new limace for tests

Debug/CMakeLists.txt

@@ -9,11 +9,11 @@ ELSE (WIN32)
 ENDIF (WIN32)
 
 include_directories(
+	${CMAKE_CURRENT_BINARY_DIR}
 	${CMAKE_CURRENT_SOURCE_DIR}
 	../include
 	${CGoGN_ROOT_DIR}/include
 	${COMMON_INCLUDES}
-	${CMAKE_CURRENT_BINARY_DIR}
 )
 
 file(

Release/CMakeLists.txt

@@ -10,10 +10,10 @@ ENDIF (WIN32)
 
 include_directories(
 	${CMAKE_CURRENT_BINARY_DIR}
+	${CMAKE_CURRENT_SOURCE_DIR}
 	../include
 	${CGoGN_ROOT_DIR}/include
 	${COMMON_INCLUDES}
-	${CMAKE_CURRENT_SOURCE_DIR}
 )
 
 file(

meshRessources/Limace_2.mtl

+# Blender MTL File: 'Limace.002.blend'
+# Material Count: 1
+newmtl _rect2987.png
+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 C:\Users\larue\Downloads\Limace.002.blend\limace.png
+
+

src/agent.cpp

@@ -246,37 +246,37 @@ void Agent::updateObstacleNeighbors()
 	for(std::vector<Obstacle*>::const_iterator it = neighborObst.begin() ; it != neighborObst.end() ; ++it)
 	{
 		if ((*it)->mo==NULL)
+		{
+			float distSq = distSqPointLineSegment((*it)->p1, (*it)->p2, part_.getPosition()) ;
+			if ((obstacleNeighbors_.size() < maxNeighbors_ || distSq < maxDistObst)
+					&&distSq < rangeSq_)
+			{
+				if (Geom::testOrientation2D(part_.getPosition(), (*it)->p1, (*it)->p2) == Geom::RIGHT)
 				{
-					float distSq = distSqPointLineSegment((*it)->p1, (*it)->p2, part_.getPosition()) ;
-					if ((obstacleNeighbors_.size() < maxNeighbors_ || distSq < maxDistObst)
-						    &&distSq < rangeSq_)
-					{
-						if (Geom::testOrientation2D(part_.getPosition(), (*it)->p1, (*it)->p2) == Geom::RIGHT)
-						{
-
-							if (distSq > maxDistObst) maxDistObst = distSq ;
-								obstacleNeighbors_.push_back(std::make_pair(distSq, *it)) ;
 
-						}
+					if (distSq > maxDistObst) maxDistObst = distSq ;
+						obstacleNeighbors_.push_back(std::make_pair(distSq, *it)) ;
 
-					}
 				}
-				else
-				{
-					float distSq = distSqPointLineSegment((*it)->p1, (*it)->p2, part_.getPosition()) ;
-					if ((movingObstacleNeighbors_.size() < maxNeighbors_ || distSq < maxDistMovingObst)
-							&&distSq < rangeSq_)
-					{
-						if (Geom::testOrientation2D(part_.getPosition(), (*it)->p1, (*it)->p2) == Geom::RIGHT)
-						{
 
-							if (distSq > maxDistMovingObst) maxDistMovingObst = distSq ;
-							movingObstacleNeighbors_.push_back(std::make_pair(distSq, *it)) ;
+			}
+		}
+		else
+		{
+			float distSq = distSqPointLineSegment((*it)->p1, (*it)->p2, part_.getPosition()) ;
+			if ((movingObstacleNeighbors_.size() < maxNeighbors_ || distSq < maxDistMovingObst)
+					&&distSq < rangeSq_)
+			{
+				if (Geom::testOrientation2D(part_.getPosition(), (*it)->p1, (*it)->p2) == Geom::RIGHT)
+				{
 
-						}
+					if (distSq > maxDistMovingObst) maxDistMovingObst = distSq ;
+					movingObstacleNeighbors_.push_back(std::make_pair(distSq, *it)) ;
 
-					}
 				}
+
+			}
+		}
 	}
 
 //	if (obstacleNeighbors_.size() > maxNeighbors_)
@@ -601,7 +601,7 @@ void Agent::computeNewVelocity()
 	int obst_power = 2   ;           // the power to which elevate the agent-obstacle distance
 	Obstacle* obst ;
 
-//#define ARASH
+#define ARASH
 #ifdef ARASH
 	nb_mos = 0;
 	for(std::vector<std::pair<float, Obstacle*> >::iterator it = movingObstacleNeighbors_.begin() ;

src/moving_mesh.cpp

@@ -23,8 +23,15 @@ constrainedV(map)
 //	scale(2.5f);
 //	scale(0.5f);
 
+//	Geom::Matrix44f m;
+//	m.identity();
+//	VEC3 axis(1.0f,0.0f,0.0f);
+//	Geom::rotate(axis, float(M_PI/2.0f),m);
+//	transform(m);
+
 	VEC3 v = Algo::Surface::Geometry::faceCentroid<PFP>(motherMap, d, motherPosition) ;
 	translate(v);
+//	translate(VEC3(0,0,5));
 
 //	TraversorV<PFP::MAP> tv(map);
 //	std::vector<Dart> obstDarts;
@@ -146,8 +153,11 @@ void MovingMesh::draw()
 {
 	m_positionVBO->updateData(position) ;
 	m_render->initPrimitives<PFP>(map, allDarts, Algo::Render::GL2::TRIANGLES) ;
+	m_render->initPrimitives<PFP>(map, allDarts, Algo::Render::GL2::LINES) ;
 	m_simpleColorShader->setColor(Geom::Vec4f(1.0,0.627,0.0,0.));
 	m_render->draw(m_simpleColorShader, Algo::Render::GL2::TRIANGLES);
+	m_simpleColorShader->setColor(Geom::Vec4f(0.0,0.0,0.0,0.));
+	m_render->draw(m_simpleColorShader, Algo::Render::GL2::LINES);
 }
 
 std::vector<VEC3> MovingMesh::computeProjectedPointSet(float maxHeight)

src/moving_obstacle.cpp

@@ -73,7 +73,6 @@ VEC3 rotate(VEC3 pos1, VEC3 center, float angle) // renvoie le déplacement nece
 }
 
