simulator.cpp

#include "simulator.h"

Simulator::Simulator() : timeStep_(0.2f), globalTime_(0.0f), nbSteps_(0)
{
	srand(10);
	nbStepsPerUnit_ = 1 / timeStep_;

	init(0, 2.0f);
}

Simulator::~Simulator()
{
	for (unsigned int i = 0; i < agents_.size(); ++i)
		delete agents_[i];
}

void Simulator::init(unsigned int config, float dimension, bool enablePathFinding)
{
	envMap_.init(config);

	std::cout << "setup scenario" << std::endl;

	switch(config)
	{
	case 0 : setupCircleScenario(1000);
			break;
	case 1 : importAgents("myAgents.pos");
			break;
	case 2 : setupScenario(700);
			break;
	case 3 : setupCityScenario(
				-1.0f * (12 * (70.0f / 2.0f) - 10),
				-1.0f * (12 * (70.0f / 2.0f) - 10),
				20,
				20
			);
			break;
	}

	if(enablePathFinding)
	{
		if(dimension == 2.0f)
			addPathsToAgents();
		else if(dimension == 2.5f)
			addPathsToAgents_height();
	}

//	setupMovingObstacle(1);

	unsigned nbAgents = agents_.size();

//	addPathToCorner();

	for(unsigned int i = 0; i < nbAgents; ++i)
	{
		agents_[i]->updateObstacleNeighbors();
		agents_[i]->updateAgentNeighbors();
	}

//	tc1 = new ThreadUpdateInfo(agents_, 0, nbAgents / 4);
//	tc2 = new ThreadUpdateInfo(agents_, nbAgents / 4, nbAgents / 2);
//	tc3 = new ThreadUpdateInfo(agents_, nbAgents / 2, nbAgents * 3 / 4);
//	tc4 = new ThreadUpdateInfo(agents_, nbAgents * 3 / 4, nbAgents);

	envMap_.subdivideToProperLevel();
}

void Simulator::doStep()
{
	envMap_.clearUpdateCandidates();

	envMap_.map.setCurrentLevel(0);

//	for (unsigned int i = 0; i < movingObstacles_.size(); ++i)
//	{
//		movingObstacles_[i]->updateAgentNeighbors();
//		movingObstacles_[i]->computePrefVelocity();
//		movingObstacles_[i]->computeNewVelocity();
//
//		movingObstacles_[i]->update();
//	}

	for (unsigned int i = 0; i < agents_.size(); ++i)
	{
		agents_[i]->updateObstacleNeighbors();

		envMap_.map.setCurrentLevel(envMap_.map.getMaxLevel());
		agents_[i]->updateAgentNeighbors();
		envMap_.map.setCurrentLevel(0);

		agents_[i]->computePrefVelocity();
		agents_[i]->computeNewVelocity();
	}

//	boost::thread thread1(&ThreadUpdateInfo::run, tc1);
//	boost::thread thread2(&ThreadUpdateInfo::run, tc2);
//	boost::thread thread3(&ThreadUpdateInfo::run, tc3);
//	boost::thread thread4(&ThreadUpdateInfo::run, tc4);
//
//	thread1.join();
//	thread2.join();
//	thread3.join();
//	thread4.join();

	envMap_.map.setCurrentLevel(envMap_.map.getMaxLevel());

	for (unsigned int i = 0; i < agents_.size(); ++i)
	{
		Dart oldFace = agents_[i]->part_.d;

		agents_[i]->update();

//		if(envMap_.map.getEmbedding(oldFace, FACE) != envMap_.map.getEmbedding(agents_[i]->part_.d, FACE))
		if(agents_[i]->part_.crossCell != CGoGN::Algo::MovingObjects::NO_CROSS)
//		switch(agents_[i]->part_.crossCell)
		{
//			case CGoGN::Algo::MovingObjects::CROSS_EDGE :
//				envMap_.agentChangeFaceThroughEdge(agents_[i]);
//				break;
//			case CGoGN::Algo::MovingObjects::CROSS_OTHER :
				envMap_.agentChangeFace(agents_[i], oldFace);
//				break;
		}

