unidir OK. Manque obstacles fixes

include/moving_obstacle.h

@@ -51,7 +51,8 @@ public:
 	VEC3 getDilatedPosition(unsigned int ind); //vertex position with velocity dilatation
 	VEC3 getPosition(unsigned int ind); // vertex position
 	void initForces();
-	void update();
+	void updateForces();
+	void applyForces();
 
 	PFP::REAL computeMVC(PFP::VEC3 p, Dart vertex);
 	void computePointMVC(PFP::VEC3 point, std::vector<PFP::REAL>& coordinates);

src/moving_obstacle.cpp

@@ -3,6 +3,7 @@
 #include "agent.h"
 #include "simulator.h"
 #include "moving_mesh.h"
+#include "Utils/colorMaps.h"
 
 #include "Algo/Modelisation/triangulation.h"
 
@@ -310,7 +311,11 @@ void MovingObstacle::draw()
 //	m_render->initPrimitives<PFP>(map, Algo::Render::GL2::TRIANGLES,false) ;
 	m_positionVBO->updateData(position);
 //	m_shader->setColor(Geom::Vec4f(movingObstacleNeighbors_.size()==0 ? 1.0f : 0,0.,0.,0.));
-	m_shader->setColor(Geom::Vec4f(1.0f,0.,0.,0.0));
+	VEC3 col = Utils::color_map_BCGYR(float(index)/float(sim_->movingObstacles_.size()));
+	if(movingObstacleNeighbors_.size()==0)
+		m_shader->setColor(Geom::Vec4f(col[0],col[1],col[2],0));
+	else
+		m_shader->setColor(Geom::Vec4f(0.5,0.5,0.5,0));
 	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);
@@ -698,19 +703,19 @@ void getResponse2(VEC3 f, VEC3 p, VEC3 p1, VEC3 p2, VEC3 *f1, VEC3 *f2)
 
 void MovingObstacle::initForces()
 {
+	Dart dd = groundFace;
 	if(!rigid_)
-		for (unsigned int i = 1; i < nbVertices; ++i)
+		for (unsigned int i = 0; i < nbVertices; ++i)
 		{
 			//initialisation of forces
 			forces[dd] = VEC3(0.0);
 			map.next(dd);
 		}
-
 }
 
 //-------------------------------------------------------------
 
-void MovingObstacle::update()
+void MovingObstacle::updateForces()
 {
 	assert(sim_->envMap_.map.getCurrentLevel() == sim_->envMap_.map.getMaxLevel()) ;
 
@@ -748,10 +753,10 @@ void MovingObstacle::update()
 	if(!rigid_)
 	{
 		Dart d = groundFace;
-		map.next(d);
+		// map.next(d);
 
 		Dart dd =d;
-		for (unsigned int i = 1; i < nbVertices; ++i)
+		for (unsigned int i = 0; i < nbVertices; ++i)
 		{
 			//initialisation of forces with viscosity
 			forces[dd] += -0.2f*velocity[dd];
@@ -763,7 +768,7 @@ void MovingObstacle::update()
 		CellMarkerStore<VERTEX> cmV(map);
 		DartMarkerStore dm(map);
 		// ARASH : On parcourt les sommets de la grande face
-		for (unsigned int i = 1; i < nbVertices; ++i)
+		for (unsigned int i = 0; i < nbVertices; ++i)
 		{
 			Dart dd = d;
 
@@ -899,12 +904,13 @@ void MovingObstacle::update()
 							// obst->mo->forces[obst->index+1%obst->mo->nbVertices]
 							VEC3 force_vector1, force_vector2;
 							getResponse1(force_vector,p,p1,p2,&force_vector1,&force_vector2);
-							int indice1 = obst->index;
-							int indice2 = (obst->index+1)%(obst->mo->nbVertices);
-							// obst->mo->forces[indice1] += force_vector1;
-							// obst->mo->forces[indice2] += force_vector2;
-							VEC3 p11 = obst->mo->position[indice1];
-							VEC3 p22 = obst->mo->position[indice2];
+							Dart d1 = obst->d1;
+							Dart d2 = obst->d2;
+							// obst->mo->forces[d1] += force_vector1;
+							// obst->mo->forces[d2] += force_vector2;
+
+							// VEC3 p11 = obst->mo->position[d1];
+							// VEC3 p22 = obst->mo->position[d2];
 							// cerr << "p1=" << p1 << " p11=" << p11 << " p2=" << p2 << " p22=" << p22 << endl;
 						}
 					}
@@ -916,10 +922,11 @@ void MovingObstacle::update()
 		}
 
 		//guiding vertex = first vertex (set the displacement)
-		forces[groundFace] = VEC3(0);
+		// forces[groundFace] = VEC3(0);
 		velocity[groundFace] = velocity_;
 
