env_map.h 12 KB
Newer Older
1 2
#ifndef ENV_MAP_H
#define ENV_MAP_H
Pierre Kraemer's avatar
Pierre Kraemer committed
3 4 5 6 7

#include <iostream>
#include <algorithm>

#include "Topology/generic/parameters.h"
Pierre Kraemer's avatar
update  
Pierre Kraemer committed
8
#include "Topology/map/embeddedMap2.h"
Pierre Kraemer's avatar
Pierre Kraemer committed
9 10 11 12 13 14 15 16 17

#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"
Thomas's avatar
Thomas committed
18
#include "Geometry/bounding_box.h"
Pierre Kraemer's avatar
Pierre Kraemer committed
19 20 21 22 23

#include "Container/fakeAttribute.h"

#include "Algo/Parallel/parallel_foreach.h"

Pierre Kraemer's avatar
Pierre Kraemer committed
24 25
#include "spatialHashing.h"

26
using namespace CGoGN ;
Pierre Kraemer's avatar
Pierre Kraemer committed
27

pitiot's avatar
maj  
pitiot committed
28 29 30
class Agent;
class Obstacle;
class MovingObstacle;
pitiot's avatar
merging  
pitiot committed
31
class ArticulatedObstacle;
Pierre Kraemer's avatar
Pierre Kraemer committed
32

David Cazier's avatar
David Cazier committed
33
#include "pfp.h"
Pierre Kraemer's avatar
Pierre Kraemer committed
34 35 36

class EnvMap
{
37 38
public:
	PFP::MAP map ;
39

40 41 42 43 44 45 46 47 48 49 50 51
	/* Geometry of the EnvMap : the bounding box of the scene
	 * The density of cells in the EnvMap is given by two parameters :
	 *  - minCellSize : the size under which no subdivision occurs
	 *  - maxCellSize : the size of the initial cells (before subdivisions occur)
	 *  - obstacleDistance : the minimal goal distance between agents and obstacles
	 * The number of cells in the initial EnvMap is about (width*height)/(size*size)
	 */
	Geom::BoundingBox<VEC3> geometry ;
	REAL maxCellSize ;
	REAL minCellSize ;
	REAL obstacleDistance ;

David Cazier's avatar
David Cazier committed
52
	EnvMap() ;
53
	void init(unsigned int config, REAL width, REAL height, REAL minSize, REAL maxSize) ;
54

55 56
	void scale(float val);

David Cazier's avatar
David Cazier committed
57
	void markPedWay() ;
Thomas's avatar
Thomas committed
58

David Cazier's avatar
David Cazier committed
59
	unsigned int mapMemoryCost() ;
Thomas's avatar
Thomas committed
60

Pierre Kraemer's avatar
Pierre Kraemer committed
61
#ifndef SPATIAL_HASHING
62
	Dart getBelongingCell(const VEC3& pos) ;
Thomas's avatar
Thomas committed
63

64 65
	void subdivideAllToMaxLevel() ;
	void subdivideToProperLevel() ;
Thomas's avatar
Thomas committed
66

67
	void foreach_neighborFace(Dart d, FunctorType& f) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
68

69
	void registerObstaclesInFaces() ;
pitiot's avatar
maj  
pitiot committed
70
	void registerWallInFaces();
71
	void addNeighborObstacles(PFP::OBSTACLES& obst, Dart d, bool edgeNeighbor) ;
72

73
	void setAgentNeighborsAndObstacles(Agent* agent) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
74

75 76 77 78 79 80
	unsigned int totalNeighborSize(Dart d) ;
	void nbAgentsIncrease(Dart d) ;
	void nbAgentsDecrease(Dart d) ;
	void pushAgentInCells(Agent* agent, Dart d) ;
	void popAgentInCells(Agent* agent, Dart d) ;
	void agentChangeFace(Agent* agent, Dart oldFace) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
81

pitiot's avatar
pitiot committed
82
	Dart popAndPushObstacleInCells(Obstacle* o, int n);
83 84 85 86 87
	void pushObstacleInCells(Obstacle * mo);
	void pushObstacleInOneRingCells(Obstacle * o, Dart d, int n);
	void pushObstacleInCells(Obstacle* o, int n, const std::vector<Dart>& memo_cross);
	void popObstacleInCells(Obstacle* o, int n);