	}

	envMap_.updateMap();

	globalTime_ += timeStep_;
	++nbSteps_;

//	if(nbSteps % 2000 == 0)
//	{
//		std::cout << "swap goals (globalTime -> " << globalTime_ << ")" << std::endl ;
//		swapAgentsGoals();
//	}
}

bool Simulator::reachedGoal()
{
  /* Check if all agents have reached their goals. */
	for (unsigned int i = 0; i < agents_.size(); ++i)
		if ((agents_[i]->getPosition() - agents_[i]->goals_[agents_[i]->curGoal_]).norm2() > agents_[i]->radius_ * agents_[i]->radius_)
			return false;

  return true;
}

void Simulator::setupCircleScenario(unsigned int nbMaxAgent)
{
	float pi = 3.14159265358979323846f;

	float r = 800.0f;
	for (unsigned int i = 0; i < nbMaxAgent; ++i)
	{
		VEC3 posagent(std::cos(i * 2.0f * pi / float(nbMaxAgent))*r,std::sin(i * 2.0f * pi / float(nbMaxAgent))*r,0);
		Dart dCell = envMap_.getBelongingCell(posagent);
		agents_.push_back(new Agent(this, posagent, dCell));
		agents_.back()->goals_.push_back(-1.0f * posagent);
		agents_.back()->curGoal_ = 0;
	}

	std::cout << "nb agents : " << agents_.size() << std::endl;

	for(unsigned int i = 0; i < agents_.size(); ++i)
		envMap_.pushAgentInCells(agents_[i], agents_[i]->part_.d);
}

void Simulator::setupCityScenario(float startX, float startY, int nbLines , int nbRank)
{
	float xCornerDown = startX;
	float yCornerDown = startY;

	VEC3 posagent(xCornerDown-140,  yCornerDown-140, 0.0f);
	Dart dCell = envMap_.getBelongingCell(posagent);
	agents_.push_back(new Agent(this, posagent, dCell));
	agents_.back()->goals_.push_back(-1.0f * posagent);
	agents_.back()->curGoal_ = 0;

	for (int i = 0; i < nbLines; ++i)
	{
		for (int j = 0; j < nbRank; ++j)
		{
			VEC3 posagent(xCornerDown + i * 10.0f,  yCornerDown + j * 10.0f, 0.0f);
			Dart dCell = envMap_.getBelongingCell(posagent);
			agents_.push_back(new Agent(this, posagent, dCell));
			agents_.back()->goals_.push_back(-1.0f * posagent);
			agents_.back()->curGoal_ = 0;
		}
	}

	std::cout << "nb agents : " << agents_.size() << std::endl;

	for(unsigned int i = 0; i < agents_.size(); ++i)
		envMap_.pushAgentInCells(agents_[i], agents_[i]->part_.d);
}

void Simulator::setupScenario(unsigned int nbMaxAgent)
{
//	Geom::BoundingBox<PFP::VEC3> bb(envMap_.position.begin());
//	for(unsigned int v = envMap_.position.begin() ; v != envMap_.position.end() ; envMap_.position.next(v))
//		bb.addPoint(envMap_.position[v]);
//	VEC3 posinit = bb.center();
//	posinit[1] = bb.min()[1] + 35.0f;

//	float ecart = bb.size(0)/nbMaxAgent;
//	posinit[0] -= ecart * (nbMaxAgent/2 - 0.5f);
//	for(unsigned int i = 0; i < nbMaxAgent; ++i)
//	{
//		VEC3 posagent = posinit + VEC3(ecart * i, 0.0f, 0.0f);
//		agents_.push_back(new Agent(this, posagent, envMap_.getBelongingCell(posagent)));
//		agents_.back()->goals_.push_back(posagent);
//		VEC3 goal = posagent;
//		goal *= -1.0f;
//		agents_.back()->goals_.push_back(goal);
//		agents_.back()->curGoal_ = 1;
//		agents_.back()->finalGoal = goal;
//		agents_.back()->finalDart = envMap_.getBelongingCell(goal);
//	}