 		//apply force to each vertex
+		/*
 		d = groundFace;
 		for (unsigned int i = 0; i < nbVertices; ++i)
 		{
@@ -929,6 +936,7 @@ void MovingObstacle::update()
 			bary += position[d];
 			map.next(d);
 		}
+		*/
 	}
 	else
 	{
@@ -950,15 +958,7 @@ void MovingObstacle::update()
 
 			bary += position[d];
 
-#ifdef TWO_AND_HALF_DIM
-			std::cout << " dist supp " << (getDilatedPosition(i)-parts_[i]->getPosition()).norm() << std::endl;
-#endif
-			parts_[i]->move(getDilatedPosition(i));
-#ifdef TWO_AND_HALF_DIM
-			std::cout << " dist " << parts_[i]->getDistance() << std::endl;
 
-			position[d] = parts_[i]->getPosition();
-#endif
 			map.next(d);
 		}
 
@@ -987,10 +987,40 @@ void MovingObstacle::update()
 
 //	if(!rigid_)
 //		center = position[groundFace];
+}
+
+//-------------------------------------------------------------------------
 
-	// MAJ des obstacles
+void MovingObstacle::applyForces()
+{
+	PFP::VEC3 bary(0);
+
+	if(!rigid_)
+	{
+		Dart d = groundFace;
+		for (unsigned int i = 0; i < nbVertices; ++i)
+		{
+			velocity[d] += forces[d] * sim_->timeStep_;
+			position[d] += (velocity[d] * sim_->timeStep_);
+			position[map.phi<211>(d)] += (velocity[d] * sim_->timeStep_);
+			bary += position[d];
+			map.next(d);
+		}
+		center = bary / nbVertices;
+	}
+// MAJ des obstacles
 	for (unsigned int i = 0; i < nbVertices; ++i)
 	{
+#ifdef TWO_AND_HALF_DIM
+			std::cout << " dist supp " << (getDilatedPosition(i)-parts_[i]->getPosition()).norm() << std::endl;
+#endif
+			parts_[i]->move(getDilatedPosition(i));
+#ifdef TWO_AND_HALF_DIM
+			std::cout << " dist " << parts_[i]->getDistance() << std::endl;
+
+			position[d] = parts_[i]->getPosition();
+#endif
+
 		//		CGoGNout << "avant une etape : Obstacle "<< i << CGoGNendl;
 		Obstacle* o = obstacles_[i];
 		o->p1 = getDilatedPosition(i);
@@ -1049,9 +1079,9 @@ void MovingObstacle::update()
 
 		}
 	}
-
 }
 
+//-------------------------------------------------------------------------
 
 std::vector<Dart> MovingObstacle::getMemoCross(const VEC3& pos, const VEC3& dest, Dart& d1, Dart& d2)
 {
@@ -1209,7 +1239,7 @@ void MovingObstacle::computePrefVelocity() //calcul du vecteur optimal pour atte
 	{
 		goalVector = (get_center(parent,index_parent-1) -center);
 		float goalDist2 = goalVector.norm2() ;
-		if (goalDist2 > maxSpeed_)
+		if (goalDist2 > 100*maxSpeed_)
 		{
 			goalVector.normalize() ;
 			goalVector *= maxSpeed_;

src/simulator.cpp

@@ -132,11 +132,18 @@ void Simulator::doStep()
 		movingObstacles_[i]->initForces();
 	}
 
+	for (unsigned int i = 0 ; i < movingObstacles_.size() ; ++i)
+		movingObstacles_[i]->updateForces() ;
+
 	for (unsigned int i = 0 ; i < movingObstacles_.size() ; ++i)
 	{
-		movingObstacles_[i]->update() ;
+		movingObstacles_[i]->applyForces();
 		movingObstacles_[i]->updateMesh() ;
 	}
+
+
+
+
 	endTime=clock() ;
 	time_obstacle+= endTime-begTime;
 	begTime=clock() ;

src/viewer.cpp

@@ -33,7 +33,7 @@ SocialAgents::SocialAgents(unsigned int config, unsigned int minSize, unsigned i
 #ifdef EXPORTING_OBJ
 	m_objAgent(mapAgent),
 #endif
-	m_renderStyle(0),	
+	m_renderStyle(0),
 	nbIterations(0),
 	maxIterations(iterations),
 	nbGeneratedPov(0),
@@ -726,10 +726,9 @@ void SocialAgents::cb_redraw()
 			simulator.movingObstacles_[i]->draw();
 #endif
 		}
-
 		// Commente par Arash
-		for (std::vector<MovingMesh*>::iterator it = simulator.movingMeshes_.begin() ; it != simulator.movingMeshes_.end() ; ++it)
-			(*it)->draw();
+		// for (std::vector<MovingMesh*>::iterator it = simulator.movingMeshes_.begin() ; it != simulator.movingMeshes_.end() ; ++it)
+		// (*it)->draw();
 
 	}