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Commit 6db3ac1c authored by pitiot's avatar pitiot
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maj

parent 4508afde
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Showing with 922 additions and 450 deletions
CMakeLists.txt
View file @ 6db3ac1c
......@@ -2,9 +2,9 @@ cmake_minimum_required(VERSION 2.8)
project(SocialAgents)
add_definitions(-DSPATIAL_HASHING)
#add_definitions(-DSPATIAL_HASHING)
SET(CGoGN_ROOT_DIR ${CMAKE_SOURCE_DIR}/../CGoGN CACHE STRING "CGoGN root dir")
SET(CGoGN_ROOT_DIR ${CMAKE_SOURCE_DIR}/../../CGoGN CACHE STRING "CGoGN root dir")
include(${CGoGN_ROOT_DIR}/apps_cmake.txt)
add_subdirectory(${CMAKE_SOURCE_DIR}/Release Release)
......
Debug/CMakeLists.txt
View file @ 6db3ac1c
......@@ -26,7 +26,9 @@ add_executable( socialAgentsD
../src/agent.cpp
../src/moving_obstacle.cpp
../src/simulator.cpp
../src/moving_mesh.cpp
../src/gl2ps.c
../src/ShapeMatching/rigidXfComputation.cpp
${socialAgents_moc}
${socialAgents_ui}
)
......
Release/CMakeLists.txt
View file @ 6db3ac1c
......@@ -24,7 +24,9 @@ add_executable( socialAgents
../src/agent.cpp
../src/moving_obstacle.cpp
../src/simulator.cpp
../src/moving_mesh.cpp
../src/gl2ps.c
../src/ShapeMatching/rigidXfComputation.cpp
${socialAgents_moc}
${socialAgents_ui}
)
......
include/agent.h
View file @ 6db3ac1c
......@@ -24,10 +24,10 @@ public:
void updateAgentNeighbors() ;
void updateObstacleNeighbors() ;
void update() ;
void computePrefVelocity() ;
void computeNewVelocity() ;
void update();
void obstacle_priority(PFP::VEC3 * goalVector); //ajout moving obst
void computePrefVelocity();
void computeNewVelocity();
void computeNewVelocity2() ;
......@@ -42,6 +42,7 @@ public:
std::vector<std::pair<float, Agent*> > agentNeighbors_ ;
std::vector<std::pair<float, Obstacle*> > obstacleNeighbors_ ;
std::vector<std::pair<float, Obstacle*> > movingObstacleNeighbors_;
#ifdef SPATIAL_HASHING
VEC3 pos ;
......@@ -66,9 +67,11 @@ public:
static float range_ ;
static float rangeSq_ ;
static float timeStep ;
static unsigned int cptAgent ;
float color1;
float color2;
float color3;
unsigned int agentNo ;
VEC3 velocity_ ;
......@@ -78,7 +81,8 @@ public:
VEC3 meanSpeed_ ;
// VEC3 meanPos_;
Simulator* sim_ ;
} ;
Simulator* sim_;
bool alive;
};
#endif
include/env_generator.h
View file @ 6db3ac1c
......@@ -11,7 +11,7 @@ namespace CityGenerator
{
template <typename PFP>
bool notDiagonalAdjacentToAnObstacle(typename PFP::MAP& map, Dart d, CellMarker& buildingMark) ;
bool notDiagonalAdjacentToAnObstacle(typename PFP::MAP& map, Dart d, CellMarker<FACE>& buildingMark) ;
template <typename PFP> Algo::Modelisation::Polyhedron<PFP> generateGrid(EnvMap& envMap) ;
......@@ -21,27 +21,25 @@ template <typename PFP>
Algo::Modelisation::Polyhedron<PFP> generateTrianGrid(typename PFP::MAP& map,
typename PFP::TVEC3& position,
unsigned int cX, unsigned int cY,
float sideLength, CellMarker& obstacleMark,
CellMarker& buildingMark) ;
float sideLength, CellMarker<EDGE>& obstacleMark,
CellMarker<FACE>& buildingMark) ;
template <typename PFP>
Dart extrudeFaceAndMark(typename PFP::MAP& map, typename PFP::TVEC3& position, Dart d,
CellMarker& buildingMark, float height) ;
CellMarker<FACE>& buildingMark, float height) ;
#ifndef SPATIAL_HASHING
template <typename PFP>
bool animateCity(EnvMap* envMap) ;
#endif
template <typename PFP>
Dart generateBuilding(EnvMap& envMap, Dart d, float height, unsigned int buildingType);
template <typename PFP>
Dart generateBuilding(EnvMap& envMap, Dart d, float height, unsigned int buildingType) ;
template <typename PFP>
void generateMall(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMarker& obstacleMark,
CellMarker& buildingMark, float sideSize) ;
