env_map.cpp 12.8 KB
Newer Older
Pierre Kraemer's avatar
Pierre Kraemer committed
1 2 3 4
#include "env_map.h"
#include "utils.h"
#include "agent.h"

Pierre Kraemer's avatar
Pierre Kraemer committed
5 6
#include "Geometry/inclusion.h"
#include "Algo/MovingObjects/particle_cell_2D_memo.h"
Pierre Kraemer's avatar
Pierre Kraemer committed
7 8 9 10 11
#include "Algo/Modelisation/subdivision.h"
#include "Algo/Geometry/normal.h"

using namespace CGoGN;

Pierre Kraemer's avatar
Pierre Kraemer committed
12 13 14 15 16
EnvMap::EnvMap() :
	obstacleMark(map, EDGE_CELL),
	buildingMark(map, FACE_CELL),
	refineMark(map, FACE_CELL),
	coarsenMark(map, FACE_CELL)
Pierre Kraemer's avatar
Pierre Kraemer committed
17 18 19 20
{
	position = map.addAttribute<PFP::VEC3>(VERTEX_ORBIT, "position");
	normal = map.addAttribute<PFP::VEC3>(VERTEX_ORBIT, "normal");
	agentvect = map.addAttribute<PFP::AGENTVECT>(FACE_ORBIT, "agents");
Pierre Kraemer's avatar
Pierre Kraemer committed
21
	neighborAgentvect = map.addAttribute<PFP::AGENTVECT>(FACE_ORBIT, "neighborAgents");
Pierre Kraemer's avatar
Pierre Kraemer committed
22
	obstvect = map.addAttribute<PFP::OBSTACLEVECT>(FACE_ORBIT, "obstacles");
23
	subdivisableFace = map.addAttribute<PFP::BOOLATTRIB>(FACE_ORBIT, "subdivisableFace");
Pierre Kraemer's avatar
Pierre Kraemer committed
24 25 26 27 28 29 30 31 32 33 34 35
}

unsigned int EnvMap::mapMemoryCost()
{
	return (map.getAttributeContainer(DART_ORBIT)).memorySize()
			+ (map.getAttributeContainer(VERTEX_ORBIT)).memorySize()
			+ (map.getAttributeContainer(EDGE_ORBIT)).memorySize()
			+ (map.getAttributeContainer(FACE_ORBIT)).memorySize();
}

Dart EnvMap::getBelongingCell(const PFP::VEC3& pos)
{
Pierre Kraemer's avatar
Pierre Kraemer committed
36
	CellMarkerStore m(map, FACE_ORBIT);
Pierre Kraemer's avatar
Pierre Kraemer committed
37 38
	for(Dart d = map.begin(); d != map.end(); map.next(d))
	{
Pierre Kraemer's avatar
Pierre Kraemer committed
39 40
		if(!m.isMarked(d))
		{
41 42 43 44
			m.mark(d);
			if(!buildingMark.isMarked(d) && Algo::Geometry::isPointInConvexFace2D<PFP>(map, d, position, pos, true))
				return d;
		}
Pierre Kraemer's avatar
Pierre Kraemer committed
45 46 47 48 49 50 51 52 53
	}

	std::cout << "ERROR : pos not in map" << std::endl;
	return map.begin();
}

void EnvMap::init()
{
	float sideSize = 70.0f;
54
	unsigned int nbSquares = 3;
Pierre Kraemer's avatar
Pierre Kraemer committed
55
	CityGenerator::generateCity<PFP>(map, position, obstacleMark, buildingMark, sideSize, nbSquares);
56
//	CityGenerator::generateMall<PFP>(map, position, obstacleMark, buildingMark, sideSize);
Thomas's avatar
Thomas committed
57
//	CityGenerator::simplifyFreeSpace<PFP>(map, position, obstacleMark, buildingMark);
Pierre Kraemer's avatar
Pierre Kraemer committed
58 59
	map.init();
	registerObstaclesInFaces();
60 61
	for(unsigned int i = subdivisableFace.begin(); i < subdivisableFace.end(); subdivisableFace.next(i))
		subdivisableFace[i].first = false ;
Pierre Kraemer's avatar
Pierre Kraemer committed
62 63
}

