moving_obstacle.cpp 44.1 KB
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#include "moving_obstacle.h"
#include "obstacle.h"
#include "agent.h"
#include "simulator.h"
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#include "moving_mesh.h"
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#include "Utils/colorMaps.h"
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#include "Algo/Modelisation/triangulation.h"

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//float MovingObstacle::neighborDistSq_ = 5.0f * 5.0f;
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float MovingObstacle::maxSpeed_ = 2.0f;
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float MovingObstacle::neighborDist_ = 10.0f ;
float MovingObstacle::neighborDistSq_ = neighborDist_ * neighborDist_ ;
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float MovingObstacle::timeHorizonObst_ = 10.0f;
unsigned int MovingObstacle::maxNeighbors_ = 20;
float MovingObstacle::detectionFixedObst = 50;

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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));
	}
}
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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;
}

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bool MovingObstacle::is_inside(VEC3 p)
{
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//	return false;
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	VEC3 vec, norm, p1,vec2,p2;
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	for (unsigned int i = 0; i < nbVertices; i++)
	{
		 p1 = getPosition(i);
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		 p2 = center;
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		vec = VEC3(p2 - p1);

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		vec2 = VEC3(p -p1);
		if (vec*vec2 < 0)
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			return false;
	}

	return true;
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}

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float get_angle(VEC3 v1, VEC3 v2) //renvoie l'angle entre [- pi ; Pi] du v2 à v1
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{
	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)
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		flo = - flo;

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

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	return flo;
}

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VEC3 rotate2D(VEC3 pos1, VEC3 center, float angle) // renvoie le déplacement necessaire depuis pos1 pour effectuer la rotation centrée en center d'angle angle
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{
	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;
}

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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) :
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		nbVertices(pos.size()),
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		center(0),
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		index(ind),
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		goals_(goals),
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		curGoal_(curGoal),
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		velocity_factor(0.8f),
		color1(1.0f),
		color2(1.0f),
		color3(1.0f),
		seen(false),
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		newVelocity_(0),
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		sim_(sim),
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		rigid_(rigid),
		spinning(spin),
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		parent(art),
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		mm_(NULL),
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		ag_(NULL),
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		index_parent(indParent),
		gravity_dist(0)
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{
	assert(pos.size() > 2);

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	if(dInside==NIL)
		dInside = sim_->envMap_.getBelongingCell(pos[0]);
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	unsigned int nbParticles = nbVertices;
	if(!rigid);
	  nbParticles +=1; //a center particle for the mass-spring
	
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#ifdef TWO_AND_HALF_DIM
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	parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>*[nbParticles];
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#else
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#ifdef SECURED
	parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DSecured<PFP>*[nbParticles];
#else
	parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>*[nbParticles];
#endif
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#endif

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	obstacles_ = new Obstacle*[nbVertices];
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	belonging_cells = new std::vector<Dart>[nbVertices];
	neighbor_cells = new std::vector<Dart>[nbVertices];
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	position = map.addAttribute<VEC3, VERTEX>("position") ;
	normal = map.addAttribute<VEC3, VERTEX>("normal") ;
	deformation = map.addAttribute<VEC3, VERTEX>("deformation") ;
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	if(!rigid_)
	{
		velocity = map.addAttribute<VEC3, VERTEX>("velocity") ;
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		forces = map.addAttribute<VEC3, VERTEX>("force") ;
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		edgeLength = map.addAttribute<float, EDGE>("edgeLength") ;
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		vertexAngle = map.addAttribute<float, DART>("vertexAngle") ;
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	}
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	for (unsigned int i = 0; i < nbVertices; ++i)
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	{
#ifdef TWO_AND_HALF_DIM
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		Dart d = dInside;
		parts_[i] = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>(sim_->envMap_.map, d, pos[i], sim_->envMap_.position);
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#else
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		Dart d = sim_->envMap_.getBelongingCell(pos[i]);
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#ifdef SECURED
		parts_[i]  = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DSecured<PFP>(sim_->envMap_.map, d, pos[i], sim_->envMap_.position);
#else