88
	void popObstacleInCells(Obstacle* o, Dart d) ;
89 90
	void refine() ;
	void coarse() ;
91
	void updateMap() ;
92

93
	void resetAgentInFace(Agent* agent) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
94 95
#endif

David Cazier's avatar
David Cazier committed
96 97
	PFP::TVEC3 position ;
	PFP::TVEC3 normal ;
Pierre Kraemer's avatar
Pierre Kraemer committed
98

David Cazier's avatar
David Cazier committed
99 100 101
	PFP::MAP mapScenary ;
	PFP::TVEC3 positionScenary ;
	PFP::TVEC3 normalScenary ;
pitiot's avatar
maj  
pitiot committed
102 103 104 105 106
	CellMarker<EDGE> obstacleMarkS ;
	CellMarker<FACE> buildingMarkS ;
	CellMarker<EDGE> obstacleMark ;
	CellMarker<FACE> buildingMark ;
	CellMarker<FACE> pedWayMark ;
107
//	CellMarkerMemo<FACE> memo_mark;
pitiot's avatar
maj  
pitiot committed
108
	// ajout moving obst
109 110
	void addObstAsNeighbor (Obstacle *  o, const std::vector<Dart>& belonging_cells, std::vector<Dart> * nieghbor_cells);
	// void addMovingObstAsNeighbor (MovingObstacle *  mo,std::vector<Dart> belonging_cells, std::vector<Dart> *neighbor_cells);
pitiot's avatar
maj  
pitiot committed
111 112
	void pushObstNeighborInCells(Obstacle* o, Dart d);
	void popObstNeighborInCells(Obstacle* o, Dart d);
113
	void find_next(Obstacle* o,Dart * d, CellMarkerMemo<FACE>& cms);
pitiot's avatar
maj  
pitiot committed
114

115

David Cazier's avatar
David Cazier committed
116
	std::vector<Dart> newBuildings ;
117

Pierre Kraemer's avatar
Pierre Kraemer committed
118
#ifndef SPATIAL_HASHING
pitiot's avatar
maj  
pitiot committed
119 120 121 122 123
	FaceAttribute<PFP::BOOLATTRIB> subdivisableFace ;

	PFP::TAB_AGENTVECT agentvect ;
	PFP::TAB_AGENTVECT neighborAgentvect ;
	PFP::TAB_OBSTACLEVECT neighborObstvect;
Pierre Kraemer's avatar
Pierre Kraemer committed
124
#endif
Pierre Kraemer's avatar
Pierre Kraemer committed
125

David Cazier's avatar
David Cazier committed
126
	PFP::TAB_OBSTACLEVECT obstvect ;
Pierre Kraemer's avatar
Pierre Kraemer committed
127 128


Pierre Kraemer's avatar
Pierre Kraemer committed
129
#ifndef SPATIAL_HASHING
130
	static const unsigned int nbAgentsToSubdivide = 5 ;
Jund Thomas's avatar
Jund Thomas committed
131
	static const unsigned int nbAgentsToSimplify = 4 ;
David Cazier's avatar
David Cazier committed
132

pitiot's avatar
maj  
pitiot committed
133 134
	CellMarker<FACE> refineMark ;
	CellMarker<FACE> coarsenMark ;
135 136
	std::vector<Dart> refineCandidate ;
	std::vector<Dart> coarsenCandidate ;
Pierre Kraemer's avatar
Pierre Kraemer committed
137

138
	void clearUpdateCandidates() ;
Pierre Kraemer's avatar
Pierre Kraemer committed
139 140 141
#endif

