env_map.h 11 KB
Newer Older
1 2
#ifndef ENV_MAP_H
#define ENV_MAP_H
Pierre Kraemer's avatar
Pierre Kraemer committed
3 4 5 6 7

#include <iostream>
#include <algorithm>

#include "Topology/generic/parameters.h"
Pierre Kraemer's avatar
update  
Pierre Kraemer committed
8
#include "Topology/map/embeddedMap2.h"
Pierre Kraemer's avatar
Pierre Kraemer committed
9 10 11 12 13 14 15 16 17

#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"
Thomas's avatar
Thomas committed
18
#include "Geometry/bounding_box.h"
Pierre Kraemer's avatar
Pierre Kraemer committed
19 20 21 22 23

#include "Container/fakeAttribute.h"

#include "Algo/Parallel/parallel_foreach.h"

Pierre Kraemer's avatar
Pierre Kraemer committed
24 25
#include "spatialHashing.h"

26
using namespace CGoGN ;
Pierre Kraemer's avatar
Pierre Kraemer committed
27

pitiot's avatar
maj  
pitiot committed
28 29 30
class Agent;
class Obstacle;
class MovingObstacle;
Pierre Kraemer's avatar
Pierre Kraemer committed
31

David Cazier's avatar
David Cazier committed
32
#include "pfp.h"
Pierre Kraemer's avatar
Pierre Kraemer committed
33 34 35

class EnvMap
{
36 37
public:
	PFP::MAP map ;
38

39 40 41 42 43 44 45 46 47 48 49 50
	/* 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 ;

David Cazier's avatar
David Cazier committed
51
	EnvMap() ;
52
	void init(unsigned int config, REAL width, REAL height, REAL minSize, REAL maxSize) ;
53

54 55
	void scale(float val);

David Cazier's avatar
David Cazier committed
56
	void markPedWay() ;
Thomas's avatar
Thomas committed
57

David Cazier's avatar
David Cazier committed
58
	unsigned int mapMemoryCost() ;
Thomas's avatar
Thomas committed
59

Pierre Kraemer's avatar
Pierre Kraemer committed
60
#ifndef SPATIAL_HASHING
61
	Dart getBelongingCell(const VEC3& pos) ;
Thomas's avatar
Thomas committed
62

63 64
	void subdivideAllToMaxLevel() ;
	void subdivideToProperLevel() ;
Thomas's avatar
Thomas committed
65

66
	void foreach_neighborFace(Dart d, FunctorType& f) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
67

68
	void registerObstaclesInFaces() ;
pitiot's avatar
maj  
pitiot committed
69
	void registerWallInFaces();
70
	void addNeighborObstacles(PFP::OBSTACLES& obst, Dart d, bool edgeNeighbor) ;
71

72
	void setAgentNeighborsAndObstacles(Agent* agent) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
73

74 75 76 77 78 79
	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) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
80

81 82 83 84 85 86
	void 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);

87
	void popObstacleInCells(Obstacle* o, Dart d) ;
88 89
	void refine() ;
	void coarse() ;
90
	void updateMap() ;
91

92
	void resetAgentInFace(Agent* agent) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
93 94
#endif

David Cazier's avatar
David Cazier committed
95 96
	PFP::TVEC3 position ;
	PFP::TVEC3 normal ;
Pierre Kraemer's avatar
Pierre Kraemer committed
97

David Cazier's avatar
David Cazier committed
98 99 100
	PFP::MAP mapScenary ;
	PFP::TVEC3 positionScenary ;
	PFP::TVEC3 normalScenary ;
pitiot's avatar
maj  
pitiot committed
101 102 103 104 105
	CellMarker<EDGE> obstacleMarkS ;
	CellMarker<FACE> buildingMarkS ;
	CellMarker<EDGE> obstacleMark ;
	CellMarker<FACE> buildingMark ;
	CellMarker<FACE> pedWayMark ;
106
//	CellMarkerMemo<FACE> memo_mark;
pitiot's avatar
maj  
pitiot committed
107
	// ajout moving obst
108 109
	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);
pitiot's avatar
maj  
pitiot committed
110 111
	void pushObstNeighborInCells(Obstacle* o, Dart d);
	void popObstNeighborInCells(Obstacle* o, Dart d);
112
	void find_next(Obstacle* o,Dart * d, CellMarkerMemo<FACE>& cms);
pitiot's avatar
maj  
pitiot committed
113

114

David Cazier's avatar
David Cazier committed
115
	std::vector<Dart> newBuildings ;
116

Pierre Kraemer's avatar
Pierre Kraemer committed
117
#ifndef SPATIAL_HASHING
pitiot's avatar
maj  
pitiot committed
118 119 120 121 122
	FaceAttribute<PFP::BOOLATTRIB> subdivisableFace ;