		parts_[i]  = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>(sim_->envMap_.map, d, pos[i], sim_->envMap_.position);
#endif
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#endif
		center += pos[i];

		if(i==0)
			dDir = d;
	}
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	center /= nbVertices;
	front=(pos[0] + pos[1]) / 2;
	
	if(!rigid_)
	{
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#ifdef TWO_AND_HALF_DIM
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		parts_[nbVertices] = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>(sim_->envMap_.map, dInside, center, sim_->envMap_.position);
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#else
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#ifdef SECURED
		parts_[nbVertices]  = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DSecured<PFP>(sim_->envMap_.map, dInside, center, sim_->envMap_.position);
#else
		parts_[nbVertices] = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>(sim_->envMap_.map, dInside, center, sim_->envMap_.position);
#endif
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#endif
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	}
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		// 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));

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	if ( parent==NULL) //départ face à la cible en cas d'obstacles pouvant effectuer des rotations
	{
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//			VEC3 axeZ=VEC3 (0,0,1);
//#ifdef TWO_AND_HALF_DIM
//
//			VEC3 normale = Algo::Surface::Geometry::faceNormal<PFP>(sim->envMap_.map, parts_[nbVertices]->d, sim->envMap_.position);
//#else
//			VEC3 normale =axeZ;
//#endif
//			Geom::Matrix44f rot ;
//			rot.identity() ;
//			angle = Geom::angle(goals_[curGoal_] - center,front  - center);
//			Geom::rotate(axeZ,angle,rot);
//
//			float angle1 = Geom::angle(normale, VEC3 (0,0,1) ) ;
//		//	CGoGNout<<"angle : "<<angle<<CGoGNendl;
//			VEC3 axis = VEC3(0,0,1) ^ normale ;
//
//		//	Geom::translate(center[0],center[1],center[2],rot);
//			Geom::rotate(axis, angle1, rot) ;
//
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//
////			std::cout<<" angle : "<< angle;
//
//			for (unsigned int i = 0; i < nbVertices; ++i)
//			{
////				std::cout<<" || pos[i] avant : "<< pos [i];
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//				Geom::transform(pos[i],rot);
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////				std::cout<<" || pos[i] APRES : "<< pos [i]<<std::endl;
//
//				parts_[i]->move(pos[i]);
//
//
//			}
//			angle=0;
//			front=(pos[0] + pos[1]) / 2;
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	}
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	groundFace = map.newFace(nbVertices);

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	for (unsigned int i = 0; i < nbVertices; ++i)
	{
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		float distance=(center-pos[i]).norm();
		if(distance>gravity_dist)
		{
			gravity_dist=distance;
		}
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		Dart d = i;
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		position[d] = pos[i];
		deformation[d] = VEC3(0);
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		if(!rigid_)
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		{
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			velocity[d] = VEC3(0);
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			forces[d] = VEC3(0);
		}
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	}
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	//extrude face to build a cage
	// compute edgeLength for mass-spring
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	height=rigid_ ? 10.0f : 10.0f;
	Algo::Surface::Modelisation::extrudeFace<PFP>(map, position, groundFace, height) ;
	
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	map.fillHole(groundFace);
	groundFace = map.phi2(groundFace);

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	if(!rigid_)
	{
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		Dart d = Algo::Surface::Modelisation::trianguleFace<PFP>(map,groundFace);
		position[d]=parts_[nbVertices]->getPosition();


		for (unsigned int i = 0; i < nbVertices; ++i)
		{
			Dart e =map.phi<12>(d);
			map.splitFace(map.phi_1(e),map.phi1(e));

			d=map.phi<21>(d);
		}

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		Algo::Surface::Modelisation::EarTriangulation<PFP> et(map);
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		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();
		}
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		Dart centerDart =map.phi<11>(groundFace);
		d = centerDart;