	/*
	* Add agents, specifying their start position, and store their goals on the
	* opposite side of the environment.
	*/
	Dart d = envMap_.map.begin();
	CellMarker filled(envMap_.map,FACE);

	unsigned int nbx = 5;
	unsigned int nby = 5;

	unsigned int bMax = nbx*nby>0 ? nbMaxAgent / (nbx*nby) : nbMaxAgent;

	for (unsigned int i = 0; i < bMax && d != envMap_.map.end(); ++i)
	{
		bool found = false;
		VEC3 pos;
		Dart dCell;
		while(!found && d != envMap_.map.end())
		{
			if(!filled.isMarked(d) && !envMap_.buildingMark.isMarked(d) /*&& envMap_.pedWayMark.isMarked(d)*/)
			{
				filled.mark(d);
				pos = Algo::Geometry::faceCentroid<PFP>(envMap_.map, d, envMap_.position);
				pos[2] = 0;
				dCell = d;
				found = true;
			}
			envMap_.map.next(d);
		}

		if(found)
		{
			float ecart = 3.0f;
			VEC3 posinit = VEC3(pos[0] - (float(nbx)/2.0f * ecart), pos[1] - (float(nby)/2.0f * ecart), pos[2]);
			for(unsigned int curx = 0; curx < nbx; ++curx)
			{
				for(unsigned int cury = 0; cury < nby; ++cury)
				{
					VEC3 posagent = posinit + VEC3(ecart * curx, ecart * cury, 0.0f);
					agents_.push_back(new Agent(this, posagent, dCell));
					agents_.back()->goals_.push_back(posagent);
//				agents_.back()->goals_.push_back(VEC3(0,0,0));
					agents_.back()->goals_.push_back(-1.0f * posagent);
					agents_.back()->curGoal_ = 1;
				}
			}
		}
	}
	std::cout << "nb agents : " << agents_.size() << std::endl;

	swapAgentsGoals();

	for(unsigned int i = 0; i < agents_.size(); ++i)
		envMap_.pushAgentInCells(agents_[i], agents_[i]->part_.d);
}

void Simulator::addPathToCorner()
{
	for(unsigned int i = 0; i < agents_.size(); ++i)
	{
		agents_[i]->goals_.clear();
		agents_.back()->curGoal_ = 1;

		Dart dStart =  agents_[i]->part_.d;
		Dart dStop = agents_[i]->finalDart;

		std::vector<Dart> path = CGoGN::PathFinder::pathFindAStar<PFP>(envMap_.map, envMap_.position, dStart, dStop, envMap_.buildingMark);

		for(std::vector<Dart>::iterator it = path.begin(); it != path.end(); ++it)
		{
			VEC3 dest = Algo::Geometry::faceCentroid<PFP>(envMap_.map, *it, envMap_.position);

//			VEC3 dest = envMap_.position[*it] + envMap_.position[envMap_.map.phi1(*it)];
//			dest /= 2.0f;
//			dest[2]=0;

			agents_[i]->goals_.push_back(dest);
		}
	}
}

void Simulator::addPathsToAgents()
{
	//city
	unsigned int dartDistForPath = 50;
	for(unsigned int i = 0; i < agents_.size(); ++i)
	{
		agents_[i]->goals_.clear();

		Dart dStart = agents_[i]->part_.d;
		Dart dStop = dStart;
		for(unsigned int j = 0; /*!envMap_.pedWayMark.isMarked(dStop) ||*/ envMap_.buildingMark.isMarked(dStop) || j < dartDistForPath+rand()*20 || envMap_.map.sameFace(dStop,dStart); ++j)
		{
			envMap_.map.next(dStop);
			if(dStop == envMap_.map.end())
				dStop = envMap_.map.begin();
		}

