env_map.h

#ifndef ENV_MAP_H
#define ENV_MAP_H

#include <iostream>
#include <algorithm>

#include "Topology/generic/parameters.h"
#include "Topology/map/embeddedMap2.h"

#include "Algo/ImplicitHierarchicalMesh/ihm.h"
#include "Algo/ImplicitHierarchicalMesh/subdivision.h"

#include "Algo/Modelisation/polyhedron.h"
#include "Algo/Modelisation/extrusion.h"
#include "Algo/Modelisation/subdivision.h"
#include "Algo/Geometry/centroid.h"
#include "Algo/Geometry/area.h"
#include "Geometry/bounding_box.h"

#include "Container/fakeAttribute.h"

#include "Algo/Parallel/parallel_foreach.h"

#include "spatialHashing.h"

using namespace CGoGN ;

class Agent;
class Obstacle;
class MovingObstacle;
class ArticulatedObstacle;

#include "pfp.h"

//#define EXPORTING3

#define TWO_AND_HALF_DIM


#ifdef EXPORTING3
	#include "Utils/Shaders/shaderPhongTexture.h"
	#include "Utils/Shaders/shaderSimpleTexture.h"
	#include "shaderCustomTex.h"
	#include "Algo/Import/importObjTex.h"
#endif

class EnvMap
{
public:
	PFP::MAP map ;

	/* Geometry of the EnvMap : the bounding box of the scene
	 * The density of cells in the EnvMap is given by two parameters :
	 *  - minCellSize : the size under which no subdivision occurs
	 *  - maxCellSize : the size of the initial cells (before subdivisions occur)
	 *  - obstacleDistance : the minimal goal distance between agents and obstacles
	 * The number of cells in the initial EnvMap is about (width*height)/(size*size)
	 */
	Geom::BoundingBox<VEC3> geometry ;
	REAL maxCellSize ;
	REAL minCellSize ;
	REAL obstacleDistance ;
	
	unsigned int config;

	EnvMap() ;
	void init(unsigned int config, REAL width, REAL height, REAL minSize, REAL maxSize) ;

	void initGL();
	void draw();

	void scale(float val);
	bool is_insideConvexCell2D(VEC3 p, Dart d);
	bool isInsideFace3D(VEC3 p, Dart d);
	void markPedWay() ;

	unsigned int mapMemoryCost() ;

#ifndef SPATIAL_HASHING
	Dart getBelongingCell(const VEC3& pos) ;
	Dart getBelongingCellOnSurface(const VEC3& pos) ;

	void subdivideAllToMaxLevel() ;
	void subdivideToProperLevel() ;

	void foreach_neighborFace(Dart d, FunctorType& f) ;

	void registerObstaclesInFaces() ;
	void registerWallInFaces();
	void addNeighborObstacles(PFP::OBSTACLES& obst, Dart d, bool edgeNeighbor) ;

	void setAgentNeighborsAndObstacles(Agent* agent) ;

	unsigned int totalNeighborSize(Dart d) ;
	void nbAgentsIncrease(Dart d) ;
	void nbAgentsDecrease(Dart d) ;
	void pushAgentInCells(Agent* agent, Dart d) ;
	void popAgentInCells(Agent* agent, Dart d) ;
	void agentChangeFace(Agent* agent, Dart oldFace) ;

	Dart popAndPushObstacleInCells(Obstacle* o, int n);
	void pushObstacleInCells(Obstacle * mo);
	void pushObstacleInOneRingCells(Obstacle * o, Dart d, int n);
	void pushObstacleInCells(Obstacle* o, int n, const std::vector<Dart>& memo_cross);
	void popObstacleInCells(Obstacle* o, int n);

	void popObstacleInCells(Obstacle* o, Dart d) ;
	void refine() ;
	void coarse() ;
	void updateMap() ;
	int testOrientation(VEC3 p, VEC3 p1, VEC3 p2, Dart d);

	void resetAgentInFace(Agent* agent) ;
#endif

	PFP::TVEC3 position ;
	PFP::TVEC3 normal ;

	Geom::BoundingBox<PFP::VEC3> bb;