		do
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		{
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			Dart e = map.phi1(d);
			vertexAngle[e] = Algo::Surface::Geometry::angle<PFP>(map,d,map.phi2(map.phi_1(d)),position);
			vertexAngle[d] = Algo::Surface::Geometry::angle<PFP>(map,map.phi_1(d),map.phi2(e),position);
			vertexAngle[map.phi_1(d)]= Algo::Surface::Geometry::angle<PFP>(map,e,map.phi2(d),position);
			d=map.phi<21>(d);
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		}
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		while(d!=centerDart);
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		map.enableQuickTraversal<VERTEX>();
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		dDir=dInside;
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	}
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	for (unsigned int i = 0; i < nbVertices; ++i)
	{
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		Obstacle* o = new Obstacle(parts_[i]->getPosition(),
				parts_[(i + 1) % nbVertices]->getPosition(),
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				parts_[(i - 1 + nbVertices) % nbVertices]->getPosition(),
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				parts_[(i + 2) % nbVertices]->getPosition(), i, (i+1)% nbVertices, this, i);
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		obstacles_[i] = o;
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//		CGoGNout<<" obstacle :"<< i << " num : "<< o<<CGoGNendl;
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		sim_->envMap_.pushObstacleInCells(o);
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	}
}

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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);
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	m_shader->setColor(Geom::Vec4f(0.,1.,0.,0.));
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//	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
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	m_ds = new Utils::Drawer();
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}

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void MovingObstacle::draw(bool showPath)
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{
#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);
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//	m_shader->setColor(Geom::Vec4f(movingObstacleNeighbors_.size()==0 ? 1.0f : 0,0.,0.,0.));
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//	VEC3 col = Utils::color_map_BCGYR(float(index)/float(sim_->movingObstacles_.size()));
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//	if(movingObstacleNeighbors_.size()==0)
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//	if(index==12)
//	// if(obstacleNeighbors_.size()==0)
//		m_shader->setColor(Geom::Vec4f(col[0],col[1],col[2],0));
//	else
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		m_shader->setColor(Geom::Vec4f(0.5,0.5,0.5,0));
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	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
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	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]);
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		m_ds->vertex(center);
		for(unsigned int i = 0 ; i < goals_.size() ; i++)
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		{
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			m_ds->vertex(goals_[(curGoal_+i)%(goals_.size())]);
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		}

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

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VEC3 MovingObstacle::getDilatedPosition(unsigned int ind)
{
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	Dart d(ind); //WARNING : works only for one face created at start !
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#ifndef TWO_AND_HALF_DIM
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//	return position[d]+deformation[d];
	if(!rigid_)
		{
			return position[d];
		}
	else return position[d]+deformation[d];
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#else
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	return position[d];
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#endif
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}

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

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bool MovingObstacle::test_opposition(VEC3 o, VEC3 p1, VEC3 p2)
{
	o.normalize();
	o *= -1;
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	VEC3 vector(p1 - p2);
	vector.normalize();
	return (o - vector).norm2() < 0.1;
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}

// TODO Check position
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//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;
//					}
//				}
//			}
//		}
//	}
//}
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void MovingObstacle::updateAgentNeighbors() // agents voisins avec distance au bord (distpointlinesq) de l'obstacle // a mettre en place si besoin
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{
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	//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;
//				}
//			}
//		}
//	}

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//	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++ )
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//	{
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//		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] ;
//
//
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//
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//		for (std::vector<Agent*>::const_iterator it = agents.begin(); it != agents.end(); ++it)
//		{
//			if ((*it)->alive)
//			{
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//
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//				float distSq = (center - (*it)->getPosition()).norm2() ;
//				if ((agentNeighbors_.size() < maxNeighbors_ || distSq < maxDist)
//					&& distSq < neighborDistSq_)
//				{
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//
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//					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))
//					}
//				}
//			}
//
//		}
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//	}
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}

