Merge branch 'master' of cgogn:~jund/CGoGN_Apps/SocialAgents2

Conflicts:
	Debug/CMakeLists.txt
	Release/CMakeLists.txt
	include/env_render.h
	include/viewer.h
	src/simulator.cpp
	src/viewer.cpp

Debug/CMakeLists.txt

@@ -2,6 +2,13 @@ cmake_minimum_required(VERSION 2.6)
 
 SET(CMAKE_BUILD_TYPE Debug)
 
+# FOR Qt4
+FIND_PACKAGE(Qt4 REQUIRED)
+SET(QT_USE_QTOPENGL TRUE)
+INCLUDE(${QT_USE_FILE})
+ADD_DEFINITIONS(${QT_DEFINITIONS})
+
+
 #SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pg")
 
 link_directories(
@@ -32,6 +39,7 @@ add_executable( socialAgentsD
 	../src/env_map.cpp
 	../src/agent.cpp
 	../src/simulator.cpp
+	../src/gl2ps.c
 	${socialAgents_moc}
 	${socialAgents_ui}
 )

Release/CMakeLists.txt

@@ -2,6 +2,12 @@ cmake_minimum_required(VERSION 2.6)
 
 SET(CMAKE_BUILD_TYPE Release)
 
+# FOR Qt4
+FIND_PACKAGE(Qt4 REQUIRED)
+SET(QT_USE_QTOPENGL TRUE)
+INCLUDE(${QT_USE_FILE})
+ADD_DEFINITIONS(${QT_DEFINITIONS})
+
 link_directories(
 	${CGoGN_ROOT_DIR}/lib/Release/
 )
@@ -29,10 +35,12 @@ add_executable( socialAgents
 	../src/env_map.cpp
 	../src/agent.cpp
 	../src/simulator.cpp
+	../src/gl2ps.c
 	${socialAgents_moc}
 	${socialAgents_ui}
 )
 
 target_link_libraries( socialAgents
 	${CGoGN_LIBS_R} ${COMMON_LIBS} ${QT_LIBRARIES} boost_thread-mt)
+)
 

include/agent.h

@@ -14,6 +14,8 @@ class Agent
 public:
 	Agent(Simulator* sim, const VEC3& position, Dart d);
 
+	VEC3 getPosition();
+
 	void updateAgentNeighbors();
 	void updateObstacleNeighbors();
 
@@ -59,6 +61,9 @@ public:
 	VEC3 newVelocity_;
 	VEC3 prefVelocity_;
 	
+	VEC3 meanSpeed_;
+	VEC3 meanPos_;
+
 	Simulator* sim_;
 };
 

include/env_generator.h

@@ -25,6 +25,11 @@ template <typename PFP>
 void generateCity(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMarker& obstacleMark, CellMarker& buildingMark, float sideSize, unsigned int nbSquares);
 
 
+template <typename PFP>
+void generateMall(typename PFP::MAP& map,typename PFP::TVEC3& position, CellMarker& obstacleMark, CellMarker& buildingMark, float sideSize);
+
+template <typename PFP>
+void generatePathToUpperStair(typename PFP::MAP& map,typename PFP::TVEC3& position, Dart dLower,Dart dUpper);
 
 
 template <typename PFP>
@@ -39,6 +44,9 @@ bool canRemoveEdgeConvex(typename PFP::MAP& map, typename PFP::TVEC3& position,
 template <typename PFP>
 void convexifyFreeSpace(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMarker& obstacleMark, CellMarker& buildingMark);
 
+template <typename PFP>
+void installGuardRail(typename PFP::MAP& map,typename PFP::TVEC3& position, CellMarker& obstacleMark, CellMarker& buildingMark, float height);
+
 }
 
 }

include/env_generator.hpp

@@ -110,7 +110,7 @@ void generateBuilding(typename PFP::MAP& map, typename PFP::TVEC3& position, Dar
 					dd = map.phi1(dd);
 				} while (dd != dRoofSmall);
 				dRoof = extrudeFaceAndMark<PFP>(map, position, dRoofSmall, buildingMark, height / 2.0f);
-			}/*
+			}
 			bool spike= rand() % 2;
 			if(spike)
 			{
@@ -118,7 +118,7 @@ void generateBuilding(typename PFP::MAP& map, typename PFP::TVEC3& position, Dar
 				c[2] += height / 1.5f;
 				dRoof = Algo::Modelisation::trianguleFace<PFP>(map, dRoof);
 				position[dRoof] = c;
-			}*/
+			}
 			break;
 		}
 	}
@@ -143,6 +143,119 @@ void generateCity(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMar
 	}
 }
 
