SocialAgents -> proprification

Apps/Examples/SocialAgents/src/agent.cpp

 #include "agent.h"
 #include "simulator.h"
 
-  Agent::Agent(Simulator* sim, size_t agentNo) : agentNeighbors_(), maxNeighbors_(0), maxSpeed_(0.0f), neighborDist_(0.0f), newVelocity_(), obstacleNeighbors_(), orcaLines_(), position_(), prefVelocity_(), radius_(0.0f), sim_(sim), timeHorizon_(0.0f), timeHorizonObst_(0.0f), velocity_(), agentNo_(agentNo), goalNo_(agentNo), treated(false)
-  {
+Agent::Agent(Simulator* sim, size_t agentNo) : agentNeighbors_(), maxNeighbors_(0), maxSpeed_(0.0f), neighborDist_(0.0f), newVelocity_(), obstacleNeighbors_(), orcaLines_(), position_(), prefVelocity_(), radius_(0.0f), sim_(sim), timeHorizon_(0.0f), timeHorizonObst_(0.0f), velocity_(), agentNo_(agentNo), goalNo_(agentNo), treated(false)
+{
 	rangeSq = sqr(timeHorizonObst_ * maxSpeed_ + radius_);
-  }
+}
 
-  Agent::Agent(Simulator* sim, const VEC_A& position, size_t agentNo) : agentNeighbors_(), maxNeighbors_(sim->defaultAgent_->maxNeighbors_), maxSpeed_(sim->defaultAgent_->maxSpeed_), neighborDist_(sim->defaultAgent_->neighborDist_), newVelocity_(sim->defaultAgent_->velocity_), obstacleNeighbors_(), orcaLines_(), position_(position), prefVelocity_(), radius_(sim->defaultAgent_->radius_), sim_(sim), timeHorizon_(sim->defaultAgent_->timeHorizon_), timeHorizonObst_(sim->defaultAgent_->timeHorizonObst_), velocity_(sim->defaultAgent_->velocity_), agentNo_(agentNo), goalNo_(agentNo), treated(false)
-  {
+Agent::Agent(Simulator* sim, const VEC_A& position, size_t agentNo) : agentNeighbors_(), maxNeighbors_(sim->defaultAgent_->maxNeighbors_), maxSpeed_(sim->defaultAgent_->maxSpeed_), neighborDist_(sim->defaultAgent_->neighborDist_), newVelocity_(sim->defaultAgent_->velocity_), obstacleNeighbors_(), orcaLines_(), position_(position), prefVelocity_(), radius_(sim->defaultAgent_->radius_), sim_(sim), timeHorizon_(sim->defaultAgent_->timeHorizon_), timeHorizonObst_(sim->defaultAgent_->timeHorizonObst_), velocity_(sim->defaultAgent_->velocity_), agentNo_(agentNo), goalNo_(agentNo), treated(false)
+{
 	nearestDart = sim->envMap.getBelongingCell(VEC3(position[0],position[1],0));
 	part = new Algo::MovingObjects::ParticleCell2D<PFP>(sim->envMap.map,nearestDart,position,sim->envMap.position,sim->envMap.closeMark);
 	rangeSq = sqr(timeHorizonObst_ * maxSpeed_ + radius_);
-  }
+}
 
-  Agent::Agent(Simulator* sim, const VEC_A& position, size_t agentNo, Dart d) : agentNeighbors_(), maxNeighbors_(sim->defaultAgent_->maxNeighbors_), maxSpeed_(sim->defaultAgent_->maxSpeed_), neighborDist_(sim->defaultAgent_->neighborDist_), newVelocity_(sim->defaultAgent_->velocity_), obstacleNeighbors_(), orcaLines_(), position_(position), prefVelocity_(), radius_(sim->defaultAgent_->radius_), sim_(sim), timeHorizon_(sim->defaultAgent_->timeHorizon_), timeHorizonObst_(sim->defaultAgent_->timeHorizonObst_), velocity_(sim->defaultAgent_->velocity_), agentNo_(agentNo), goalNo_(agentNo), treated(false)
-  {
+Agent::Agent(Simulator* sim, const VEC_A& position, size_t agentNo, Dart d) : agentNeighbors_(), maxNeighbors_(sim->defaultAgent_->maxNeighbors_), maxSpeed_(sim->defaultAgent_->maxSpeed_), neighborDist_(sim->defaultAgent_->neighborDist_), newVelocity_(sim->defaultAgent_->velocity_), obstacleNeighbors_(), orcaLines_(), position_(position), prefVelocity_(), radius_(sim->defaultAgent_->radius_), sim_(sim), timeHorizon_(sim->defaultAgent_->timeHorizon_), timeHorizonObst_(sim->defaultAgent_->timeHorizonObst_), velocity_(sim->defaultAgent_->velocity_), agentNo_(agentNo), goalNo_(agentNo), treated(false)
+{
 	nearestDart = d;
 	part = new Algo::MovingObjects::ParticleCell2D<PFP>(sim->envMap.map,nearestDart,position,sim->envMap.position,sim->envMap.closeMark);
 	rangeSq = sqr(timeHorizonObst_ * maxSpeed_ + radius_);
-  }
+}
 
