moving_obstacle.cpp 37.1 KB
Newer Older
pitiot's avatar
maj    
pitiot committed
1
2
3
4
#include "moving_obstacle.h"
#include "obstacle.h"
#include "agent.h"
#include "simulator.h"
5
#include "moving_mesh.h"
6
#include "Utils/colorMaps.h"
pitiot's avatar
maj    
pitiot committed
7

8
9
#include "Algo/Modelisation/triangulation.h"

Pierre Kraemer's avatar
Pierre Kraemer committed
10
//float MovingObstacle::neighborDistSq_ = 5.0f * 5.0f;
pitiot's avatar
maj    
pitiot committed
11

pitiot's avatar
pitiot committed
12
float MovingObstacle::maxSpeed_ = 2.0f;
pitiot's avatar
pitiot committed
13
14
float MovingObstacle::neighborDist_ = 10.0f ;
float MovingObstacle::neighborDistSq_ = neighborDist_ * neighborDist_ ;
pitiot's avatar
maj    
pitiot committed
15
16
17
18
float MovingObstacle::timeHorizonObst_ = 10.0f;
unsigned int MovingObstacle::maxNeighbors_ = 20;
float MovingObstacle::detectionFixedObst = 50;

pitiot's avatar
pitiot committed
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
void  MovingObstacle::addGeneralCell ( Dart d)
{
	bool added = false;
	std::vector< std::pair<Dart,int> >::iterator it =general_belonging.begin();
	while (it != general_belonging.end() )
	{
		if(sim_->envMap_.map.sameFace((*it).first,d))
		{
			(*it).second ++;
			added= true;
			break;
		}
		else ++it;

	};

	if (!added)
	{
		general_belonging.push_back(std::make_pair(d,1));
	}
}
Thomas Jund's avatar
Thomas Jund committed
40

pitiot's avatar
pitiot committed
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
bool  MovingObstacle::removeGeneralCell (Dart d)
{
	std::vector< std::pair<Dart,int> >::iterator it =general_belonging.begin();
	while (it != general_belonging.end() )
	{
		if(sim_->envMap_.map.sameFace((*it).first,d))
		{
			if(--((*it).second)==0)
			{
				*it = general_belonging.back() ;
				general_belonging.pop_back() ;
			}
			return true;
		}
		else ++it;

	};
	return false;
}

pitiot's avatar
maj    
pitiot committed
61
62
bool MovingObstacle::is_inside(VEC3 p)
{
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
//	return false;
	VEC3 vec, norm, p1,p2;


	for (unsigned int i = 0; i < nbVertices; i++)
	{
		 p1 = getPosition(i);
		 p2 = getPosition((i+1)%nbVertices);

		vec = VEC3(p2 - p1);
		norm[0] = vec[1];
		norm[1] = -vec[0];

		vec = VEC3(p2 -p);
		if (vec*norm < 0)
			return false;
	}

	return true;
pitiot's avatar
maj    
pitiot committed
82
83
}

pitiot's avatar
pitiot committed
84
float get_angle(VEC3 v1, VEC3 v2) //renvoie l'angle entre [- pi ; Pi] du v2 à v1
pitiot's avatar
maj    
pitiot committed
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
{
	float flo = 0.0f;
	float nb = std::sqrt(v1.norm2() * v2.norm2());

	if (nb != 0)
	{
		nb = (v1*v2) / nb;

		if (nb > 1)
			nb = 1;
		else if (nb < -1)
			nb = -1;
		flo = std::acos(nb);
	}

	if ((v1[0] * v2[1] - v2[0] * v1[1]) > 0)
pitiot's avatar
pitiot committed
101
102
103
104
105
106
107
		flo = - flo;

	if(flo >M_PI)
		flo= flo-2*M_PI;
	if (flo<(-M_PI))
		flo=flo+2*M_PI;

pitiot's avatar
maj    
pitiot committed
108
109
110
	return flo;
}

pitiot's avatar
pitiot committed
111
VEC3 rotate(VEC3 pos1, VEC3 center, float angle) // renvoie le déplacement necessaire depuis pos1 pour effectuer la rotation centrée en center d'angle angle
pitiot's avatar
maj    
pitiot committed
112
113
114
115
116
117
118
119
120
{
	VEC3 pos2;
	PFP::REAL x = pos1[0] - center[0];
	PFP::REAL y = pos1[1] - center[1];
	pos2[0] = x * cos(angle) - y * sin(angle) - x;
	pos2[1] = x * sin(angle) + y * cos(angle) - y;
	return pos2;
}

pitiot's avatar
pitiot committed
121
MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, std::vector<VEC3> goals, bool rigid, bool spin,int curGoal, Dart dInside, ArticulatedObstacle * art, int indParent) :
122
		nbVertices(pos.size()),
123
		center(0),
pitiot's avatar
maj    
pitiot committed
124
		index(ind),
125
		goals_(goals),
pitiot's avatar
pitiot committed
126
		curGoal_(curGoal),
127
128
129
130
131
		velocity_factor(0.8f),
		color1(1.0f),
		color2(1.0f),
		color3(1.0f),
		seen(false),
pitiot's avatar
maj    
pitiot committed
132
		newVelocity_(0),
pitiot's avatar
merging    
pitiot committed
133
		sim_(sim),
134
135
		rigid_(rigid),
		spinning(spin),
pitiot's avatar
merging    
pitiot committed
136
		parent(art),
pitiot's avatar
blah    
pitiot committed
137
		mm_(NULL),
Thomas Jund's avatar
Thomas Jund committed
138
		ag_(NULL),
139
140
		index_parent(indParent),
		gravity_dist(0)
pitiot's avatar
maj    
pitiot committed
141
142
143
{
	assert(pos.size() > 2);

144
145
	if(dInside==NIL)
		dInside = sim_->envMap_.getBelongingCell(pos[0]);
pitiot's avatar
maj    
pitiot committed
146

147
148
149
#ifdef TWO_AND_HALF_DIM
	parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>*[nbVertices];
#else
pitiot's avatar
pitiot committed
150
	parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>*[nbVertices];
151
152
#endif

pitiot's avatar
maj    
pitiot committed
153
	obstacles_ = new Obstacle*[nbVertices];
154
155
	belonging_cells = new std::vector<Dart>[nbVertices];
	neighbor_cells = new std::vector<Dart>[nbVertices];
156
157
158
159

	position = map.addAttribute<VEC3, VERTEX>("position") ;
	normal = map.addAttribute<VEC3, VERTEX>("normal") ;
	deformation = map.addAttribute<VEC3, VERTEX>("deformation") ;
160
161
162
163

	if(!rigid_)
	{
		velocity = map.addAttribute<VEC3, VERTEX>("velocity") ;
Thomas Jund's avatar
Thomas Jund committed
164
		forces = map.addAttribute<VEC3, VERTEX>("force") ;
165
		edgeLength = map.addAttribute<float, EDGE>("edgeLength") ;
Thomas Jund's avatar
Thomas Jund committed
166
		vertexAngle = map.addAttribute<float, DART>("vertexAngle") ;
167
	}
168

169
	for (unsigned int i = 0; i < nbVertices; ++i)
170
171
172
173
	{
		Dart d = sim_->envMap_.getBelongingCell(pos[i]);
#ifdef TWO_AND_HALF_DIM
		CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>* part = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>(sim_->envMap_.map, d, pos[i], sim_->envMap_.position);
174

