adding details vectors on moving obstacles

include/agent.h

@@ -56,9 +56,6 @@ public:
 	Dart finalDart ;
 
 
-	MovingObstacle **movingObstacles_;
-	int nb_mos;
-
 	MovingObstacle **movingObstacles_;
 	int nb_mos;
 

include/env_render.h

@@ -46,11 +46,22 @@ inline void renderPredictionTriangle(EnvMap& m, Dart d, PFP::VEC3 p)
 
 inline void renderObstacle(EnvMap& m, MovingObstacle * obst, bool showBelonging=false, bool renderPath = false)
 {
+
+
+
 	glBegin(GL_POLYGON) ;
+	for (unsigned int i = 0 ; i < (obst->nbVertices) ; ++i)
+	{
+		const VEC3& p = obst->getPosition(i) ;
+		glVertex3fv(p.data()) ;
+	}
+	glEnd() ;
 
+	glColor3f(1.0,0.0,1.0);
+	glBegin(GL_LINE_LOOP) ;
 	for (unsigned int i = 0 ; i < (obst->nbVertices) ; ++i)
 	{
-		const VEC3& p = obst->vertices[i] ;
+		const VEC3& p = obst->getDilatedPosition(i) ;
 		glVertex3fv(p.data()) ;
 	}
 	glEnd() ;

include/moving_obstacle.h

@@ -26,11 +26,15 @@ public:
 	void computeNewVelocity();
 	std::vector<Dart> getMemoCross(const VEC3& pos, const VEC3& dest, Dart& d1);
 
+	VEC3 getDilatedPosition(unsigned int ind); //vertex position with velocity dilatation
+	VEC3 getPosition(unsigned int ind); // vertex position
+
 	void update();
 
 	unsigned int nbVertices;
 	CGoGN::Algo::MovingObjects::ParticleCell2DMemo<PFP> *registering_part;
 	std::vector<PFP::VEC3> vertices;
+	std::vector<PFP::VEC3> verticesDetails;
 	float gravity_dist;
 	VEC3 center;
 	int nb_agents_voisins;

include/obstacle.h

@@ -6,7 +6,7 @@
 class Obstacle
 {
 public:
-	Obstacle(const VEC3& point1, const VEC3& point2, const VEC3& prevPoint, const VEC3& nextPoint,
+	Obstacle(const VEC3 point1, const VEC3 point2, const VEC3 prevPoint, const VEC3 nextPoint,
 	         MovingObstacle * moving1, unsigned int ind) :
 		p1(point1), p2(point2), prevP(prevPoint), nextP(nextPoint),
 		mo(moving1), index(ind)
@@ -17,10 +17,10 @@ public:
 //		nextP[2] = 0 ;
 	}
 
-	const VEC3& p1 ;
-	const VEC3& p2 ;
-	const VEC3& prevP ;
-	const VEC3& nextP ;
+	VEC3 p1 ;
+	VEC3 p2 ;
+	VEC3 prevP ;
+	VEC3 nextP ;
 	MovingObstacle * mo ;
 	unsigned int index ;
 } ;

src/agent.cpp

@@ -222,7 +222,7 @@ void Agent::updateObstacleNeighbors()
 			if ((movingObstacleNeighbors_.size() < maxNeighbors_ || distSq < maxDistMovingObst)
 					&&distSq < rangeSq_)
 			{
-				if (Geom::testOrientation2D(part_.getPosition(), (*it)->p1, (*it)->p2) == Geom::RIGHT)
+//				if (Geom::testOrientation2D(part_.getPosition(), (*it)->p1, (*it)->p2) == Geom::RIGHT)
 				{
 
 					if (distSq > maxDistMovingObst) maxDistMovingObst = distSq ;
@@ -257,7 +257,7 @@ void Agent::updateObstacleNeighbors()
 					if ((movingObstacleNeighbors_.size() < maxNeighbors_ || distSq < maxDistMovingObst)
 							&&distSq < rangeSq_)
 					{
-						if (Geom::testOrientation2D(part_.getPosition(), (*it)->p1, (*it)->p2) == Geom::RIGHT)
+//						if (Geom::testOrientation2D(part_.getPosition(), (*it)->p1, (*it)->p2) == Geom::RIGHT)
 						{
 
 							if (distSq > maxDistMovingObst) maxDistMovingObst = distSq ;
@@ -604,10 +604,10 @@ void Agent::computeNewVelocity() // de arash
 