 
-
 MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, std::vector<VEC3> goals, bool rigid, bool spin, Dart dInside, ArticulatedObstacle * art, int indParent) :
 		nbVertices(pos.size()),
 		center(0),
@@ -137,7 +136,7 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 	{
 		//extrude face to build a cage
 		// compute edgeLength for mass-spring
-		Algo::Surface::Modelisation::extrudeFace<PFP>(map, position, groundFace, 10.0f) ;
+		Algo::Surface::Modelisation::extrudeFace<PFP>(map, position, groundFace, 15.0f) ;
 		map.fillHole(groundFace);
 		groundFace = map.phi2(groundFace);
 
@@ -506,7 +505,7 @@ void MovingObstacle::update()
 
 					//stretch spring : /!\ max rigidity relative to the timestep used (unstable otherwise)
 					float norm = v1.norm();
-					float rigidity = 50.0f;
+					float rigidity = 70.0f;
 
 					float stretch = rigidity*(edgeLength[dd]-v1.norm());
 					VEC3 f = stretch*(v1/norm);
@@ -534,7 +533,7 @@ void MovingObstacle::update()
 					float restAngle = vertexAngle[dd];
 					if(restAngle!=0.0f)
 					{
-						float angularRig = 50.0f;
+						float angularRig = 70.0f;
 
 						float curAngle = Algo::Surface::Geometry::angle<PFP>(map, map.phi_1(dd),map.phi1(dd),position);
 						float angularStretch = angularRig*(restAngle-curAngle);

src/simulator.cpp

@@ -665,7 +665,7 @@ void Simulator::addMovingObstacle(Dart d, unsigned int obstType)
 {
 	std::vector<VEC3> vPos;
 	VEC3 start;
-	float maxHeight=5.0f;
+	float maxHeight=2.0f;
 
 	MovingMesh* mm = NULL;
 
@@ -685,7 +685,7 @@ void Simulator::addMovingObstacle(Dart d, unsigned int obstType)
 			break;
 		case 1 :
 		{
-			mm = new MovingMesh(envMap_, d, "meshRessources/Limace.ply");
+			mm = new MovingMesh(envMap_, d, "meshRessources/Limace_2.obj");
 			movingMeshes_.push_back(mm);
 			vPos = mm->computeProjectedPointSet(maxHeight);
 		}

src/viewer.cpp

@@ -26,6 +26,7 @@
 #include "env_generator.h"
 #include <string>
 #include "glm/gtc/type_ptr.hpp"
+#include "Algo/Export/export.h"
 
 SocialAgents::SocialAgents(unsigned int config, unsigned int minSize, unsigned int nbAgent, unsigned int nbObst, unsigned int iterations) :
 	m_renderStyle(0),
@@ -287,11 +288,6 @@ void SocialAgents::initRendering()
 	m_Ground_Shader->setAttributePosition(m_Ground_VBO);
 	registerShader(m_Ground_Shader);
 
-
-
-	for(unsigned int i = 0 ; i < simulator.movingMeshes_.size() ; ++i)
-		registerShader(simulator.movingMeshes_[i]->m_simpleColorShader);
-
 	if( !m_DeferedShader.loadShaders("./shaders/Defered.vert", "./shaders/Defered.frag") )
 		std::cout << __FUNCTION__ << ": pas glop!" << std::endl;
 
@@ -299,6 +295,9 @@ void SocialAgents::initRendering()
 		std::cout << __FUNCTION__ << ": pas glop!" << std::endl;
 
 #endif
+
+	for(unsigned int i = 0 ; i < simulator.movingMeshes_.size() ; ++i)
+		registerShader(simulator.movingMeshes_[i]->m_simpleColorShader);
 }
 
 void SocialAgents::updateObstacleVBO()
@@ -467,8 +466,7 @@ void SocialAgents::cb_redraw()
 	glClearColor( 0.8f, 0.8f, 1.0f, 1.0f );
 	glClear( GL_COLOR_BUFFER_BIT );
 
-//	glCullFace(GL_BACK);
-	glEnable(GL_CULL_FACE);
+//	glEnable(GL_CULL_FACE);
 	glEnable(GL_MULTISAMPLE);
 	glEnable(GL_LINE_SMOOTH);
 	glHint(GL_LINE_SMOOTH_HINT, GL_NICEST);
@@ -1477,6 +1475,12 @@ void SocialAgents::cb_keyPress(int keycode)
 			                                           simulator.envMap_.buildingMark, filename) ;
 			std::string filename2("myAgents.pos") ;
 			simulator.exportAgents(filename2) ;
+			std::cout << "exporting meshes" << std::endl ;
+			std::string filename3("roadMap.ply") ;
+			std::string filename4("buildingMap.ply") ;
+			Algo::Surface::Export::exportPLY<PFP>(simulator.envMap_.map, simulator.envMap_.position,filename3.c_str(), false);
+			if(simulator.config==5)
+				Algo::Surface::Export::exportPLY<PFP>(simulator.envMap_.mapScenary, simulator.envMap_.positionScenary,filename4.c_str(), false);
 			break ;
 	}
 	case 'p' :