	PFP::MAP mapScenary ;
	PFP::TVEC3 positionScenary ;
	PFP::TVEC3 normalScenary ;
	CellMarker<EDGE> obstacleMarkS ;
	CellMarker<FACE> buildingMarkS ;
	CellMarker<EDGE> obstacleMark ;
	CellMarker<FACE> buildingMark ;
	CellMarker<FACE> pedWayMark ;
//	CellMarkerMemo<FACE> memo_mark;
	// ajout moving obst
	void addObstAsNeighbor (Obstacle *  o, const std::vector<Dart>& belonging_cells, std::vector<Dart> * nieghbor_cells);
	// void addMovingObstAsNeighbor (MovingObstacle *  mo,std::vector<Dart> belonging_cells, std::vector<Dart> *neighbor_cells);
	void pushObstNeighborInCells(Obstacle* o, Dart d);
	void popObstNeighborInCells(Obstacle* o, Dart d);
	void find_next(Obstacle* o,Dart * d, CellMarkerMemo<FACE>& cms);
	bool movingObstacleFree(Dart d);
	bool movingObstacleNeighborFree(Dart d);
#ifdef EXPORTING3
	std::vector<PFP::MAP *> m_map_Export;
	std::vector<Algo::Surface::Import::OBJModel<PFP2> *> m_obj_Export;

	std::vector<Utils::Texture<2,Geom::Vec3uc>*> m_texture_Export;
	std::vector<Utils::VBO*> m_positionVBO_Export;
	std::vector<Utils::VBO*> m_normalVBO_Export;
	std::vector<Utils::VBO*> m_texcoordVBO_Export;
	std::vector<ShaderCustomTex*> m_shaderTex_Export;

	std::vector<unsigned int> m_nbIndice_Export;

//	PFP2::MAP m_map_Export;
//	VertexAttribute<VEC3> position_Export ;
//	VertexAttribute<VEC3> normal_Export ;
//	Algo::Surface::Import::OBJModel<PFP2> * m_obj_Export;
//
//	Utils::Texture<2,Geom::Vec3uc>* m_texture_Export;
//	Utils::VBO* m_positionVBO_Export;
//	Utils::VBO* m_normalVBO_Export;
//	Utils::VBO* m_texcoordVBO_Export;
//	ShaderCustomTex* m_shaderTex_Export;
//
//	unsigned int m_nbIndice_Export;
#endif


	std::vector<Dart> newBuildings ;

#ifndef SPATIAL_HASHING
	FaceAttribute<PFP::BOOLATTRIB> subdivisableFace ;

	PFP::TAB_AGENTVECT agentvect ;
	PFP::TAB_AGENTVECT neighborAgentvect ;
	PFP::TAB_OBSTACLEVECT neighborObstvect;
#endif

	PFP::TAB_OBSTACLEVECT obstvect ;


#ifndef SPATIAL_HASHING
	static const unsigned int nbAgentsToSubdivide = 5 ;
	static const unsigned int nbAgentsToSimplify = 4 ;

	CellMarker<FACE> refineMark ;
	CellMarker<FACE> coarsenMark ;
	std::vector<Dart> refineCandidate ;
	std::vector<Dart> coarsenCandidate ;

	void clearUpdateCandidates() ;
#endif

#ifdef SPATIAL_HASHING
	unsigned int agentGridSize(unsigned int i)
	{
		return geometry.size(i) / minCellSize ;
	}

	unsigned int obstacleGridSize(unsigned int i)
	{
		return geometry.size(i) / obstacleDistance ;
	}

	Geom::Vec2ui agentPositionCell(Agent* a) ;

	Geom::Vec2ui obstaclePositionCell(VEC3 pos)
	{
		VEC3 relativePos = pos - geometry.min() ;
		relativePos /= obstacleDistance ;
		return Geom::Vec2ui(relativePos[0], relativePos[1]) ;
	}

	const std::vector<Agent*>& getNeighbors(Geom::Vec2ui c) {
		assert(ht_agents.hasData(c)) ;
		return ht_agents[c];
	}
	const std::vector<Agent*>& getNeighbors(Agent* a) ;
	const std::vector<Agent*>& getNeighborAgents(Agent* a) ;

	void addAgentInGrid(Agent* a) ;
	void addAgentInGrid(Agent* a, Geom::Vec2ui c) ;

	void removeAgentFromGrid(Agent* a) ;
	void removeAgentFromGrid(Agent* a, Geom::Vec2ui c) ;

	HashTable2D< std::vector<Agent*> > ht_agents ;
	HashTable2D< std::vector<Agent*> > ht_neighbor_agents ;
	HashTable2D< std::vector<Obstacle*> > ht_obstacles ;
#endif
} ;

void update_registration(Obstacle * o);
void register_pop(Obstacle* o, int n);
void resetPartSubdiv(Obstacle* o);
//void resetObstPartInFace(Obstacle* o, Dart d, unsigned int fLevel);// empeche de viser une dart ayant disparu
void resetObstPartInFace(Obstacle* o, Dart d);// empeche de viser une dart ayant disparu
void resetPart(Obstacle * mo, Dart d); // empeche de viser une dart ayant disparu pour les voisins
void displayMO(Obstacle * o);