+template <typename PFP>
+void generateMall(typename PFP::MAP& map,typename PFP::TVEC3& position, CellMarker& obstacleMark, CellMarker& buildingMark, float sideSize)
+{
+	unsigned int side = 5;
+	std::vector<Algo::Modelisation::Polyhedron<PFP> > floors;
+
+	Algo::Modelisation::Polyhedron<PFP> * floor2 = new Algo::Modelisation::Polyhedron<PFP>(map,position);
+	floor2->grid_topo(side,side);
+
+	floor2->embedGrid(sideSize*side,sideSize*side);
+
+	for(unsigned int i=0;i<5;++i)
+	{
+		float floorHeight = 100;
+		typename PFP::VEC3 transl(0,0,floorHeight);
+		CellMarker m(map, VERTEX_CELL) ;
+
+		for(Dart d=map.begin();d!=map.end();map.next(d))
+		{
+			if(!m.isMarked(d))
+			{
+				m.mark(d);
+				position[d] += transl;
+			}
+		}
+
+		Algo::Modelisation::Polyhedron<PFP> * floor1 = new Algo::Modelisation::Polyhedron<PFP>(map,position);
+		floor1->grid_topo(side,side);
+		floor1->embedGrid(sideSize*side,sideSize*side);
+
+		Dart d1 = map.template phi<121>(floor1->getDart());
+		Dart d2 = map.template phi<121121121>(floor2->getDart());
+
+		generatePathToUpperStair<PFP>(map,position,d1,d2);
+
+		floor2=floor1;
+	}
+
+	Dart boundary;
+	for(Dart d = map.begin(); d != map.end(); map.next(d))
+	{
+		if(map.phi2(d) == d)
+		{
+			obstacleMark.mark(d);
+			boundary = d;
+		}
+	}
+
+	map.closeHole(boundary);
+	buildingMark.mark(map.phi2(boundary));
+
+	installGuardRail<PFP>(map,position,obstacleMark,buildingMark,sideSize/5.0f);
+}
+
+template <typename PFP>
+void generatePathToUpperStair(typename PFP::MAP& map,typename PFP::TVEC3& position, Dart dLower,Dart dUpper)
+{
+	if(dLower!= map.phi2(dLower) || dUpper!=map.phi2(dUpper)) {
+		std::cout << "generatePathToUpperStair : lower and upper stair darts must be fixpoint in phi2" << std::endl;
+		return;
+	}
+
+	//create the path
+	Dart dPathUp = map.newOrientedFace(4);
+	Dart dInBetweenUp = map.newOrientedFace(4);
+	Dart dInBetweenDown = map.newOrientedFace(4);
+	Dart dInBetweenMid = map.newOrientedFace(4);
+	Dart dPathDown = map.newOrientedFace(4);
+
+	//sew the path
+	map.sewFaces(dUpper,map.phi1(map.phi1(dPathUp)));
+	map.sewFaces(dPathUp,map.phi1(map.phi1(dInBetweenUp)));
+	map.sewFaces(dLower,map.phi1(map.phi1(dPathDown)));
+	map.sewFaces(dPathDown,map.phi1(map.phi1(dInBetweenDown)));
+
+
+	map.sewFaces(map.phi1(dInBetweenDown),map.phi_1(dInBetweenMid));
+	map.sewFaces(map.phi_1(dInBetweenUp),map.phi1(dInBetweenMid));
+
+	//embed the inBetween floor
+	float z = (position[dLower][2]+position[dUpper][2])/2.0f;
+
+	//from lower path
+	typename PFP::VEC3 vDown = position[map.phi1(dLower)]-position[map.phi1(map.phi1(dLower))];
+
+	position[map.phi1(map.phi1(dInBetweenDown))] = position[map.phi1(dLower)] + vDown;
+	position[map.phi_1(dInBetweenDown)] =  position[dLower] + vDown;
+
+	position[dInBetweenDown] = position[map.phi_1(dInBetweenDown)]+vDown;
+	position[map.phi1(dInBetweenDown)] = position[map.phi1(map.phi1(dInBetweenDown))]+vDown;
+
+	//from upper path
+	position[map.phi1(map.phi1(dInBetweenUp))] = position[map.phi1(dUpper)] + vDown;
+	position[map.phi_1(dInBetweenUp)] =  position[dUpper] + vDown;
+
+	position[dInBetweenUp] = position[map.phi_1(dInBetweenUp)]+vDown;
+	position[map.phi1(dInBetweenUp)] = position[map.phi1(map.phi1(dInBetweenUp))]+vDown;
+
+	Dart dd = dInBetweenUp;
+	do
+	{
+		position[dd][2] = z;
+		dd = map.phi1(dd);
+	} while(dd!=dInBetweenUp);
+
+	dd = dInBetweenDown;
+	do
+	{
+		position[dd][2] = z;
+		dd = map.phi1(dd);
+	} while(dd!=dInBetweenDown);
+}
+
 template <typename PFP>
 void simplifyFreeSpace(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMarker& obstacleMark, CellMarker& buildingMark)
 {
@@ -423,6 +536,67 @@ void convexifyFreeSpace(typename PFP::MAP& map, typename PFP::TVEC3& position, C
 			map.mergeFaces(d);
 }
 