 	//----- forces dues à la répulsion des autres agents -------
 
-	double ag_stiffness = 20.0;    // agent-agent interaction stiffness
+	double ag_stiffness = 200.0;    // agent-agent interaction stiffness
 	double ag_damping   = 1.0;     // agent-agent interaction damping
 	double ag_phys_radius_coef = 20.0;
-	double ag_power = 8;        // the power to which elevate the agent-agent distance
+	double ag_power = 1;        // the power to which elevate the agent-agent distance
 
 	unsigned int nbA = 0 ;
 

src/env_map.cpp

@@ -74,7 +74,7 @@ void EnvMap::init(unsigned int config, REAL width, REAL height, REAL minSize, RE
 	{
 		case 0 :
 //			CityGenerator::generateGrid<PFP>(*this) ;
-			CityGenerator::generateCity<PFP>(*this,1) ;
+			CityGenerator::generateCity<PFP>(*this,0) ;
 			break ;
 		case 1 :
 			CityGenerator::generateGrid<PFP>(*this) ;
@@ -536,13 +536,11 @@ void EnvMap::pushObstacleInCells(Obstacle * o)// réenregistre l'obstacle en que
 	if (mo != NULL)
 	{
 		int n = o->index;
-		VEC3 p1 = mo->vertices[n];
-		VEC3 p2 = mo->vertices[(n+1)%(mo->nbVertices)];
 
 		Dart d1=NIL;
 		Dart d2=NIL;
 		std::vector<Dart> memo;
-		memo = mo->getMemoCross(p1,p2,d1);
+		memo = mo->getMemoCross(o->p1,o->p2,d1);
 		d2=mo->registering_part->d;
 
 		if(map.sameFace(d1,d2))
@@ -559,8 +557,6 @@ void EnvMap::pushObstacleInCells(Obstacle * o)// réenregistre l'obstacle en que
 void EnvMap::popAndPushObstacleInCells(Obstacle* o, int n)// maj de l'enregistrement
 {
 	MovingObstacle * mo = o->mo;
-	VEC3 p1 = mo->vertices[n];
-	VEC3 p2 = mo->vertices[(n+1)%mo->nbVertices];
 
 	Dart d1=NIL;
 	Dart d2=NIL;
@@ -571,7 +567,7 @@ void EnvMap::popAndPushObstacleInCells(Obstacle* o, int n)// maj de l'enregistre
 //	if(p1->crossCell != CGoGN::Algo::MovingObjects::NO_CROSS
 //		|| p2->crossCell != CGoGN::Algo::MovingObjects::NO_CROSS)
 //	{
-		memo = mo->getMemoCross(p1,p2,d1);
+		memo = mo->getMemoCross(o->p1,o->p2,d1);
 		d2=mo->registering_part->d;
 //		memo.sort();
 //		modif=true;
@@ -720,7 +716,8 @@ void EnvMap::refine()
 				subdivisable = sf.second ;
 			else
 			{
-				float minSizeSq = minCellSize * minCellSize ; // diametre de vision de l'agent au carré
+//				float minSizeSq = minCellSize * minCellSize ; // diametre de vision de l'agent au carré
+				float minSizeSq = Agent::neighborDistSq_;
 
 				fLevel = map.faceLevel(old) ;
 				map.setCurrentLevel(fLevel) ;

src/moving_obstacle.cpp

@@ -14,23 +14,22 @@ float MovingObstacle::detectionFixedObst = 50;
 