	PFP::TAB_AGENTVECT agentvect ;
	PFP::TAB_AGENTVECT neighborAgentvect ;
	PFP::TAB_OBSTACLEVECT neighborObstvect;
Pierre Kraemer's avatar
Pierre Kraemer committed
123
#endif
Pierre Kraemer's avatar
Pierre Kraemer committed
124

David Cazier's avatar
David Cazier committed
125
	PFP::TAB_OBSTACLEVECT obstvect ;
Pierre Kraemer's avatar
Pierre Kraemer committed
126 127


Pierre Kraemer's avatar
Pierre Kraemer committed
128
#ifndef SPATIAL_HASHING
129
	static const unsigned int nbAgentsToSubdivide = 5 ;
Jund Thomas's avatar
Jund Thomas committed
130
	static const unsigned int nbAgentsToSimplify = 4 ;
David Cazier's avatar
David Cazier committed
131

pitiot's avatar
maj  
pitiot committed
132 133
	CellMarker<FACE> refineMark ;
	CellMarker<FACE> coarsenMark ;
134 135
	std::vector<Dart> refineCandidate ;
	std::vector<Dart> coarsenCandidate ;
Pierre Kraemer's avatar
Pierre Kraemer committed
136

137
	void clearUpdateCandidates() ;
Pierre Kraemer's avatar
Pierre Kraemer committed
138 139 140
#endif

#ifdef SPATIAL_HASHING
David Cazier's avatar
David Cazier committed
141 142 143 144 145 146 147 148 149
	unsigned int agentGridSize(unsigned int i)
	{
		return geometry.size(i) / minCellSize ;
	}

	unsigned int obstacleGridSize(unsigned int i)
	{
		return geometry.size(i) / obstacleDistance ;
	}
Pierre Kraemer's avatar
Pierre Kraemer committed
150

pitiot's avatar
maj  
pitiot committed
151
	Geom::Vec2ui agentPositionCell(Agent* a) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
152

pitiot's avatar
maj  
pitiot committed
153
	Geom::Vec2ui obstaclePositionCell(VEC3 pos)
Pierre Kraemer's avatar
Pierre Kraemer committed
154
	{
David Cazier's avatar
David Cazier committed
155 156
		VEC3 relativePos = pos - geometry.min() ;
		relativePos /= obstacleDistance ;
157
		return Geom::Vec2ui(relativePos[0], relativePos[1]) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
158 159
	}

pitiot's avatar
maj  
pitiot committed
160 161 162 163 164
	const std::vector<Agent*>& getNeighbors(Geom::Vec2ui c) {
		assert(ht_agents.hasData(c)) ;
		return ht_agents[c];
	}
	const std::vector<Agent*>& getNeighbors(Agent* a) ;
David Cazier's avatar
David Cazier committed
165
	const std::vector<Agent*>& getNeighborAgents(Agent* a) ;
pitiot's avatar
maj  
pitiot committed
166 167 168 169 170 171 172

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

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

Pierre Kraemer's avatar
Pierre Kraemer committed
173
	HashTable2D< std::vector<Agent*> > ht_agents ;
David Cazier's avatar
David Cazier committed
174
	HashTable2D< std::vector<Agent*> > ht_neighbor_agents ;
Pierre Kraemer's avatar
Pierre Kraemer committed
175 176
	HashTable2D< std::vector<Obstacle*> > ht_obstacles ;
#endif
177
} ;
Pierre Kraemer's avatar
Pierre Kraemer committed
178

pitiot's avatar
maj  
pitiot committed
179 180
void update_registration(Obstacle * o);
void register_pop(Obstacle* o, int n);
181 182 183
void resetPartSubdiv(Obstacle* o);
void resetObstPartInFace(Obstacle* o, Dart d);// empeche de viser une dart ayant disparu
void resetPart(MovingObstacle * mo, Dart d); // empeche de viser une dart ayant disparu pour les voisins
pitiot's avatar
maj  
pitiot committed
184 185
void displayMO(Obstacle * o);

Pierre Kraemer's avatar
Pierre Kraemer committed
186
/**************************************
David Cazier's avatar
David Cazier committed
187 188
 *           INLINE FUNCTIONS          *
 **************************************/
Pierre Kraemer's avatar
Pierre Kraemer committed
189

190 191 192 193 194 195 196
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) ;
}

David Cazier's avatar
David Cazier committed
197
template <typename T>
pitiot's avatar
maj  
pitiot committed
198
inline bool removeElementFromVector(std::vector<T>& a, T ag)
Pierre Kraemer's avatar
Pierre Kraemer committed
199
{
200 201
	assert(std::find(a.begin(), a.end(), ag) != a.end());