void MovingObstacle::updateObstacleNeighbors() // obstacles voisins , distance par rapport aux centres des segments// a mettre en place si besoin
{
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	obstacleNeighbors_.clear() ;
	movingObstacleNeighbors_.clear() ;
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	for (std::vector< std::pair<Dart, int> >::iterator it2 = general_belonging.begin();it2 != general_belonging.end(); ++it2)
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	{
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		std::vector<Obstacle*>& obst = sim_->envMap_.obstvect[(*it2).first] ;
		std::vector<Obstacle*>& neighborObst = sim_->envMap_.neighborObstvect[(*it2).first] ;
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//		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)
					{
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//						if (sim_->envMap_.testOrientation(parts_[nbVertices]->getPosition(), (*it)->p1, (*it)->p2, parts_[nbVertices]->d) == 1)
						{
	//						if (distSq > maxDistMovingObst)
	//							maxDistMovingObst = distSq ;
							movingObstacleNeighbors_.push_back(std::make_pair(distSq, *it)) ;
						}
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					}

				}
			}
		}

		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)
					{
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//						if (sim_->envMap_.testOrientation(parts_[nbVertices]->getPosition(), (*it)->p1, (*it)->p2, parts_[nbVertices]->d) == 1)
						{
	//						if (distSq > maxDistMovingObst)
	//							maxDistMovingObst = distSq ;
							movingObstacleNeighbors_.push_back(std::make_pair(distSq, *it)) ;
						}
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					}
				}
			}
		}
	}
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}

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

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()
{
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	if(!rigid_)
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	{
		Dart centerDart =map.phi<11>(groundFace);
			Dart d = centerDart;
		do
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		{
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			Dart e = map.phi1(d);
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			//initialisation of forces
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			forces[e] = VEC3(0.0);
			d=map.phi<21>(d);
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		}
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		while(d!=centerDart);
		forces[d] = VEC3(0.0);
	}
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}

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

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VEC3 computeForce(VEC3 p, VEC3 p1, VEC3 p2, float obst_radius_infl, float obst_power, float obst_stiffness, VEC3 normFace)
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{
	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;
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		VEC3 normal = normFace^v_obst;
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		// 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));
}


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

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void MovingObstacle::updateForces()
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{
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	assert(sim_->envMap_.map.getCurrentLevel() == sim_->envMap_.map.getMaxLevel()) ;
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	//pour les tests de détection///////////////
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	if(!seen)
	{
		color1=1.0f;
		color2=1.0f;
		color3=1.0f;
	}
	seen=false;
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	//////////////////////////
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	PFP::VEC3 bary(0);
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	Dart d;
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	velocity_ = newVelocity_* velocity_factor;

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	// MAJ des particules
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	float abs_angle= angle > 0 ? 1 : -1;
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	float rotor=0;
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	if (index_parent==0)
		rotor = abs_angle*angle > 0.04f ? 0.04f : abs_angle*angle ;
	else
		rotor = abs_angle*angle ;
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	// masse ressort pour la limace

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	if(!rigid_)
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	{
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		Dart centerDart =map.phi<11>(groundFace);
		Dart d = centerDart;
		forces[d] += -0.9f*velocity[d];
		do
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		{
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			Dart e = map.phi1(d);
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			//initialisation of forces with viscosity
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			forces[e] += -0.9f*velocity[e];
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			VEC3 p1Next = position[map.phi1(e)]+(velocity[map.phi1(e)] * sim_->timeStep_); // ressorts sur le bord
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			VEC3 p2Next = position[e]+(velocity[e] * sim_->timeStep_);
			// p1Next et p2Next sont la position des extremites de l'arete.
			VEC3 v1 = (p1Next-p2Next);
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			//stretch spring : /!\ max rigidity relative to the timestep used (unstable otherwise)
			float norm = v1.norm();
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			float rigidity = 50.0f;
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			float stretch = 4*rigidity*(edgeLength[e]-norm);
			float angularStretch = 0, angularStretch2 = 0;
			float restAngle = vertexAngle[e];
			if(restAngle!=0.0f)
			{
				float angularRig = 2*rigidity;

				float curAngle = Algo::Surface::Geometry::angle<PFP>(map, d,map.phi2(map.phi_1(d)),position);