+template <typename PFP>
+void installGuardRail(typename PFP::MAP& map,typename PFP::TVEC3& position, CellMarker& obstacleMark, CellMarker& buildingMark, float height)
+{
+	CellMarker cm(map,EDGE_CELL);
+	CellMarkerNoUnmark railVert(map,EDGE_CELL);
+	for(Dart d = map.begin(); d != map.end(); map.next(d))
+	{
+		if(!cm.isMarked(d))
+		{
+			cm.mark(d);
+			if(obstacleMark.isMarked(d))
+			{
+				Dart dExt = map.newFace(4);
+				Dart dIn = map.newFace(4);
+
+				//mark new faces as obstacles, building and treated darts
+				obstacleMark.mark(dIn);
+				buildingMark.mark(dIn);
+				buildingMark.mark(dExt);
+				railVert.mark(map.phi_1(dIn));
+				railVert.mark(map.phi1(dExt));
+//				obstacleMark.mark(map.phi_1(dIn));
+//				obstacleMark.mark(map.phi1(dExt));
+
+				Dart ddExt = dExt;
+				Dart ddIn = dIn;
+				do
+				{
+					cm.mark(ddExt);
+					cm.mark(ddIn);
+					ddExt = map.phi1(ddExt);
+					ddIn = map.phi1(ddIn);
+				} while(ddExt!=dExt);
+
+				//sew the upper part of the guard rail
+				map.sewFaces(map.phi1(map.phi1(dExt)),dIn);
+				//sew the guard rail to the floor
+				Dart d2 = map.phi2(d);
+				map.unsewFaces(d);
+				map.sewFaces(d,dExt);
+				map.sewFaces(d2,map.phi1(map.phi1(dIn)));
+
+				//set the position of the guard rail
+				position[dIn] = position[d2];
+				position[dIn][2] += height;
+				position[map.phi2(dIn)] = position[d];
+				position[map.phi2(dIn)][2] += height;
+			}
+		}
+	}
+
+	for(Dart d = map.begin(); d != map.end(); map.next(d))
+	{
+		if(railVert.isMarked(d))
+		{
+			railVert.unmark(d);
+			map.sewFaces(d,map.phi_1(map.alpha_1(d)));
+		}
+	}
+}
+
 }
 
 }

include/env_map.h

@@ -61,7 +61,7 @@ public :
 	
 	void setAgentNeighborsAndObstacles(Agent* agent);
 	
-	void agentChangeFaceThroughEdge(Agent* agent);
+//	void agentChangeFaceThroughEdge(Agent* agent);
 	void agentChangeFace(Agent* agent, Dart oldFace);
 
 	void pushAgentInCells(Agent* agent, Dart d);
@@ -88,7 +88,7 @@ public :
 	CellMarker obstacleMark;
 	CellMarker buildingMark;
 
