of moves
/* LIMITS */
#define Xmin -4
#define Xmax 6
#define Ymin -4
#define Ymax 6
double velocity[N][2];
double swarm[N][2];
double BestPers[N][3];
double BestGlob[3];
float Lrand(float min, float max)
{
return (min + ((rand() % 10000) / 1e4) * (max - min));
}
void init() //Generate initial positions and directions
{
srand(time(NULL));
glClearColor(0.67, 0.2, 0.8, 0);
glMatrixMode(GL_PROJECTION);
gluOrtho2D(Xmin, Xmax, Ymin, Ymax);
for(int i = 0; i < N; i++)
{
swarm[i][0] = Lrand(Xmin, Xmax);
swarm[i][1] = Lrand(Ymin, Ymax);
velocity[i][0] = Lrand(-1, 1);
velocity[i][1] = Lrand(-1, 1);
BestPers[i][2] = 100000;
}
BestGlob[2] = 100000;
}
void MoveWasp() //Moves the whole wasp
{
for(int i = 0; i < N; i++)
{
for(int a = 0; a < 2; a++)
{
velocity[i][a] = INERT * velocity[i][a] +
Lrand(-1, 1) * GLOBAL * (BestGlob[a] - swarm[i][a]) +
Lrand(-1, 1) * PERSONAL * (BestPers[i][a] - swarm[i][a]);
swarm[i][a] = swarm[i][a] + velocity[i][a];
}
}
}
int chkBrd(int i) //Verifies agent's position
{
if((Xmin <= swarm[i][0]) && (swarm[i][0] <= Xmax) && (Ymin <= swarm[i][1]) && (swarm[i][1] <= Ymax))
return 1;
else
return 0;
}
double calculate(int i)
{
double f;
double a = swarm[i][0], b = swarm[i][1];
f = - 0.1 * fabs(1 - b) - 0.1 * fabs(1 - a) - j0(20 * a * a + b * b);
// f = - 0.1 * fabs(1 - b) - 0.1 * fabs(1 - a) - j0(a * a + b * b);
// f = a * sin(4 * a) + 1.1 * b * sin(2 * b);
return f;
}
void checkBP(int i, double a)
{
if(a < BestPers[i][2])
{
BestPers[i][2] = a;
BestPers[i][1] = swarm[i][1];
BestPers[i][0] = swarm[i][0];
}
}
void checkBG(int i, double a)
{
if(a < BestGlob[2])
{
BestGlob[2] = a;
BestGlob[1] = swarm[i][1];
BestGlob[0] = swarm[i][0];
}
}
void draw(void)
{
glColor3f(1, 1, 0);
glBegin(GL_POINTS);
for(int i = 0; i < N; i++)
glVertex2dv(swarm[i]);
glVertex2d(BestGlob[0], BestGlob[1]);
glEnd();
glFlush();
glutSwapBuffers();
}
void display(int i)
{
std::cout << i << "\t" << BestGlob[0] << "\t" << BestGlob[1] << "\t" << BestGlob[2] << "\n";
}
void go()
{
double a;
for(int k = 0; k < K; k++)
{
for(int i = 0; i < N; i++)
{
if(chkBrd(i))
{
a = calculate(i);
checkBP(i, a);
checkBG(i, a);
}
}
display(k);
draw();
MoveWasp();
glClear(GL_COLOR_BUFFER_BIT);
Sleep(DELAY);
}
return;
}
void main(int argc, char **argv)
{
glutInit(&argc;, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB);
glutInitWindowPosition(600,220);
glutInitWindowSize(WIDTH, HEIGHT);
glutCreateWindow("Wasps are alive!!!");
glPointSize(3.0);
glEnable(GL_POINT_SMOOTH);
init();
glutDisplayFunc(go);
glutIdleFunc(go);
glutMainLoop();
}
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