//		std::cout << "dest1" << Algo::Geometry::faceCentroid<PFP>(envMap_.map, dStop, envMap_.position) << std::endl;

		std::vector<Dart> path = CGoGN::PathFinder::pathFindAStar<PFP>(envMap_.map, envMap_.position, dStart, dStop, envMap_.buildingMark);

		for(std::vector<Dart>::iterator it = path.begin(); it != path.end(); ++it)
		{
//			VEC3 dest = Algo::Geometry::faceCentroid<PFP>(envMap_.map, *it, envMap_.position);
			VEC3 dest = envMap_.position[*it] + envMap_.position[envMap_.map.phi1(*it)];
			dest /= 2.0f;
			dest[2]=0;

			agents_[i]->goals_.push_back(dest);
		}

		Dart dStop2 = dStop;
		for(unsigned int j = 0; /*!envMap_.pedWayMark.isMarked(dStop) ||*/ envMap_.buildingMark.isMarked(dStop2) || j < dartDistForPath+rand()*20 || envMap_.map.sameFace(dStop,dStop2) || envMap_.map.sameFace(dStop2,dStart); ++j)
		{
			envMap_.map.next(dStop2);
			if(dStop2 == envMap_.map.end())
				dStop2 = envMap_.map.begin();
		}

//		std::cout << "dest2" << Algo::Geometry::faceCentroid<PFP>(envMap_.map, dStop2, envMap_.position) << std::endl;

		path = CGoGN::PathFinder::pathFindAStar<PFP>(envMap_.map, envMap_.position, dStop, dStop2, envMap_.buildingMark);

		for(std::vector<Dart>::iterator it = path.begin(); it!=path.end();++it)
		{
//			VEC3 dest = Algo::Geometry::faceCentroid<PFP>(envMap_.map, *it, envMap_.position);
			VEC3 dest = envMap_.position[*it] + envMap_.position[envMap_.map.phi1(*it)];
			dest /= 2.0f;
			dest[2]=0;

			agents_[i]->goals_.push_back(dest);
		}

		path = CGoGN::PathFinder::pathFindAStar<PFP>(envMap_.map, envMap_.position, dStop2, dStart, envMap_.buildingMark);

//		std::cout << "destStart" << Algo::Geometry::faceCentroid<PFP>(envMap_.map, dStart, envMap_.position) << std::endl;

		for(std::vector<Dart>::iterator it = path.begin(); it!=path.end();++it)
		{
//			VEC3 dest = Algo::Geometry::faceCentroid<PFP>(envMap_.map, *it, envMap_.position);
			VEC3 dest = envMap_.position[*it] + envMap_.position[envMap_.map.phi1(*it)];
			dest /= 2.0f;
			dest[2]=0;

			agents_[i]->goals_.push_back(dest);
		}
	}
}

void Simulator::addPathsToAgents_height()
{
	//city
	unsigned int dartDistForPath = 50;
	for(unsigned int i = 0; i < agents_.size(); ++i)
	{
		agents_[i]->goals_.clear();

		Dart dStart = agents_[i]->part_.d;
		Dart dStop = dStart;
		for(unsigned int j = 0; envMap_.buildingMark.isMarked(dStop) || j < dartDistForPath+rand()*20 || envMap_.map.sameFace(dStop,dStart); ++j)
		{
			envMap_.map.next(dStop);
			if(dStop == envMap_.map.end())
				dStop = envMap_.map.begin();
		}

		std::vector<Dart> path = CGoGN::PathFinder::pathFindAStar<PFP>(envMap_.map, envMap_.position, dStart, dStop, envMap_.buildingMark);

		for(std::vector<Dart>::iterator it = path.begin(); it != path.end(); ++it)
		{
			VEC3 dest = Algo::Geometry::faceCentroid<PFP>(envMap_.map, *it, envMap_.position);
			agents_[i]->goals_.push_back(dest);
		}

