diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..952573d --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +main.wasm +.idea diff --git a/.nojekyll b/.nojekyll new file mode 100644 index 0000000..e69de29 diff --git a/Caddyfile b/Caddyfile new file mode 100644 index 0000000..07f48ba --- /dev/null +++ b/Caddyfile @@ -0,0 +1,2 @@ +0.0.0.0:8080 +mime .wasm application/wasm diff --git a/README.md b/README.md new file mode 100644 index 0000000..c488a27 --- /dev/null +++ b/README.md @@ -0,0 +1,18 @@ +# Boids simulation + +Boids algorithm implementation in Go language, compiled to WebAssembly + +[Live demo](pashawnn.github.io/boids_go/) + + +## Compilation + +``` +GOOS=js GOARCH=wasm go build -o main.wasm +``` + +Compiled binary can be found in `Releases` section of GitHub repository. Note that you can't just open index.html from local filesystem. You need web-server which sets correct mime type (`mime .wasm application/wasm`) to run WebAssembly. Simpliest solution is to download Caddy server and just run: +``` +caddy +``` +from project root. \ No newline at end of file diff --git a/boids.go b/boids.go new file mode 100644 index 0000000..1368ed9 --- /dev/null +++ b/boids.go @@ -0,0 +1,145 @@ +package main + +import ( + "github.com/go-gl/mathgl/mgl32" + "math" + "math/rand" +) + + +func dist(p, q mgl32.Vec2) float32 { + return float32(math.Sqrt(math.Pow(float64(q[0] - p[0]), 2) + math.Pow(float64(q[1] - p[1]), 2))) +} + +func limit(p mgl32.Vec2, lim float32) mgl32.Vec2{ + if p[0] > lim { + p[0] = lim + } else if p[0] < -lim { + p[0] = -lim + } + if p[1] > lim { + p[1] = lim + } else if p[1] < -lim { + p[1] = -lim + } + return p +} + + +var alignmentPerception = float32(20.0) +var cohesionPerception = float32(40.0) +var divisionPerception = float32(20.0) +var alignmentCoef = float32(1.0) +var cohesionCoef = float32(1.0) +var divisionCoef = float32(1.0) +var maxSpeed = float32(4) +var maxForce = float32(1) +var avg mgl32.Vec2 +var total int + + +type Boid struct{ + siblings *[]Boid + position mgl32.Vec2 + velocity mgl32.Vec2 + acceleration mgl32.Vec2 +} + + +func NewBoid(x, y float32, boids *[]Boid) Boid { + b := Boid{ + siblings: boids, + position:mgl32.Vec2{x, y}, + velocity:mgl32.Vec2{(rand.Float32() * 3) - 1.5, (rand.Float32() * 3) - 1.5}, + acceleration:mgl32.Vec2{0,0}, + } + return b +} + + +func (boid* Boid) alignment() mgl32.Vec2 { + avg = mgl32.Vec2{0,0} + total = 0 + + for _, sibling := range *boid.siblings { + if (sibling != *boid) && dist(boid.position, sibling.position) < alignmentPerception { + avg = avg.Add(sibling.velocity) + total++ + } + } + if total > 0 { + avg = avg.Mul(1.0 / float32(total) * alignmentCoef) + avg = avg.Normalize().Mul(maxSpeed) + avg = avg.Sub(boid.velocity) + avg = limit(avg, maxForce) + } + return avg +} + + +func (boid* Boid) cohesion() mgl32.Vec2 { + avg = mgl32.Vec2{0,0} + total = 0 + + for _, sibling := range *boid.siblings { + if (sibling != *boid) && dist(boid.position, sibling.position) < cohesionPerception { + avg = avg.Add(sibling.position) + total++ + } + } + if total > 0 { + avg = avg.Mul(1.0 / float32(total) * cohesionCoef) + avg = avg.Sub(boid.position) + avg = avg.Normalize().Mul(maxSpeed) + avg = avg.Sub(boid.velocity) + avg = limit(avg, maxForce) + } + return avg +} + + +func (boid* Boid) divison() mgl32.Vec2 { + avg = mgl32.Vec2{0,0} + total = 0 + + for _, sibling := range *boid.siblings { + d := dist(boid.position, sibling.position) + if (sibling != *boid) && d < divisionPerception { + diff := boid.position.Sub(sibling.position).Mul(1/(d*d)) + avg = avg.Add(diff) + total++ + } + } + if total > 0 { + avg = avg.Mul(1.0 / float32(total) * divisionCoef) + avg = avg.Normalize().Mul(maxSpeed) + avg = avg.Sub(boid.velocity) + avg = limit(avg, maxForce) + } + return avg +} + + +func (boid* Boid) Tick() { + boid.acceleration = boid.acceleration.Add(boid.alignment().Mul(1.5)) + boid.acceleration = boid.acceleration.Add(boid.cohesion().Mul(1.0)) + boid.acceleration = boid.acceleration.Add(boid.divison().Mul(2.0)) + + boid.position = boid.position.Add(boid.velocity) + boid.velocity = boid.velocity.Add(boid.acceleration.Mul(0.5)) + boid.velocity = limit(boid.velocity, maxSpeed) + boid.acceleration = boid.acceleration.Mul(0) + + if float64(boid.position.X()) > width { + boid.position[0] = 0 + } else if float64(boid.position.X()) < 0 { + boid.position[0] = float32(width) + } + if float64(boid.position.Y()) > height { + boid.position[1] = 0 + } else if float64(boid.position.Y()) < 0 { + boid.position[1] = float32(height) + } + + +} \ No newline at end of file diff --git a/index.html b/index.html new file mode 100644 index 0000000..e0684fc --- /dev/null +++ b/index.html @@ -0,0 +1,22 @@ + + + + Go WebAssembly - Boids + + + + + + + + + + + + diff --git a/main.go b/main.go new file mode 100644 index 0000000..1bd4ee8 --- /dev/null +++ b/main.go @@ -0,0 +1,73 @@ +package main + +import ( + "github.com/llgcode/draw2d/draw2dimg" + "github.com/llgcode/draw2d/draw2dkit" + "github.com/markfarnan/go-canvas/canvas" + "image/color" + "math/rand" +) + +var boids []Boid + +var done chan struct{} + +var cvs *canvas.Canvas2d +var width float64 +var height float64 + + +func main() { + cvs, _ = canvas.NewCanvas2d(true) + height = float64(cvs.Height()) + width = float64(cvs.Width()) + for i := 0; i < 70; i++ { + + boids = append(boids, NewBoid(float32(rand.Intn(500)), float32(rand.Intn(700)), &boids)) + } + cvs.Start(60, Render) + <-done +} + + +func tick() { + for i, _ := range boids { + boids[i].Tick() + } +} + +func drawBoid(gc *draw2dimg.GraphicContext, b Boid) { + gc.BeginPath() + draw2dkit.Circle(gc, float64(b.position.X()), float64(b.position.Y()), 5) + gc.FillStroke() + gc.Close() + + x, y := float64(b.position[0]), float64(b.position[1]) + sec := b.position.Sub(b.velocity.Normalize().Mul(10)) + tX, tY := float64(sec[0]), float64(sec[1]) + gc.BeginPath() + gc.MoveTo(x, y) + gc.LineTo(tX, tY) + gc.Stroke() + gc.Close() + + //gc.BeginPath() + //draw2dkit.Circle(gc, float64(b.position.X()), float64(b.position.Y()), 20) + //gc.Stroke() + //gc.Close() +} + +func Render(gc *draw2dimg.GraphicContext) bool { + tick() + gc.SetFillColor(color.RGBA{0xff, 0xff, 0xff, 0xff}) + gc.Clear() + + gc.SetFillColor(color.RGBA{0xff, 0x00, 0x00, 0xff}) + gc.SetStrokeColor(color.RGBA{0xff, 0x00, 0x00, 0xff}) + + for _, boid := range boids { + drawBoid(gc, boid) + } + + return true +} diff --git a/wasm_exec.js b/wasm_exec.js new file mode 100644 index 0000000..165d567 --- /dev/null +++ b/wasm_exec.js @@ -0,0 +1,465 @@ +// Copyright 2018 The Go Authors. All rights reserved. +// Use of this source code is governed by a BSD-style +// license that can be found in the LICENSE file. + +(() => { + if (typeof global !== "undefined") { + // global already exists + } else if (typeof window !== "undefined") { + window.global = window; + } else if (typeof self !== "undefined") { + self.global = self; + } else { + throw new Error("cannot export Go (neither global, window nor self is defined)"); + } + + // Map web browser API and Node.js API to a single common API (preferring web standards over Node.js API). + const isNodeJS = global.process && global.process.title === "node"; + if (isNodeJS) { + global.require = require; + global.fs = require("fs"); + + const nodeCrypto = require("crypto"); + global.crypto = { + getRandomValues(b) { + nodeCrypto.randomFillSync(b); + }, + }; + + global.performance = { + now() { + const [sec, nsec] = process.hrtime(); + return sec * 