				VEC3 v = Algo::Surface::Geometry::vectorOutOfDart<PFP>(map, d, position);
				VEC3 v2 = Algo::Surface::Geometry::vectorOutOfDart<PFP>(map, map.phi2(map.phi_1(d)), position);

				VEC3 v3 = v ^ v2;
				VEC3 vPl = Algo::Surface::Geometry::faceNormal<PFP>(map, d, position);

				if(v3 * vPl < 0.0f)
					curAngle *= -1.0f;

				angularStretch = angularRig*(restAngle-curAngle);
			}


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			if(norm>0.0f)
			{
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				VEC3 f = (stretch+angularStretch)*(v1/norm);
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				//apply force symmetrically
				forces[e] -= f;
				forces[map.phi1(e)] += f;
			}
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			p1Next = position[e]+(velocity[e] * sim_->timeStep_); /// ressorts vers le centre de la face
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			p2Next = position[d]+(velocity[d] * sim_->timeStep_);
			// p1Next et p2Next sont la position des extremites de l'arete.
			v1 = (p1Next-p2Next);
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			//stretch spring : /!\ max rigidity relative to the timestep used (unstable otherwise)
			norm = v1.norm();
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			restAngle = vertexAngle[d];
			if(restAngle!=0.0f)
			{
				float angularRig = 2*rigidity;

				float curAngle = Algo::Surface::Geometry::angle<PFP>(map, map.phi_1(d),map.phi2(map.phi1(d)),position);

				VEC3 v = Algo::Surface::Geometry::vectorOutOfDart<PFP>(map, map.phi_1(d), position);
				VEC3 v2 = Algo::Surface::Geometry::vectorOutOfDart<PFP>(map, map.phi2(map.phi1(d)), position);

				VEC3 v3 = v ^ v2;
				VEC3 vPl = Algo::Surface::Geometry::faceNormal<PFP>(map, d, position);
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				if(v3 * vPl < 0.0f)
					curAngle *= -1.0f;
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				angularStretch = angularRig*(restAngle-curAngle);
			}

			stretch = 4*rigidity*(edgeLength[d]-norm);
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			if(norm>0.0f)
			{
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				VEC3 f = (stretch+angularStretch)*(v1/norm);
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				//apply force symmetrically
				forces[d] -= f;
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				forces[e] += f;
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			}
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			p1Next = position[d]+(velocity[d] * sim_->timeStep_); // ressorts sur le bord
			p2Next = position[map.phi1(e)]+(velocity[map.phi1(e)] * sim_->timeStep_);
			// p1Next et p2Next sont la position des extremites de l'arete.
			v1 = (p1Next-p2Next);
			norm = v1.norm();
			restAngle = vertexAngle[map.phi_1(d)];
			if(restAngle!=0.0f)
			{
				float angularRig = 2*rigidity;

				float curAngle = Algo::Surface::Geometry::angle<PFP>(map, e,map.phi2(d),position);

				VEC3 v = Algo::Surface::Geometry::vectorOutOfDart<PFP>(map, e, position);
				VEC3 v2 = Algo::Surface::Geometry::vectorOutOfDart<PFP>(map, map.phi2(d), position);

				VEC3 v3 = v ^ v2;
				VEC3 vPl = Algo::Surface::Geometry::faceNormal<PFP>(map, d, position);

				if(v3 * vPl < 0.0f)
					curAngle *= -1.0f;
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				angularStretch2 = angularRig*(restAngle-curAngle);
			}
			if(norm>0.0f)
			{
				VEC3 f = (angularStretch2)*(v1/norm);
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				//apply force symmetrically
				forces[map.phi1(e)] -= f;
				forces[d] += f;
			}
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			d=map.phi<21>(d);
		}
		while(d!=centerDart);
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			//-------------------------------------------------------------------------
			// ARASH : A présent on calcule les interactions avec les autres obstacles.
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		VEC3 norm;
		double obst_stiffness = 5.0; // agent-obstacle interaction stiffness
		int obst_power = 2  ;           // the power to which elevate the agent-obstacle distance
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		double obst_radius_infl;
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			obst_radius_infl = 10.; // scenario 1 et 3