void generateMall(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMarker<EDGE>& obstacleMark,
CellMarker<FACE>& buildingMark, float sideSize) ;
template <typename PFP>
void generatePathToUpperStair(typename PFP::MAP& map, typename PFP::TVEC3& position, Dart dLower,
......@@ -50,8 +48,8 @@ void generatePathToUpperStair(typename PFP::MAP& map, typename PFP::TVEC3& posit
/*******************************************************************************/
template <typename PFP>
void generatePlanet(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMarker& obstacleMark,
CellMarker& buildingMark, float radius, unsigned int nbSquares) ;
void generatePlanet(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMarker<EDGE>& obstacleMark,
CellMarker<FACE>& buildingMark, float radius, unsigned int nbSquares) ;
/*******************************************************************************/
......@@ -63,16 +61,15 @@ bool isAnEar(typename PFP::MAP& map, typename PFP::TVEC3& position, Dart dd, flo
template <typename PFP>
bool canRemoveEdgeConvex(typename PFP::MAP& map, typename PFP::TVEC3& position, Dart d,
CellMarker& obstacleMark) ;
CellMarker<EDGE>& obstacleMark) ;
template <typename PFP>
void convexifyFreeSpace(typename PFP::MAP& map, typename PFP::TVEC3& position,
CellMarker& obstacleMark, CellMarker& buildingMark) ;
CellMarker<EDGE>& obstacleMark, CellMarker<FACE>& buildingMark) ;
template <typename PFP>
void installGuardRail(typename PFP::MAP& map, typename PFP::TVEC3& position,
CellMarker& obstacleMark, CellMarker& buildingMark, float height) ;
CellMarker<EDGE>& obstacleMark, CellMarker<FACE>& buildingMark, float height) ;
}
}
......
include/env_generator.hpp
View file @ 6db3ac1c
......@@ -10,7 +10,7 @@ namespace CityGenerator
{
template <typename PFP>
bool notAdjacentToAnObstacle(typename PFP::MAP& map, Dart d, CellMarker& buildingMark)
bool notAdjacentToAnObstacle(typename PFP::MAP& map, Dart d, CellMarker<FACE>& buildingMark)
{
Dart dd = d ;
do
......@@ -23,7 +23,7 @@ bool notAdjacentToAnObstacle(typename PFP::MAP& map, Dart d, CellMarker& buildin
}
template <typename PFP>
bool notDiagonalAdjacentToAnObstacle(typename PFP::MAP& map, Dart d, CellMarker& buildingMark)
bool notDiagonalAdjacentToAnObstacle(typename PFP::MAP& map, Dart d, CellMarker<FACE>& buildingMark)
{
Dart dd = d ;
do
......@@ -86,8 +86,8 @@ template <typename PFP>
Algo::Modelisation::Polyhedron<PFP> generateTrianGrid(typename PFP::MAP& map,
typename PFP::TVEC3& position,
unsigned int cX, unsigned int cY,
float sideLength, CellMarker& obstacleMark,
CellMarker& buildingMark)
float sideLength, CellMarker<EDGE>& obstacleMark,
CellMarker<FACE>& buildingMark)
{
Algo::Modelisation::Polyhedron<PFP> prim(map, position) ;
prim.grid_topo(cX, cY) ;
......@@ -185,7 +185,7 @@ Algo::Modelisation::Polyhedron<PFP> generateTrianGrid(typename PFP::MAP& map,
template <typename PFP>
Dart extrudeFaceAndMark(typename PFP::MAP& map, typename PFP::TVEC3& position, Dart d,
CellMarker& buildingMark, float height)
CellMarker<FACE>& buildingMark, float height)
{
Dart dRoof = Algo::Modelisation::extrudeFace<PFP>(map, position, d, height) ;
buildingMark.mark(dRoof) ;
......@@ -206,8 +206,8 @@ bool animateCity(EnvMap* envMap)
typename PFP::TVEC3& position = envMap->position ;
typename PFP::TAB_AGENTVECT& agents = envMap->agentvect ;
typename PFP::TAB_AGENTVECT& agentNeighbors = envMap->neighborAgentvect ;
CellMarker& obstacleMark = envMap->obstacleMark ;
CellMarker& buildingMark = envMap->buildingMark ;
CellMarker<EDGE>& obstacleMark = envMap->obstacleMark ;
CellMarker<FACE>& buildingMark = envMap->buildingMark ;
std::vector<Dart>& newBuildings = envMap->newBuildings ;
unsigned int state = rand() % 10 ;