175
176
177
178
179
180
181
182
183
#else
		CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>* part = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>(sim_->envMap_.map, d, pos[i], sim_->envMap_.position);
#endif
		parts_[i] = part;
		center += pos[i];

		if(i==0)
			dDir = d;
	}
184
185
186

		center /= nbVertices;
		front=(pos[0] + pos[1]) / 2;
Thomas Jund's avatar
merge    
Thomas Jund committed
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
		// M appartient à l'ellipse ssi MF1 + MF2 = sum_dist_foci est une constante
		// où F1 et F2 sont les deux foyers.
	//	length = (pos[0]-pos[1]).norm();
	//	width  = (pos[1]-pos[2]).norm();
	//	sum_dist_foci_rest = 2*(length + width*(sqrt(2)-0.5));

//		if (spinning && parent==NULL) //départ face à la cible en cas d'obstacles pouvant effectuer des rotations
//		{
//
//			angle = get_angle(goals_[curGoal_] - center,front  - center);
////			std::cout<<" angle : "<< angle;
//
//			for (unsigned int i = 0; i < nbVertices; ++i)
//			{
////				std::cout<<" || pos[i] avant : "<< pos [i];
//				pos[i]+=rotate(pos[i], center, angle);
////				std::cout<<" || pos[i] APRES : "<< pos [i]<<std::endl;
//
//				parts_[i]->move(pos[i]);
//
//
//			}
//			angle=0;
//			front=(pos[0] + pos[1]) / 2;
//		}
Thomas Jund's avatar
merge    
Thomas Jund committed
213

214
215
	groundFace = map.newFace(nbVertices);

pitiot's avatar
maj    
pitiot committed
216
217
	for (unsigned int i = 0; i < nbVertices; ++i)
	{
218
219
220
221
222
		float distance=(center-pos[i]).norm();
		if(distance>gravity_dist)
		{
			gravity_dist=distance;
		}
Thomas Jund's avatar
Thomas Jund committed
223
		Dart d = i;
224
225
		position[d] = pos[i];
		deformation[d] = VEC3(0);
226
227

		if(!rigid_)
Thomas Jund's avatar
Thomas Jund committed
228
		{
229
			velocity[d] = VEC3(0);
Thomas Jund's avatar
Thomas Jund committed
230
231
			forces[d] = VEC3(0);
		}
232

233

pitiot's avatar
pitiot committed
234
	}
235

236
237
	//extrude face to build a cage
	// compute edgeLength for mass-spring
Thomas Jund's avatar
Thomas Jund committed
238
	Algo::Surface::Modelisation::extrudeFace<PFP>(map, position, groundFace, -10.0f) ;
239
//	Algo::Surface::Modelisation::extrudeFace<PFP>(map, position, groundFace, 0.0f) ;
240
241
242
	map.fillHole(groundFace);
	groundFace = map.phi2(groundFace);

243
244
	if(!rigid_)
	{
245
		Algo::Surface::Modelisation::EarTriangulation<PFP> et(map);
246
247
248
249
250
251
252
		et.triangule();

		TraversorE<PFP::MAP> tE(map);
		for(Dart d = tE.begin() ; d != tE.end() ; d = tE.next())
		{
			edgeLength[d] = VEC3(position[map.phi1(d)]-position[d]).norm();
		}
Thomas Jund's avatar
Thomas Jund committed
253

Thomas Jund's avatar
Thomas Jund committed
254
255
256
		DartMarker treated(map);
		for(Dart d = map.begin() ; d != map.end() ; map.next(d))
		{
257
			if(!map.isBoundaryMarked2(d) && !treated.isMarked(d))
Thomas Jund's avatar
Thomas Jund committed
258
259
			{
				treated.mark(d);
260
				vertexAngle[d] = Algo::Surface::Geometry::angle<PFP>(map,map.phi_1(d),map.phi1(d),position);
Thomas Jund's avatar
Thomas Jund committed
261
262
263
			}
		}

264
		map.enableQuickTraversal<VERTEX>();
265

Thomas Jund's avatar
Thomas Jund committed
266
		dDir=dInside;
pitiot's avatar
pitiot committed
267
	}
268

pitiot's avatar
merging    
pitiot committed
269

270

pitiot's avatar
maj    
pitiot committed
271
272
	for (unsigned int i = 0; i < nbVertices; ++i)
	{
pitiot's avatar
pitiot committed
273
274
		Obstacle* o = new Obstacle(parts_[i]->getPosition(),
				parts_[(i + 1) % nbVertices]->getPosition(),
Thomas Jund's avatar
merge    
Thomas Jund committed
275
				parts_[(i - 1 + nbVertices) % nbVertices]->getPosition(),
Thomas Jund's avatar
Thomas Jund committed
276
				parts_[(i + 2) % nbVertices]->getPosition(), i, (i+1)% nbVertices, this, i);
pitiot's avatar
maj    
pitiot committed
277
		obstacles_[i] = o;
pitiot's avatar
pitiot committed
278
//		CGoGNout<<" obstacle :"<< i << " num : "<< o<<CGoGNendl;
pitiot's avatar
pitiot committed
279
		sim_->envMap_.pushObstacleInCells(o);
pitiot's avatar
maj    
pitiot committed
280
281
282
	}
}

283
284
285
286
287
288
289
290
291
292
293
void MovingObstacle::initGL()
{
#ifdef EXPORTING_BOXES

	m_render = new Algo::Render::GL2::MapRender();

	m_positionVBO = new Utils::VBO();

	// using simple shader with color
	m_shader = new Utils::ShaderSimpleColor();
	m_shader->setAttributePosition(m_positionVBO);
pitiot's avatar
pitiot committed
294
	m_shader->setColor(Geom::Vec4f(0.,1.,0.,0.));
295
296
297
298
299
300
301
302
303
304
//	m_shader->setAmbiant(Geom::Vec4f(0.,1.,0.,0.));
//	m_shader->setDiffuse(Geom::Vec4f(0.,1.,0.,0.));

	m_positionVBO->updateData(position) ;

	m_render->initPrimitives<PFP>(map, Algo::Render::GL2::LINES,false) ;
	m_render->initPrimitives<PFP>(map, Algo::Render::GL2::TRIANGLES,false) ;

//	registerShader(m_shader);
#endif
Thomas Jund's avatar
Thomas Jund committed
305
306

	m_ds = new Utils::Drawer();
307
308
}

Thomas Jund's avatar
Thomas Jund committed
309
void MovingObstacle::draw(bool showPath)
310
311
312
313
314
{
#ifdef EXPORTING_BOXES
//	m_render->initPrimitives<PFP>(map, Algo::Render::GL2::LINES,false) ;
//	m_render->initPrimitives<PFP>(map, Algo::Render::GL2::TRIANGLES,false) ;
	m_positionVBO->updateData(position);
315
//	m_shader->setColor(Geom::Vec4f(movingObstacleNeighbors_.size()==0 ? 1.0f : 0,0.,0.,0.));
pitiot's avatar
merge    
pitiot committed
316

317
	VEC3 col = Utils::color_map_BCGYR(float(index)/float(sim_->movingObstacles_.size()));
Arash HABIBI's avatar
Arash HABIBI committed
318

319
	if(movingObstacleNeighbors_.size()==0)
Arash HABIBI's avatar
Arash HABIBI committed
320
	// if(obstacleNeighbors_.size()==0)
321
322
323
		m_shader->setColor(Geom::Vec4f(col[0],col[1],col[2],0));
	else
		m_shader->setColor(Geom::Vec4f(0.5,0.5,0.5,0));
pitiot's avatar
merge    
pitiot committed
324

325
326
327
328
	m_render->draw(m_shader, Algo::Render::GL2::TRIANGLES);
	m_shader->setColor(Geom::Vec4f(0.,0.,0.,0.));
	m_render->draw(m_shader, Algo::Render::GL2::LINES);
#endif
Thomas Jund's avatar
Thomas Jund committed
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345

	if(showPath)
	{
		m_ds->newList(GL_COMPILE_AND_EXECUTE);
		m_ds->begin(GL_LINE_STRIP);

