ok

include/agent.h

@@ -8,10 +8,10 @@
 #include "spatialHashing.h"
 
 
-//#define SECURED
+// #define SECURED
 //#define EXPORTING_AGENT
 
-//#define EXPORTING_OBJ
+#define EXPORTING_OBJ
 #define ARASH
 
 

include/env_map.h

@@ -60,6 +60,8 @@ public:
 	REAL maxCellSize ;
 	REAL minCellSize ;
 	REAL obstacleDistance ;
+	
+	unsigned int config;
 
 	EnvMap() ;
 	void init(unsigned int config, REAL width, REAL height, REAL minSize, REAL maxSize) ;
@@ -132,6 +134,7 @@ public:
 	void popObstNeighborInCells(Obstacle* o, Dart d);
 	void find_next(Obstacle* o,Dart * d, CellMarkerMemo<FACE>& cms);
 	bool movingObstacleFree(Dart d);
+	bool movingObstacleNeighborFree(Dart d);
 #ifdef EXPORTING3
 	std::vector<PFP::MAP *> m_map_Export;
 	std::vector<Algo::Surface::Import::OBJModel<PFP2> *> m_obj_Export;

include/moving_obstacle.h

@@ -19,7 +19,7 @@
 #endif
 #endif
 
- #define EXPORTING_BOXES
+//  #define EXPORTING_BOXES
 
 #ifdef EXPORTING_BOXES
 	#include "Algo/Render/GL2/mapRender.h"
@@ -74,10 +74,15 @@ public:
 
 	unsigned int nbVertices;
 
-#ifdef TWO_AND_HALF_DIM
-	CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>* * parts_;
-#else
-	CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>* * parts_;
+#ifdef SECURED
+	CGoGN::Algo::Surface::MovingObjects::ParticleCell2DSecured<PFP> * * parts_ ;
+	#else
+
+		#ifdef TWO_AND_HALF_DIM
+		CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP> * * parts_ ;
+		#else
+		CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>* * parts_ ;
+		#endif
 #endif
 
 	PFP::MAP map;

meshRessources/scenario6/planeteBuilding.mtl

+# Blender MTL File: 'None'
+# Material Count: 1
+newmtl _untitled.001
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd .
+
+

meshRessources/scenario6/planeteSol.mtl

+# Blender MTL File: 'None'
+# Material Count: 1
+newmtl _untitled
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd .
+
+

meshRessources/scenario7/tacheBuilding.mtl

+# Blender MTL File: 'taches.blend'
+# Material Count: 1
+newmtl _untitled.001
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd .
+
+

meshRessources/scenario7/tacheSol.mtl

+# Blender MTL File: 'taches.blend'
+# Material Count: 1
+newmtl _untitled
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd .
+
+

meshRessources/scenario8/torusBuilding.mtl

+# Blender MTL File: 'None'
+# Material Count: 1
+newmtl _untitled.001
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd torusBuilding.png
+
+

meshRessources/scenario8/torusSol.mtl

+# Blender MTL File: 'None'
+# Material Count: 1
+newmtl _untitled
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd torusSol.png
+
+

meshRessources/scenario9/LimSimple.mtl

+# Blender MTL File: 'None'
+# Material Count: 1
+newmtl _untitled
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd LimSimple.png
+
+

src/agent.cpp

@@ -516,8 +516,23 @@ void Agent::update()
 		meanDirection_.normalize() ;
 	}
 
+
 #ifdef EXPORTING_OBJ
+	m_transfo.identity();
 	VEC3 dir = meanDirection_ ;
+	
+#ifdef TWO_AND_HALF_DIM
+	VEC3 n = Algo::Surface::Geometry::faceNormal<PFP>(sim_->envMap_.map, part_.getCell(), sim_->envMap_.position);
+	float angle = Geom::angle(n, VEC3(0,0,1) );
+	VEC3 axis = VEC3(0,0,1) ^ n ;
+	Geom::rotate(axis, angle, m_transfo) ;
+	
+	VEC3 base(0, -1, 0) ;
+	Geom::transform(base,m_transfo);
+	angle = Geom::angle(dir, base );
+	Geom::rotate(n, angle, m_transfo) ;
+#else
+	
 	VEC3 base(0, -1, 0) ;
 //	Geom::Plane3D<float> pl = Algo::Surface::Geometry::facePlane<PFP>(sim_->envMap_.map, part_.d, sim_->envMap_.position);
 //	pl.project(dir);
@@ -525,30 +540,10 @@ void Agent::update()
 
