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CGoGN
Commit 658baf8f authored by Pierre Kraemer's avatar Pierre Kraemer
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suppression SocialAgents 

correction unsewFaces + edgeCollapse dans embeddedMap2
ajout simplif faces IHM
parent ea07242a
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Showing with 68 additions and 3809 deletions
Apps/CMakeLists.txt
View file @ 658baf8f
......@@ -9,8 +9,6 @@ ELSE(WIN32)
add_subdirectory(Examples/Release)
add_subdirectory(Examples/Debug)
add_subdirectory(Examples/Tests)
add_subdirectory(Examples/SocialAgents/Release)
add_subdirectory(Examples/SocialAgents/Debug)
add_subdirectory(Tuto)
ENDIF(WIN32)
......
Apps/Examples/SocialAgents/Debug/CMakeLists.txt deleted 100644 → 0
View file @ ea07242a
cmake_minimum_required(VERSION 2.6)
project(SocialAgents)
SET(CMAKE_BUILD_TYPE Debug)
link_directories(
${CGoGN_ROOT_DIR}/lib/Debug/
${CGoGN_ROOT_DIR}/lib/Release/
)
# define includes path
include_directories(
/usr/include/libxml2/
${CGoGN_ROOT_DIR}/Apps/Examples/SocialAgents/include
${CGoGN_ROOT_DIR}/include
${CGoGN_ROOT_DIR}/ThirdParty/AntTweakBar/include
${CGoGN_ROOT_DIR}/ThirdParty/Numerical
${CGoGN_ROOT_DIR}/ThirdParty/Numerical/UFconfig
${CGoGN_ROOT_DIR}/ThirdParty/gzstream
${CGoGN_ROOT_DIR}/ThirdParty/Zinri
)
#define exec to compile
add_executable(socialAgentsD ../src/viewer.cpp ../src/env_map.cpp ../src/agent.cpp ../src/simulator.cpp )
target_link_libraries( socialAgentsD containerD topologyD utilsD algoD ${COMMON_LIBS} )
Apps/Examples/SocialAgents/Release/CMakeLists.txt deleted 100644 → 0
View file @ ea07242a
cmake_minimum_required(VERSION 2.6)
project(SocialAgents)
SET(CMAKE_BUILD_TYPE Release)
link_directories(
${CGoGN_ROOT_DIR}/lib/Release/
)
# define includes path
include_directories(
/usr/include/libxml2/
${CGoGN_ROOT_DIR}/Apps/Examples/SocialAgents/include
${CGoGN_ROOT_DIR}/include
${CGoGN_ROOT_DIR}/ThirdParty/AntTweakBar/include
${CGoGN_ROOT_DIR}/ThirdParty/Numerical
${CGoGN_ROOT_DIR}/ThirdParty/Numerical/UFconfig
${CGoGN_ROOT_DIR}/ThirdParty/gzstream
${CGoGN_ROOT_DIR}/ThirdParty/Zinri
)
#define exec to compile
add_executable(socialAgents ../src/viewer.cpp ../src/env_map.cpp ../src/agent.cpp ../src/simulator.cpp )
target_link_libraries( socialAgents container topology utils algo ${COMMON_LIBS} )
Apps/Examples/SocialAgents/include/agent.h deleted 100644 → 0
View file @ ea07242a
#ifndef M_AGENT_H
#define M_AGENT_H
// #include "Definitions.h"
#include <iostream>
#include "utils.h"
#include "env_map.h"
#include "Algo/MovingObjects/particle_cell_2D.h"
class Simulator;
class Agent
{
public:
// typedef RVO::Vector2 VEC_A;
typedef VEC3 VEC_A;
explicit Agent(Simulator* sim, size_t agentNo);
Agent(Simulator* sim, const VEC_A& position, size_t agentNo);
Agent(Simulator* sim, const VEC_A& position, size_t agentNo, Dart d);
Agent(Simulator* sim, const VEC_A& position, float neighborDist,
size_t maxNeighbors, float timeHorizon, float timeHorizonObst,
float radius, const VEC_A& velocity, float maxSpeed, size_t agentNo);
~Agent();
void setGoalNo(size_t goal);
void computeNewVelocity();
void insertAgentNeighbor(size_t agentNo, float& rangeSq);
