résolu 2D

include/env_map.h

@@ -34,7 +34,7 @@ class ArticulatedObstacle;
 
 //#define EXPORTING3
 
-//#define TWO_AND_HALF_DIM
+#define TWO_AND_HALF_DIM
 
 
 #ifdef EXPORTING3

include/moving_obstacle.h

@@ -7,11 +7,16 @@
 #include "env_map.h"
 #include <set>
 
+// #define SECURED
 
 #ifdef TWO_AND_HALF_DIM
 	#include "Algo/MovingObjects/particle_cell_2DandHalf_memo.h"
+#else
+#ifdef SECURED
+	#include "Algo/MovingObjects/particle_cell_2D_secured.h"
 #else
 	#include "Algo/MovingObjects/particle_cell_2D_memo.h"
+#endif
 #endif
 
  #define EXPORTING_BOXES
@@ -147,7 +152,7 @@ public:
 	bool rigid_;
 	bool spinning;
 	ArticulatedObstacle * parent;
-	float hight;
+	float height;
 	MovingMesh* mm_;
 	Agent* ag_;
 	int index_parent;

src/moving_obstacle.cpp

@@ -146,25 +146,18 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 	if(dInside==NIL)
 		dInside = sim_->envMap_.getBelongingCell(pos[0]);
 
+	unsigned int nbParticles = nbVertices;
+	if(!rigid);
+	  nbParticles +=1; //a center particle for the mass-spring
+	
 #ifdef TWO_AND_HALF_DIM
-
-	if(!rigid_)
-		{
-			parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>*[nbVertices+1];
-		}
-		else
-		{
-		parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>*[nbVertices];
-		}
+	parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>*[nbParticles];
 #else
-	if(!rigid_)
-	{
-		parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>*[nbVertices+1];
-	}
-	else
-	{
-	parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>*[nbVertices];
-	}
+#ifdef SECURED
+	parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DSecured<PFP>*[nbParticles];
+#else
+	parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>*[nbParticles];
+#endif
 #endif
 
 	obstacles_ = new Obstacle*[nbVertices];
@@ -186,46 +179,47 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 	for (unsigned int i = 0; i < nbVertices; ++i)
 	{
 #ifdef TWO_AND_HALF_DIM
-		Dart d = dInside;/*sim_->envMap_.getBelongingCellOnSurface(pos[i]);  TO CHECK*/
-//		CGoGNout<<" d trouvée :"<< d <<CGoGNendl;
-		CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>* part = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>(sim_->envMap_.map, d, pos[i], sim_->envMap_.position);
+		Dart d = dInside;
+		parts_[i] = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>(sim_->envMap_.map, d, pos[i], sim_->envMap_.position);
 
 #else
 		Dart d = sim_->envMap_.getBelongingCell(pos[i]);
-		CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>* part = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>(sim_->envMap_.map, d, pos[i], sim_->envMap_.position);
+#ifdef SECURED
+		parts_[i]  = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DSecured<PFP>(sim_->envMap_.map, d, pos[i], sim_->envMap_.position);
+#else
+
+		parts_[i]  = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>(sim_->envMap_.map, d, pos[i], sim_->envMap_.position);
+#endif
 #endif
-		parts_[i] = part;
 		center += pos[i];
 
 		if(i==0)
 			dDir = d;
 	}
 
-		center /= nbVertices;
-		front=(pos[0] + pos[1]) / 2;
+	center /= nbVertices;
+	front=(pos[0] + pos[1]) / 2;
+	
+	if(!rigid_)
+	{
 #ifdef TWO_AND_HALF_DIM
-
-		if(!rigid_)
-		{
-			CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>* part = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>(sim_->envMap_.map, dInside, center, sim_->envMap_.position);
-			parts_[nbVertices]=part;
-		}
+		parts_[nbVertices] = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>(sim_->envMap_.map, dInside, center, sim_->envMap_.position);
 #else
-
-if(!rigid_)
-{
-	CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>* part = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>(sim_->envMap_.map, dInside, center, sim_->envMap_.position);
-	parts_[nbVertices]=part;
-}
+#ifdef SECURED
+		parts_[nbVertices]  = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DSecured<PFP>(sim_->envMap_.map, dInside, center, sim_->envMap_.position);
+#else
+		parts_[nbVertices] = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>(sim_->envMap_.map, dInside, center, sim_->envMap_.position);
+#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();
 	//	width  = (pos[1]-pos[2]).norm();
 	//	sum_dist_foci_rest = 2*(length + width*(sqrt(2)-0.5));
 