		VEC3 col = Utils::color_map_BCGYR(float(index)/float(sim_->movingObstacles_.size()));
		m_ds->color3f(col[0],col[1],col[2]);

		for(std::vector<VEC3>::iterator it = goals_.begin() ; it != goals_.end() ; ++it)
		{
			m_ds->vertex(*it);
		}

		m_ds->end();
		m_ds->endList();
	}
346
347
}

348
349
VEC3 MovingObstacle::getDilatedPosition(unsigned int ind)
{
350
	Dart d(ind); //WARNING : works only for one face created at start !
Arash HABIBI's avatar
Arash HABIBI committed
351
352
//	return position[d]+deformation[d];
	return position[d];
353
354
355
356
}

VEC3 MovingObstacle::getPosition(unsigned int ind)
{
357
358
	Dart d(ind);
	return position[d];
359
360
}

pitiot's avatar
maj    
pitiot committed
361
362
363
364
bool MovingObstacle::test_opposition(VEC3 o, VEC3 p1, VEC3 p2)
{
	o.normalize();
	o *= -1;
365
366
367
	VEC3 vector(p1 - p2);
	vector.normalize();
	return (o - vector).norm2() < 0.1;
pitiot's avatar
maj    
pitiot committed
368
369
370
}

// TODO Check position
pitiot's avatar
pitiot committed
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
//void MovingObstacle::contournerBatiment()
//{
//	PFP::VEC3 toto;
//	PFP::VEC3 toto_norm;
//	//for particles in the "front" of the object (to modify)
//	for(int k =0;k<2;k++)
//	{
//
//		registering_part->get_memo(vertices[k]);
//		std::vector<Obstacle*>& obst = sim_->envMap_.obstvect[registering_part->d];
//
//		//search all obstacles around
//		for(std::vector<Obstacle*>::const_iterator it = obst.begin(); it != obst.end(); ++it)
//		{
//			//only for fixed obstacles around
//			if ((*it)->mo==NULL)
//			{
//				float distSq = distSqPointLineSegment((*it)->p1, (*it)->p2, vertices[k]);
//				if(distSq < detectionFixedObst*detectionFixedObst)
//				{
//					toto= (*it)->p1 -(*it)->p2;
//					toto_norm=toto;
//					toto_norm[0]=-toto[1];
//					toto_norm[1]=toto[0];
//
//					if(test_opposition(toto_norm,front,center)) //// à changer ////////////
//					{
//						int co = rand() % 2 ;
//						if (toto[0]==0)
//						{
//							finalGoal[0]=front[0];
//							if (co == 0)
//								finalGoal[0]=sim_->envMap_.geometry.max()[1]-maxNeighbors_;
//							else
//								finalGoal[0]=sim_->envMap_.geometry.min()[1]+maxNeighbors_;
//						}
//						else
//						{
//							finalGoal[1]=front[1];
//							if (co == 0)
//								finalGoal[0]=sim_->envMap_.geometry.max()[1]-maxNeighbors_;
//							else
//								finalGoal[0]=sim_->envMap_.geometry.min()[1]+maxNeighbors_;
//						}
//
//						float angle =get_angle(finalGoal-center,front -center);
//						make_half_turn=angle*nbVertices;
//						break;
//					}
//				}
//			}
//		}
//	}
//}
pitiot's avatar
maj    
pitiot committed
425

pitiot's avatar
pitiot committed
426
void MovingObstacle::updateAgentNeighbors() // agents voisins avec distance au bord (distpointlinesq) de l'obstacle // a mettre en place si besoin
pitiot's avatar
maj    
pitiot committed
427
{
Thomas Jund's avatar
Thomas Jund committed
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
	//test for slugs : doesn't always work.. :)
//	if(!rigid_)
//	{
//		Dart d = registering_part->d;
//
//		std::list<MovingObstacle*> seen;
//		PFP::OBSTACLEVECT& obst = sim_->envMap_.obstvect[d] ;
//		PFP::OBSTACLEVECT& neighborObst = sim_->envMap_.neighborObstvect[d] ;
//
//		for (std::vector<Obstacle*>::iterator it = obst.begin(); it != obst.end(); ++it)
//		{
//
//			if ((*it)->mo!=NULL)
//			{
//				MovingObstacle* other = (*it)->mo;
//				if(other->velocity_ * velocity_<=0.0f) //stop when not in front of each other
//				{
//					if(velocity_*(other->registering_part->getPosition()-registering_part->getPosition())>0)
//					{
//						newVelocity_ = VEC3(newVelocity_[1], -newVelocity_[0], 0);
//						seen.push_back(other);
//					}
//				}
//				else if(velocity_*(other->registering_part->getPosition()-registering_part->getPosition())>0
//						&& (other->registering_part->getPosition()-registering_part->getPosition()).norm2()<2000.0f)
//					newVelocity_ *= 0.01f;
//			}
//		}
//
//		for (std::vector<Obstacle*>::iterator it = neighborObst.begin(); it != neighborObst.end(); ++it)
//		{
//
//			if ((*it)->mo!=NULL)
//			{
//				MovingObstacle* other = (*it)->mo;
//				if(std::find(seen.begin(),seen.end(), other)==seen.end())
//				{
//					if(other->velocity_ * velocity_<=0.0f
//							&& (other->registering_part->getPosition()-registering_part->getPosition()).norm2()<2000.0f)
//					{
//
//						if(velocity_*(other->registering_part->getPosition()-registering_part->getPosition())>0)
//						{
//							newVelocity_ = VEC3(newVelocity_[1], -newVelocity_[0], 0);
//						}
//					}
////					else if(velocity_*(other->registering_part->getPosition()-registering_part->getPosition())>0)
////						newVelocity_ *= 0.5f;
//				}
//			}
//		}
//	}

pitiot's avatar
pitiot committed
481
482
483
484
485
//	agentNeighbors_.clear() ;
//	Dart d;
//	float maxDist = 0.0f ;//distance max des agents eregistrés au centre
//	std::set::iterator agIt;//emplacement de l'agent en question
//	for(int i = 0;i< nbVertices;i++ )
pitiot's avatar
pitiot committed
486
//	{
pitiot's avatar
pitiot committed
487
488
489
490
491
492
//		registering_part->get_memo(vertices[i]);
//		d=registering_part->d;
//		const std::vector<Agent*>& agents = sim_->envMap_.agentvect[d] ;
//		const std::vector<Agent*>& neighborAgents = sim_->envMap_.neighborAgentvect[d] ;
//
//
pitiot's avatar
pitiot committed
493
//
pitiot's avatar
pitiot committed
494
495
496
497
//		for (std::vector<Agent*>::const_iterator it = agents.begin(); it != agents.end(); ++it)
//		{
//			if ((*it)->alive)
//			{
pitiot's avatar
pitiot committed
498
//
pitiot's avatar
pitiot committed
499
500
501
502
//				float distSq = (center - (*it)->getPosition()).norm2() ;
//				if ((agentNeighbors_.size() < maxNeighbors_ || distSq < maxDist)
//					&& distSq < neighborDistSq_)
//				{
pitiot's avatar
pitiot committed
503
//
pitiot's avatar
pitiot committed
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
//					if (distSq > maxDist)
//					{
//						maxDist = distSq ;
//						agIt=(agentNeighbors_.insert(std::make_pair(distSq, *it))).first() ;
//					}
//					else
//					{
//						agentNeighbors_.insert(std::make_pair(distSq, *it))
//					}
//				}
//
//			}
//		}
//
//		for (std::vector<Agent*>::const_iterator it = neighborAgents.begin(); it != neighborAgents.end(); ++it)
//		{
//			if ((*it)->alive)
//			{
//				float distSq = (getPosition() - (*it)->getPosition()).norm2() ;
//				if ((agentNeighbors_.size() < maxNeighbors_ || distSq < maxDist)
//					&& distSq < neighborDistSq_)
//				{
//					if (distSq > maxDist)
//					{
//						maxDist = distSq ;
//						agIt=(agentNeighbors_.insert(std::make_pair(distSq, *it))).first() ;
//					}
//					else
//					{
//						agentNeighbors_.insert(std::make_pair(distSq, *it))
//					}
//				}
//			}
//
//		}
pitiot's avatar
pitiot committed
539
//	}
pitiot's avatar
pitiot committed
540
541
542
543
}