-	static const unsigned int nbAgentsToSubdivide = 12;
+	static const unsigned int nbAgentsToSubdivide = 3;
 	static const unsigned int nbAgentsToSimplify = 7;
 
 	std::map<unsigned int, Dart> refineCandidate;

include/env_render.h

@@ -26,6 +26,10 @@ inline void renderFace(EnvMap& m, Dart& d)
 
 inline void renderPredictionTriangle(EnvMap& m, Dart d, PFP::VEC3 p)
 {
+	Geom::Plane3D<float> pl = Algo::Geometry::facePlane<PFP>(m.map,d,m.position);
+	p[2] -= 1000;
+	Geom::intersectionPlaneRay(pl,p,VEC3(0,0,-1),p);
+
 	VEC3 pos1(m.position[d]);
 	VEC3 pos2(m.position[m.map.phi1(d)]);
 	pos2[2] += 2;
@@ -39,26 +43,51 @@ inline void renderPredictionTriangle(EnvMap& m, Dart d, PFP::VEC3 p)
 static const float cosT[5] = { 1, 0.309017, -0.809017, -0.809017, 0.309017 };
 static const float sinT[5] = { 0, 0.951057, 0.587785, -0.587785, -0.951057 };
 
-inline void renderAgent(Agent* agent, bool showNeighborDist = false, bool showObstacleDist = false)
+inline void renderAgent(EnvMap& m, Agent* agent, bool showNeighborDist = false, bool showObstacleDist = false)
 {
-	VEC3& pos = agent->part_.m_position;
+	VEC3 pos = agent->part_.m_position;
 	float radius = agent->radius_;
 	
+	Geom::Plane3D<float> pl = Algo::Geometry::facePlane<PFP>(m.map,agent->part_.d,m.position);
+	pos[2] -= 1000;
+	Geom::intersectionPlaneRay(pl,pos,VEC3(0,0,-1),pos);
+
 	glLineWidth(1.0f);
 	
 	glColor3f(1.0f,0.0f,0.0f);
 	glBegin(GL_POLYGON);
 	for(unsigned int i = 0; i < 5; ++i)
-		glVertex3f(pos[0] + (cosT[i] * radius), pos[1] + (sinT[i] * radius), 0.01f);
+		glVertex3f(pos[0] + (cosT[i] * radius), pos[1] + (sinT[i] * radius), pos[2]+0.01f);
 	glEnd();
 	
+	VEC3 dir = agent->velocity_;
+	dir.normalize();
+
+ 	//draw the speed vector
+//	VEC3 base(0,0,1);
+//	VEC3 myAxisRot = base^dir;
+//	myAxisRot.normalize();
+//	float myRot =  acos(base*dir);
+//
+//	glPushMatrix();
+//		glTranslatef(pos[0],pos[1],pos[2]);
+//		glRotatef(myRot,myAxisRot[0],myAxisRot[1],myAxisRot[2]);
+//
+//		glColor3f(0.0,0.0,0.0);
+//		glLineWidth(5.0f);
+//		glBegin(GL_LINES);
+//		glVertex3f(0.,0.,0.0);
+//		glVertex3f(0.,0.,agent->radius_*2.0f);
+//		glEnd();
+//	glPopMatrix();
+
 	if(showNeighborDist)
 	{
 		radius = sqrt(agent->neighborDistSq_);
 		glColor3f(0.0f,1.0f,0.0f);
 		glBegin(GL_LINE_LOOP);
 		for(unsigned int i = 0; i < 5; ++i)
-			glVertex3f(pos[0] + (cosT[i] * radius), pos[1] + (sinT[i] * radius), 0.01f);
+			glVertex3f(pos[0] + (cosT[i] * radius), pos[1] + (sinT[i] * radius), pos[2]+0.01f);
 		glEnd();
 	}
 	
@@ -68,7 +97,7 @@ inline void renderAgent(Agent* agent, bool showNeighborDist = false, bool showOb
 		glColor3f(0.0f,0.0f,1.0f);
 		glBegin(GL_LINE_LOOP);
 		for(unsigned int i = 0; i < 5; ++i)
-			glVertex3f(pos[0] + (cosT[i] * radius), pos[1] + (sinT[i] * radius), 0.01f);
+			glVertex3f(pos[0] + (cosT[i] * radius), pos[1] + (sinT[i] * radius), pos[2]+0.01f);
 		glEnd();
 	}
 }