/**************************************
 *           INLINE FUNCTIONS          *
 **************************************/

template <typename T>
inline void addElementToVector(std::vector<T>& a, T ag)
{
	assert(std::find(a.begin(), a.end(), ag) == a.end());
	a.push_back(ag) ;
}

template <typename T>
inline bool removeElementFromVector(std::vector<T>& a, T ag)
{
	assert(std::find(a.begin(), a.end(), ag) != a.end());

	typename std::vector<T>::iterator end = a.template end() ;
	for (typename std::vector<T>::iterator it = a.begin(); it != end; ++it)
	{
		if (*it == ag)
		{
			*it = a.back() ;
			a.pop_back() ;
			return true ;
		}
	}
	return false ;
}

#ifndef SPATIAL_HASHING
inline unsigned int EnvMap::totalNeighborSize(Dart d)
{
	return agentvect[d].size() + neighborAgentvect[d].size() ;
}

inline void EnvMap::nbAgentsIncrease(Dart d)
{
	if (refineMark.isMarked(d)) return ;
	if (totalNeighborSize(d) < nbAgentsToSubdivide) return ;

	std::pair<bool, bool>& sf = subdivisableFace[d] ;
	if (sf.first == false || (sf.first == true && sf.second))
	{
		refineMark.mark(d) ;
		refineCandidate.push_back(d) ;
	}
}

inline void EnvMap::nbAgentsDecrease(Dart d)
{
	if (coarsenMark.isMarked(d) || refineMark.isMarked(d)) return ;
	if (totalNeighborSize(d) > nbAgentsToSimplify) return ;

	coarsenMark.mark(d) ;
	coarsenCandidate.push_back(map.faceOldestDart(d)) ;
}

inline void EnvMap::pushAgentInCells(Agent* agent, Dart d)
{
	assert(map.getCurrentLevel() == map.getMaxLevel()) ;
//	assert(std::find(agentvect[d].begin(), agentvect[d].end(), agent) == agentvect[d].end());
//	map.check();

//	TraversorF<PFP::MAP> tF(map);
//		for(Dart ddd = tF.begin() ; ddd != tF.end() ; ddd = tF.next())
//		{
//			if(std::find(agentvect[ddd].begin(), agentvect[ddd].end(), agent) != agentvect[ddd].end())
//				std::cout <<agent << "   SO WRONG ADD" <<ddd.index<< std::endl;
//
//			if(std::find(neighborAgentvect[ddd].begin(), neighborAgentvect[ddd].end(), agent) != neighborAgentvect[ddd].end())
//				std::cout <<agent<< "   SO SO WRONG  ADD" <<ddd.index<< std::endl;
//		}

	addElementToVector<Agent*>(agentvect[d],agent);
//	agentvect[d].push_back(agent) ;
//	nbAgentsIncrease(d);

	Dart dd = d ;
	do
	{
		Dart ddd = map.alpha1(map.alpha1(dd)) ;
		while (ddd != dd)
		{
			if (!map.isBoundaryMarked2(ddd))
				addElementToVector<Agent*>(neighborAgentvect[ddd],agent);

//			neighborAgentvect[ddd].push_back(agent) ;
//			nbAgentsIncrease(ddd);
			ddd = map.alpha1(ddd) ;
		}
		dd = map.phi1(dd) ;
	} while (dd != d) ;
}

inline void EnvMap::popAgentInCells(Agent* agent, Dart d)
{
	assert(map.getCurrentLevel() == map.getMaxLevel()) ;

	removeElementFromVector<Agent*>(agentvect[d], agent) ;

//	nbAgentsDecrease(d) ;

	Dart dd = d ;
	do
	{
		Dart ddd = map.alpha1(map.alpha1(dd)) ;
		while (ddd != dd)
		{
			if (!map.isBoundaryMarked2(ddd))
				removeElementFromVector<Agent*>(neighborAgentvect[ddd], agent) ;

//			nbAgentsDecrease(ddd) ;
			ddd = map.alpha1(ddd) ;
		}
		dd = map.phi1(dd) ;
	} while (dd != d) ;

//	TraversorF<PFP::MAP> tF(map);
//		for(Dart ddd = tF.begin() ; ddd != tF.end() ; ddd = tF.next())
//		{
//			if(std::find(agentvect[ddd].begin(), agentvect[ddd].end(), agent) != agentvect[ddd].end())
//				std::cout <<agent << "   SO WRONG" <<ddd.index<< std::endl;
//
//			if(std::find(neighborAgentvect[ddd].begin(), neighborAgentvect[ddd].end(), agent) != neighborAgentvect[ddd].end())
//				std::cout <<agent<< "   SO SO WRONG " <<ddd.index<< std::endl;
//		}
}