void MovingObstacle::updateObstacleNeighbors() // obstacles voisins , distance par rapport aux centres des segments// a mettre en place si besoin
{
544
545
	obstacleNeighbors_.clear() ;
	movingObstacleNeighbors_.clear() ;
pitiot's avatar
pitiot committed
546
	for (std::vector< std::pair<Dart, int> >::iterator it2 = general_belonging.begin();it2 != general_belonging.end(); ++it2)
547
	{
pitiot's avatar
pitiot committed
548
549
		std::vector<Obstacle*>& obst = sim_->envMap_.obstvect[(*it2).first] ;
		std::vector<Obstacle*>& neighborObst = sim_->envMap_.neighborObstvect[(*it2).first] ;
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
//		float maxDistObst = 0.0f ;
//		float maxDistMovingObst = 0.0f ;
		float distance_detection=2.5* gravity_dist;
		float distance_detectionSq=distance_detection*distance_detection;
		for(std::vector<Obstacle*>::const_iterator it = obst.begin() ; it != obst.end() ; ++it)
		{
			if ((*it)->mo==NULL)
			{
				float distSq = distSqPointLineSegment((*it)->p1, (*it)->p2, center) ;
				if (/*(obstacleNeighbors_.size() < maxMovingObstacles_|| distSq < maxDistObst)
						&&*/ distSq < distance_detectionSq)
				{


//						if (distSq > maxDistObst)
//							maxDistObst = distSq ;
						obstacleNeighbors_.push_back(std::make_pair(distSq, *it)) ;



				}
			}
			else
			{
				if((*it)->mo->index!=index)
				{
					float distSq = distSqPointLineSegment((*it)->p1, (*it)->p2, center) ;
					if (/*(movingObstacleNeighbors_.size() < maxMovingObstacles_ || distSq < maxDistMovingObst) &&*/
							 distSq < distance_detectionSq)
					{

//						if (distSq > maxDistMovingObst)
//							maxDistMovingObst = distSq ;
						movingObstacleNeighbors_.push_back(std::make_pair(distSq, *it)) ;



					}

				}
			}
		}

		for(std::vector<Obstacle*>::const_iterator it = neighborObst.begin() ; it != neighborObst.end() ; ++it)
		{
			if ((*it)->mo==NULL)
			{
				float distSq = distSqPointLineSegment((*it)->p1, (*it)->p2, center) ;
				if (/*(obstacleNeighbors_.size() < maxMovingObstacles_|| distSq < maxDistObst)
						&&*/ distSq < distance_detectionSq)
				{


//						if (distSq > maxDistObst)
//							maxDistObst = distSq ;
						obstacleNeighbors_.push_back(std::make_pair(distSq, *it)) ;



				}
			}
			else
			{
				if((*it)->mo->index!=index)
				{
					float distSq = distSqPointLineSegment((*it)->p1, (*it)->p2, center) ;
					if (/*(movingObstacleNeighbors_.size() < maxMovingObstacles_ || distSq < maxDistMovingObst) &&*/
							 distSq < distance_detectionSq)
					{

//						if (distSq > maxDistMovingObst)
//							maxDistMovingObst = distSq ;
						movingObstacleNeighbors_.push_back(std::make_pair(distSq, *it)) ;
					}
				}
			}
		}
	}
pitiot's avatar
maj    
pitiot committed
628
629
}

Arash HABIBI's avatar
unidir    
Arash HABIBI committed
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
//-------------------------------------------------------------

int matrixInverse(VEC3 v1, VEC3 v2, VEC3 v3, VEC3 *inv1, VEC3 *inv2, VEC3 *inv3)
{
	int res = 0;
	float determinant = v1[0]*v2[1]*v3[2] + v2[0]*v3[1]*v1[2] + v3[0]*v1[1]*v2[2] - v3[0]*v2[1]*v1[2] - v2[0]*v1[1]*v3[2] - v1[0]*v3[1]*v2[2];

	if(determinant==0.0)
		res=1;

	else
	{
		float un_sur = 1.0 / determinant;

		*inv1 = VEC3( v2[1]*v3[2]-v3[1]*v2[2], v2[0]*v3[2]-v3[0]*v2[2], v2[0]*v3[1]-v3[0]*v2[1] );
		*inv2 = VEC3( v1[1]*v3[2]-v3[1]*v1[2], v1[0]*v3[2]-v3[0]*v1[2], v1[0]*v3[1]-v3[0]*v1[1] );
		*inv3 = VEC3( v1[1]*v2[2]-v2[1]*v1[2], v1[0]*v2[2]-v2[0]*v1[2], v1[0]*v2[1]-v2[0]*v1[1] );
		res=0;
		*inv1 = *inv1 * un_sur;
		*inv2 = *inv2 * un_sur;
		*inv3 = *inv3 * un_sur;
	}
	return res;
}

//-------------------------------------------------------------

float distToLine(VEC3 M, VEC3 P, VEC3 u)
{
	u.normalize();
	VEC3 MP = P - M;
	return(MP*(u^(MP^u)));
}

//-------------------------------------------------------------
// Première stratégie : appliquer à p1 et à p2 une force
// colinéaire à f, mais d'intensité différente. Dans ce cas,
// il est nécessaire de calculer la somme des moments et de
// l'annuler. *f1 = f*d2/(d1+d2) et *f2 = f*d1/(d1+d2).

void getResponse1(VEC3 f, VEC3 p, VEC3 p1, VEC3 p2, VEC3 *f1, VEC3 *f2)
{
	float d1  = distToLine(p1,p,f);
	float d2  = distToLine(p2,p,f);

	*f1 = f*(-d2/(d1+d2));
	*f2 = f*(-d1/(d1+d2));
}

//-------------------------------------------------------------
// Deuxième stratégie, les forces appliquées à p1 et p2
// doivent etre colinaires respectivement à pp1 et pp2.
// Donc la somme des moments est automatiquement nulle.
// Pour calculer les intensites, il faut décomposer f
// dans la base (pp1,pp2), ce qui donnera l'intensite de
// chaque force. Problème : on peut générer des forces
// d'étirement importantes.

void getResponse2(VEC3 f, VEC3 p, VEC3 p1, VEC3 p2, VEC3 *f1, VEC3 *f2)
{
	float d1  = (p1-p).norm();
	float d2  = (p2-p).norm();
	float d12 = (p2-p1).norm();

	VEC3 ortho = (p1-p) ^ (p2-p);
	if(ortho.norm()==0.0)
	{
		if(d12==0) // comprend le cas où d1==0 et d2==0
		{
			*f2 = (-0.5)*f;
			*f1 = (-0.5)*f;
		}
		else if(d1==0)
		{
			*f2 = VEC3(0,0,0);
			*f1 = -f;
			// meilleure idee : projeter f sur p1p2 -> f2 et f1 <- f-f2
		}
		else if(d2==0)
		{
			*f1 = VEC3(0,0,0);
			*f2 = -f;
			// meilleure idee : projeter f sur p1p2 -> f1 et f2 <- f-f1
		}
		else // trois points distincts, mais alignés
		{
			// A suivre
		}
	}
	// int res = matrixInverse(p1-p,p2-p,ortho, VEC3 *inv1, VEC3 *inv2, VEC3 *inv3);
	// inv1, inv2 et inv3 sont les composantes de la matrice inverse. L'image de
	// p1-p et p2-p par cette matrice donne la valeur des forces f1 et f2.
}