// void insertObstacleNeighbor(size_t obstacleNo, float rangeSq);
void insertObstacleNeighbor(Dart d);
void update();
std::vector<std::pair<float, size_t> > agentNeighbors_;
size_t maxNeighbors_;
float maxSpeed_;
float neighborDist_;
// RVO::Vector2 newVelocity_;
VEC_A newVelocity_;
// std::vector<std::pair<float, size_t> > obstacleNeighbors_;
std::vector<std::pair<float, Dart> > obstacleNeighbors_;
std::vector<Line> orcaLines_;
// RVO::Vector2 position_;
// RVO::Vector2 prefVelocity_;
VEC_A position_;
VEC_A prefVelocity_;
float radius_;
Simulator* sim_;
float timeHorizon_;
float timeHorizonObst_;
// RVO::Vector2 velocity_;
VEC_A velocity_;
size_t agentNo_;
size_t goalNo_;
// Dart nearestDart;
// std::vector<Dart> includingFaces;
CGoGN::Algo::MovingObjects::ParticleCell2D<PFP> * part;
float rangeSq;
bool treated;
};
bool linearProgram1(const std::vector<Line>& lines, size_t lineNo,
float radius, const Agent::VEC_A& optVelocity,
bool directionOpt, Agent::VEC_A& result);
bool linearProgram2(const std::vector<Line>& lines, size_t num, float radius,
const Agent::VEC_A& optVelocity, bool directionOpt,
Agent::VEC_A& result);
void linearProgram3(const std::vector<Line>& lines, size_t numObstLines,
float radius, Agent::VEC_A& result);
#endif
Apps/Examples/SocialAgents/include/env_generator.h deleted 100644 → 0
View file @ ea07242a
#ifndef ENV_GENERATOR
#define ENV_GENERATOR
namespace CGoGN
{
namespace CityGenerator
{
template <typename PFP>
void generateAbsolutSpiralOfDeath(typename PFP::MAP& map,typename PFP::TVEC3& position, DartMarker& closeMark, unsigned int side, float rMin, float rMax,float nbTurns);
template <typename PFP>
void generateToboggan(typename PFP::MAP& map,typename PFP::TVEC3& position, DartMarker& closeMark, unsigned int side, float rMin, float rMax,float nbTurns);
template <typename PFP, typename EMBV>
void generateSmallCity(typename PFP::MAP& map, EMBV& position, DartMarker& closeMark, float sideSize);
template <typename PFP, typename EMBV>
void generateCity(typename PFP::MAP& map, EMBV& position, DartMarker& closeMark, float sideSize);
template <typename PFP, typename EMBV, typename EMBAGENT>
void animateCity(typename PFP::MAP& map, EMBV& position, EMBAGENT& agents, DartMarker& closeMark, std::vector<Dart>& newBuilding);
template <typename PFP, typename EMBV>
bool notEightAdjacentToAnObstacle(typename PFP::MAP& map, Dart d, DartMarker& closeMark);
template <typename PFP, typename EMBV>
void generateGrid(typename PFP::MAP& map, EMBV& position, unsigned int cX,unsigned int cY,float sideLength, DartMarker& closeMark);
template <typename PFP, typename EMBV>
void markObstacleSteepFaces(typename PFP::MAP& map, EMBV& position, float steepness, DartMarker& closeMark);
template <typename PFP, typename EMBV>
void generatePathToUpperStair(typename PFP::MAP& map, EMBV& position, Dart dLower, Dart dUpper, DartMarker& closeMark);
template <typename PFP, typename EMBV>
void generateBuilding(typename PFP::MAP& map, EMBV& position, Dart d,DartMarkerStore& build, float height, float side, unsigned int buildingType, DartMarker& closeMark);
template <typename PFP, typename EMBV>