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		float fixed_obst_factor = 5.0f;
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		for (unsigned int i = 0; i < nbVertices; ++i)
				{
			PFP::VEC3 normFace = CGoGN::Algo::Surface::Geometry::faceNormal<PFP>(sim_->envMap_.map, parts_[i]->d, sim_->envMap_.position);
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				Dart dd = map.phi1(d);
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					VEC3 p = position[dd]+(velocity[dd] * sim_->timeStep_);

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					// Evitement d'obstacles mobiles

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					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 ;
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						forces[dd] += computeForce(p,p1,p2,obst_radius_infl,obst_power,obst_stiffness,normFace);
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					}
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					//	Evitement d'obstacles fixes
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					for(std::vector<std::pair<float, Obstacle*> >::iterator it = obstacleNeighbors_.begin() ;
						it != obstacleNeighbors_.end() ; ++it)
					{
						Obstacle * obst = it->second;
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						VEC3 p1=obst->p2 ;
						VEC3 p2=obst->p1 ;
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						forces[dd] += computeForce(p,p1,p2,fixed_obst_factor*obst_radius_infl,fixed_obst_factor*obst_power,fixed_obst_factor*obst_stiffness,normFace);
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					}

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				d = map.phi<21>(d);
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			}
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		//guiding vertex = first vertex (set the displacement)
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		// forces[groundFace] = VEC3(0);
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		velocity[groundFace] = velocity_;
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		//apply force to each vertex
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		/*
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		d = groundFace;
		for (unsigned int i = 0; i < nbVertices; ++i)
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		{
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			velocity[d] += forces[d] * sim_->timeStep_;
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			position[d] += (velocity[d] * sim_->timeStep_);
			position[map.phi<211>(d)] += (velocity[d] * sim_->timeStep_);
			bary += position[d];
			map.next(d);
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		}
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		*/
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	}
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	else
	{
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	//	CGoGNout << "Obstacle "<< index << CGoGNendl;
//		CGoGNout << "vitesse : "<< velocity_ << CGoGNendl;
		//	on fait tourner l'obstacle
		Dart d = groundFace;
		for (unsigned int i = 0; i < nbVertices; ++i)
		{
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#ifdef TWO_AND_HALF_DIM
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			//// rotation pour les obstacles rectangulaires
			VEC3 x = parts_[i]->getPosition()-center;
			VEC3 normale = (parts_[(i+1)%nbVertices]->getPosition()-center)^(x);
			normale.normalize();
			VEC3 y = normale ^x;
			y.normalize();
			VEC3 nouvpos = rotate2D(VEC3 (1,0,0),(0,0,0),angle);

			position[d] += nouvpos[0]*x+nouvpos[1]*y;
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#else
			position[d] += rotate2D(position[d], center, abs_angle*rotor);
#endif
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			position[d] += (velocity_ * sim_->timeStep_);

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#ifdef EXPORTING_BOXES
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#ifndef TWO_AND_HALF_DIM
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			position[map.phi<211>(d)] += rotate2D(position[map.phi<211>(d)], center, abs_angle*rotor);
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			position[map.phi<211>(d)] += (velocity_ * sim_->timeStep_);
#endif

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#endif

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

			bary += position[d];
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			map.next(d);
		}