Pierre Kraemer's avatar
Pierre Kraemer committed
64 65 66 67 68 69 70 71 72 73 74 75 76 77 78
void EnvMap::foreach_neighborFace(Dart d, FunctorType& f)
{
	Dart dd = d;
	do
	{
		Dart ddd = map.alpha1(map.alpha1(dd));
		while(ddd != dd)
		{
			f(ddd);
			ddd = map.alpha1(ddd);
		}
		dd = map.phi1(dd);
	} while(dd != d);
}

Pierre Kraemer's avatar
Pierre Kraemer committed
79 80 81 82 83 84 85 86
void EnvMap::registerObstaclesInFaces()
{
	CellMarker m(map, FACE_CELL);
	for(Dart d = map.begin(); d != map.end(); map.next(d))
	{
		if(!m.isMarked(d))
		{
			m.mark(d);
87
			if(!buildingMark.isMarked(d))
Pierre Kraemer's avatar
Pierre Kraemer committed
88
			{
89 90 91 92 93 94 95
				Dart dd = d;
				do
				{
					if(obstacleMark.isMarked(dd))
						obstvect[d].push_back(map.phi2(dd));
					dd = map.phi1(dd);
				} while(dd != d);
Pierre Kraemer's avatar
Pierre Kraemer committed
96

97
				do
Pierre Kraemer's avatar
Pierre Kraemer committed
98
				{
99 100 101 102 103 104 105 106 107 108 109 110 111 112 113
					Dart ddd = map.alpha1(map.alpha1(dd));
					while(ddd != dd)
					{
						if(!buildingMark.isMarked(ddd))
							addNeighborObstacles(obstvect[d], ddd, ddd == map.alpha_1(dd));
						ddd = map.alpha1(ddd);
					}
					dd = map.phi1(dd);
				} while(dd != d);
			}
		}
	}

	for(Dart d = map.begin(); d != map.end(); map.next(d))
	{
Pierre Kraemer's avatar
Pierre Kraemer committed
114
		if(m.isMarked(d) && !buildingMark.isMarked(d))
115
			m.unmark(d);
Pierre Kraemer's avatar
Pierre Kraemer committed
116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140
	}
}

void EnvMap::addNeighborObstacles(PFP::OBSTACLES& obst, Dart d, bool edgeNeighbor)
{
	Dart stop;
	if(edgeNeighbor)
		stop = map.phi_1(map.phi_1(map.phi_1(d)));
	else
		stop = map.phi_1(map.phi_1(d));
	
	Dart dd = d;
	do
	{
		if(obstacleMark.isMarked(dd))
		{
			if(buildingMark.isMarked(dd))
				obst.push_back(dd);
			else
				obst.push_back(map.phi2(dd));
		}
		dd = map.phi1(dd);
	} while(dd != d);
}

141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217
//void EnvMap::agentChangeFaceThroughEdge(Agent* agent)
//{
//	Dart oldFace = agent->part_.lastCrossed;
//	Dart newFace = agent->part_.d;
//
//	agentvect[newFace].push_back(agent);
//
//	PFP::AGENTS::iterator end = agentvect[oldFace].end();
//	for(PFP::AGENTS::iterator it = agentvect[oldFace].begin(); it != end; ++it)
//	{
//		if(*it == agent)
//		{
//			*it = agentvect[oldFace].back();
//			agentvect[oldFace].pop_back();
//			break;
//		}
//	}
//
//	// mark adjacent cells shared by newFace and oldFace
//	CellMarkerNoUnmark f(map, FACE_CELL);
//	Dart d = oldFace;
//	do
//	{
//		f.mark(d);
//		d = map.alpha1(d);
//	} while(d != oldFace);
//
//	d = map.phi1(oldFace);
//	do
//	{
//		f.mark(d);
//		d = map.alpha1(d);
//	} while(d != map.phi1(oldFace));
//
//	// remove agent from cells adjacent to oldFace but not to newFace
//	Dart dd = oldFace;
//	do
//	{
//		Dart ddd = map.alpha1(map.alpha1(dd));
//		while(ddd != dd)
//		{
//			if(!f.isMarked(ddd))
//			{
//				bool found = false;
//				PFP::AGENTS::iterator end = neighborAgentvect[ddd].end();
//				for(PFP::AGENTS::iterator it = neighborAgentvect[ddd].begin(); it != end && !found; ++it)
//				{
//					if(*it == agent)
//					{
//						*it = neighborAgentvect[ddd].back();
//						neighborAgentvect[ddd].pop_back();
//						found = true;
//					}
//				}
//			}
//			ddd = map.alpha1(ddd);
//		}
//		dd = map.phi1(dd);
//	} while(dd != oldFace);
//
//	// add agent from cells adjacent to oldFace but not to newFace
//	// and unmark shared cells
//	dd = newFace;
//	do
//	{
//		Dart ddd = map.alpha1(map.alpha1(dd));
//		while(ddd != dd)
//		{
//			if(!f.isMarked(ddd))
//				neighborAgentvect[ddd].push_back(agent);
//			else
//				f.unmark(ddd);
//			ddd = map.alpha1(ddd);
//		}
//		dd = map.phi1(dd);
//	} while(dd != newFace);
//}
Pierre Kraemer's avatar
Pierre Kraemer committed
218