202
	typename std::vector<T>::iterator end = a.template end() ;
David Cazier's avatar
David Cazier committed
203 204 205 206
	for (typename std::vector<T>::iterator it = a.begin(); it != end; ++it)
	{
		if (*it == ag)
		{
207 208
			*it = a.back() ;
			a.pop_back() ;
pitiot's avatar
maj  
pitiot committed
209
			return true ;
Pierre Kraemer's avatar
Pierre Kraemer committed
210 211
		}
	}
pitiot's avatar
maj  
pitiot committed
212
	return false ;
Pierre Kraemer's avatar
Pierre Kraemer committed
213 214 215
}

#ifndef SPATIAL_HASHING
David Cazier's avatar
David Cazier committed
216 217
inline unsigned int EnvMap::totalNeighborSize(Dart d)
{
218 219 220 221
	return agentvect[d].size() + neighborAgentvect[d].size() ;
}

inline void EnvMap::nbAgentsIncrease(Dart d)
Pierre Kraemer's avatar
Pierre Kraemer committed
222
{
223 224
	if (refineMark.isMarked(d)) return ;
	if (totalNeighborSize(d) < nbAgentsToSubdivide) return ;
Pierre Kraemer's avatar
Pierre Kraemer committed
225

226
	std::pair<bool, bool>& sf = subdivisableFace[d] ;
David Cazier's avatar
David Cazier committed
227 228
	if (sf.first == false || (sf.first == true && sf.second))
	{
229 230 231
		refineMark.mark(d) ;
		refineCandidate.push_back(d) ;
	}
Pierre Kraemer's avatar
Pierre Kraemer committed
232 233
}

234
inline void EnvMap::nbAgentsDecrease(Dart d)
Thomas's avatar
Thomas committed
235
{
236 237
	if (coarsenMark.isMarked(d) || refineMark.isMarked(d)) return ;
	if (totalNeighborSize(d) > nbAgentsToSimplify) return ;
Thomas's avatar
Thomas committed
238

239 240 241
	coarsenMark.mark(d) ;
	coarsenCandidate.push_back(map.faceOldestDart(d)) ;
}
Pierre Kraemer's avatar
Pierre Kraemer committed
242 243

inline void EnvMap::pushAgentInCells(Agent* agent, Dart d)
Pierre Kraemer's avatar
Pierre Kraemer committed
244
{
David Cazier's avatar
David Cazier committed
245
	assert(map.getCurrentLevel() == map.getMaxLevel()) ;
pitiot's avatar
maj  
pitiot committed
246
//	assert(std::find(agentvect[d].begin(), agentvect[d].end(), agent) == agentvect[d].end());
David Cazier's avatar
David Cazier committed
247

248 249
	addElementToVector<Agent*>(agentvect[d],agent);
//	agentvect[d].push_back(agent) ;
250
//	nbAgentsIncrease(d);
David Cazier's avatar
David Cazier committed
251 252

	Dart dd = d ;
David Cazier's avatar
David Cazier committed
253 254
	do
	{
David Cazier's avatar
David Cazier committed
255
		Dart ddd = map.alpha1(map.alpha1(dd)) ;
David Cazier's avatar
David Cazier committed
256 257
		while (ddd != dd)
		{
258 259
			addElementToVector<Agent*>(neighborAgentvect[ddd],agent);
//			neighborAgentvect[ddd].push_back(agent) ;
260
//			nbAgentsIncrease(ddd);
David Cazier's avatar
David Cazier committed
261
			ddd = map.alpha1(ddd) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
262
		}
David Cazier's avatar
David Cazier committed
263 264
		dd = map.phi1(dd) ;
	} while (dd != d) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
265 266
}

Thomas's avatar
Thomas committed
267 268
inline void EnvMap::popAgentInCells(Agent* agent, Dart d)
{
David Cazier's avatar
David Cazier committed
269 270 271
	assert(map.getCurrentLevel() == map.getMaxLevel()) ;

	removeElementFromVector<Agent*>(agentvect[d], agent) ;
272
//	nbAgentsDecrease(d) ;
David Cazier's avatar
David Cazier committed
273 274

	Dart dd = d ;
David Cazier's avatar
David Cazier committed
275 276
	do
	{
David Cazier's avatar
David Cazier committed
277
		Dart ddd = map.alpha1(map.alpha1(dd)) ;
David Cazier's avatar
David Cazier committed
278 279
		while (ddd != dd)
		{
David Cazier's avatar
David Cazier committed
280
			removeElementFromVector<Agent*>(neighborAgentvect[ddd], agent) ;
281
//			nbAgentsDecrease(ddd) ;
David Cazier's avatar
David Cazier committed
282
			ddd = map.alpha1(ddd) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
283
		}
David Cazier's avatar
David Cazier committed
284 285
		dd = map.phi1(dd) ;
	} while (dd != d) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
286 287
}

pitiot's avatar
maj  
pitiot committed
288 289 290

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

291

292
inline void EnvMap::addObstAsNeighbor (Obstacle *  o, const std::vector<Dart>& belonging_cells, std::vector<Dart> *neighbor_cells)
pitiot's avatar
maj  
pitiot committed
293 294
{
	assert(map.getCurrentLevel() == map.getMaxLevel());
295
	assert(!belonging_cells.empty());
pitiot's avatar
maj  
pitiot committed
296
	neighbor_cells->clear();
297 298
	CellMarkerMemo<FACE> memo_mark(map);
	CellMarkerMemo<FACE> OneRingMark(map);
pitiot's avatar
maj  
pitiot committed
299