static void generateBridge(typename PFP::MAP& map, EMBV& position, Dart dStart, Dart dStop,float bridgeHeight, DartMarker& closeMark);
template <typename PFP, typename EMBV>
void generateBridge(typename PFP::MAP& map, EMBV& position, unsigned int cX, unsigned int cY,float sideLength, DartMarker& closeMark);
}
}
#include "env_generator.hpp"
#endif
\ No newline at end of file
Apps/Examples/SocialAgents/include/env_generator.hpp deleted 100644 → 0
View file @ ea07242a
namespace CGoGN
{
namespace CityGenerator
{
template <typename PFP>
void generateAbsolutSpiralOfDeath(typename PFP::MAP& map,typename PFP::TVEC3& position, DartMarker& closeMark, unsigned int side, float rMin, float rMax,float nbTurns)
{
Algo::Modelisation::Polyhedron<PFP> prim(map,position);
prim.grid_topo(side,1);
// prim.embedCircle(rMin,rMax);
prim.embedHelicoid(rMin,rMax,nbTurns*20.0f,nbTurns);
// prim.embedGrid(100,100);
CellMarker traite(map,FACE_CELL);
for(Dart d = map.begin(); d!=map.end() ; map.next(d)) {
if(!traite.isMarked(d)) {
traite.mark(d);
map.splitFace(d,map.phi1(map.phi1(d)));
}
}
map.closeMap(closeMark) ;
map.initOrbitEmbedding(FACE_ORBIT);
}
template <typename PFP>
void generateToboggan(typename PFP::MAP& map,typename PFP::TVEC3& position, DartMarker& closeMark, unsigned int side, float rMin, float rMax,float nbTurns)
{
//the stairs
Algo::Modelisation::Polyhedron<PFP> prim(map,position);
prim.grid_topo(side,3);
//the slide
Algo::Modelisation::Polyhedron<PFP> prim2(map,position);
prim2.grid_topo(side/4,3);
float height=150;
prim2.embedHelicoid(rMin*4,rMax,-1*height,0.5f,-1);
// typename PFP::VEC3 transl(0,2*rMax,height);
typename PFP::VEC3 transl(-rMax/2,0,height);
CellMarker m(map, VERTEX_CELL) ;
for(Dart d=map.begin();d!=map.end();map.next(d)) {
if(!m.isMarked(d)) {
m.mark(d);
position[d] += transl;
position[d][0] *= 2.0f;
}
}
prim.embedHelicoid(rMin,rMax,height,nbTurns-0.5f);
Dart dStairsDown = map.phi_1(prim.getDart());
Dart dStairsUp = dStairsDown;
do {
closeMark.markOrbit(FACE_ORBIT,dStairsUp);
closeMark.markOrbit(FACE_ORBIT,map.phi2(map.phi1(map.phi1(map.phi2(map.phi_1(dStairsUp))))));
dStairsUp= map.phi2(map.phi1(map.phi1(dStairsUp)));
} while(map.phi2(dStairsUp)!=dStairsUp);
Dart dSlideUp = map.phi_1(prim2.getDart());
Dart dSlideDown = dSlideUp;
do {
closeMark.markOrbit(FACE_ORBIT,dSlideDown);
closeMark.markOrbit(FACE_ORBIT,map.phi2(map.phi1(map.phi1(map.phi2(map.phi_1(dSlideDown))))));
dSlideDown= map.phi2(map.phi1(map.phi1(dSlideDown)));
} while(map.phi2(dSlideDown)!=dSlideDown);
Algo::Modelisation::Polyhedron<PFP> primPathUp(map,position);
primPathUp.grid_topo(1,3);
Dart dPathUp = map.phi_1(primPathUp.getDart());
Algo::Modelisation::Polyhedron<PFP> primPathDown(map,position);
primPathDown.grid_topo(1,3);
Dart dPathDown = map.phi_1(primPathDown.getDart());
closeMark.markOrbit(FACE_ORBIT,dPathUp);
closeMark.markOrbit(FACE_ORBIT,dPathDown);
map.sewFaces(dStairsUp,dPathUp);
map.sewFaces(dSlideUp,map.phi1(map.phi1(dPathUp)));
map.sewFaces(dSlideDown,dPathDown);
map.sewFaces(dStairsDown,map.phi1(map.phi1(dPathDown)));
dPathUp = map.phi_1(map.alpha1(dPathUp));
dPathDown = map.phi_1(map.alpha1(dPathDown));
dSlideUp = map.phi_1(map.alpha1(dSlideUp));
dSlideDown =map.alpha_1(map.phi1(dSlideDown));