		Dart dStop2 = dStop;
		for(unsigned int j = 0; envMap_.buildingMark.isMarked(dStop2) || j < dartDistForPath+rand()*20 || envMap_.map.sameFace(dStop,dStop2) || envMap_.map.sameFace(dStop2,dStart); ++j)
		{
			envMap_.map.next(dStop2);
			if(dStop2 == envMap_.map.end())
				dStop2 = envMap_.map.begin();
		}

		path = CGoGN::PathFinder::pathFindAStar<PFP>(envMap_.map, envMap_.position, dStop, dStop2, envMap_.buildingMark);

		for(std::vector<Dart>::iterator it = path.begin(); it!=path.end();++it)
		{
			VEC3 dest = Algo::Geometry::faceCentroid<PFP>(envMap_.map, *it, envMap_.position);
			agents_[i]->goals_.push_back(dest);
		}

		path = CGoGN::PathFinder::pathFindAStar<PFP>(envMap_.map, envMap_.position, dStop2, dStart, envMap_.buildingMark);

		for(std::vector<Dart>::iterator it = path.begin(); it!=path.end();++it)
		{
			VEC3 dest = Algo::Geometry::faceCentroid<PFP>(envMap_.map, *it, envMap_.position);
			agents_[i]->goals_.push_back(dest);
		}
	}
}

bool Simulator::importAgents(std::string filename)
{
	std::ifstream myfile(filename.c_str(), std::ios::in);

	if (!myfile.good())
	{
		std::cerr << "(export) Unable to open file " << filename << std::endl;
		return false;
	}

	std::string line,token;
	while ( myfile.good() )
	{
		getline(myfile,line);

		if(line.size() > 1)
		{
			std::istringstream iss(line);
			float x,y,z;

			iss >> x;
			iss >> y;
			iss >> z;

			VEC3 pos(x, y, z);
			Dart dCell = envMap_.getBelongingCell(pos);

			agents_.push_back(new Agent(this, pos, dCell));
			agents_.back()->goals_.push_back(pos);
			agents_.back()->goals_.push_back(-1.0f * pos);
			agents_.back()->curGoal_ = 1;
		}
	}

	swapAgentsGoals();

	for (unsigned int i = 0; i < agents_.size(); ++i)
		envMap_.pushAgentInCells(agents_[i], agents_[i]->part_.d);

	myfile.close();
	return true;
}

bool Simulator::exportAgents(std::string filename)
{
	std::ofstream out(filename.c_str(), std::ios::out);
	if (!out.good())
	{
		std::cerr << "(export) Unable to open file " << filename << std::endl;
		return false;
	}

	for (unsigned int i = 0; i < agents_.size(); ++i)
		out << agents_[i]->part_.m_position << std::endl;

	out.close();
	return true;
}

void Simulator::swapAgentsGoals()
{
	unsigned int nbAgents = agents_.size();
	for(unsigned int i = 0; i < nbAgents; ++i)
	{
		unsigned int r = rand() % nbAgents;
//		for(unsigned int nbg = 0; nbg < agents_[i]->goals_.size(); ++nbg)
//		{
//			VEC3 g = agents_[i]->goals_[nbg];
//			agents_[i]->goals_[nbg] = agents_[r]->goals_[nbg];
//			agents_[r]->goals_[nbg] = g;
//		}

		std::swap(agents_[i]->goals_,agents_[r]->goals_);
	}
}

Geom::BoundingBox<VEC3> Simulator::getAgentsBB()
{
	Geom::BoundingBox<VEC3> bb(agents_[0]->getPosition());
	unsigned int nbAgents = agents_.size();
	for(unsigned int i = 1; i < nbAgents; ++i)
	{
		bb.addPoint(agents_[i]->getPosition());
	}

	return bb;
}

void Simulator::setupMovingObstacle( unsigned int nbMovingObstacles)
{
	float xSize = 10.0f;
	float ySize = 20.0f;

	VEC3 posInit(30,-420,0);

	std::vector<VEC3> vPos;
	vPos.push_back(posInit);
	posInit[0] += xSize;
	vPos.push_back(posInit);
	posInit[1] += ySize;
	vPos.push_back(posInit);
	posInit[0] -= xSize;
	vPos.push_back(posInit);

	MovingObstacle* mo = new MovingObstacle(&envMap_, vPos);
	movingObstacles_.push_back(mo);
}