include/gl2ps.h

+/*
+ * GL2PS, an OpenGL to PostScript Printing Library
+ * Copyright (C) 1999-2009 C. Geuzaine
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of either:
+ *
+ * a) the GNU Library General Public License as published by the Free
+ * Software Foundation, either version 2 of the License, or (at your
+ * option) any later version; or
+ *
+ * b) the GL2PS License as published by Christophe Geuzaine, either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See either
+ * the GNU Library General Public License or the GL2PS License for
+ * more details.
+ *
+ * You should have received a copy of the GNU Library General Public
+ * License along with this library in the file named "COPYING.LGPL";
+ * if not, write to the Free Software Foundation, Inc., 675 Mass Ave,
+ * Cambridge, MA 02139, USA.
+ *
+ * You should have received a copy of the GL2PS License with this
+ * library in the file named "COPYING.GL2PS"; if not, I will be glad
+ * to provide one.
+ *
+ * For the latest info about gl2ps and a full list of contributors,
+ * see http://www.geuz.org/gl2ps/.
+ *
+ * Please report all bugs and problems to <gl2ps@geuz.org>.
+ */
+
+#ifndef __GL2PS_H__
+#define __GL2PS_H__
+
+#include <stdio.h>
+#include <stdlib.h>
+
+/* Define GL2PSDLL at compile time to build a Windows DLL */
+
+#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
+#  if defined(_MSC_VER)
+#    pragma warning(disable:4115)
+#    pragma warning(disable:4996)
+#  endif
+#  include <windows.h>
+#  if defined(GL2PSDLL)
+#    if defined(GL2PSDLL_EXPORTS)
+#      define GL2PSDLL_API __declspec(dllexport)
+#    else
+#      define GL2PSDLL_API __declspec(dllimport)
+#    endif
+#  else
+#    define GL2PSDLL_API
+#  endif
+#else
+#  define GL2PSDLL_API
+#endif
+
+#if defined(__APPLE__) || defined(HAVE_OPENGL_GL_H)
+#  include <OpenGL/gl.h>
+#else
+#  include <GL/gl.h>
+#endif
+
+/* Support for compressed PostScript/PDF/SVG and for embedded PNG
+   images in SVG */
+
+#if defined(HAVE_ZLIB) || defined(HAVE_LIBZ)
+#  define GL2PS_HAVE_ZLIB
+#  if defined(HAVE_LIBPNG) || defined(HAVE_PNG)
+#    define GL2PS_HAVE_LIBPNG
+#  endif
+#endif
+
+/* Version number */
+
+#define GL2PS_MAJOR_VERSION 1
+#define GL2PS_MINOR_VERSION 3
+#define GL2PS_PATCH_VERSION 5
+#define GL2PS_EXTRA_VERSION ""
+
+#define GL2PS_VERSION (GL2PS_MAJOR_VERSION + \
+                       0.01 * GL2PS_MINOR_VERSION + \
+                       0.0001 * GL2PS_PATCH_VERSION)
+
+#define GL2PS_COPYRIGHT "(C) 1999-2009 C. Geuzaine"
+
+/* Output file formats (the values and the ordering are important!) */
+
+#define GL2PS_PS  0
+#define GL2PS_EPS 1
+#define GL2PS_TEX 2
+#define GL2PS_PDF 3
+#define GL2PS_SVG 4
+#define GL2PS_PGF 5
+
+/* Sorting algorithms */
+
+#define GL2PS_NO_SORT     1
+#define GL2PS_SIMPLE_SORT 2
+#define GL2PS_BSP_SORT    3
+
+/* Message levels and error codes */
+
+#define GL2PS_SUCCESS       0
+#define GL2PS_INFO          1
+#define GL2PS_WARNING       2
+#define GL2PS_ERROR         3
+#define GL2PS_NO_FEEDBACK   4
+#define GL2PS_OVERFLOW      5
+#define GL2PS_UNINITIALIZED 6
+
+/* Options for gl2psBeginPage */
+
+#define GL2PS_NONE                 0
+#define GL2PS_DRAW_BACKGROUND      (1<<0)
+#define GL2PS_SIMPLE_LINE_OFFSET   (1<<1)