#ifdef SPATIAL_HASHING
David Cazier's avatar
David Cazier committed
142 143 144 145 146 147 148 149 150
	unsigned int agentGridSize(unsigned int i)
	{
		return geometry.size(i) / minCellSize ;
	}

	unsigned int obstacleGridSize(unsigned int i)
	{
		return geometry.size(i) / obstacleDistance ;
	}
Pierre Kraemer's avatar
Pierre Kraemer committed
151

pitiot's avatar
maj  
pitiot committed
152
	Geom::Vec2ui agentPositionCell(Agent* a) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
153

pitiot's avatar
maj  
pitiot committed
154
	Geom::Vec2ui obstaclePositionCell(VEC3 pos)
Pierre Kraemer's avatar
Pierre Kraemer committed
155
	{
David Cazier's avatar
David Cazier committed
156 157
		VEC3 relativePos = pos - geometry.min() ;
		relativePos /= obstacleDistance ;
158
		return Geom::Vec2ui(relativePos[0], relativePos[1]) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
159 160
	}

pitiot's avatar
maj  
pitiot committed
161 162 163 164 165
	const std::vector<Agent*>& getNeighbors(Geom::Vec2ui c) {
		assert(ht_agents.hasData(c)) ;
		return ht_agents[c];
	}
	const std::vector<Agent*>& getNeighbors(Agent* a) ;
David Cazier's avatar
David Cazier committed
166
	const std::vector<Agent*>& getNeighborAgents(Agent* a) ;
pitiot's avatar
maj  
pitiot committed
167 168 169 170 171 172 173

	void addAgentInGrid(Agent* a) ;
	void addAgentInGrid(Agent* a, Geom::Vec2ui c) ;

	void removeAgentFromGrid(Agent* a) ;
	void removeAgentFromGrid(Agent* a, Geom::Vec2ui c) ;

Pierre Kraemer's avatar
Pierre Kraemer committed
174
	HashTable2D< std::vector<Agent*> > ht_agents ;
David Cazier's avatar
David Cazier committed
175
	HashTable2D< std::vector<Agent*> > ht_neighbor_agents ;
Pierre Kraemer's avatar
Pierre Kraemer committed
176 177
	HashTable2D< std::vector<Obstacle*> > ht_obstacles ;
#endif
178
} ;
Pierre Kraemer's avatar
Pierre Kraemer committed
179

pitiot's avatar
maj  
pitiot committed
180 181
void update_registration(Obstacle * o);
void register_pop(Obstacle* o, int n);
182 183
void resetPartSubdiv(Obstacle* o);
void resetObstPartInFace(Obstacle* o, Dart d);// empeche de viser une dart ayant disparu
pitiot's avatar
pitiot committed
184
void resetPart(Obstacle * mo, Dart d); // empeche de viser une dart ayant disparu pour les voisins
pitiot's avatar
maj  
pitiot committed
185 186
void displayMO(Obstacle * o);

Pierre Kraemer's avatar
Pierre Kraemer committed
187
/**************************************
David Cazier's avatar
David Cazier committed
188 189
 *           INLINE FUNCTIONS          *
 **************************************/
Pierre Kraemer's avatar
Pierre Kraemer committed
190

191 192 193 194 195 196 197
template <typename T>
inline void addElementToVector(std::vector<T>& a, T ag)
{
	assert(std::find(a.begin(), a.end(), ag) == a.end());
	a.push_back(ag) ;
}

David Cazier's avatar
David Cazier committed
198
template <typename T>
pitiot's avatar
maj  
pitiot committed
199
inline bool removeElementFromVector(std::vector<T>& a, T ag)
Pierre Kraemer's avatar
Pierre Kraemer committed
200
{
201 202
	assert(std::find(a.begin(), a.end(), ag) != a.end());

203
	typename std::vector<T>::iterator end = a.template end() ;
David Cazier's avatar
David Cazier committed
204 205 206 207
	for (typename std::vector<T>::iterator it = a.begin(); it != end; ++it)
	{
		if (*it == ag)
		{
208 209
			*it = a.back() ;
			a.pop_back() ;
pitiot's avatar
maj  
pitiot committed
210
			return true ;
Pierre Kraemer's avatar
Pierre Kraemer committed
211 212
		}
	}
pitiot's avatar
maj  
pitiot committed
213
	return false ;
Pierre Kraemer's avatar
Pierre Kraemer committed
214 215 216
}