//-------------------------------------------------------------

void MovingObstacle::initForces()
{
729
	Dart dd = groundFace;
Arash HABIBI's avatar
unidir    
Arash HABIBI committed
730
	if(!rigid_)
731
		for (unsigned int i = 0; i < nbVertices; ++i)
Arash HABIBI's avatar
unidir    
Arash HABIBI committed
732
733
734
735
736
737
738
		{
			//initialisation of forces
			forces[dd] = VEC3(0.0);
			map.next(dd);
		}
}

Arash HABIBI's avatar
Arash HABIBI committed
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779

//-------------------------------------------------------------

VEC3 computeForce(VEC3 p, VEC3 p1, VEC3 p2, float obst_radius_infl, float obst_power, float obst_stiffness)
{
	double force_value=0.0;
	double longueur2 = (p1-p2).norm2();
	double rest_sum_of_dists = 2 * sqrt(obst_radius_infl*obst_radius_infl + longueur2/4);

	double d1 = (p-p1).norm();
	double d2 = (p-p2).norm();
	double sum_of_dists = d1+d2;
	if(sum_of_dists < rest_sum_of_dists)
	{
		double collision_softening_factor = pow(1-sum_of_dists/rest_sum_of_dists,obst_power);
		force_value = obst_stiffness*collision_softening_factor*(rest_sum_of_dists - sum_of_dists);
		VEC3 v_obst = p2 - p1;
		VEC3 normal = VEC3(v_obst[1],-v_obst[0],0);
		// Ajouter une composante tangentielle

		normal += v_obst * ((d1-d2)/sum_of_dists);
		// normal += v_obst * ((d1-d2)/(5*sum_of_dists));
		// Le facteur 5 est là seulement pour diminuer l'influence de la composante tangentielle
		normal.normalize();

		// force_value *= 10;
		/*
		VEC3 force_vector1, force_vector2;
		getResponse1(force_vector,p,p1,p2,&force_vector1,&force_vector2);
		Dart d1 = obst->d1;
		Dart d2 = obst->d2;
		obst->mo->forces[d1] += force_vector1;
		obst->mo->forces[d2] += force_vector2;
		*/
		return(force_value * normal);
	}
	else
		return(VEC3(0));
}


Arash HABIBI's avatar
unidir    
Arash HABIBI committed
780
781
//-------------------------------------------------------------

782
void MovingObstacle::updateForces()
pitiot's avatar
maj    
pitiot committed
783
{
pitiot's avatar
pitiot committed
784
	assert(sim_->envMap_.map.getCurrentLevel() == sim_->envMap_.map.getMaxLevel()) ;
pitiot's avatar
pitiot committed
785

pitiot's avatar
pitiot committed
786
	//pour les tests de détection///////////////
pitiot's avatar
merging    
pitiot committed
787
788
789
790
791
792
793
	if(!seen)
	{
		color1=1.0f;
		color2=1.0f;
		color3=1.0f;
	}
	seen=false;
Thomas Jund's avatar
merge    
Thomas Jund committed
794

pitiot's avatar
pitiot committed
795
	//////////////////////////
Thomas Jund's avatar
merge    
Thomas Jund committed
796

797
	PFP::VEC3 bary(0);
pitiot's avatar
maj    
pitiot committed
798
799

	Dart d;
pitiot's avatar
pitiot committed
800
801
	velocity_[0] = newVelocity_[0] * velocity_factor;
	velocity_[1] = newVelocity_[1] * velocity_factor;
Arash HABIBI's avatar
Arash HABIBI committed
802
803
	// velocity_[0] = 0.0;
	// velocity_[1] = 0.0;
pitiot's avatar
maj    
pitiot committed
804
805

	// MAJ des particules
pitiot's avatar
pitiot committed
806
	float abs_angle= angle > 0 ? 1 : -1;
pitiot's avatar
merge    
pitiot committed
807

pitiot's avatar
merging    
pitiot committed
808
	float rotor=0;
809

pitiot's avatar
merging    
pitiot committed
810
811
812
813
	if (index_parent==0)
		rotor = abs_angle*angle > 0.04f ? 0.04f : abs_angle*angle ;
	else
		rotor = abs_angle*angle ;
pitiot's avatar
merge    
pitiot committed
814

Arash HABIBI's avatar
03_2013    
Arash HABIBI committed
815
816
	// masse ressort pour la limace

817
	if(!rigid_)
pitiot's avatar
maj    
pitiot committed
818
	{
819
		Dart d = groundFace;
820
		// map.next(d);
pitiot's avatar
maj    
pitiot committed
821

Thomas Jund's avatar
Thomas Jund committed
822
		Dart dd =d;
823
		for (unsigned int i = 0; i < nbVertices; ++i)
Thomas Jund's avatar
Thomas Jund committed
824
825
		{
			//initialisation of forces with viscosity
Arash HABIBI's avatar
unidir    
Arash HABIBI committed
826
			forces[dd] += -0.2f*velocity[dd];
Arash HABIBI's avatar
Arash HABIBI committed
827
			// forces[dd] = VEC3(0.0);
Thomas Jund's avatar
Thomas Jund committed
828
829
830
			map.next(dd);
		}

831
		CellMarkerStore<EDGE> cm(map);
Arash HABIBI's avatar
Arash HABIBI committed
832
		CellMarkerStore<VERTEX> cmV(map);
Thomas Jund's avatar
Thomas Jund committed
833
		DartMarkerStore dm(map);
Arash HABIBI's avatar
03_2013    
Arash HABIBI committed
834
		// ARASH : On parcourt les sommets de la grande face
835
		for (unsigned int i = 0; i < nbVertices; ++i)
836
837
		{
			Dart dd = d;
Arash HABIBI's avatar
03_2013    
Arash HABIBI committed
838
839

			// ARASH : On parcourt les sous-faces triangulaire de la grande face
Arash HABIBI's avatar
Arash HABIBI committed
840

841
842
843
844
			do {
				if(!cm.isMarked(dd))
				{
					cm.mark(dd);
Thomas Jund's avatar
Thomas Jund committed
845
846
					VEC3 p1Next = position[map.phi1(dd)]+(velocity[map.phi1(dd)] * sim_->timeStep_);
					VEC3 p2Next = position[dd]+(velocity[dd] * sim_->timeStep_);
Arash HABIBI's avatar
03_2013    
Arash HABIBI committed
847
					// p1Next et p2Next sont la position des extremites de l'arete.
Thomas Jund's avatar
Thomas Jund committed
848
					VEC3 v1 = (p1Next-p2Next);
849
850
851

					//stretch spring : /!\ max rigidity relative to the timestep used (unstable otherwise)
					float norm = v1.norm();
Thomas Jund's avatar
Thomas Jund committed
852
					float rigidity = 70.0f;
853

854
					float stretch = rigidity*(edgeLength[dd]-v1.norm());
855
856
					if(norm>0.0f)
					{
Arash HABIBI's avatar
Arash HABIBI committed
857
						VEC3 f = 1.5*stretch*(v1/norm);
858

859
860
861
862
						//apply force symmetrically
						forces[dd] -= f;
						forces[map.phi1(dd)] += f;
					}
Arash HABIBI's avatar
Arash HABIBI committed
863
864
				}

Thomas Jund's avatar
Thomas Jund committed
865
866
867
				dd = map.phi1(dd);
			} while(dd!=d);