+#define GL2PS_SILENT               (1<<2)
+#define GL2PS_BEST_ROOT            (1<<3)
+#define GL2PS_OCCLUSION_CULL       (1<<4)
+#define GL2PS_NO_TEXT              (1<<5)
+#define GL2PS_LANDSCAPE            (1<<6)
+#define GL2PS_NO_PS3_SHADING       (1<<7)
+#define GL2PS_NO_PIXMAP            (1<<8)
+#define GL2PS_USE_CURRENT_VIEWPORT (1<<9)
+#define GL2PS_COMPRESS             (1<<10)
+#define GL2PS_NO_BLENDING          (1<<11)
+#define GL2PS_TIGHT_BOUNDING_BOX   (1<<12)
+
+/* Arguments for gl2psEnable/gl2psDisable */
+
+#define GL2PS_POLYGON_OFFSET_FILL 1
+#define GL2PS_POLYGON_BOUNDARY    2
+#define GL2PS_LINE_STIPPLE        3
+#define GL2PS_BLEND               4
+
+/* Text alignment (o=raster position; default mode is BL):
+   +---+ +---+ +---+ +---+ +---+ +---+ +-o-+ o---+ +---o 
+   | o | o   | |   o |   | |   | |   | |   | |   | |   | 
+   +---+ +---+ +---+ +-o-+ o---+ +---o +---+ +---+ +---+ 
+    C     CL    CR    B     BL    BR    T     TL    TR */
+
+#define GL2PS_TEXT_C  1
+#define GL2PS_TEXT_CL 2
+#define GL2PS_TEXT_CR 3
+#define GL2PS_TEXT_B  4
+#define GL2PS_TEXT_BL 5
+#define GL2PS_TEXT_BR 6
+#define GL2PS_TEXT_T  7
+#define GL2PS_TEXT_TL 8
+#define GL2PS_TEXT_TR 9
+
+typedef GLfloat GL2PSrgba[4];
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+GL2PSDLL_API GLint gl2psBeginPage(const char *title, const char *producer, 
+                                  GLint viewport[4], GLint format, GLint sort,
+                                  GLint options, GLint colormode,
+                                  GLint colorsize, GL2PSrgba *colormap, 
+                                  GLint nr, GLint ng, GLint nb, GLint buffersize,
+                                  FILE *stream, const char *filename);
+GL2PSDLL_API GLint gl2psEndPage(void);
+GL2PSDLL_API GLint gl2psSetOptions(GLint options);
+GL2PSDLL_API GLint gl2psGetOptions(GLint *options);
+GL2PSDLL_API GLint gl2psBeginViewport(GLint viewport[4]);
+GL2PSDLL_API GLint gl2psEndViewport(void);
+GL2PSDLL_API GLint gl2psText(const char *str, const char *fontname, 
+                             GLshort fontsize);
+GL2PSDLL_API GLint gl2psTextOpt(const char *str, const char *fontname, 
+                                GLshort fontsize, GLint align, GLfloat angle);
+GL2PSDLL_API GLint gl2psSpecial(GLint format, const char *str);
+GL2PSDLL_API GLint gl2psDrawPixels(GLsizei width, GLsizei height,
+                                   GLint xorig, GLint yorig,
+                                   GLenum format, GLenum type, const void *pixels);
+GL2PSDLL_API GLint gl2psEnable(GLint mode);
+GL2PSDLL_API GLint gl2psDisable(GLint mode);
+GL2PSDLL_API GLint gl2psPointSize(GLfloat value);
+GL2PSDLL_API GLint gl2psLineWidth(GLfloat value);
+GL2PSDLL_API GLint gl2psBlendFunc(GLenum sfactor, GLenum dfactor);
+
+/* undocumented */
+GL2PSDLL_API GLint gl2psDrawImageMap(GLsizei width, GLsizei height,
+                                     const GLfloat position[3],
+                                     const unsigned char *imagemap);
+GL2PSDLL_API const char *gl2psGetFileExtension(GLint format);
+GL2PSDLL_API const char *gl2psGetFormatDescription(GLint format);
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __GL2PS_H__ */