Pierre Kraemer's avatar
Pierre Kraemer committed
219 220
void EnvMap::agentChangeFace(Agent* agent, Dart oldFace)
{
221 222
	Dart newFace = agent->part_.d;

Pierre Kraemer's avatar
Pierre Kraemer committed
223
	popAgentInCells(agent, oldFace);
224 225
	pushAgentInCells(agent, newFace);

Pierre Kraemer's avatar
Pierre Kraemer committed
226
	if(!coarsenMark.isMarked(oldFace) && agentvect[oldFace].size() < nbAgentsToSimplify / 2)
Pierre Kraemer's avatar
Pierre Kraemer committed
227 228 229 230
	{
		coarsenMark.mark(oldFace);
		coarsenCandidate.push_back(oldFace);
	}
Pierre Kraemer's avatar
Pierre Kraemer committed
231

Pierre Kraemer's avatar
Pierre Kraemer committed
232
	if(!refineMark.isMarked(newFace) && !coarsenMark.isMarked(newFace) && agentvect[newFace].size() > nbAgentsToSubdivide)
233 234 235 236 237 238 239 240
	{
		std::pair<bool,bool>& sf = subdivisableFace[newFace];
		if(sf.first == false || (sf.first == true && sf.second))
		{
			refineMark.mark(newFace);
			refineCandidate.push_back(newFace);
		}
	}
Pierre Kraemer's avatar
Pierre Kraemer committed
241 242 243 244 245 246
}

void EnvMap::updateMap()
{
	assert(map.getCurrentLevel() == map.getMaxLevel()) ;

247
	for(std::vector<Dart>::iterator it = refineCandidate.begin(); it != refineCandidate.end(); ++it)
Pierre Kraemer's avatar
Pierre Kraemer committed
248
	{
249 250
		Dart d = (*it) ;
		refineMark.unmark(d);
Pierre Kraemer's avatar
Pierre Kraemer committed
251

Pierre Kraemer's avatar
Pierre Kraemer committed
252
		if(agentvect[d].size() > nbAgentsToSubdivide)
Pierre Kraemer's avatar
Pierre Kraemer committed
253
		{
Pierre Kraemer's avatar
Pierre Kraemer committed
254 255 256
			unsigned int fLevel = -1 ;
			Dart old = map.faceOldestDart(d) ;

257
			bool subdivisable = true ;
Pierre Kraemer's avatar
Pierre Kraemer committed
258 259 260 261

			std::pair<bool,bool>& sf = subdivisableFace[d] ;
			if(sf.first == true)
				subdivisable = sf.second ;
262
			else
Pierre Kraemer's avatar
Pierre Kraemer committed
263
			{
264 265
				float maxEdgeSize = Agent::neighborDistSq_ ; // diametre de vision de l'agent au carré

Pierre Kraemer's avatar
Pierre Kraemer committed
266
				fLevel = map.faceLevel(d) ;
267 268 269
				map.setCurrentLevel(fLevel) ;
				PFP::VEC3 fCenter = Algo::Geometry::faceCentroid<PFP>(map, old, position) ;
				Dart fd = old ;
Pierre Kraemer's avatar
Pierre Kraemer committed
270 271
				do
				{
Pierre Kraemer's avatar
Pierre Kraemer committed
272
					PFP::VEC3& p = position[fd] ;
273
					PFP::VEC3 edge = Algo::Geometry::vectorOutOfDart<PFP>(map, fd, position) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
274
					PFP::VEC3 proj = fCenter - (p + (edge * (fCenter - p) / edge.norm2()) * edge) ;
275
					if(proj.norm2() < maxEdgeSize)
Pierre Kraemer's avatar
Pierre Kraemer committed
276
//					if(Algo::Geometry::vectorOutOfDart<PFP>(map, fd, position).norm2() < maxEdgeSize)
Pierre Kraemer's avatar
Pierre Kraemer committed
277
					{
278 279
						subdivisable = false ;
						break ;
Pierre Kraemer's avatar
Pierre Kraemer committed
280
					}
281 282 283 284
					fd = map.phi1(fd) ;
				} while(fd != old) ;
				map.setCurrentLevel(map.getMaxLevel()) ;