-  Agent::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) : agentNeighbors_(), maxNeighbors_(maxNeighbors), maxSpeed_(maxSpeed), neighborDist_(neighborDist), newVelocity_(velocity), obstacleNeighbors_(), orcaLines_(), position_(position), prefVelocity_(), radius_(radius), sim_(sim), timeHorizon_(timeHorizon), timeHorizonObst_(timeHorizonObst), velocity_(velocity), agentNo_(agentNo), goalNo_(agentNo), treated(false)
-  {
+Agent::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) : agentNeighbors_(), maxNeighbors_(maxNeighbors), maxSpeed_(maxSpeed), neighborDist_(neighborDist), newVelocity_(velocity), obstacleNeighbors_(), orcaLines_(), position_(position), prefVelocity_(), radius_(radius), sim_(sim), timeHorizon_(timeHorizon), timeHorizonObst_(timeHorizonObst), velocity_(velocity), agentNo_(agentNo), goalNo_(agentNo), treated(false)
+{
 	nearestDart = sim->envMap.getBelongingCell(VEC3(position[0],position[1],0));
 	part = new Algo::MovingObjects::ParticleCell2D<PFP>(sim->envMap.map,nearestDart,position,sim->envMap.position,sim->envMap.closeMark);
 	rangeSq = sqr(timeHorizonObst_ * maxSpeed_ + radius_);
-  }
+}
 
-  Agent::~Agent()
-  {
-  }
+Agent::~Agent()
+{
+}
 
 void Agent::setGoalNo(size_t goal)
 {
@@ -354,10 +354,8 @@ void Agent::update()
 	velocity_[1] = newVelocity_[1];
 	position_ += velocity_ * sim_->timeStep_;
 
-	if(position_[0]!=part->m_position[0] || position_[1]!=part->m_position[1]) {
-		part->move(VEC3(position_[0],position_[1],0));
-		nearestDart = part->getCell();
-	}
+	part->move(VEC3(position_[0],position_[1],0));
+	nearestDart = part->getCell();
 }
 
 bool linearProgram1(const std::vector<Line>& lines, size_t lineNo, float radius, const Agent::Agent::VEC_A& optVelocity, bool directionOpt, Agent::VEC_A& result)

Apps/Examples/SocialAgents/src/simulator.cpp

@@ -96,25 +96,25 @@ void Simulator::doStep()
 
 	}
 
-	for (int i = 0; i < static_cast<int>(agents_.size()); ++i) {
+	for (unsigned int i = 0; i < agents_.size(); ++i) {
 		envMap.linkAgentWithCells(agents_[i]);
 	}
 
 // #pragma omp parallel for
-	for (int i = 0; i < static_cast<int>(agents_.size()); ++i) {
+	for (unsigned int i = 0; i < agents_.size(); ++i) {
 		agents_[i]->computeNewVelocity();
 	}
 
 
 // #pragma omp parallel for
-	for (int i = 0; i < static_cast<int>(agents_.size()); ++i) {
+	for (unsigned int i = 0; i < agents_.size(); ++i) {
 		envMap.popAgentInCell(agents_[i],agents_[i]->part->d);
 		agents_[i]->update();
 		envMap.pushAgentInCell(agents_[i],agents_[i]->part->d);
 		agents_[i]->treated=false;
 	}
 
-	envMap.updateMap();
+//	envMap.updateMap();
 
 	globalTime_ += timeStep_;
 }

include/Algo/MovingObjects/particle_cell_2D.h

@@ -40,9 +40,7 @@ class ParticleCell2D : public ParticleBase
 
 	DartMarker& obstacle;
 