 
 
-	const VEC3 displ = getPosition();
-//	TraversorV<PFP2::MAP> tV(map);
-//	for(Dart d = tV.begin() ; d != tV.end() ; d = tV.next())
-//	{
-//		position[d] += rotate(position[d], previousPos, -previousRot);
-//		position[d] = position[d]+displ;
-//		position[d] += rotate(position[d], getPosition(), myRot);
-//	}
-	VEC3 normale = Algo::Surface::Geometry::faceNormal<PFP>(sim_->envMap_.map, part_.d, sim_->envMap_.position);
-	m_transfo.identity();
 
-	float angle2 = Geom::angle(dir, base ) ;
-	VEC3 axis2=VEC3(0,0,1);
-	if(angle2 != 0)
-	{
-//		CGoGNout<<"mexicain :" << agentNo << "angle : "<< angle2 <<CGoGNendl;
-		Geom::rotate(axis2, angle2, m_transfo) ;
-	}
-	float angle = Geom::angle(normale, VEC3 (0,0,1) ) ;
-	VEC3 axis = VEC3(0,0,1) ^ normale ;
-	if(angle != 0)
-	{
-		Geom::rotate(axis, angle, m_transfo) ;
-	}
+	Geom::rotateZ(myRot,m_transfo);
+#endif
+	const VEC3 displ = getPosition();
 
 	Geom::translate(displ[0],displ[1],displ[2],m_transfo);
 	m_transfo.transpose();

src/env_map.cpp

@@ -60,6 +60,8 @@ void EnvMap::init(unsigned int config, REAL width, REAL height, REAL minSize, RE
 	std::cout << "Init EnvMap" << std::endl ;
 	VEC3 bottomLeft(-width / 2, -height / 2, 0.0f) ;
 	VEC3 topRight(width / 2, height / 2, 0.0f) ;
+	
+	this->config = config;
 
 	geometry.reset() ;
 	geometry.addPoint(bottomLeft) ;
@@ -215,15 +217,16 @@ void EnvMap::init(unsigned int config, REAL width, REAL height, REAL minSize, RE
 
 //			CityGenerator::importObj<PFP>(*this, "./meshRessources/simpleSlugSmoothTest.obj");
 
-			CityGenerator::importObj<PFP>(*this, "./meshRessources/knot3Centered.obj");
+			CityGenerator::importObj<PFP>(*this, "./meshRessources/knot3CenteredSubSmooth.obj");
 
 			scale(150.0f);
-			CityGenerator::generateCity<PFP>(*this,500, 150.0f,5.0f) ;
+			CityGenerator::generateCity<PFP>(*this,1000, 150.0f,5.0f) ;
 			break;
 		case 9 :
 			CityGenerator::importObj<PFP>(*this, "./meshRessources/simpleSlugSmoothTest.obj");
+// 			CityGenerator::importObj<PFP>(*this, "./meshRessources/LimSol.obj");
 			scale(150.0f);
-			CityGenerator::generateCity<PFP>(*this,200, 150.0f,15.0f) ;
+// 			CityGenerator::generateCity<PFP>(*this,200, 150.0f,15.0f) ;
 			break;
 	}
 
@@ -260,9 +263,12 @@ void EnvMap::initGL()
 #ifdef EXPORTING3
 	std::vector<std::string> filenames;
 	std::vector<std::string> texturenames;
-
-	std::string dir("./meshRessources/PlaneteRessource/");
-
+	
+	std::ostringstream tmp;
+	tmp << "./meshRessources/scenario"  << config << "/" ;
+			
+	std::string dir = tmp.str();
+	
 	DIR *dp;
 	struct dirent *dirp;
 	if((dp  = opendir(dir.c_str())) == NULL)
@@ -1521,6 +1527,26 @@ bool EnvMap::movingObstacleFree(Dart d)
 
 
 