dStairsUp = map.alpha_1(map.phi1(dStairsUp));
dStairsDown = map.phi_1(map.alpha1(dStairsDown));
// Dart dPathUp = map.newOrientedFace(4);
// Dart dPathDown = map.newOrientedFace(4);
map.sewFaces(dStairsUp,dPathUp);
map.sewFaces(dSlideUp,map.phi1(map.phi1(dPathUp)));
map.sewFaces(dSlideDown,dPathDown);
map.sewFaces(dStairsDown,map.phi1(map.phi1(dPathDown)));
dPathUp = map.phi_1(map.alpha1(dPathUp));
dPathDown = map.phi_1(map.alpha1(dPathDown));
dSlideUp = map.phi_1(map.alpha1(dSlideUp));
dStairsUp = map.alpha_1(map.phi1(dStairsUp));
dSlideDown =map.alpha_1(map.phi1(dSlideDown));
dStairsDown = map.phi_1(map.alpha1(dStairsDown));
closeMark.markOrbit(FACE_ORBIT,dPathUp);
closeMark.markOrbit(FACE_ORBIT,dPathDown);
map.sewFaces(dStairsUp,dPathUp);
map.sewFaces(dSlideUp,map.phi1(map.phi1(dPathUp)));
map.sewFaces(dSlideDown,dPathDown);
map.sewFaces(dStairsDown,map.phi1(map.phi1(dPathDown)));
// map.sewFaces(dStairsDown,dPathDown);
// map.sewFaces(dSlideDown,map.phi1(map.phi1(dPathDown)));
// map.sewFaces(dStairs,dSlide);
map.closeMap(closeMark) ;
CellMarker traite(map,FACE_CELL);
for(Dart d = map.begin(); d!=map.end() ; map.next(d)) {
if(!traite.isMarked(d)) {
traite.mark(d);
map.splitFace(d,map.phi1(map.phi1(d)));
}
}
for(Dart d = map.begin(); d!=map.end() ; map.next(d)) {
if(closeMark.isMarked(d)) {
closeMark.markOrbit(FACE_ORBIT,d);
}
}
map.initOrbitEmbedding(FACE_ORBIT);
}
template <typename PFP, typename EMBV>
void generateSmallCity(typename PFP::MAP& map, EMBV& position, DartMarker& closeMark, float sideSize)
{
DartMarkerStore obj(map);
// sideSize *= 0.2f;
unsigned int nbBuilding=1000;
float height = sideSize/2.0f;
unsigned int side = 5;
generateGrid<PFP,EMBV>(map,position,side,side,sideSize,closeMark);
Dart dEnd = map.end();
for(Dart d = map.begin(); d!=dEnd && nbBuilding>0; map.next(d)) {
if(!obj.isMarked(d) && (rand()%20==0) && notEightAdjacentToAnObstacle<PFP,EMBV>(map,d,closeMark)) {
typename PFP::VEC3 n1 = Algo::Geometry::faceNormal<PFP>(map,d,position);
typename PFP::VEC3 n2 = Algo::Geometry::faceNormal<PFP>(map,map.phi2(d),position);
if(position[d][2]==0.0f && position[map.phi1(d)][2]==0.0f && position[map.phi_1(d)][2]==0.0f && n1[0]==0.0f && n1[1]==0.0f && n1[2]==1.0f && n1[0]==n2[0] && n1[1]==n2[1] && n1[2]==n2[2] && map.faceDegree(d)==4) {
obj.markOrbit(FACE_ORBIT,d);
generateBuilding<PFP,EMBV>(map,position,d,obj,(1+(rand()%3))*height/2.0f,side,rand()%2,closeMark);
--nbBuilding;
}
}
}
for(Dart d = map.begin(); d!=map.end(); map.next(d)) {
if(closeMark.isMarked(d) && map.faceDegree(d)>4) {
Dart dd=d;
do {
closeMark.markOrbit(DART_ORBIT,dd);
dd = map.phi1(dd);
} while(position[dd][2]==0.0f && position[map.phi1(dd)][2]==0.0f && dd!=d);
dd=d;
do {
closeMark.markOrbit(DART_ORBIT,dd);
dd = map.phi_1(dd);
} while(position[dd][2]==0.0f && position[map.phi1(dd)][2]==0.0f && dd!=d);
}
}
map.closeMap(closeMark);
}
template <typename PFP, typename EMBV>
void generateCity(typename PFP::MAP& map, EMBV& position, DartMarker& closeMark, float sideSize)
{
DartMarkerStore obj(map);
unsigned int nbBuilding=100;
// unsigned int nbBuilding=20;
float height = sideSize;
// unsigned int side = 50;
unsigned int side = 40;