Pierre Kraemer's avatar
Pierre Kraemer committed
285 286
				sf.first = true ;
				sf.second = subdivisable ;
287 288 289 290
			}

			if(subdivisable)
			{
Pierre Kraemer's avatar
Pierre Kraemer committed
291 292 293 294
				if(fLevel == -1)
					fLevel = map.faceLevel(d) ;

				sf.first = false ;
295 296 297 298 299 300

				PFP::AGENTS oldAgents(agentvect[old]);
				for(PFP::AGENTS::iterator ait = oldAgents.begin(); ait != oldAgents.end(); ++ait)
					popAgentInCells(*ait, old);

				neighborAgentvect[old].clear() ;
Pierre Kraemer's avatar
Pierre Kraemer committed
301 302

				map.setCurrentLevel(fLevel) ;
303 304 305 306
				CellMarkerStore newF(map, FACE_CELL);
				newF.mark(old);
				Algo::IHM::subdivideFace<PFP>(map, old, position) ;

Pierre Kraemer's avatar
Pierre Kraemer committed
307
				map.setCurrentLevel(map.getMaxLevel()) ;
308 309 310 311 312
				for(PFP::AGENTS::iterator ait = oldAgents.begin(); ait != oldAgents.end(); ++ait)
				{
					resetAgentInFace(*ait) ;
					pushAgentInCells(*ait, (*ait)->part_.d) ;
				}
Pierre Kraemer's avatar
Pierre Kraemer committed
313

Pierre Kraemer's avatar
Pierre Kraemer committed
314 315
				unsigned int degree = 0 ;
				Dart dd = old ;
Pierre Kraemer's avatar
Pierre Kraemer committed
316 317
				do
				{
Pierre Kraemer's avatar
Pierre Kraemer committed
318 319
					++degree ;
					Dart d3 = dd ;
320
					do
Pierre Kraemer's avatar
Pierre Kraemer committed
321
					{
Pierre Kraemer's avatar
Pierre Kraemer committed
322 323
						Dart d4 = map.alpha1(map.alpha1(d3)) ;
						PFP::AGENTS& nad3 = neighborAgentvect[d3] ;
324 325 326
						while(d4 != d3)
						{
							if(!newF.isMarked(d4))
Pierre Kraemer's avatar
Pierre Kraemer committed
327 328 329 330 331
							{
								PFP::AGENTS& ad4 = agentvect[d4] ;
								nad3.insert(nad3.end(), ad4.begin(), ad4.end()) ;
							}
							d4 = map.alpha1(d4) ;
332
						}
Pierre Kraemer's avatar
Pierre Kraemer committed
333 334
						d3 = map.phi1(d3) ;
					} while(d3 != dd) ;
335 336

					map.setCurrentLevel(fLevel) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
337
					dd = map.phi1(dd) ;
338 339 340 341 342
					map.setCurrentLevel(map.getMaxLevel()) ;
				} while(dd != old);

				if(degree == 3)
				{
Pierre Kraemer's avatar
Pierre Kraemer committed
343 344
					Dart centerFace = map.phi2(map.phi1(old)) ;
					Dart d3 = centerFace ;
345 346
					do
					{
Pierre Kraemer's avatar
Pierre Kraemer committed
347 348
						Dart d4 = map.alpha1(map.alpha1(d3)) ;
						PFP::AGENTS& nad3 = neighborAgentvect[d3] ;
349 350 351
						while(d4 != d3)
						{
							if(!newF.isMarked(d4))
Pierre Kraemer's avatar
Pierre Kraemer committed
352 353 354 355 356
							{
								PFP::AGENTS& ad4 = agentvect[d4] ;
								nad3.insert(neighborAgentvect[d3].end(), ad4.begin(), ad4.end()) ;
							}
							d4 = map.alpha1(d4) ;
357
						}
Pierre Kraemer's avatar
Pierre Kraemer committed
358 359
						d3 = map.phi1(d3) ;
					} while(d3 != centerFace) ;
360
				}
Pierre Kraemer's avatar
Pierre Kraemer committed
361 362 363
			}
		}
	}
Pierre Kraemer's avatar
Pierre Kraemer committed
364 365

