env_map.h

#ifndef ENV_MAP_H
#define ENV_MAP_H

#include <iostream>
#include <algorithm>

#include "Topology/generic/parameters.h"
#include "Topology/map/map2.h"
#include "Topology/generic/embeddedMap2.h"

#include "Algo/ImplicitHierarchicalMesh/ihm.h"
#include "Algo/ImplicitHierarchicalMesh/subdivision.h"

#include "Algo/Modelisation/polyhedron.h"
#include "Algo/Modelisation/extrusion.h"
#include "Algo/Modelisation/subdivision.h"
#include "Algo/Geometry/centroid.h"
#include "Algo/Geometry/area.h"
#include "Geometry/bounding_box.h"

#include "Container/fakeAttribute.h"

#include "env_generator.h"

#include "Algo/Parallel/parallel_foreach.h"

using namespace CGoGN;

class Agent;

struct PFP: public PFP_STANDARD
{
	// definition de la carte
// 	typedef EmbeddedMap2<Map2> MAP;
 	typedef Algo::IHM::ImplicitHierarchicalMap MAP;

	// definition des listes d'agent
	typedef std::vector<Agent*> AGENTS;
	typedef std::vector<Dart> OBSTACLES;
	typedef NoMathIONameAttribute<AGENTS> AGENTVECT;
	typedef NoMathIONameAttribute<OBSTACLES> OBSTACLEVECT;
	typedef AttributeHandler<AGENTVECT> TAB_AGENTVECT;
	typedef AttributeHandler<OBSTACLEVECT> TAB_OBSTACLEVECT;

	typedef NoMathIONameAttribute<std::pair<bool,bool> > BOOLATTRIB;
};

typedef PFP::VEC3 VEC3;

class EnvMap
{
public :
	EnvMap();
	
	unsigned int mapMemoryCost();
	void scale(float scaleVal);

	Dart getBelongingCell(const PFP::VEC3& pos);

	void subdivideAllToMaxLevel();
	void subdivideToProperLevel();

	void init();
	
	void foreach_neighborFace(Dart d, FunctorType& f);

	void registerObstaclesInFaces();
	void addNeighborObstacles(PFP::OBSTACLES& obst, Dart d, bool edgeNeighbor);
	
	void setAgentNeighborsAndObstacles(Agent* agent);
	
//	void agentChangeFaceThroughEdge(Agent* agent);
	void agentChangeFace(Agent* agent, Dart oldFace);

	void pushAgentInCells(Agent* agent, Dart d);
	void popAgentInCells(Agent* agent, Dart d);
	void removeAgentFromVector(PFP::AGENTS& a, Agent * ag);
	
	void clearUpdateCandidates();
	void updateMap();

	void resetAgentInFace(Agent* agent);
	
	PFP::MAP map;

	PFP::TVEC3 position;
	PFP::TVEC3 normal;

	AttributeHandler<PFP::BOOLATTRIB> subdivisableFace;

	PFP::TAB_AGENTVECT agentvect;
	PFP::TAB_AGENTVECT neighborAgentvect;
	
	PFP::TAB_OBSTACLEVECT obstvect;

	CellMarker obstacleMark;
	CellMarker buildingMark;

	static const unsigned int nbAgentsToSubdivide = 5;
	static const unsigned int nbAgentsToSimplify = 4;

	CellMarker refineMark;
	std::vector<Dart> refineCandidate;
	CellMarker coarsenMark;
	std::vector<Dart> coarsenCandidate;
};

/**************************************
*           INLINE FUNCTIONS          *
**************************************/

inline void EnvMap::pushAgentInCells(Agent* agent, Dart d)
{
	assert(map.getCurrentLevel() == map.getMaxLevel());
	assert(std::find(agentvect[d].begin(), agentvect[d].end(), agent) == agentvect[d].end());
	
	agentvect[d].push_back(agent);

	Dart dd = d;
	do
	{
		Dart ddd = map.alpha1(map.alpha1(dd));
		while(ddd != dd)
		{
			neighborAgentvect[ddd].push_back(agent);
			ddd = map.alpha1(ddd);
		}
		dd = map.phi1(dd);
	} while(dd != d);
}

inline void EnvMap::removeAgentFromVector(PFP::AGENTS& a, Agent* ag)
{
	PFP::AGENTS::iterator end = a.end();
	for(PFP::AGENTS::iterator it = a.begin(); it != end; ++it)
	{
		if(*it == ag)
		{
			*it = a.back();
			a.pop_back();
			return;
		}
	}
}

inline void EnvMap::popAgentInCells(Agent* agent, Dart d)
{
	assert(map.getCurrentLevel() == map.getMaxLevel());
	assert(std::find(agentvect[d].begin(), agentvect[d].end(), agent) != agentvect[d].end());

	removeAgentFromVector(agentvect[d],agent);

	Dart dd = d;
	do
	{
		Dart ddd = map.alpha1(map.alpha1(dd));
		while(ddd != dd)
		{
			removeAgentFromVector(neighborAgentvect[ddd], agent);
			ddd = map.alpha1(ddd);
		}
		dd = map.phi1(dd);
	} while(dd != d);
}

inline void EnvMap::clearUpdateCandidates()
{
	refineCandidate.clear();
	coarsenCandidate.clear();
}

#endif