......@@ -279,18 +279,18 @@ bool animateCity(EnvMap* envMap)
#endif
//template <typename PFP>
//Dart generateBuilding(typename PFP::MAP& map, typename PFP::TVEC3& position, Dart d, float height, unsigned int buildingType, CellMarker& obstacleMark, CellMarker& buildingMark)
//Dart generateBuilding(typename PFP::MAP& map, VertexAttribute<typename PFP::VEC3>& position, Dart d, float height, unsigned int buildingType, CellMarker<EDGE>& obstacleMark, CellMarker<FACE>& buildingMark)
//template <typename PFP>
//void generateCity(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMarker& obstacleMark, CellMarker& buildingMark, float sideSize, unsigned int nbSquares)
//void generateCity(typename PFP::MAP& map, VertexAttribute<typename PFP::VEC3>& position, CellMarker<EDGE>& obstacleMark, CellMarker<FACE>& buildingMark, float sideSize, unsigned int nbSquares)
template <typename PFP>
Dart generateBuilding(EnvMap& envMap, Dart d, float height, unsigned int buildingType)
{
typename PFP::MAP& map = envMap.map ;
typename PFP::TVEC3& position = envMap.position ;
CellMarker& obstacleMark = envMap.obstacleMark ;
CellMarker& buildingMark = envMap.buildingMark ;
CellMarker<EDGE>& obstacleMark = envMap.obstacleMark ;
CellMarker<FACE>& buildingMark = envMap.buildingMark ;
// mark the face as obstacle before extrusion
Dart dd = d ;
......@@ -302,7 +302,7 @@ Dart generateBuilding(EnvMap& envMap, Dart d, float height, unsigned int buildin
Dart next = map.phi1(dd) ;
Dart previous = map.phi_1(dd) ;
Obstacle* o = new Obstacle(position[dd], position[next], position[previous],
position[map.phi1(next)]) ;
position[map.phi1(next)], NULL, 0);
#ifdef SPATIAL_HASHING
VEC3 ov = o->p2 - o->p1 ;
......@@ -329,7 +329,18 @@ Dart generateBuilding(EnvMap& envMap, Dart d, float height, unsigned int buildin
pos += step ;
}
#else
envMap.pushObstacleInCells(o, map.phi2(dd)) ;
// David
// envMap.pushObstacleInCells(o, map.phi2(dd)) ;
// Thomas's team
Dart x =map.phi2(dd);
if(!map.isBoundaryMarked(x))
{
envMap.pushObstacleInCells(o, x);
if(!map.isBoundaryMarked(map.phi2(map.phi1(x))))envMap.pushObstacleInCells(o, map.phi2(map.phi1(x)));
if(!map.isBoundaryMarked(map.phi2(map.phi_1(x))))envMap.pushObstacleInCells(o, map.phi2(map.phi_1(x)));
}
#endif
dd = map.phi1(dd) ;
......@@ -398,8 +409,8 @@ Dart generateBuilding(EnvMap& envMap, Dart d, float height, unsigned int buildin
}
template <typename PFP>
void generateMall(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMarker& obstacleMark,
CellMarker& buildingMark, float sideSize)
void generateMall(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMarker<EDGE>& obstacleMark,
CellMarker<FACE>& buildingMark, float sideSize)
{
unsigned int side = 5 ;
std::vector<Algo::Modelisation::Polyhedron<PFP> > floors ;
......@@ -414,7 +425,7 @@ void generateMall(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMar
{
float floorHeight = 100 ;
typename PFP::VEC3 transl(0, 0, floorHeight) ;
CellMarker m(map, VERTEX) ;
CellMarker<VERTEX> m(map) ;
for (Dart d = map.begin(); d != map.end(); map.next(d))
{
......@@ -517,30 +528,38 @@ void generatePathToUpperStair(typename PFP::MAP& map, typename PFP::TVEC3& posit
}
template <typename PFP>
void generatePlanet(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMarker& obstacleMark,
CellMarker& buildingMark, float radius, unsigned int nbSquares)
void generatePlanet(EnvMap& envMap)
{
Algo::Modelisation::Polyhedron<PFP> prim(map, position) ;
prim.cylinder_topo(nbSquares, nbSquares, true, true) ;
unsigned int nx = envMap.geometry.size(0) / envMap.maxCellSize ;
unsigned int ny = envMap.geometry.size(1) / envMap.maxCellSize ;
if (nx < 1) nx = 1 ;
if (ny < 1) ny = 1 ;
Algo::Modelisation::Polyhedron<PFP> prim(envMap.map, envMap.position) ;