Arash HABIBI's avatar
03_2013    
Arash HABIBI committed
868
			// ARASH : les ressorts angulaires
Thomas Jund's avatar
Thomas Jund committed
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
			do {
				if(!dm.isMarked(dd))
				{
					dm.mark(dd);
//					VEC3 v1 = (position[map.phi1(dd)]-position[dd]);
					VEC3 p1Next = position[map.phi1(dd)]+(velocity[map.phi1(dd)] * sim_->timeStep_);
					VEC3 p2Next = position[dd]+(velocity[dd] * sim_->timeStep_);
					VEC3 v1 = (p1Next-p2Next);

					float norm = v1.norm();

					//bend spring: /!\ max rigidity relative to the timestep used (unstable otherwise)
					float restAngle = vertexAngle[dd];
					if(restAngle!=0.0f)
					{
Thomas Jund's avatar
Thomas Jund committed
884
						float angularRig = 70.0f;
Thomas Jund's avatar
Thomas Jund committed
885

886
						float curAngle = Algo::Surface::Geometry::angle<PFP>(map, map.phi_1(dd),map.phi1(dd),position);
887

Thomas Jund's avatar
Thomas Jund committed
888
889
						float angularStretch = angularRig*(restAngle-curAngle);

890
891
892
893
894
895
896
						if(norm>0.0f && curAngle==curAngle) //test to avoid NaN
						{
							VEC3 f = angularStretch*(v1/norm);

							forces[dd] += f;
							forces[map.phi1(dd)] -= f;
						}
Thomas Jund's avatar
Thomas Jund committed
897
					}
898
				}
pitiot's avatar
maj    
pitiot committed
899

900
901
				dd = map.phi1(dd);
			} while(dd!=d);
pitiot's avatar
maj    
pitiot committed
902

Arash HABIBI's avatar
03_2013    
Arash HABIBI committed
903
904
905
906
			//-------------------------------------------------------------------------
			// ARASH : A présent on calcule les interactions avec les autres obstacles.

			do {
Arash HABIBI's avatar
Arash HABIBI committed
907
				if(!cmV.isMarked(dd))
Arash HABIBI's avatar
03_2013    
Arash HABIBI committed
908
				{
Arash HABIBI's avatar
Arash HABIBI committed
909
					cmV.mark(dd);
Arash HABIBI's avatar
03_2013    
Arash HABIBI committed
910

Arash HABIBI's avatar
comment    
Arash HABIBI committed
911
					VEC3 norm;
Arash HABIBI's avatar
Arash HABIBI committed
912
913
					double obst_stiffness = 5.0; // agent-obstacle interaction stiffness
					int obst_power = 2  ;           // the power to which elevate the agent-obstacle distance
Arash HABIBI's avatar
comment    
Arash HABIBI committed
914
915
916
917
918

					double obst_radius_infl;
					if(sim_->config==0)
						obst_radius_infl = 100.; // scenario 0
					else
Arash HABIBI's avatar
Arash HABIBI committed
919
						obst_radius_infl = 30.; // scenario 1 et 3
Arash HABIBI's avatar
comment    
Arash HABIBI committed
920

Arash HABIBI's avatar
03_2013    
Arash HABIBI committed
921
922
					VEC3 p = position[dd]+(velocity[dd] * sim_->timeStep_);

Arash HABIBI's avatar
Arash HABIBI committed
923
924
					// Evitement d'obstacles mobiles

Arash HABIBI's avatar
03_2013    
Arash HABIBI committed
925
926
927
928
929
930
					for(std::vector<std::pair<float, Obstacle*> >::iterator it = movingObstacleNeighbors_.begin() ;
						it != movingObstacleNeighbors_.end() ; ++it)
					{
						Obstacle * obst = it->second;
						VEC3 p1=obst->p1 ;
						VEC3 p2=obst->p2 ;
Arash HABIBI's avatar
unidir    
Arash HABIBI committed
931

Arash HABIBI's avatar
Arash HABIBI committed
932
933
						forces[dd] += computeForce(p,p1,p2,obst_radius_infl,obst_power,obst_stiffness);
					}
Arash HABIBI's avatar
unidir    
Arash HABIBI committed
934

Arash HABIBI's avatar
Arash HABIBI committed
935
					// Evitement d'obstacles fixes
Arash HABIBI's avatar
03_2013    
Arash HABIBI committed
936

Arash HABIBI's avatar
Arash HABIBI committed
937
938
939
940
941
942
943
944
					for(std::vector<std::pair<float, Obstacle*> >::iterator it = obstacleNeighbors_.begin() ;
						it != obstacleNeighbors_.end() ; ++it)
					{
						Obstacle * obst = it->second;
						VEC3 p1=obst->p1 ;
						VEC3 p2=obst->p2 ;

						forces[dd] += computeForce(p,p1,p2,obst_radius_infl,obst_power,10*obst_stiffness);
Arash HABIBI's avatar
03_2013    
Arash HABIBI committed
945
946
947
948
949
					}
				}
				dd = map.phi1(dd);
			} while(dd!=d);

950
951
952
953
			map.next(d);
		}

		//guiding vertex = first vertex (set the displacement)
954
		// forces[groundFace] = VEC3(0);
955
		velocity[groundFace] = velocity_;
Arash HABIBI's avatar
Arash HABIBI committed
956

957
		//apply force to each vertex
958
		/*
959
960
		d = groundFace;
		for (unsigned int i = 0; i < nbVertices; ++i)
pitiot's avatar
pitiot committed
961
		{
Thomas Jund's avatar
Thomas Jund committed
962
			velocity[d] += forces[d] * sim_->timeStep_;
963
964
965
966
			position[d] += (velocity[d] * sim_->timeStep_);
			position[map.phi<211>(d)] += (velocity[d] * sim_->timeStep_);
			bary += position[d];
			map.next(d);
pitiot's avatar
pitiot committed
967
		}
968
		*/
969
	}
pitiot's avatar
pitiot committed
970
971
	else
	{
972
973
974
975
976
977
978
979
980
	//	CGoGNout << "Obstacle "<< index << CGoGNendl;
//		CGoGNout << "vitesse : "<< velocity_ << CGoGNendl;
		//	on fait tourner l'obstacle
		Dart d = groundFace;
		for (unsigned int i = 0; i < nbVertices; ++i)
		{
			position[d] += rotate(position[d], center, abs_angle*rotor);
			position[d] += (velocity_ * sim_->timeStep_);

981
982
983
984
985
#ifdef EXPORTING_BOXES
			position[map.phi<211>(d)] += rotate(position[map.phi<211>(d)], center, abs_angle*rotor);
			position[map.phi<211>(d)] += (velocity_ * sim_->timeStep_);
#endif

986
987
988
//			position[map.phi<211>(d)] += (velocity_ * sim_->timeStep_);

			bary += position[d];
Thomas Jund's avatar
Thomas Jund committed
989
990


991
992
993
			map.next(d);
		}

pitiot's avatar
pitiot committed
994
		front=(position[0] + position[1]) / 2;
995
996
997
998
		if(angle >0)
			angle -= rotor;
		else
			angle += rotor;
pitiot's avatar
pitiot committed
999
	}
pitiot's avatar
maj    
pitiot committed
1000

pitiot's avatar
pitiot committed
1001
	center = bary / nbVertices;
pitiot's avatar
maj    
pitiot committed
1002

1003
1004
	//computing deformation vector on vertices :
	//depending on the velocity, extend the perceived shape
1005
	VEC3 vel = velocity_.normalized();
1006
1007
1008

	d = groundFace;
	for (unsigned int i = 0; i < nbVertices; ++i)
1009
	{
1010
		VEC3 v(position[d] - center);
1011
1012
		VEC3 vN = v.normalized();
		float dot = vN * vel;
1013
1014
		deformation[d] = v * 2.0f * (dot+1.0f)/2.0f;
		map.next(d);
1015
1016
	}