include/path_finder.h

@@ -11,7 +11,7 @@ namespace PathFinder
 	float pathCostSqr(typename PFP::MAP& map, const typename PFP::TVEC3& position, Dart startPos, Dart stopPos);
 
 	template <typename PFP>
-	std::vector<Dart> pathFindAStar(typename PFP::MAP& map, const typename PFP::TVEC3& position, Dart startPos, Dart stopPos, FunctorType& bad = FunctorType());
+	std::vector<Dart> pathFindAStar(typename PFP::MAP& map, const typename PFP::TVEC3& position, Dart startPos, Dart stopPos, CellMarker& bad);
 
 }
 

include/path_finder.hpp

@@ -16,7 +16,7 @@ float pathCostSqr(typename PFP::MAP& map,const typename PFP::TVEC3& position, Da
 }
 
 template <typename PFP>
-std::vector<Dart> pathFindAStar(typename PFP::MAP& map,const typename PFP::TVEC3& position, Dart startPos, Dart stopPos, FunctorType& bad)
+std::vector<Dart> pathFindAStar(typename PFP::MAP& map,const typename PFP::TVEC3& position, Dart startPos, Dart stopPos, CellMarker& bad)
 {
 	std::vector<Dart> path;
 
@@ -35,7 +35,7 @@ std::vector<Dart> pathFindAStar(typename PFP::MAP& map,const typename PFP::TVEC3
 			do {
 				ddd = map.alpha1(ddd);
 				if(ddd!=dd) {
-					if(!map.foreach_dart_of_face(ddd,bad) && tablePred[ddd]==EMBNULL) {
+					if(!bad.isMarked(ddd) && tablePred[ddd]==EMBNULL) {
 						//evaluate their cost and push them in the vector to dev
 						if(tablePred[ddd]==EMBNULL)
 							tablePred[ddd]=toDev;
@@ -60,9 +60,7 @@ std::vector<Dart> pathFindAStar(typename PFP::MAP& map,const typename PFP::TVEC3
 	//if path found : from start to stop -> push all predecessors
 	if(map.sameOrientedFace(startPos,toDev))
 	{
-		std::cout << "found" << std::endl;
 		Dart toPush=startPos;
-		std::cout << tablePred[startPos] << std::endl;
 		do {
 			path.push_back(toPush);
 			toPush = tablePred[toPush];

include/simulator.h

@@ -28,7 +28,7 @@ public:
 	void doStep();
 	
 	void setupScenario();
-//	void addPathsToAgents();
+	void addPathsToAgents();
 	
 	bool importAgents(std::string filename);
 	bool exportAgents(std::string filename);

include/utils.h

@@ -21,8 +21,11 @@ inline float det2D(const VEC3& vector1, const VEC3& vector2)
 	return vector1[0] * vector2[1] - vector1[1] * vector2[0];
 }
 
-inline float distSqPointLineSegment(const VEC3& a1, const VEC3& b1,	const VEC3& c1)
+inline float distSqPointLineSegment( VEC3 a1, VEC3 b1,	const VEC3& c1)
 {
+	a1[2] = 0;
+	b1[2] = 0;
+
 	VEC3 a1b1 = b1 - a1;
 	VEC3 a1c1 = c1 - a1;
 	const float r = (a1c1 * a1b1) / a1b1.norm2();
@@ -43,16 +46,6 @@ inline float distSqPointLineSegment(const VEC3& a1, const VEC3& b1,	const VEC3&
 	}
 }
 
-inline void projectPointOnLine(const VEC3& p, const VEC3& p1, const VEC3& p2, VEC3& proj)
-{
-	VEC3 v = p - p1;
-	VEC3 seg = p2 - p1;
-
-	seg.normalize();
-
-	proj = p1 + seg * (v * seg);
-}
-
 inline float leftOf(const VEC3& a, const VEC3& b, const VEC3& c)
 {
 	return det2D(a - c, b - a);

include/viewer.h

@@ -30,8 +30,10 @@
 
 #include "simulator.h"
 #include "env_render.h"
+#include "gl2ps.h"
 
 #include "Algo/Geometry/boundingbox.h"
+
 #include "Algo/Export/exportPov.h"
 #include "Utils/GLSLShader.h"
 #include "Algo/Render/GL1/map_glRender.h"
@@ -53,7 +55,7 @@ public:
 	void cb_initGL() ;
 	void cb_redraw() ;
 
-//	bool exportScenePov(PFP::MAP& map, PFP::TVEC3& position, const std::string& filename, PFP::VEC3 cameraPos, PFP::VEC3 cameraLook, PFP::VEC3 translate, float angle_X, float angle_Y, float angle_Z,const FunctorSelect& good = SelectorTrue());
+	bool exportScenePo