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		front=(position[0] + position[1]) / 2;
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		if(angle >0)
			angle -= rotor;
		else
			angle += rotor;
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	}
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	center = bary / nbVertices;
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	//computing deformation vector on vertices :
	//depending on the velocity, extend the perceived shape
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	VEC3 vel = velocity_.normalized();
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	d = groundFace;
	for (unsigned int i = 0; i < nbVertices; ++i)
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	{
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		VEC3 v(position[d] - center);
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		VEC3 vN = v.normalized();
		float dot = vN * vel;
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		deformation[d] = v * 2.0f * (dot+1.0f)/2.0f;
		map.next(d);
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	}

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//	if(!rigid_)
//		center = position[groundFace];
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}

//-------------------------------------------------------------------------
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void MovingObstacle::applyForces()
{
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	Dart centerDart =map.phi<11>(groundFace);
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	if(!rigid_)
	{
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		Dart d = centerDart;
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		for (unsigned int i = 0; i < nbVertices; ++i)
		{
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			Dart e = map.phi_1(d);
			velocity[e] += forces[e] * sim_->timeStep_;
			position[e] += (velocity[e] * sim_->timeStep_);

			d=map.phi<21>(d);
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		}
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		velocity[centerDart] +=forces[centerDart] * sim_->timeStep_;
		position[centerDart] += (velocity[centerDart] * sim_->timeStep_);
	}
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}
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void MovingObstacle::updateRegistration()
{
	PFP::VEC3 bary(0);
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	Dart centerDart =map.phi<11>(groundFace);
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	if(!rigid_)
	{
		Dart d = centerDart;
		for (unsigned int i = 0; i < nbVertices; ++i)
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		{
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			Dart e = map.phi_1(d);
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			parts_[i]->move(position[e]);
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#ifdef TWO_AND_HALF_DIM
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			position[e] = parts_[i]->getPosition(); //recalage de l'obstacle sur ses particules (qui elles ont bien suivi la carte au sol)
#endif
			PFP::VEC3 normal = CGoGN::Algo::Surface::Geometry::faceNormal<PFP>(sim_->envMap_.map, parts_[i]->d, sim_->envMap_.position);
			normal *= height;
			position[map.phi_1(map.phi<12>(d))] = position[e]+normal;
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			bary += position[e];
			d=map.phi<21>(d);
		}
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		center = bary / nbVertices;
		parts_[nbVertices]->move(position[centerDart]);
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		#ifdef TWO_AND_HALF_DIM
			position[centerDart] = parts_[nbVertices]->getPosition(); //recalage de l'obstacle sur ses particules (qui elles ont bien suivi la carte au sol)
		#endif



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	}
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	else
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	{
		for (unsigned int i = 0; i < nbVertices; ++i)
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		{

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			VEC3 pos = getDilatedPosition(i);
		 	parts_[i]->move(pos);
			Dart d(i);
#ifdef TWO_AND_HALF_DIM
			position[d] = parts_[i]->getPosition(); //recalage de l'obstacle sur ses particules (qui elles ont bien suivi la carte au sol)
#endif
			PFP::VEC3 normal = CGoGN::Algo::Surface::Geometry::faceNormal<PFP>(sim_->envMap_.map, parts_[i]->d, sim_->envMap_.position);
			normal *= height;
			position[map.phi_1(d)] = position[d]+normal;
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		}
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	}
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	for (unsigned int i = 0; i < nbVertices; ++i)
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	{
	//		CGoGNout << "avant une etape : Obstacle "<< i << CGoGNendl;
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		Obstacle* o = obstacles_[i];
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		o->p1 = getDilatedPosition(i);
		o->p2 = getDilatedPosition((i+1) % nbVertices);
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		o->prevP = getDilatedPosition((i - 1 + nbVertices) % nbVertices);
		o->nextP = getDilatedPosition((i + 2 + nbVertices) % nbVertices);
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		Dart d1 = parts_[i]->d;
		Dart d2 = parts_[(i+1)%nbVertices]->d;
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		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)))
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		{
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			sim_->envMap_.popAndPushObstacleInCells(o,i);
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		}
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	/////affichage des belonging cells
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