Thomas Jund's avatar
Thomas Jund committed
1017
1018
//	if(!rigid_)
//		center = position[groundFace];
1019
1020
1021
}

//-------------------------------------------------------------------------
1022

1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
void MovingObstacle::applyForces()
{
	PFP::VEC3 bary(0);

	if(!rigid_)
	{
		Dart d = groundFace;
		for (unsigned int i = 0; i < nbVertices; ++i)
		{
			velocity[d] += forces[d] * sim_->timeStep_;
			position[d] += (velocity[d] * sim_->timeStep_);
			position[map.phi<211>(d)] += (velocity[d] * sim_->timeStep_);
			bary += position[d];
			map.next(d);
		}
		center = bary / nbVertices;
	}
// MAJ des obstacles
pitiot's avatar
maj    
pitiot committed
1041
1042
	for (unsigned int i = 0; i < nbVertices; ++i)
	{
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
#ifdef TWO_AND_HALF_DIM
			std::cout << " dist supp " << (getDilatedPosition(i)-parts_[i]->getPosition()).norm() << std::endl;
#endif
			parts_[i]->move(getDilatedPosition(i));
#ifdef TWO_AND_HALF_DIM
			std::cout << " dist " << parts_[i]->getDistance() << std::endl;

			position[d] = parts_[i]->getPosition();
#endif

pitiot's avatar
maj    
pitiot committed
1053
1054
		//		CGoGNout << "avant une etape : Obstacle "<< i << CGoGNendl;
		Obstacle* o = obstacles_[i];
1055
1056
		o->p1 = getDilatedPosition(i);
		o->p2 = getDilatedPosition((i+1) % nbVertices);
Thomas Jund's avatar
Thomas Jund committed
1057
1058

#ifndef POTENTIAL
1059
1060
		o->prevP = getDilatedPosition((i - 1 + nbVertices) % nbVertices);
		o->nextP = getDilatedPosition((i + 2 + nbVertices) % nbVertices);
Thomas Jund's avatar
Thomas Jund committed
1061
1062
#endif

pitiot's avatar
pitiot committed
1063
1064
		Dart d1 = parts_[i]->d;
		Dart d2 = parts_[(i+1)%nbVertices]->d;
Thomas Jund's avatar
Thomas Jund committed
1065

pitiot's avatar
pitiot committed
1066
		if(!((sim_->envMap_.map.sameFace(d1,d2))&& (parts_[i]->crossCell==CGoGN::Algo::Surface::MovingObjects::NO_CROSS && parts_[(i+1)%nbVertices]->crossCell==CGoGN::Algo::Surface::MovingObjects::NO_CROSS)))
pitiot's avatar
pitiot committed
1067
		{
Thomas Jund's avatar
Thomas Jund committed
1068
			sim_->envMap_.popAndPushObstacleInCells(o,i);
pitiot's avatar
pitiot committed
1069
		}
Thomas Jund's avatar
Thomas Jund committed
1070

pitiot's avatar
pitiot committed
1071
1072
1073
1074
1075
1076
1077
1078
		/////affichage des belonging cells
//		CGoGNout<< CGoGNendl;
//		CGoGNout << "Obstacle "<< i << ": ";
//		for(std::vector<Dart>::iterator ite = belonging_cells[i].begin();ite!=belonging_cells[i].end(); ++ite)
//		{
//			CGoGNout<<(*ite).index<<" ; ";
//		}
//		CGoGNout<< CGoGNendl;
pitiot's avatar
maj    
pitiot committed
1079
1080
		//		CGoGNout << "Apres une etape : Obstacle "<< i << CGoGNendl;
	}
pitiot's avatar
pitiot committed
1081
1082
1083
1084
1085
1086
1087
1088
	/////affichage du general_belonging
//	CGoGNout<< CGoGNendl;
//	CGoGNout << "General : ";
//	for(std::vector<std::pair<Dart , int> >::iterator ite = general_belonging.begin();ite!=general_belonging.end(); ++ite)
//	{
//		CGoGNout<<"< "<<(*ite).first.index<<" , "<<(*ite).second<<"> ; ";
//	}
//	CGoGNout<< CGoGNendl;
pitiot's avatar
maj    
pitiot committed
1089
1090
1091
	//
	//		envMap_->addMovingObstAsNeighbor(this,general_belonging,&(general_neighbors));
	//		CGoGNout << "nouvel update : "<< CGoGNendl;
1092
1093
	if(sim_->detect_agent_collision)
	{
pitiot's avatar
pitiot committed
1094
		for (std::vector< std::pair<Dart, int> >::iterator it2 = general_belonging.begin(); it2 != general_belonging.end(); ++ it2)
1095
		{
pitiot's avatar
pitiot committed
1096
			std::vector<Agent*> vector =sim_->envMap_.agentvect[(*it2).first];
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
			for(std::vector<Agent*>::iterator it=vector.begin();it!=vector.end(); ++it)
			{
				if (this->is_inside((*it)->part_.getPosition()))
				{
					(*it)->alive=false;
					(*it)->color1=0.0f;
					(*it)->color2=0.4f;
					(*it)->color3=0.0f;
					sim_->envMap_.popAgentInCells(*it,(*it)->part_.d);
				}
			}
pitiot's avatar
maj    
pitiot committed
1108

1109
1110
		}
	}
pitiot's avatar
maj    
pitiot committed
1111
1112
}

1113
//-------------------------------------------------------------------------
Thomas Jund's avatar
Thomas Jund committed
1114

pitiot's avatar
pitiot committed
1115
std::vector<Dart> MovingObstacle::getMemoCross(const VEC3& pos, const VEC3& dest, Dart& d1, Dart& d2)
pitiot's avatar
maj    
pitiot committed
1116
{
1117
1118
1119
#ifdef TWO_AND_HALF_DIM
	CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalfMemo<PFP> * registering_part = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalfMemo<PFP>(sim_->envMap_.map, d1,pos,sim_->envMap_.position);
#else
pitiot's avatar
pitiot committed
1120
	CGoGN::Algo::Surface::MovingObjects::ParticleCell2DMemo<PFP> * registering_part = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DMemo<PFP>(sim_->envMap_.map, d1,pos,sim_->envMap_.position);
1121
#endif
pitiot's avatar
pitiot committed
1122
1123
	std::vector<Dart> result =(registering_part->move(dest));
	d2=registering_part->d;
1124
//	CGoGNout<<"d1 : "<< *d1<<"|| d2 : "<< *d2<<"|| start : "<< pos<<"|| stop : "<< dest<<CGoGNendl;
pitiot's avatar
pitiot committed
1125
	return result;
pitiot's avatar
maj    
pitiot committed
1126
1127
}

1128
void resetPartSubdiv(Obstacle* o)
pitiot's avatar
maj    
pitiot committed
1129
1130
{
	MovingObstacle * mo = o->mo;
1131

pitiot's avatar
maj    
pitiot committed
1132
1133
	if (mo != NULL)
	{
pitiot's avatar
pitiot committed
1134
		int n =o->index;
pitiot's avatar
merging    
pitiot committed
1135

pitiot's avatar
pitiot committed
1136
		VEC3 pos =mo->parts_[n]->getPosition();
pitiot's avatar
pitiot committed
1137
		mo->parts_[n]->CGoGN::Algo::MovingObjects::ParticleBase<PFP>::move(Algo::Surface::Geometry::faceCentroid<PFP>(mo->sim_->envMap_.map, mo->parts_[n]->d, mo->sim_->envMap_.position)) ;
Arash HABIBI's avatar
Arash HABIBI committed
1138

pitiot's avatar
pitiot committed
1139
1140
1141
1142
		mo->parts_[n]->setState(FACE) ;
		mo->parts_[n]->move(pos) ;

		mo->dDir = mo->parts_[0]->d;
pitiot's avatar
maj    
pitiot committed
1143
1144
1145
1146
1147
1148
	}
}

void resetObstPartInFace(Obstacle* o, Dart d1)
{
	MovingObstacle * mo = o->mo;
1149