 bool MovingObstacle::is_inside(VEC3 p)
 {
-	VEC3 vec, norm;
-	Obstacle * obst;
-
-	for (unsigned int i = 0; i < nbVertices; i++)
-	{
-		obst = this->obstacles_[i];
-
-		vec = VEC3(obst->p2 - obst->p1);
-		norm[0] = vec[1];
-		norm[1] = -vec[0];
-
-		vec = VEC3(obst->p2 -p);
-		if (vec*norm < 0)
-			return false;
-	}
-
-	return true;
+	return false;
+//	VEC3 vec, norm;
+//	Obstacle * obst;
+//
+//	for (unsigned int i = 0; i < nbVertices; i++)
+//	{
+//		vec = VEC3(getPosition(i+1 % nbVertices)- getPosition(i));
+//		norm[0] = vec[1];
+//		norm[1] = -vec[0];
+//
+//		vec = VEC3(getPosition(i+1 % nbVertices) -p);
+//		if (vec*norm < 0)
+//			return false;
+//	}
+//
+//	return true;
 }
 
 float get_angle(VEC3 v1, VEC3 v2) //renvoie l'angle entre [- pi ; Pi] du v2 à v1
@@ -105,6 +104,7 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 	{
 		vertices[i]=pos [i];
 		sum += vertices[i];
+		verticesDetails.push_back(VEC3(0));
 	}
 	center = sum / nbVertices;
 	front=(vertices[1] + vertices[2]) / 2;
@@ -155,6 +155,16 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 	obstacle_range = 15.0f * 15.0f;
 }
 
+VEC3 MovingObstacle::getDilatedPosition(unsigned int ind)
+{
+	return vertices[ind]+verticesDetails[ind];
+}
+
+VEC3 MovingObstacle::getPosition(unsigned int ind)
+{
+	return vertices[ind];
+}
+
 bool MovingObstacle::test_opposition(VEC3 o, VEC3 p1, VEC3 p2)
 {
 	o.normalize();
@@ -368,9 +378,10 @@ void MovingObstacle::update()
 		target += rotate(vertices[i], center, abs_angle*rotor);
 
 		target += (velocity_ * sim_->timeStep_);
-		vertices[i]=target;
+		vertices[i] = target;
 		bary += target;
 	}
+
 	front=(vertices[1] + vertices[2]) / 2;
 	if(angle >0)
 		{
@@ -383,6 +394,18 @@ void MovingObstacle::update()
 
 	center = bary / nbVertices;
 
+	//computing details vector on vertices
+	for (unsigned int i = 0; i < nbVertices; ++i)
+	{
+		VEC3 v(vertices[i]-center);
+		if(v*velocity_>=0)
+		{
+			verticesDetails[i] = v*2.0f;
+		}
+		else
+			verticesDetails[i] = VEC3(0);
+	}
+
 	//-------- code ajoute par Arash pour les obstacles rectangulaires --------------
 
 	VEC3 P0_P1 = vertices[1] - vertices[0];
@@ -407,10 +430,10 @@ void MovingObstacle::update()
 	{
 		//		CGoGNout << "avant une etape : Obstacle "<< i << CGoGNendl;
 		Obstacle* o = obstacles_[i];
-//		o->p1 = parts_[i]->getPosition();
-//		o->p2 = parts_[(i + 1) % nbVertices]->getPosition();
-//		o->prevP = parts_[(i - 1 + nbVertices) % nbVertices]->getPosition();
-//		o->nextP = parts_[(i + 2) % nbVertices]->getPosition();
+		o->p1 = getDilatedPosition(i);
+		o->p2 = getDilatedPosition((i+1) % nbVertices);
+		o->prevP = getDilatedPosition((i - 1 + nbVertices) % nbVertices);
+		o->nextP = getDilatedPosition((i + 2 + nbVertices) % nbVertices);
 		sim_->envMap_.popAndPushObstacleInCells(o,i);