	for(std::vector<Dart>::iterator it = coarsenCandidate.begin(); it != coarsenCandidate.end(); ++it)
Pierre Kraemer's avatar
Pierre Kraemer committed
366
	{
Pierre Kraemer's avatar
Pierre Kraemer committed
367 368
		Dart d = (*it) ;
		coarsenMark.unmark(d) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384

		unsigned int fLevel = map.faceLevel(d) ;
		Dart old = map.faceOldestDart(d) ;

		if(fLevel > 0 && map.getDartLevel(old) < fLevel)
		{
			unsigned int cur = map.getCurrentLevel() ;
			map.setCurrentLevel(fLevel - 1) ;

			if(map.faceIsSubdividedOnce(old))
			{
				unsigned int degree = 0 ;
				unsigned int nbAgents = 0 ;
				Dart fit = old ;
				do
				{
Pierre Kraemer's avatar
Pierre Kraemer committed
385
					nbAgents += agentvect[fit].size() ;
Pierre Kraemer's avatar
Pierre Kraemer committed
386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403
					++degree ;
					fit = map.phi1(fit) ;
				} while(fit != old) ;
				if(degree == 3)
				{
					map.setCurrentLevel(fLevel) ;
					Dart centerFace = map.phi2(map.phi1(old)) ;
					nbAgents += agentvect[centerFace].size() ;
					map.setCurrentLevel(fLevel - 1) ;
				}

				if(nbAgents < nbAgentsToSimplify)
				{
					PFP::AGENTS agents ;
					Dart fit = old ;
					do
					{
						map.setCurrentLevel(fLevel) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
404
						coarsenMark.unmark(fit) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
405 406
						std::vector<Dart>::iterator start = it + 1 ;
						if(start != coarsenCandidate.end())
Pierre Kraemer's avatar
Pierre Kraemer committed
407
						{
Pierre Kraemer's avatar
Pierre Kraemer committed
408 409
							unsigned int fEmb = map.getEmbedding(FACE_ORBIT, fit) ;
							while(start != coarsenCandidate.end())
Pierre Kraemer's avatar
Pierre Kraemer committed
410
							{
Pierre Kraemer's avatar
Pierre Kraemer committed
411
								if(map.getEmbedding(FACE_ORBIT, *start) == fEmb)
Pierre Kraemer's avatar
Pierre Kraemer committed
412 413 414 415
								{
									*start = coarsenCandidate.back() ;
									coarsenCandidate.pop_back() ;
								}
Pierre Kraemer's avatar
Pierre Kraemer committed
416 417
								else
									++start ;
Pierre Kraemer's avatar
Pierre Kraemer committed
418 419
							}
						}
Pierre Kraemer's avatar
Pierre Kraemer committed
420 421 422
						PFP::AGENTS a(agentvect[fit]) ;
						agents.insert(agents.end(), a.begin(), a.end()) ;
						map.setCurrentLevel(map.getMaxLevel()) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
423 424
						for(PFP::AGENTS::iterator ait = a.begin(); ait != a.end(); ++ait)
							popAgentInCells(*ait, fit);
Pierre Kraemer's avatar
Pierre Kraemer committed
425 426 427 428 429 430 431 432
						map.setCurrentLevel(fLevel - 1) ;
						Dart nf = map.phi2(fit) ;
						if(!map.faceIsSubdivided(nf))
						{
							map.setCurrentLevel(fLevel) ;
							PFP::AGENTS& an = agentvect[nf] ;
							for(PFP::AGENTS::iterator ait = an.begin(); ait != an.end(); ++ait)
							{
Pierre Kraemer's avatar
Pierre Kraemer committed
433 434
								if((*ait)->part_.d == map.phi1(nf))
									(*ait)->part_.d = nf ;
Pierre Kraemer's avatar
Pierre Kraemer committed
435 436 437 438 439 440 441 442 443
							}
							map.setCurrentLevel(fLevel - 1) ;
						}
						fit = map.phi1(fit) ;
					} while(fit != old) ;
					if(degree == 3)
					{
						map.setCurrentLevel(fLevel) ;
						Dart centerFace = map.phi2(map.phi1(old)) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
444
						coarsenMark.unmark(centerFace) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
445 446
						std::vector<Dart>::iterator start = it + 1 ;
						if(start != coarsenCandidate.end())
Pierre Kraemer's avatar
Pierre Kraemer committed
447
						{
Pierre Kraemer's avatar
Pierre Kraemer committed
448 449
							unsigned int fEmb = map.getEmbedding(FACE_ORBIT, centerFace) ;
							while(start != coarsenCandidate.end())
Pierre Kraemer's avatar
Pierre Kraemer committed
450
							{
Pierre Kraemer's avatar
Pierre Kraemer committed
451
								if(map.getEmbedding(FACE_ORBIT, *start) == fEmb)
Pierre Kraemer's avatar
Pierre Kraemer committed
452 453 454 455
								{
									*start = coarsenCandidate.back() ;
									coarsenCandidate.pop_back() ;
								}
Pierre Kraemer's avatar
Pierre Kraemer committed
456 457
								else
									++start ;
Pierre Kraemer's avatar
Pierre Kraemer committed
458 459
							}
						}
Pierre Kraemer's avatar
Pierre Kraemer committed
460 461 462
						PFP::AGENTS a(agentvect[centerFace]) ;
						agents.insert(agents.end(), a.begin(), a.end()) ;
						map.setCurrentLevel(map.getMaxLevel());
Pierre Kraemer's avatar
Pierre Kraemer committed
463 464
						for(PFP::AGENTS::iterator ait = a.begin(); ait != a.end(); ++ait)
							popAgentInCells(*ait, centerFace);
Pierre Kraemer's avatar
Pierre Kraemer committed
465 466 467 468 469
						map.setCurrentLevel(fLevel - 1) ;
					}