+}
+
+bool EnvMap::movingObstacleNeighborFree(Dart d)
+{
+	std::vector<Obstacle*>& obst = neighborObstvect[d];
+	for(std::vector<Obstacle*>::const_iterator it = obst.begin() ; it != obst.end() ; ++it)
+	{
+
+		if((*it)->mo!=NULL)
+		{
+			return false;
+		}
+	}
+
+	return true;
+
+
+
+
+
 }
 
 

src/moving_obstacle.cpp

@@ -184,6 +184,7 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 	{
 #ifdef TWO_AND_HALF_DIM
 		Dart d = dInside;
+
 		parts_[i] = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>(sim_->envMap_.map, d, center, sim_->envMap_.position);
 		parts_[i]->move(pos[i]);
 #else
@@ -195,12 +196,9 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 		parts_[i]  = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>(sim_->envMap_.map, d, pos[i], sim_->envMap_.position);
 #endif
 #endif
-
-
 		if(i==0)
 			dDir = d;
 	}
-
 	
 	front=(parts_[0]->getPosition() + parts_[1]->getPosition()) / 2;
 
@@ -216,6 +214,7 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 #endif
 #endif
 	}
+
 		// 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();
@@ -910,7 +909,7 @@ void MovingObstacle::updateForces()
 
 			//stretch spring : /!\ max rigidity relative to the timestep used (unstable otherwise)
 			float norm = v1.norm();
-			float rigidity = 50.0f;
+			float rigidity = 10.0f;
 
 			float stretch = rigidity*(edgeLength[e]-norm);//4
 			float angularStretch = 0, angularStretch2 = 0;
@@ -1097,7 +1096,7 @@ void MovingObstacle::updateForces()
 			normale.normalize();
 			VEC3 y = normale ^x;
 			y.normalize();
-			VEC3 nouvpos = rotate2D(VEC3 (1,0,0),(0,0,0),angle);
+			VEC3 nouvpos = rotate2D(VEC3(1,0,0),VEC3(0,0,0),angle);
 
 			position[d] += nouvpos[0]*x+nouvpos[1]*y;
 #else
@@ -1201,22 +1200,18 @@ void MovingObstacle::updateRegistration()
 			d=map.phi<21>(d);
 		}
 
-
 		center = bary / nbVertices;
 		parts_[nbVertices]->move(position[centerDart]);
 
-		#ifdef TWO_AND_HALF_DIM
+#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
-
-
+#endif
 
 	}
 	else
 	{
 		for (unsigned int i = 0; i < nbVertices; ++i)
 		{
-
 			VEC3 pos = getDilatedPosition(i);
 		 	parts_[i]->move(pos);
 			Dart d(i);
@@ -1226,8 +1221,6 @@ void MovingObstacle::updateRegistration()
 			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;
-
-
 		}
 	}
 	for (unsigned int i = 0; i < nbVertices; ++i)

src/simulator.cpp

@@ -91,6 +91,7 @@ void Simulator::init( float dimension, unsigned int nbAgent, unsigned int nbObst
 		case 6:
 
 			envMap_.init(config,200.0,200.0, minSize, 400.0f);
+
 			addMovingObstacles(nbObst, 1, 500, 1);
 			setupPlanetScenario(nbAgent,nbObst);
 			addPathToObstacles(envMap_.buildingMark, true);
@@ -98,20 +99,21 @@ void Simulator::init( float dimension, unsigned int nbAgent, unsigned int nbObst
 