Thomas Jund's avatar
Thomas Jund committed
1150
1151
	if (mo != NULL)
	{
pitiot's avatar
pitiot committed
1152
1153
		unsigned int n =o->index;
		VEC3 pos1 = mo->parts_[n]->getPosition();
Thomas Jund's avatar
Thomas Jund committed
1154
1155

		if (Algo::Surface::Geometry::isPointInConvexFace2D<PFP>(mo->sim_->envMap_.map, d1, mo->sim_->envMap_.position, pos1, true))
pitiot's avatar
pitiot committed
1156
			mo->parts_[n]->d = d1;
Thomas Jund's avatar
Thomas Jund committed
1157

pitiot's avatar
pitiot committed
1158
		if(n==0)
pitiot's avatar
pitiot committed
1159
			mo->dDir = mo->parts_[0]->d;
pitiot's avatar
maj    
pitiot committed
1160
1161
1162
	}
}

pitiot's avatar
pitiot committed
1163
void resetPart(Obstacle * o, Dart d1)
pitiot's avatar
maj    
pitiot committed
1164
{
pitiot's avatar
pitiot committed
1165
1166
1167
1168
	MovingObstacle * mo = o->mo;
	if(mo!=NULL)
	{
		int n =o->index;
pitiot's avatar
pitiot committed
1169
1170
1171

		if (mo->parts_[n]->d == mo->sim_->envMap_.map.phi1(d1))
			mo->parts_[n]->d = d1;
Thomas Jund's avatar
Thomas Jund committed
1172

pitiot's avatar
pitiot committed
1173
		if(n==0)
pitiot's avatar
pitiot committed
1174
			mo->dDir = mo->parts_[n]->d;
pitiot's avatar
pitiot committed
1175
	}
pitiot's avatar
maj    
pitiot committed
1176
1177
1178
1179
}

void displayMO(Obstacle * o)
{
pitiot's avatar
pitiot committed
1180
	CGoGNout << "obstacle problematique : " <<(o->index) <<"du MO n° : "<< (o->mo->index) << CGoGNendl;
pitiot's avatar
maj    
pitiot committed
1181
}
pitiot's avatar
pitiot committed
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////comportement à modifier///////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////



// TODO Check position
void MovingObstacle::computePrefVelocity() //calcul du vecteur optimal pour atteindre l'objectif // changer pour 2.5 ?
{
pitiot's avatar
merging    
pitiot committed
1192
	VEC3 goalVector;
Thomas Jund's avatar
Thomas Jund committed
1193
	if (index_parent<1) //not articulated
pitiot's avatar
pitiot committed
1194
	{
Thomas Jund's avatar
Thomas Jund committed
1195
		if(rigid_ || goals_.size()>1)
pitiot's avatar
merging    
pitiot committed
1196
1197
		{
			goalVector = goals_[curGoal_] - center ;
Thomas Jund's avatar
Thomas Jund committed
1198
	//		goalVector = goals_[curGoal_] - position[groundFace] ;
pitiot's avatar
merging    
pitiot committed
1199

Thomas Jund's avatar
Thomas Jund committed
1200
1201
			float goalDist2 = goalVector.norm2() ;

1202
			if (goalDist2 < 1000.0f)
Thomas Jund's avatar
Thomas Jund committed
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
			{
				curGoal_ = (curGoal_ + 1) % goals_.size() ;
				goalVector = goals_[curGoal_] - center ;
	//			goalVector = goals_[curGoal_] - position[groundFace] ;
				goalDist2 = goalVector.norm2() ;
			}

			if (goalDist2 > maxSpeed_)
			{
				goalVector.normalize() ;
				goalVector *= maxSpeed_;
			}
		}
		else
pitiot's avatar
merging    
pitiot committed
1217
		{
Thomas Jund's avatar
Thomas Jund committed
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
			if(ag_!=NULL)
			{
				goalVector = ag_->getPosition() - center ;
				if (goalVector.norm2() > maxSpeed_)
				{
					goalVector.normalize() ;
					goalVector *= maxSpeed_;
				}
			}
			else
Thomas Jund's avatar
Thomas Jund committed
1228
			{
Thomas Jund's avatar
Thomas Jund committed
1229
1230
	//			if(sim_->envMap_.pedWayMark.isMarked(sim_->envMap_.map.phi2(dDir)))
	//				dDir = sim_->envMap_.map.phi1(sim_->envMap_.map.phi1(dDir));
Thomas Jund's avatar
Thomas Jund committed
1231

Thomas Jund's avatar
Thomas Jund committed
1232
				VEC3 mid = (sim_->envMap_.position[dDir]+sim_->envMap_.position[sim_->envMap_.map.phi1(dDir)])*0.5f;
Thomas Jund's avatar
Thomas Jund committed
1233
1234
				goalVector = mid - position[0] ;

Thomas Jund's avatar
Thomas Jund committed
1235
1236
1237
1238
1239
1240
1241
				Dart dStart=dDir;
				VEC3 dir = center - position[0];
				while(goalVector.norm2()==0 || sim_->envMap_.pedWayMark.isMarked(sim_->envMap_.map.phi2(dDir)) || ((dir*goalVector)>0))
				{
	//				std::cout << "d " << dDir << std::endl;
	//				std::cout << "dir*goalVector " << dir*goalVector << std::endl;
	//				std::cout << "goal vec " << goalVector << std::endl;
Thomas Jund's avatar
Thomas Jund committed
1242

Thomas Jund's avatar
Thomas Jund committed
1243
1244
1245
					dDir = sim_->envMap_.map.phi_1(dDir);
					mid = (sim_->envMap_.position[dDir]+sim_->envMap_.position[sim_->envMap_.map.phi1(dDir)])*0.5f;
					goalVector = mid - position[0] ;
Thomas Jund's avatar
Thomas Jund committed
1246

Thomas Jund's avatar
Thomas Jund committed
1247
1248
1249
					if(dDir==dStart)
						break;
				}
Thomas Jund's avatar
Thomas Jund committed
1250

Thomas Jund's avatar
Thomas Jund committed
1251
1252
				if(sim_->envMap_.map.isBoundaryEdge(sim_->envMap_.map.phi2(dDir)))
					goalVector = VEC3(0);
Thomas Jund's avatar
Thomas Jund committed
1253

Thomas Jund's avatar
Thomas Jund committed
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
	//			goalVector = mid - center ;

	//			std::cout << "dDir " << dDir << " goalVec" << goalVector << std::endl;

	//			float goalDist2 = goalVector.norm2() ;
	//			if (goalDist2 > maxSpeed_)
				{
					goalVector.normalize() ;
					goalVector *= maxSpeed_*maxSpeed_;
				}
Thomas Jund's avatar
Thomas Jund committed
1264
			}
pitiot's avatar
merging    
pitiot committed
1265
1266
		}
	}
Thomas Jund's avatar
Thomas Jund committed
1267
	else //articulated
pitiot's avatar
pitiot committed
1268
	{
Thomas Jund's avatar
Thomas Jund committed
1269
		goalVector = (get_center(parent,index_parent-1) -center);
pitiot's avatar
merging    
pitiot committed
1270
		float goalDist2 = goalVector.norm2() ;
Thomas Jund's avatar
Thomas Jund committed
1271
		if (goalDist2 > 1000.0f*maxSpeed_)
pitiot's avatar
merging    
pitiot committed
1272
1273
1274
1275
		{
			goalVector.normalize() ;
			goalVector *= maxSpeed_;
		}