// unsigned int side = 20;
// unsigned int side = 10;
generateGrid<PFP,EMBV>(map,position,side,side,height,closeMark);
Dart dEnd = map.end();
for(Dart d = map.begin(); d!=dEnd && nbBuilding>0; map.next(d)) {
if(!obj.isMarked(d) && (rand()%20==0) && notEightAdjacentToAnObstacle<PFP,EMBV>(map,d,closeMark)) {
typename PFP::VEC3 n1 = Algo::Geometry::faceNormal<PFP>(map,d,position);
typename PFP::VEC3 n2 = Algo::Geometry::faceNormal<PFP>(map,map.phi2(d),position);
if(position[d][2]==0.0f && position[map.phi1(d)][2]==0.0f && position[map.phi_1(d)][2]==0.0f && n1[0]==0.0f && n1[1]==0.0f && n1[2]==1.0f && n1[0]==n2[0] && n1[1]==n2[1] && n1[2]==n2[2] && map.faceDegree(d)==4) {
obj.markOrbit(FACE_ORBIT,d);
generateBuilding<PFP,EMBV>(map,position,d,obj,(1+(rand()%3))*height/2.0f,side,rand()%4,closeMark);
--nbBuilding;
}
}
}
for(Dart d = map.begin(); d!=map.end(); map.next(d)) {
if(closeMark.isMarked(d) && map.faceDegree(d)>4) {
Dart dd=d;
do {
closeMark.markOrbit(DART_ORBIT,dd);
dd = map.phi1(dd);
} while(position[dd][2]==0.0f && position[map.phi1(dd)][2]==0.0f && dd!=d);
dd=d;
do {
closeMark.markOrbit(DART_ORBIT,dd);
dd = map.phi_1(dd);
} while(position[dd][2]==0.0f && position[map.phi1(dd)][2]==0.0f && dd!=d);
}
}
map.closeMap(closeMark);
}
template <typename PFP, typename EMBV, typename EMBAGENT>
void animateCity(typename PFP::MAP& map, EMBV& position, EMBAGENT& agents, DartMarker& closeMark, std::vector<Dart>& newBuildings)
{
unsigned int state=rand()%10;
if(state<3) {
//generate new building
bool found=false;
Dart d;
for(d = map.begin() ;!found && d!=map.end() ; map.next(d)) {
if(!closeMark.isMarked(d) && agents[d].size()==0 && notEightAdjacentToAnObstacle<PFP,EMBV>(map,d,closeMark)) {
typename PFP::VEC3 n1 = Algo::Geometry::faceNormal<PFP>(map,d,position);
typename PFP::VEC3 n2 = Algo::Geometry::faceNormal<PFP>(map,map.phi2(d),position);
bool groundZero=true;
Dart dd = d;
do {
if(position[dd][2]!=0.0f)
groundZero=false;
dd = map.phi1(dd);
} while(groundZero && dd!=d);
if(groundZero && n1[0]==0.0f && n1[1]==0.0f && n1[2]==1.0f && n1[0]==n2[0] && n1[1]==n2[1] && n1[2]==n2[2]) {
found=true;
break;
}
}
}
if(found) {
if(map.faceDegree(d)>16) {
}
closeMark.markOrbit(FACE_ORBIT,d);
d = Algo::Modelisation::extrudeFace<PFP>(map,position,d,2.0f);
newBuildings.push_back(d);
}
}
else if(newBuildings.size()>0) {
//take a newBuilding and make it higher
state = rand()%newBuildings.size();
Dart d = newBuildings[state];
//decide if we create a new floor, or just make it higher
unsigned int typeOfUpdate = rand()%10;
if(typeOfUpdate<9) {
Dart dd=d;
do {
position[dd][2] += 2.0f;
dd = map.phi1(dd);
} while(dd!=d);
if(position[dd][2]>((10+rand()%10)*10.0f))
newBuildings.erase(newBuildings.begin()+state);
}
else {
typename PFP::VEC3 c = Algo::Geometry::faceCentroid<PFP>(map,d,position);
Dart dRoofSmall = Algo::Modelisation::extrudeFace<PFP>(map,position,d,0.0f);
Dart dd = dRoofSmall;
do {
position[dd] = position[dd] + (c-position[dd])/3.0f;
dd = map.phi1(dd);
} while (dd!=dRoofSmall);
Dart dRoof = Algo::Modelisation::extrudeFace<PFP>(map,position,dRoofSmall,2.0f);
newBuildings.erase(newBuildings.begin()+state);
newBuildings.push_back(dRoof);
}
}