1000 + nsec / 1000000; + }, + }; + + const util = require("util"); + global.TextEncoder = util.TextEncoder; + global.TextDecoder = util.TextDecoder; + } else { + let outputBuf = ""; + global.fs = { + constants: { O_WRONLY: -1, O_RDWR: -1, O_CREAT: -1, O_TRUNC: -1, O_APPEND: -1, O_EXCL: -1 }, // unused + writeSync(fd, buf) { + outputBuf += decoder.decode(buf); + const nl = outputBuf.lastIndexOf("\n"); + if (nl != -1) { + console.log(outputBuf.substr(0, nl)); + outputBuf = outputBuf.substr(nl + 1); + } + return buf.length; + }, + write(fd, buf, offset, length, position, callback) { + if (offset !== 0 || length !== buf.length || position !== null) { + throw new Error("not implemented"); + } + const n = this.writeSync(fd, buf); + callback(null, n); + }, + open(path, flags, mode, callback) { + const err = new Error("not implemented"); + err.code = "ENOSYS"; + callback(err); + }, + read(fd, buffer, offset, length, position, callback) { + const err = new Error("not implemented"); + err.code = "ENOSYS"; + callback(err); + }, + fsync(fd, callback) { + callback(null); + }, + }; + } + + const encoder = new TextEncoder("utf-8"); + const decoder = new TextDecoder("utf-8"); + + global.Go = class { + constructor() { + this.argv = ["js"]; + this.env = {}; + this.exit = (code) => { + if (code !== 0) { + console.warn("exit code:", code); + } + }; + this._exitPromise = new Promise((resolve) => { + this._resolveExitPromise = resolve; + }); + this._pendingEvent = null; + this._scheduledTimeouts = new Map(); + this._nextCallbackTimeoutID = 1; + + const mem = () => { + // The buffer may change when requesting more memory. + return new DataView(this._inst.exports.mem.buffer); + } + + const setInt64 = (addr, v) => { + mem().setUint32(addr + 0, v, true); + mem().setUint32(addr + 4, Math.floor(v / 4294967296), true); + } + + const getInt64 = (addr) => { + const low = mem().getUint32(addr + 0, true); + const high = mem().getInt32(addr + 4, true); + return low + high * 4294967296; + } + + const loadValue = (addr) => { + const f = mem().getFloat64(addr, true); + if (f === 0) { + return undefined; + } + if (!isNaN(f)) { + return f; + } + + const id = mem().getUint32(addr, true); + return this._values[id]; + } + + const storeValue = (addr, v) => { + const nanHead = 0x7FF80000; + + if (typeof v === "number") { + if (isNaN(v)) { + mem().setUint32(addr + 4, nanHead, true); + mem().setUint32(addr, 0, true); + return; + } + if (v === 0) { + mem().setUint32(addr + 4, nanHead, true); + mem().setUint32(addr, 1, true); + return; + } + mem().setFloat64(addr, v, true); + return; + } + + switch (v) { + case undefined: + mem().setFloat64(addr, 0, true); + return; + case null: + mem().setUint32(addr + 4, nanHead, true); + mem().setUint32(addr, 2, true); + return; + case true: + mem().setUint32(addr + 4, nanHead, true); + mem().setUint32(addr, 3, true); + return; + case false: + mem().setUint32(addr + 4, nanHead, true); + mem().setUint32(addr, 4, true); + return; + } + + let ref = this._refs.get(v); + if (ref === undefined) { + ref = this._values.length; + this._values.push(v); + this._refs.set(v, ref); + } + let typeFlag = 0; + switch (typeof v) { + case "string": + typeFlag = 1; + break; + case "symbol": + typeFlag = 2; + break; + case "function": + typeFlag = 3; + break; + } + mem().setUint32(addr + 4, nanHead | typeFlag, true); + mem().setUint32(addr, ref, true); + } + + const loadSlice = (addr) => { + const array = getInt64(addr + 0); + const len = getInt64(addr + 8); + return new Uint8Array(this._inst.exports.mem.buffer, array, len); + } + + const loadSliceOfValues = (addr) => { + const array = getInt64(addr + 0); + const len = getInt64(addr + 8); + const a = new Array(len); + for (let i = 0; i < len; i++) { + a[i] = loadValue(array + i * 8); + } + return a; + } + + const loadString = (addr) => { + const saddr = getInt64(addr + 0); + const len = getInt64(addr + 8); + return decoder.decode(new DataView(this._inst.exports.mem.buffer, saddr, len)); + } + + const timeOrigin = Date.now() - performance.now(); + this.importObject = { + go: { + // Go's SP does not change as long as no Go code is running. Some operations (e.g. calls, getters and setters) + // may synchronously trigger a Go event handler. This makes Go code get executed in the middle of the imported + // function. A goroutine can switch to a new stack if the current stack is too small (see morestack function). + // This changes the SP, thus we have to update the SP used by the imported function. + + // func wasmExit(code int32) + "runtime.wasmExit": (sp) => { + const code = mem().getInt32(sp + 8, true); + this.exited = true; + delete this._inst; + delete this._values; + delete this._refs; + this.exit(code); + }, + + // func wasmWrite(fd uintptr, p unsafe.Pointer, n int32) + "runtime.wasmWrite": (sp) => { + const fd = getInt64(sp + 8); + const p = getInt64(sp + 16); + const n = mem().getInt32(sp + 24, true); + fs.writeSync(fd, new Uint8Array(this._inst.exports.mem.buffer, p, n)); + }, + + // func nanotime() int64 + "runtime.nanotime": (sp) => { + setInt64(sp + 8, (timeOrigin + performance.now()) * 1000000); + }, + + // func walltime() (sec int64, nsec int32) + "runtime.walltime": (sp) => { + const msec = (new Date).getTime(); + setInt64(sp + 8, msec / 1000); + mem().setInt32(sp + 16, (msec % 1000) * 1000000, true); + }, + + // func scheduleTimeoutEvent(delay int64) int32 + "runtime.scheduleTimeoutEvent": (sp) => { + const id = this._nextCallbackTimeoutID; + this._nextCallbackTimeoutID++; + this._scheduledTimeouts.set(id, setTimeout( + () => { this._resume(); }, + getInt64(sp + 8) + 1, // setTimeout has been seen to fire up to 1 millisecond early + )); + mem().setInt32(sp + 16, id, true); + }, + + // func clearTimeoutEvent(id int32) + "runtime.clearTimeoutEvent": (sp) => { + const id = mem().getInt32(sp + 8, true); + clearTimeout(this._scheduledTimeouts.get(id)); + this._scheduledTimeouts.delete(id); + }, + + // func getRandomData(r []byte) + "runtime.getRandomData": (sp) => { + crypto.getRandomValues(loadSlice(sp + 8)); + }, + + // func stringVal(value string) ref + "syscall/js.stringVal": (sp) => { + storeValue(sp + 24, loadString(sp + 8)); + }, + + // func valueGet(v ref, p string) ref + "syscall/js.valueGet": (sp) => { + const result = Reflect.get(loadValue(sp + 8), loadString(sp + 16)); + sp = this._inst.exports.getsp(); // see comment above + storeValue(sp + 32, result); + }, + + // func valueSet(v ref, p string, x ref) + "syscall/js.valueSet": (sp) => { + Reflect.set(loadValue(sp + 8), loadString(sp + 16), loadValue(sp + 32)); + }, + + // func valueIndex(v ref, i int) ref + "syscall/js.valueIndex": (sp) => { + storeValue(sp + 24, Reflect.get(loadValue(sp + 8), getInt64(sp + 16))); + }, + + // valueSetIndex(v ref, i int, x ref) + "syscall/js.valueSetIndex": (sp) => { + Reflect.set(loadValue(sp + 8), getInt64(sp + 16), loadValue(sp + 24)); + }, + + // func valueCall(v ref, m string, args []ref) (ref, bool) + "syscall/js.valueCall": (sp) => { + try { + const v = loadValue(sp + 8); + const m = Reflect.get(v, loadString(sp + 16)); + const args = loadSliceOfValues(sp + 32); + const result = Reflect.apply(m, v, args); + sp = this._inst.exports.getsp(); // see comment above + storeValue(sp + 56, result); + mem().setUint8(sp + 64, 1); + } catch (err) { + storeValue(sp + 56, err); + mem().setUint8(sp + 64, 0); + } + }, + + // func valueInvoke(v ref, args []ref) (ref, bool) + "syscall/js.valueInvoke": (sp) => { + try { + const v = loadValue(sp + 