-	bool chgCell;
-
-	ParticleCell2D() : chgCell(true) {};
+	ParticleCell2D() {}
 
 	ParticleCell2D(Map& map, Dart belonging_cell, VEC3 pos, TAB_POS tabPos, DartMarker& obst) : ParticleBase(pos), m(map), d(belonging_cell), m_positions(tabPos), obstacle(obst)
 	{
@@ -73,18 +71,16 @@ class ParticleCell2D : public ParticleBase
 
 	void move(const VEC3& newCurrent)
 	{
-// 		std::cout << "move to : " << newCurrent << std::endl;
-		prevPos = m_position;
-
-		chgCell=false;
-
-		switch(state) {
-		case VERTEX_ORBIT : vertexState(newCurrent); break;
-		case EDGE_ORBIT : 	edgeState(newCurrent);   break;
-		case FACE_ORBIT : 	faceState(newCurrent);   break;
+		if(!Geom::arePointsEquals(newCurrent, m_position)) {
+	// 		std::cout << "move to : " << newCurrent << std::endl;
+			prevPos = m_position;
+
+			switch(state) {
+			case VERTEX_ORBIT : vertexState(newCurrent); break;
+			case EDGE_ORBIT : 	edgeState(newCurrent);   break;
+			case FACE_ORBIT : 	faceState(newCurrent);   break;
+			}
 		}
-
-		this->display();
 	}
 
 

include/Algo/MovingObjects/particle_cell_2D.hpp

@@ -69,8 +69,6 @@ void ParticleCell2D<PFP>::vertexState(const VEC3& current)
 	#endif
 	assert(std::isfinite(current[0]) && std::isfinite(current[1]) && std::isfinite(current[2]));
 
-	chgCell=true;
-
 	if(Algo::Geometry::isPointOnVertex<PFP>(m,d,m_positions,current)) {
 		state = VERTEX_ORBIT;
 		return;
@@ -135,8 +133,6 @@ void ParticleCell2D<PFP>::edgeState(const VEC3& current, Geom::Orientation2D sid
 	assert(std::isfinite(current[0]) && std::isfinite(current[1]) && std::isfinite(current[2]));
 // 	assert(Algo::Geometry::isPointOnEdge<PFP>(m,d,m_positions,m_position));
 
-	chgCell=true;
-
 	if(sideOfEdge==Geom::ALIGNED)
 		sideOfEdge = getOrientationEdge(current,d);
 
@@ -178,8 +174,6 @@ void ParticleCell2D<PFP>::faceState(const VEC3& current)
 	std::cout << "faceState" <<  d << std::endl;
 	#endif
 
-// 	chgCell=true;
-
 // 	assert(std::isfinite(m_position[0]) && std::isfinite(m_position[1]) && std::isfinite(m_position[2]));
 // 	assert(std::isfinite(current[0]) && std::isfinite(current[1]) && std::isfinite(current[2]));
 // 	assert(Algo::Geometry::isPointInConvexFace2D<PFP>(m,d,m_positions,m_position,true));
@@ -200,9 +194,9 @@ void ParticleCell2D<PFP>::faceState(const VEC3& current)
 		if(dd==d) {
 			do {
 				switch (getOrientationEdge(current,d)) {
-				case Geom::LEFT : 			d=m.phi1(d);
+				case Geom::LEFT : 	d=m.phi1(d);
 									break;
-				case Geom::ALIGNED :			m_position = current;
+				case Geom::ALIGNED :m_position = current;
 									edgeState(current);
 									return;
 				case Geom::RIGHT :

include/Geometry/inclusion.hpp

@@ -159,13 +159,13 @@ bool isEdgeInOrIntersectingTetrahedron(VEC3 points[4], VEC3& point1, VEC3& point
 }
 
 template <typename VEC3>
-bool arePointsEquals(const VEC3& point1,const VEC3& point2)
+bool arePointsEquals(const VEC3& point1, const VEC3& point2)
 {
-	typedef typename VEC3::DATA_TYPE T ;
-
 	VEC3 v(point1 - point2);
 
-	return v.norm2() <= T(3)*std::numeric_limits<T>::min();
+#define PRECISION 1e-20
+	return v.norm2() <= PRECISION ;
+#undef PRECISION
 }
 
 }

include/Geometry/intersection.hpp

@@ -236,7 +236,7 @@ Intersection intersectionSegmentTriangle(const VEC3& PA, const VEC3& PB, const V
     float b = (n * Dir) ;
 
     if(fabs(b) < precision)			//ray parallel to triangle
-			return NO_INTERSECTION ;
+		return NO_INTERSECTION ;
 
 	//compute intersection
 	T r = a / b ;