-		if ( parent==NULL) //départ face à la cible en cas d'obstacles pouvant effectuer des rotations
-		{
+	if ( parent==NULL) //départ face à la cible en cas d'obstacles pouvant effectuer des rotations
+	{
 //			VEC3 axeZ=VEC3 (0,0,1);
 //#ifdef TWO_AND_HALF_DIM
 //
@@ -260,7 +254,7 @@ if(!rigid_)
 //			}
 //			angle=0;
 //			front=(pos[0] + pos[1]) / 2;
-		}
+	}
 
 	groundFace = map.newFace(nbVertices);
 
@@ -280,24 +274,16 @@ if(!rigid_)
 			velocity[d] = VEC3(0);
 			forces[d] = VEC3(0);
 		}
-
-
 	}
 
 	//extrude face to build a cage
 	// compute edgeLength for mass-spring
-	hight=rigid_ ? 10.0f : -10.0f;
-	Algo::Surface::Modelisation::extrudeFace<PFP>(map, position, groundFace, hight) ;
-//	Dart dT = map.phi1(map.phi1(map.phi2(Dart(0))));
-//	std::cout << __FUNCTION__ << " val " << dT << std::endl;
-//	position[dT]= VEC3(0);
-//	std::cout << __FUNCTION__ << " pos " << position[dT] << std::endl;
-
-//	Algo::Surface::Modelisation::extrudeFace<PFP>(map, position, groundFace, 0.0f) ;
+	height=rigid_ ? 10.0f : 10.0f;
+	Algo::Surface::Modelisation::extrudeFace<PFP>(map, position, groundFace, height) ;
+	
 	map.fillHole(groundFace);
 	groundFace = map.phi2(groundFace);
 
-
 	if(!rigid_)
 	{
 		Dart d = Algo::Surface::Modelisation::trianguleFace<PFP>(map,groundFace);
@@ -891,9 +877,6 @@ void MovingObstacle::updateForces()
 	Dart d;
 	velocity_ = newVelocity_* velocity_factor;
 
-	// velocity_[0] = 0.0;
-	// velocity_[1] = 0.0;
-
 	// MAJ des particules
 	float abs_angle= angle > 0 ? 1 : -1;
 
@@ -916,7 +899,6 @@ void MovingObstacle::updateForces()
 			Dart e = map.phi1(d);
 			//initialisation of forces with viscosity
 			forces[e] += -0.9f*velocity[e];
-			// forces[dd] = VEC3(0.0);
 			VEC3 p1Next = position[map.phi1(e)]+(velocity[map.phi1(e)] * sim_->timeStep_); // ressorts sur le bord
 			VEC3 p2Next = position[e]+(velocity[e] * sim_->timeStep_);
 			// p1Next et p2Next sont la position des extremites de l'arete.
@@ -1178,96 +1160,74 @@ void MovingObstacle::applyForces()
 			velocity[e] += forces[e] * sim_->timeStep_;
 			position[e] += (velocity[e] * sim_->timeStep_);
 
-
-
-
-
 			d=map.phi<21>(d);
 		}
-
 		velocity[centerDart] +=forces[centerDart] * sim_->timeStep_;
 		position[centerDart] += (velocity[centerDart] * sim_->timeStep_);
-
-
-
-
-
-// MAJ des obstacles
-
-
 	}
 
-
-
-
-
 }
 
 void MovingObstacle::updateRegistration()
 {
 	PFP::VEC3 bary(0);
-		Dart centerDart =map.phi<11>(groundFace);
+	Dart centerDart =map.phi<11>(groundFace);
 
-		if(!rigid_)
+	if(!rigid_)
+	{
+		Dart d = centerDart;
+		for (unsigned int i = 0; i < nbVertices; ++i)
 		{
-			Dart d = centerDart;
-			for (unsigned int i = 0; i < nbVertices; ++i)
-			{
-				Dart e = map.phi_1(d);
+			Dart e = map.phi_1(d);
 
 
-				parts_[i]->move(position[e]);
-	#ifdef TWO_AND_HALF_DIM
+			parts_[i]->move(position[e]);
 
-				position[e] = parts_[i]->getPosition(); //recalage de l'obstacle sur ses particules (qui elles ont bien suivi la carte au sol)
+#ifdef TWO_AND_HALF_DIM
 