#ifndef SPATIAL_HASHING
David Cazier's avatar
David Cazier committed
217 218
inline unsigned int EnvMap::totalNeighborSize(Dart d)
{
219 220 221 222
	return agentvect[d].size() + neighborAgentvect[d].size() ;
}

inline void EnvMap::nbAgentsIncrease(Dart d)
Pierre Kraemer's avatar
Pierre Kraemer committed
223
{
224 225
	if (refineMark.isMarked(d)) return ;
	if (totalNeighborSize(d) < nbAgentsToSubdivide) return ;
Pierre Kraemer's avatar
Pierre Kraemer committed
226

227
	std::pair<bool, bool>& sf = subdivisableFace[d] ;
David Cazier's avatar
David Cazier committed
228 229
	if (sf.first == false || (sf.first == true && sf.second))
	{
230 231 232
		refineMark.mark(d) ;
		refineCandidate.push_back(d) ;
	}
Pierre Kraemer's avatar
Pierre Kraemer committed
233 234
}

235
inline void EnvMap::nbAgentsDecrease(Dart d)
Thomas's avatar
Thomas committed
236
{
237 238
	if (coarsenMark.isMarked(d) || refineMark.isMarked(d)) return ;
	if (totalNeighborSize(d) > nbAgentsToSimplify) return ;
Thomas's avatar
Thomas committed
239

240 241 242
	coarsenMark.mark(d) ;
	coarsenCandidate.push_back(map.faceOldestDart(d)) ;
}
Pierre Kraemer's avatar
Pierre Kraemer committed
243 244

inline void EnvMap::pushAgentInCells(Agent* agent, Dart d)
Pierre Kraemer's avatar
Pierre Kraemer committed
245
{
David Cazier's avatar
David Cazier committed
246
	assert(map.getCurrentLevel() == map.getMaxLevel()) ;
pitiot's avatar
maj  
pitiot committed
247
//	assert(std::find(agentvect[d].begin(), agentvect[d].end(), agent) == agentvect[d].end());
pitiot's avatar
pitiot committed
248
//	map.check();
David Cazier's avatar
David Cazier committed
249

250 251 252 253 254 255 256 257 258 259
	TraversorF<PFP::MAP> tF(map);
		for(Dart ddd = tF.begin() ; ddd != tF.end() ; ddd = tF.next())
		{
			if(std::find(agentvect[ddd].begin(), agentvect[ddd].end(), agent) != agentvect[ddd].end())
				std::cout <<agent << "   SO WRONG ADD" <<ddd.index<< std::endl;

			if(std::find(neighborAgentvect[ddd].begin(), neighborAgentvect[ddd].end(), agent) != neighborAgentvect[ddd].end())
				std::cout <<agent<< "   SO SO WRONG  ADD" <<ddd.index<< std::endl;
		}

260 261
	addElementToVector<Agent*>(agentvect[d],agent);
//	agentvect[d].push_back(agent) ;
262
//	nbAgentsIncrease(d);
David Cazier's avatar
David Cazier committed
263 264

	Dart dd = d ;
David Cazier's avatar
David Cazier committed
265 266
	do
	{
David Cazier's avatar
David Cazier committed
267
		Dart ddd = map.alpha1(map.alpha1(dd)) ;
David Cazier's avatar
David Cazier committed
268 269
		while (ddd != dd)
		{
270 271
			addElementToVector<Agent*>(neighborAgentvect[ddd],agent);
//			neighborAgentvect[ddd].push_back(agent) ;
272
//			nbAgentsIncrease(ddd);
David Cazier's avatar
David Cazier committed
273
			ddd = map.alpha1(ddd) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
274
		}
David Cazier's avatar
David Cazier committed
275 276
		dd = map.phi1(dd) ;
	} while (dd != d) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
277 278
}

Thomas's avatar
Thomas committed
279 280
inline void EnvMap::popAgentInCells(Agent* agent, Dart d)
{
David Cazier's avatar
David Cazier committed
281 282 283
	assert(map.getCurrentLevel() == map.getMaxLevel()) ;

	removeElementFromVector<Agent*>(agentvect[d], agent) ;
284
//	nbAgentsDecrease(d) ;
David Cazier's avatar
David Cazier committed
285 286