}
template <typename PFP, typename EMBV>
bool notEightAdjacentToAnObstacle(typename PFP::MAP& map, Dart d, DartMarker& closeMark)
{
Dart dd = d;
do {
if(closeMark.isMarked(map.alpha1(map.alpha1(dd))))
return false;
dd = map.phi1(dd);
}while(dd!=d);
return true;
}
template <typename PFP, typename EMBV>
void generateGrid(typename PFP::MAP& map, EMBV& position, unsigned int cX,unsigned int cY,float sideLength, DartMarker& closeMark)
{
Algo::Modelisation::Polyhedron<PFP> prim(map,position);
prim.grid_topo(cX,cY);
map.closeMap(closeMark) ;
prim.embedGrid(sideLength*cX,sideLength*cY);
map.initOrbitEmbedding(FACE_ORBIT);
}
template <typename PFP, typename EMBV>
void markObstacleSteepFaces(typename PFP::MAP& map, EMBV& position, float steepness, DartMarker& closeMark)
{
DartMarkerStore treated(map);
for(Dart d=map.begin();d!=map.end(); map.next(d)) {
if(!closeMark.isMarked(d) && !treated.isMarked(d)) {
treated.markOrbit(FACE_ORBIT,d);
typename PFP::VEC3 n = Algo::Geometry::faceNormal<PFP>(map,d,position);
if(fabs(n*typename PFP::VEC3(1,1,0))>steepness && !(n[2]<-0.5f)) {
closeMark.markOrbit(FACE_ORBIT,d);
}
}
if(closeMark.isMarked(d) && closeMark.isMarked(map.phi2(d))) {
closeMark.unmarkOrbit(EDGE_ORBIT,d);
}
}
}
//void EnvMap::generateStairs(Dart d, float stepSize, float maxHeight)
//{
// for(float currentHeight=0.0f; currentHeight<maxHeight ; currentHeight += stepSize) {
// //create one step
// Dart dStep = Algo::Modelisation::extrudeFace<PFP>(map,position,d,stepSize);
// typename PFP::VEC3 vecStep = position[map.phi1(map.phi1(d))]-position[map.phi1(d)];
// vecStep.normalize();
// vecStep *= stepSize;
// map.cutEdge(map.phi1(dStep));
// map.cutEdge(map.phi_1(dStep));
// position[map.phi1(map.phi1(dStep))] = position[map.phi1(dStep)] + vecStep;
// position[map.phi_1(dStep)] = position[dStep] + vecStep;
// map.splitFace(map.phi_1(dStep),map.phi1(map.phi1(dStep)));
// d = map.phi2(map.phi1(map.phi1(dStep)));
// }
//}
template <typename PFP, typename EMBV>
void generatePathToUpperStair(typename PFP::MAP& map, EMBV& position, Dart dLower,Dart dUpper)
{
if(dLower!= map.phi2(dLower) || dUpper!=map.phi2(dUpper)) {
std::cout << "generatePathToUpperStair : lower and upper stair darts must be fixpoint in phi2" << std::endl;
return;
}
//create the path
Dart dPathUp = map.newOrientedFace(4);
Dart dInBetween = map.newOrientedFace(4);
map.cutEdge(dInBetween);
map.cutEdge(dInBetween);
Dart dPathDown = map.newOrientedFace(4);
//sew the path
map.sewFaces(dLower,dPathUp);
map.sewFaces(map.phi1(map.phi1(dPathUp)),map.phi1(map.phi1(dInBetween)));
map.sewFaces(map.phi1(map.phi1(dPathDown)),dInBetween);
map.sewFaces(dUpper,dPathDown);
//embed the inBetween floor
float z = (position[dLower][2]+position[dUpper][2])/2.0f;
//from lower path
position[dInBetween] = position[dLower] + (position[dLower]-position[map.phi_1(dLower)]);
position[map.phi1(dInBetween)] = position[map.phi1(dLower)] + (position[map.phi1(dLower)]-position[map.phi1(map.phi1(dLower))]);
//from upper path
position[map.phi1(map.phi1(dInBetween))] = position[dUpper] + (position[dUpper]-position[map.phi_1(dUpper)]);
position[map.phi1(map.phi1(map.phi1(dInBetween)))] = position[map.phi1(dU