//ajout moving obst///////////////////////////////////////////////////////////////////////////////////////////////////////


inline void EnvMap::addObstAsNeighbor (Obstacle *  o, const std::vector<Dart>& belonging_cells, std::vector<Dart> *neighbor_cells)
{
	assert(map.getCurrentLevel() == map.getMaxLevel());
	assert(!belonging_cells.empty());
	neighbor_cells->clear();
//	CellMarkerMemo<FACE> memo_mark_speed(map);//marqueur additionnel (vitesse)
	CellMarkerMemo<FACE> memo_mark(map); //marqueur des cellules "présentes"
	CellMarkerMemo<FACE> OneRingMark(map); // marquer des cellules voisines

	for (std::vector<Dart>::const_iterator it =belonging_cells.begin();it<belonging_cells.end();++it)
			memo_mark.mark(*it);






	std::vector<Dart>::const_iterator it=belonging_cells.begin();
	Dart beg = NIL;
	Dart first =NIL;
	Dart d=NIL;
	Dart dd=NIL;

	/////////////////////////////////////////////boucle pour trouver une face du voisinage de l'obstacle ne contenant pas l'obstacle
//	CGoGNout<<"debut neighbors cellules : ";
//	for (std::vector<Dart>::const_iterator it =belonging_cells.begin();it<belonging_cells.end();++it)
//		CGoGNout<<(*it).index<<" ; ";
//	CGoGNout<<CGoGNendl;

	do
	{
		beg = *it;
		first = NIL;
		d=beg;
		do {
			dd=map.alpha1(map.alpha1(d));
			do {
				if (!memo_mark.isMarked(dd))
				{
					first = dd;
				}
				dd=map.alpha1(dd);
			}while (first==NIL && dd!=d);

			d=map.phi1(d);

		} while(first==NIL && d!=beg);
		++it;
	}while(first==NIL && it!=belonging_cells.end());
//	assert(!buildingMark.isMarked(d)) ;
	assert(first!=NIL) ;
//	CGoGNout<<"first : "<<first<<CGoGNendl;
	d=first;
	do
	{
		if (!OneRingMark.isMarked(d))
		{
			OneRingMark.mark(d);
			(*neighbor_cells).push_back(d);
		}

		find_next(o,&d, memo_mark);
//		CGoGNout<<"d : "<<d<<CGoGNendl;
	}while(!map.sameFace(d,first));
}

// find_next cherche la prochaine case "voisine" d'un obstacle faisant parti d'un movingobstacle (algo de parcours du one-ring )

inline void EnvMap::find_next(Obstacle* o,Dart * ddd, CellMarkerMemo<FACE>& cms)
{
	Dart d=*ddd;
	Dart first = NIL;
	Dart dd;
	int rd =0;
	do{
		rd++;
		dd=map.alpha1((d));

		if (!(cms.isMarked(dd)))
		{
			first = dd;
		}


		if(rd>100)
		{
			if (rd>10000)
			{
				displayMO(o);
				CGoGNout <<(first==NIL)<< " infini find next d : "<< d<<"phi 2 markée ? : "<<cms.isMarked(map.phi2(d))<<CGoGNendl;
				CGoGNout<<"cellules markées : "<<CGoGNendl;
				std::vector<Dart> v=cms.get_markedCells();
				for(std::vector<Dart>::iterator it=v.begin();it<v.end();++it)
				{
					CGoGNout<<(*it).index<<CGoGNendl;
				}
				break;
			}
			CGoGNout <<(first==NIL)<< " infini find next d : "<< d<<"phi 2 markée ? : "<<cms.isMarked(map.phi2(d))<<CGoGNendl;
			CGoGNout<<"cellules markées : "<<CGoGNendl;
							std::vector<Dart> v=cms.get_markedCells();
							for(std::vector<Dart>::iterator it=v.begin();it<v.end();++it)
							{
								CGoGNout<<(*it).index<<CGoGNendl;
							}
		}
		d=map.phi_1(d);
	}while(first==NIL);
	*ddd=first;
}

inline void EnvMap::pushObstNeighborInCells(Obstacle* o, Dart d)
{
	assert(map.getCurrentLevel() == map.getMaxLevel());
	assert(std::find(neighborObstvect[d].begin(), neighborObstvect[d].end(), o) == neighborObstvect[d].end());

	addElementToVector<Obstacle*>(neighborObstvect[d],o);
}

//inline void EnvMap::pushObstacleInCell(Obstacle* o, Dart d)
//{
//	assert(map.getCurrentLevel() == map.getMaxLevel()) ;
//	assert(!buildingMark.isMarked(d)) ;
//
//	addElementToVector<Obstacle*>(obstvect[d],o);
//}

inline void EnvMap::clearUpdateCandidates()
{
	refineCandidate.clear() ;
	coarsenCandidate.clear() ;
}
///addMovingObstAsNeighbor est pour détecter les voisins du movingobstacle global afin de le considerer comme un super agent

#endif

#endif