-					PFP::VEC3 normal = CGoGN::Algo::Surface::Geometry::faceNormal<PFP>(sim_->envMap_.map, parts_[i]->d, sim_->envMap_.position);
-						normal *= hight;
-	//					std::cout << " phi11 d : " <<  map.phi<112>(d) <<" || d : "<<d<< std::endl;
-					position[map.phi_1(map.phi<12>(d))] = position[e]+normal;
+			position[e] = parts_[i]->getPosition(); //recalage de l'obstacle sur ses particules (qui elles ont bien suivi la carte au sol)
+#endif
+			PFP::VEC3 normal = CGoGN::Algo::Surface::Geometry::faceNormal<PFP>(sim_->envMap_.map, parts_[i]->d, sim_->envMap_.position);
+			normal *= height;
+			position[map.phi_1(map.phi<12>(d))] = position[e]+normal;
 
-	#endif
-					bary += position[e];
-				d=map.phi<21>(d);
-			}
 
+			bary += position[e];
+			d=map.phi<21>(d);
+		}
 
-			center = bary / nbVertices;
-			parts_[nbVertices]->move(position[centerDart]);
+
+		center = bary / nbVertices;
+		parts_[nbVertices]->move(position[centerDart]);
 
 		#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
 
-	// MAJ des obstacles
 
 
-		}
+	}
 	else
+	{
+		for (unsigned int i = 0; i < nbVertices; ++i)
 		{
-			for (unsigned int i = 0; i < nbVertices; ++i)
-					{
-
-					VEC3 pos = getDilatedPosition(i);
-							parts_[i]->move(pos);
-
-				#ifdef TWO_AND_HALF_DIM
 
+			VEC3 pos = getDilatedPosition(i);
+		 	parts_[i]->move(pos);
+			Dart d(i);
+#ifdef TWO_AND_HALF_DIM
+			position[d] = parts_[i]->getPosition(); //recalage de l'obstacle sur ses particules (qui elles ont bien suivi la carte au sol)
+#endif
+			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;
 
-							Dart d(i);
-							position[d] = parts_[i]->getPosition(); //recalage de l'obstacle sur ses particules (qui elles ont bien suivi la carte au sol)
-
-								PFP::VEC3 normal = CGoGN::Algo::Surface::Geometry::faceNormal<PFP>(sim_->envMap_.map, parts_[i]->d, sim_->envMap_.position);
-									normal *= hight;
-				//					std::cout << " phi11 d : " <<  map.phi<112>(d) <<" || d : "<<d<< std::endl;
-								position[map.phi_1(d)] = position[d]+normal;
 
-				#endif
-					}
 		}
+	}
 	for (unsigned int i = 0; i < nbVertices; ++i)
-		{
-		//		CGoGNout << "avant une etape : Obstacle "<< i << CGoGNendl;
+	{
+	//		CGoGNout << "avant une etape : Obstacle "<< i << CGoGNendl;
 		Obstacle* o = obstacles_[i];
 		o->p1 = getDilatedPosition(i);
 		o->p2 = getDilatedPosition((i+1) % nbVertices);
@@ -1285,7 +1245,7 @@ void MovingObstacle::updateRegistration()
 			sim_->envMap_.popAndPushObstacleInCells(o,i);
 		}
 
-		/////affichage des belonging cells
+	/////affichage des belonging cells
 //		CGoGNout<< CGoGNendl;
 //		CGoGNout << "Obstacle "<< i << ": ";
 //		for(std::vector<Dart>::iterator ite = belonging_cells[i].begin();ite!=belonging_cells[i].end(); ++ite)
@@ -1293,8 +1253,9 @@ void MovingObstacle::updateRegistration()
 //			CGoGNout<<(*ite).index<<" ; ";
 //		}
 //		CGoGNout<< CGoGNendl;
-		//		CGoGNout << "Apres une etape : Obstacle "<< i << CGoGNendl;
+	//		CGoGNout << "Apres une etape : Obstacle "<< i << CGoGNendl;
 	}
+	
 	/////affichage du general_belonging
 //	CGoGNout<< CGoGNendl;
 //	CGoGNout << "General : ";

src/simulator.cpp

@@ -19,7 +19,7 @@ Simulator::Simulator(unsigned int config, unsigned int minS, unsigned int nbAgen
 #ifdef TWO_AND_HALF_DIM
 	timeStep_(0.01f),
 #else
-	timeStep_(0.25f),
+	timeStep_(config > 2 ? 0.01f : 0.25f),
 #endif
 //	timeStep_(0.2f),
 	globalTime_(0.0f),