					Algo::IHM::coarsenFace<PFP>(map, old, position) ;

Pierre Kraemer's avatar
Pierre Kraemer committed
470 471 472
					std::pair<bool,bool>& sf = subdivisableFace[old] ;
					sf.first = true;
					sf.second = true;
Pierre Kraemer's avatar
Pierre Kraemer committed
473 474 475 476

					map.setCurrentLevel(map.getMaxLevel());

					agentvect[old].clear();
Pierre Kraemer's avatar
Pierre Kraemer committed
477
					for(PFP::AGENTS::iterator it = agents.begin(); it != agents.end(); ++it)
Pierre Kraemer's avatar
Pierre Kraemer committed
478
					{
Pierre Kraemer's avatar
Pierre Kraemer committed
479
						(*it)->part_.d = old ;
Pierre Kraemer's avatar
Pierre Kraemer committed
480 481
						pushAgentInCells(*it, old);
					}
Pierre Kraemer's avatar
Pierre Kraemer committed
482

Pierre Kraemer's avatar
Pierre Kraemer committed
483 484 485 486 487 488 489 490 491 492 493
					Dart dd = old;
					do
					{
						Dart ddd = map.alpha1(map.alpha1(dd));
						while(ddd != dd)
						{
							neighborAgentvect[old].insert(neighborAgentvect[old].end(), agentvect[ddd].begin(), agentvect[ddd].end());
							ddd = map.alpha1(ddd);
						}
						dd = map.phi1(dd);
					} while(dd != old);
Pierre Kraemer's avatar
Pierre Kraemer committed
494

Pierre Kraemer's avatar
Pierre Kraemer committed
495 496 497 498 499
				}
			}
			map.setCurrentLevel(cur) ;
		}
	}
Pierre Kraemer's avatar
Pierre Kraemer committed
500

Pierre Kraemer's avatar
Pierre Kraemer committed
501 502 503 504 505 506 507 508 509 510
	map.setCurrentLevel(map.getMaxLevel()) ;
}

void EnvMap::resetAgentInFace(Agent* agent)
{
	VEC3 pos = agent->part_.m_position;
	agent->part_.m_position = Algo::Geometry::faceCentroid<PFP>(map, agent->part_.d, position);
	agent->part_.state = FACE_ORBIT;
	agent->part_.move(pos);
}