	Dart dd = d ;
David Cazier's avatar
David Cazier committed
287 288
	do
	{
David Cazier's avatar
David Cazier committed
289
		Dart ddd = map.alpha1(map.alpha1(dd)) ;
David Cazier's avatar
David Cazier committed
290 291
		while (ddd != dd)
		{
David Cazier's avatar
David Cazier committed
292
			removeElementFromVector<Agent*>(neighborAgentvect[ddd], agent) ;
293
//			nbAgentsDecrease(ddd) ;
David Cazier's avatar
David Cazier committed
294
			ddd = map.alpha1(ddd) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
295
		}
David Cazier's avatar
David Cazier committed
296 297
		dd = map.phi1(dd) ;
	} while (dd != d) ;
pitiot's avatar
pitiot committed
298 299 300 301 302 303 304 305 306 307

	TraversorF<PFP::MAP> tF(map);
		for(Dart ddd = tF.begin() ; ddd != tF.end() ; ddd = tF.next())
		{
			if(std::find(agentvect[ddd].begin(), agentvect[ddd].end(), agent) != agentvect[ddd].end())
				std::cout <<agent << "   SO WRONG" <<ddd.index<< std::endl;

			if(std::find(neighborAgentvect[ddd].begin(), neighborAgentvect[ddd].end(), agent) != neighborAgentvect[ddd].end())
				std::cout <<agent<< "   SO SO WRONG " <<ddd.index<< std::endl;
		}
Pierre Kraemer's avatar
Pierre Kraemer committed
308 309
}

pitiot's avatar
maj  
pitiot committed
310 311 312

//ajout moving obst///////////////////////////////////////////////////////////////////////////////////////////////////////

313

314
inline void EnvMap::addObstAsNeighbor (Obstacle *  o, const std::vector<Dart>& belonging_cells, std::vector<Dart> *neighbor_cells)
pitiot's avatar
maj  
pitiot committed
315 316
{
	assert(map.getCurrentLevel() == map.getMaxLevel());
317
	assert(!belonging_cells.empty());
pitiot's avatar
maj  
pitiot committed
318
	neighbor_cells->clear();
319 320
	CellMarkerMemo<FACE> memo_mark(map);
	CellMarkerMemo<FACE> OneRingMark(map);
pitiot's avatar
pitiot committed
321
	memo_mark.unmarkAll();
322 323
	for (std::vector<Dart>::const_iterator it =belonging_cells.begin();it<belonging_cells.end();++it)
		memo_mark.mark(*it);
pitiot's avatar
maj  
pitiot committed
324

325
	std::vector<Dart>::const_iterator it=belonging_cells.begin();
pitiot's avatar
maj  
pitiot committed
326 327 328 329
	Dart beg = NIL;
	Dart first =NIL;
	Dart d=NIL;
	Dart dd=NIL;
pitiot's avatar
pitiot committed
330 331 332 333 334 335 336

	/////////////////////////////////////////////boucle pour trouver une face du voisinage de l'obstacle ne contenant pas l'obstacle
//	CGoGNout<<"debut neighbors cellules : ";
//	for (std::vector<Dart>::const_iterator it =belonging_cells.begin();it<belonging_cells.end();++it)
//		CGoGNout<<(*it).index<<" ; ";
//	CGoGNout<<CGoGNendl;

pitiot's avatar
maj  
pitiot committed
337 338 339 340 341
	do
	{
		beg = *it;
		first = NIL;
		d=beg;
pitiot's avatar
pitiot committed
342
		do {
pitiot's avatar
maj  
pitiot committed
343
			dd=map.alpha1(map.alpha1(d));
pitiot's avatar
pitiot committed
344
			do {
345
				if (!memo_mark.isMarked(dd))
pitiot's avatar
maj  
pitiot committed
346 347 348 349 350 351 352 353 354 355 356
				{
					first = dd;
				}
				dd=map.alpha1(dd);
			}while (first==NIL && dd!=d);

			d=map.phi1(d);