8); + const args = loadSliceOfValues(sp + 16); + const result = Reflect.apply(v, undefined, args); + sp = this._inst.exports.getsp(); // see comment above + storeValue(sp + 40, result); + mem().setUint8(sp + 48, 1); + } catch (err) { + storeValue(sp + 40, err); + mem().setUint8(sp + 48, 0); + } + }, + + // func valueNew(v ref, args []ref) (ref, bool) + "syscall/js.valueNew": (sp) => { + try { + const v = loadValue(sp + 8); + const args = loadSliceOfValues(sp + 16); + const result = Reflect.construct(v, args); + sp = this._inst.exports.getsp(); // see comment above + storeValue(sp + 40, result); + mem().setUint8(sp + 48, 1); + } catch (err) { + storeValue(sp + 40, err); + mem().setUint8(sp + 48, 0); + } + }, + + // func valueLength(v ref) int + "syscall/js.valueLength": (sp) => { + setInt64(sp + 16, parseInt(loadValue(sp + 8).length)); + }, + + // valuePrepareString(v ref) (ref, int) + "syscall/js.valuePrepareString": (sp) => { + const str = encoder.encode(String(loadValue(sp + 8))); + storeValue(sp + 16, str); + setInt64(sp + 24, str.length); + }, + + // valueLoadString(v ref, b []byte) + "syscall/js.valueLoadString": (sp) => { + const str = loadValue(sp + 8); + loadSlice(sp + 16).set(str); + }, + + // func valueInstanceOf(v ref, t ref) bool + "syscall/js.valueInstanceOf": (sp) => { + mem().setUint8(sp + 24, loadValue(sp + 8) instanceof loadValue(sp + 16)); + }, + + "debug": (value) => { + console.log(value); + }, + } + }; + } + + async run(instance) { + this._inst = instance; + this._values = [ // TODO: garbage collection + NaN, + 0, + null, + true, + false, + global, + this._inst.exports.mem, + this, + ]; + this._refs = new Map(); + this.exited = false; + + const mem = new DataView(this._inst.exports.mem.buffer) + + // Pass command line arguments and environment variables to WebAssembly by writing them to the linear memory. + let offset = 4096; + + const strPtr = (str) => { + let ptr = offset; + new Uint8Array(mem.buffer, offset, str.length + 1).set(encoder.encode(str + "\0")); + offset += str.length + (8 - (str.length % 8)); + return ptr; + }; + + const argc = this.argv.length; + + const argvPtrs = []; + this.argv.forEach((arg) => { + argvPtrs.push(strPtr(arg)); + }); + + const keys = Object.keys(this.env).sort(); + argvPtrs.push(keys.length); + keys.forEach((key) => { + argvPtrs.push(strPtr(`${key}=${this.env[key]}`)); + }); + + const argv = offset; + argvPtrs.forEach((ptr) => { + mem.setUint32(offset, ptr, true); + mem.setUint32(offset + 4, 0, true); + offset += 8; + }); + + this._inst.exports.run(argc, argv); + if (this.exited) { + this._resolveExitPromise(); + } + await this._exitPromise; + } + + _resume() { + if (this.exited) { + throw new Error("Go program has already exited"); + } + this._inst.exports.resume(); + if (this.exited) { + this._resolveExitPromise(); + } + } + + _makeFuncWrapper(id) { + const go = this; + return function () { + const event = { id: id, this: this, args: arguments }; + go._pendingEvent = event; + go._resume(); + return event.result; + }; + } + } + + if (isNodeJS) { + if (process.argv.length < 3) { + process.stderr.write("usage: go_js_wasm_exec [wasm binary] [arguments]\n"); + process.exit(1); + } + + const go = new Go(); + go.argv = process.argv.slice(2); + go.env = Object.assign({ TMPDIR: require("os").tmpdir() }, process.env); + go.exit = process.exit; + WebAssembly.instantiate(fs.readFileSync(process.argv[2]), go.importObject).then((result) => { + process.on("exit", (code) => { // Node.js exits if no event handler is pending + if (code === 0 && !go.exited) { + // deadlock, make Go print error and stack traces + go._pendingEvent = { id: 0 }; + go._resume(); + } + }); + return go.run(result.instance); + }).catch((err) => { + throw err; + }); + } +})();