300 301
	for (std::vector<Dart>::const_iterator it =belonging_cells.begin();it<belonging_cells.end();++it)
		memo_mark.mark(*it);
pitiot's avatar
maj  
pitiot committed
302

303
	std::vector<Dart>::const_iterator it=belonging_cells.begin();
pitiot's avatar
maj  
pitiot committed
304 305 306 307
	Dart beg = NIL;
	Dart first =NIL;
	Dart d=NIL;
	Dart dd=NIL;
308
//	CGoGNout<<"beg : "<<(*it)<<CGoGNendl;
pitiot's avatar
maj  
pitiot committed
309 310 311 312 313 314 315 316 317
	//boucle pour trouver une face du voisinage de l'obstacle ne contenant pas l'obstacle
	do
	{
		beg = *it;
		first = NIL;
		d=beg;
		do {
			dd=map.alpha1(map.alpha1(d));
			do {
318
				if (!memo_mark.isMarked(dd))
pitiot's avatar
maj  
pitiot committed
319 320 321 322 323 324 325 326 327 328 329 330
				{
					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)) ;
331 332
	assert(first!=NIL) ;
//	CGoGNout<<"first : "<<first<<CGoGNendl;
pitiot's avatar
maj  
pitiot committed
333 334 335 336 337 338 339 340 341
	d=first;
	do
	{
		if (!OneRingMark.isMarked(d))
		{
			OneRingMark.mark(d);
			(*neighbor_cells).push_back(d);
		}

342
		find_next(o,&d, memo_mark);
343 344 345 346 347 348 349 350 351 352
		if(d==NIL)
		{
			CGoGNout<<"cellule de début : "<<first<<CGoGNendl;
			CGoGNout<<"cellules markées OneRing : "<<CGoGNendl;
			std::vector<Dart> v=OneRingMark.get_markedCells();
			for(std::vector<Dart>::iterator it=v.begin();it<v.end();++it)
			{
				CGoGNout<<(*it).index<<CGoGNendl;
			}
		}
353
//		CGoGNout<<"d : "<<d<<CGoGNendl;
pitiot's avatar
maj  
pitiot committed
354 355 356 357 358
	}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 )

359
inline void EnvMap::find_next(Obstacle* o,Dart * ddd, CellMarkerMemo<FACE>& cms)
pitiot's avatar
maj  
pitiot committed
360 361 362 363 364 365 366 367 368 369 370 371 372 373
{
	Dart d=*ddd;
	Dart first = NIL;
	Dart dd;
	int rd =0;
	do{
		rd++;
		dd=map.alpha1((d));

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

374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395

		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;
							}
pitiot's avatar
maj  
pitiot committed
396
		}
397
		d=map.phi_1(d);
pitiot's avatar
maj  
pitiot committed
398 399 400 401 402 403 404 405
	}while(first==NIL);
	*ddd=first;
}

inline void EnvMap::pushObstNeighborInCells(Obstacle* o, Dart d)
{
	assert(map.getCurrentLevel() == map.getMaxLevel());

406
	addElementToVector<Obstacle*>(neighborObstvect[d],o);
pitiot's avatar
maj  
pitiot committed
407 408
}

409 410 411 412
//inline void EnvMap::pushObstacleInCell(Obstacle* o, Dart d)
//{
//	assert(map.getCurrentLevel() == map.getMaxLevel()) ;
//	assert(!buildingMark.isMarked(d)) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
413
//
414 415
//	addElementToVector<Obstacle*>(obstvect[d],o);
//}
416

Pierre Kraemer's avatar
Pierre Kraemer committed
417 418
inline void EnvMap::clearUpdateCandidates()
{
David Cazier's avatar
David Cazier committed
419 420
	refineCandidate.clear() ;
	coarsenCandidate.clear() ;
Pierre Kraemer's avatar
Pierre Kraemer committed
421
}
pitiot's avatar
maj  
pitiot committed
422 423
///addMovingObstAsNeighbor est pour détecter les voisins du movingobstacle global afin de le considerer comme un super agent

Pierre Kraemer's avatar
Pierre Kraemer committed
424
#endif
Pierre Kraemer's avatar
Pierre Kraemer committed
425 426

#endif