		} while(first==NIL && d!=beg);
		++it;
	}while(first==NIL && it!=belonging_cells.end());
pitiot's avatar
pitiot committed
357
//	assert(!buildingMark.isMarked(d)) ;
358 359
	assert(first!=NIL) ;
//	CGoGNout<<"first : "<<first<<CGoGNendl;
pitiot's avatar
maj  
pitiot committed
360 361 362 363 364 365 366 367 368
	d=first;
	do
	{
		if (!OneRingMark.isMarked(d))
		{
			OneRingMark.mark(d);
			(*neighbor_cells).push_back(d);
		}

369
		find_next(o,&d, memo_mark);
370
//		CGoGNout<<"d : "<<d<<CGoGNendl;
pitiot's avatar
maj  
pitiot committed
371 372 373 374 375
	}while(!map.sameFace(d,first));
}

// find_next cherche la prochaine case "voisine" d'un obstacle faisant parti d'un movingobstacle (algo de parcours du one-ring )

376
inline void EnvMap::find_next(Obstacle* o,Dart * ddd, CellMarkerMemo<FACE>& cms)
pitiot's avatar
maj  
pitiot committed
377 378 379 380 381 382 383 384 385 386 387 388 389 390
{
	Dart d=*ddd;
	Dart first = NIL;
	Dart dd;
	int rd =0;
	do{
		rd++;
		dd=map.alpha1((d));

		if (!(cms.isMarked(dd)))
		{
			first = dd;
		}

391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412

		if(rd>100)
		{
			if (rd>10000)
			{
				displayMO(o);
				CGoGNout <<(first==NIL)<< " infini find next d : "<< d<<"phi 2 markée ? : "<<cms.isMarked(map.phi2(d))<<CGoGNendl;
				CGoGNout<<"cellules markées : "<<CGoGNendl;
				std::vector<Dart> v=cms.get_markedCells();
				for(std::vector<Dart>::iterator it=v.begin();it<v.end();++it)
				{
					CGoGNout<<(*it).index<<CGoGNendl;
				}
				break;
			}
			CGoGNout <<(first==NIL)<< " infini find next d : "<< d<<"phi 2 markée ? : "<<cms.isMarked(map.phi2(d))<<CGoGNendl;
			CGoGNout<<"cellules markées : "<<CGoGNendl;
							std::vector<Dart> v=cms.get_markedCells();
							for(std::vector<Dart>::iterator it=v.begin();it<v.end();++it)
							{
								CGoGNout<<(*it).index<<CGoGNendl;
							}
pitiot's avatar
maj  
pitiot committed
413
		}
414
		d=map.phi_1(d);
pitiot's avatar
maj  
pitiot committed
415 416 417 418 419 420 421
	}while(first==NIL);
	*ddd=first;
}

inline void EnvMap::pushObstNeighborInCells(Obstacle* o, Dart d)
{
	assert(map.getCurrentLevel() == map.getMaxLevel());
pitiot's avatar
merging  
pitiot committed
422
	assert(std::find(neighborObstvect[d].begin(), neighborObstvect[d].end(), o) == neighborObstvect[d].end());
pitiot's avatar
maj  
pitiot committed
423

424
	addElementToVector<Obstacle*>(neighborObstvect[d],o);
pitiot's avatar
maj  
pitiot committed
425 426
}

427 428 429 430
//inline void EnvMap::pushObstacleInCell(Obstacle* o, Dart d)
//{
//	assert(map.getCurrentLevel() == map.getMaxLevel()) ;
//	assert(!buildingMark.isMarked(d)) ;
Pierre Kraemer's avatar
Pierre Kraemer committed
431
//
432 433
//	addElementToVector<Obstacle*>(obstvect[d],o);
//}
434

Pierre Kraemer's avatar
Pierre Kraemer committed
435 436
inline void EnvMap::clearUpdateCandidates()
{
David Cazier's avatar
David Cazier committed
437 438
	refineCandidate.clear() ;
	coarsenCandidate.clear() ;
Pierre Kraemer's avatar
Pierre Kraemer committed
439
}
pitiot's avatar
maj  
pitiot committed
440 441
///addMovingObstAsNeighbor est pour détecter les voisins du movingobstacle global afin de le considerer comme un super agent

Pierre Kraemer's avatar
Pierre Kraemer committed
442
#endif
Pierre Kraemer's avatar
Pierre Kraemer committed
443 444

#endif