 			break;
 		case 7 : envMap_.init(config,200.0,200.0, minSize, 400.0f);
+
 			addMovingObstacles(nbObst, 1 , 300 , 1 );
 			setupPlanetScenario(nbAgent,nbObst, 1 , 1);
 			addPathToObstacles(envMap_.buildingMark, true);
 			addPathsToAgents();
 			break;
 		case 8 : envMap_.init(config,200.0,200.0, minSize, 400.0f);
-			addMovingObstacles(nbObst, 1 , 100 , 1);
+			addMovingObstacles(nbObst, 1 , 300 , 5);
 			setupPlanetScenario(nbAgent,nbObst,1,1);
 			addPathToObstacles(envMap_.buildingMark, true);
 			addPathsToAgents();
 			break;
 		case 9 : envMap_.init(config,200.0,200.0, minSize, 400.0f);
-			addMovingObstacles(nbObst, 1 , 400 , 1);
-			setupPlanetScenario(nbAgent,nbObst);
+			addMovingObstacles(nbObst, 1 , 400 , 6);
+			setupPlanetScenario(nbAgent,nbObst, 1, 1, 300);
 			addPathToObstacles(envMap_.buildingMark, true);
 			addPathsToAgents();
 			break;
@@ -834,11 +836,12 @@ void Simulator::addMovingObstacles(unsigned int nb, unsigned int type, float are
 		while (!found && d != tF.end())
 		{
 			if (!envMap_.buildingMark.isMarked(d)
-				&& !envMap_.pedWayMark.isMarked(d) && envMap_.obstvect[d].size() == 0
+				&& !envMap_.pedWayMark.isMarked(d) 
+// 				&& envMap_.obstvect[d].size() == 0
 				)
 			{
 				float area = Algo::Surface::Geometry::convexFaceArea<PFP>(envMap_.map, d, envMap_.position);
-				if(area>areaMin && (rand() % randLimace == 0))
+				if(area>areaMin && envMap_.movingObstacleNeighborFree(d) && (rand() % randLimace == 0))
 				{
 					dCell = d ;
 					found = true ;
@@ -969,7 +972,7 @@ void Simulator::addPathToObstacles(CellMarker<FACE>& markForbid, bool goalCenter
 		(*it)->goals_.clear();
 
 		Dart dStart = (*it)->parts_[0]->d;
-
+		
 		while(markForbid.isMarked(dStart))
 		{
 			if(!markForbid.isMarked(envMap_.map.phi2(dStart)))
@@ -979,12 +982,12 @@ void Simulator::addPathToObstacles(CellMarker<FACE>& markForbid, bool goalCenter
 		}
 
 		Dart dStop = dStart;
-
+		
 		for (unsigned int j = 0 ; envMap_.buildingMark.isMarked(dStop)
 			|| j < dartDistForPath + rand() * 20
 			|| envMap_.map.sameFace(dStop, dStart)
 			|| markForbid.isMarked(dStop)
-			|| !envMap_.map.sameVolume(dStop,dStart)
+// 			|| !envMap_.map.sameVolume(dStop,dStart)
 			; ++j)
 		{
 			envMap_.map.next(dStop) ;
@@ -993,6 +996,8 @@ void Simulator::addPathToObstacles(CellMarker<FACE>& markForbid, bool goalCenter
 		}
 
 		addPathToObstacle(*it, dStart, dStop, markForbid, goalCenterCell);
+		
+		std::cout << "path computed for obstacle " << (*it)->index << std::endl;
 	}
 }
 
@@ -1103,7 +1108,7 @@ void Simulator::addPathsToAgents()
 		    || j < dartDistForPath + rand() * 20
 		    || envMap_.map.sameFace(dStop, dStart)
 		    || envMap_.obstacleMark.isMarked(dStop)
-		    || !envMap_.map.sameVolume(dStop,dStart)
+// 		    || !envMap_.map.sameVolume(dStop,dStart)
 		    ; ++j)
 		{
 			envMap_.map.next(dStop) ;
@@ -1143,7 +1148,7 @@ void Simulator::addPathsToAgents()
 		    || envMap_.map.sameFace(dStop, dStop2)
 		    || envMap_.map.sameFace(dStop2, dStart)
 		    || envMap_.obstacleMark.isMarked(dStop)
-		    || !envMap_.map.sameVolume(dStop,dStart)
+// 		    || !envMap_.map.sameVolume(dStop,dStart)
 		    ; ++j)
 		{
 			envMap_.map.next(dStop2) ;

src/viewer.cpp

@@ -801,8 +801,8 @@ void SocialAgents::cb_redraw()
 		}
 
 		//		 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();
 
 	}
 
@@ -1041,8 +1041,9 @@ void SocialAgents::animate()
 //	if (CityGenerator::animateCity<PFP>(&simulator.envMap_)) simulator.addPathToCorner() ;
 //	simulator.addPathsToAgents() ;
 //
-
-//	std::cout << "t : " << simulator.globalTime_ << std::endl ;
+// 
+	std::cout << "t : " << nbIterations << std::endl ;
+// 	
 //
 //	timeval startTime ;
 //	gettimeofday(&startTime, NULL) ;