implement sin and cos table

src/agent.rs

@@ -41,19 +41,44 @@ impl Agent {
         }
     }
 
+    pub fn get_from_table(i: f32, table: &Vec<f32>) -> f32 {
+        let interval: f32 = 1.0/0.01;
+
+        let i_proc = (i * interval).round()+(360.0*interval);
+        let output = table[i_proc as usize];
+
+        return output;
+    }
+
     // Tick an agent
     #[inline]
-    pub fn tick(&mut self, buf: &Buf, sensor_distance: f32, sensor_angle: f32, rotation_angle: f32, step_distance: f32, width: usize, height: usize) {
+    pub fn tick(&mut self, buf: &Buf, sensor_distance: f32, sensor_angle: f32, rotation_angle: f32, step_distance: f32, width: usize, height: usize, sin_table: &Vec<f32>, cos_table: &Vec<f32>) {
+        /*
         let xc = self.x + cos(self.angle) * sensor_distance;
         let yc = self.y + sin(self.angle) * sensor_distance;
+        */
+
+        // /*
+        let xc = self.x + Self::get_from_table(self.angle, &cos_table) * sensor_distance;
+        let yc = self.y + Self::get_from_table(self.angle, &sin_table) * sensor_distance;
+        // */
 
         let agent_add_sens = self.angle + sensor_angle;
         let agent_sub_sens = self.angle - sensor_angle;
 
+        // /*
+        let xl = self.x + Self::get_from_table(agent_sub_sens, &cos_table) * sensor_distance;
+        let yl = self.y + Self::get_from_table(agent_sub_sens, &sin_table) * sensor_distance;
+        let xr = self.x + Self::get_from_table(agent_add_sens, &cos_table) * sensor_distance;
+        let yr = self.y + Self::get_from_table(agent_add_sens, &sin_table) * sensor_distance;
+        // */
+
+        /*
         let xl = self.x + cos(agent_sub_sens) * sensor_distance;
         let yl = self.y + sin(agent_sub_sens) * sensor_distance;
         let xr = self.x + cos(agent_add_sens) * sensor_distance;
         let yr = self.y + sin(agent_add_sens) * sensor_distance;
+        */
 
         // We sense from the buffer because this is where we previously combined data from all the grid.
         let center = buf.get_buf(xc, yc);
@@ -78,11 +103,13 @@ impl Agent {
 
         self.angle = wrap(self.angle + delta_angle, TAU);
         self.x = wrap(
-            self.x + step_distance * cos(self.angle),
+            // self.x + step_distance * cos(self.angle),
+            self.x + step_distance * Self::get_from_table(self.angle, &cos_table),
             width as f32,
         );
         self.y = wrap(
-            self.y + step_distance * sin(self.angle),
+            // self.y + step_distance * sin(self.angle),
+            self.y + step_distance * Self::get_from_table(self.angle, &sin_table),
             height as f32,
         );
     }