prim.cylinder_topo(nx, ny, true, true) ;
double pi = 3.14159265358979323846f ;
double xRadius = envMap.geometry.size(0) / 2 * pi ;
double yRadius = envMap.geometry.size(1) / 2 * pi ;
prim.embedSphere(radius) ;
prim.embedSphere((xRadius+yRadius)/2.0f) ;
}
template <typename PFP>
void simplifyFreeSpace(typename PFP::MAP& map, typename PFP::TVEC3& position,
CellMarker& obstacleMark, CellMarker& buildingMark)
CellMarker<EDGE>& obstacleMark, CellMarker<FACE>& buildingMark)
{
typedef typename PFP::VEC3 VEC3 ;
typedef std::multimap<float, Dart> VEC_D_A ;
AutoAttributeHandler<float> tableArea(map, FACE) ;
AutoAttributeHandler<CGoGN::NoMathIONameAttribute<VEC_D_A::iterator> > tableIt(map, EDGE) ;
FaceAutoAttribute<float> tableArea(map) ;
EdgeAutoAttribute<CGoGN::NoMathIONameAttribute<VEC_D_A::iterator> > tableIt(map) ;
VEC_D_A orderedD ;
// compute all heuristic and construct multimap
Algo::Geometry::computeAreaFaces<PFP>(map, position, tableArea) ;
CellMarker eM(map, EDGE) ;
CellMarker<EDGE> eM(map) ;
for (Dart d = map.begin(); d != map.end(); map.next(d))
{
if (!eM.isMarked(d) && !obstacleMark.isMarked(d) && !buildingMark.isMarked(d))
......@@ -699,7 +718,7 @@ void simplifyFreeSpace(typename PFP::MAP& map, typename PFP::TVEC3& position,
}
template <typename PFP>
bool isAnEar(typename PFP::MAP& map, typename PFP::TVEC3& position, Dart dd, float& area)
bool isAnEar(typename PFP::MAP& map, VertexAttribute<typename PFP::VEC3>& position, Dart dd, float& area)
{
typedef typename PFP::VEC3 VEC3 ;
......@@ -737,7 +756,7 @@ bool isAnEar(typename PFP::MAP& map, typename PFP::TVEC3& position, Dart dd, flo
template <typename PFP>
bool canRemoveEdgeConvex(typename PFP::MAP& map, typename PFP::TVEC3& position, Dart d,
CellMarker& obstacleMark)
CellMarker<EDGE>& obstacleMark)
{
typedef typename PFP::VEC3 VEC3 ;
......@@ -763,12 +782,12 @@ 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)
CellMarker<EDGE>& obstacleMark, CellMarker<FACE>& buildingMark)
{
typedef typename PFP::VEC3 VEC3 ;
float area ;
CellMarker m(map, FACE) ;
CellMarker<FACE> m(map) ;
for (Dart d = map.begin(); d != map.end(); map.next(d))
{
......@@ -836,10 +855,10 @@ void convexifyFreeSpace(typename PFP::MAP& map, typename PFP::TVEC3& position,
template <typename PFP>
void installGuardRail(typename PFP::MAP& map, typename PFP::TVEC3& position,
CellMarker& obstacleMark, CellMarker& buildingMark, float height)
CellMarker<EDGE>& obstacleMark, CellMarker<FACE>& buildingMark, float height)
{
CellMarker cm(map, EDGE) ;
CellMarkerNoUnmark railVert(map, EDGE) ;
CellMarker<EDGE> cm(map) ;
CellMarkerNoUnmark<EDGE> railVert(map) ;
for (Dart d = map.begin(); d != map.end(); map.next(d))
{
if (!cm.isMarked(d))
......
include/env_map.h
View file @ 6db3ac1c
......@@ -25,8 +25,9 @@
using namespace CGoGN ;
class Agent ;
class Obstacle ;
class Agent;
class Obstacle;
class MovingObstacle;
struct PFP : public PFP_STANDARD
{
......@@ -36,10 +37,15 @@ struct PFP : public PFP_STANDARD
// definition des listes d'agent
typedef std::vector<Agent*> AGENTS ;
typedef std::vector<Obstacle*> OBSTACLES ;
typedef std::vector<MovingObstacle*> MOVINGOBSTACLES;
typedef NoMathIONameAttribute<AGENTS> AGENTVECT ;
typedef NoMathIONameAttribute<OBSTACLES> OBSTACLEVECT ;
typedef AttributeHandler<AGENTVECT> TAB_AGENTVECT ;
typedef AttributeHandler<OBSTACLEVECT> TAB_OBSTACLEVECT ;
typedef NoMathIONameAttribute<MOVINGOBSTACLES> MOVINGOBSTACLEVECT;
typedef VertexAttribute<PFP::VEC3> TVEC3;
typedef FaceAttribute<AGENTVECT> TAB_AGENTVECT ;
typedef FaceAttribute<OBSTACLEVECT> TAB_OBSTACLEVECT ;
typedef NoMathIONameAttribute<std::pair<bool, bool> > BOOLATTRIB ;
} ;
......@@ -76,12 +82,11 @@ public:
void subdivideAllToMaxLevel() ;
void subdivideToProperLevel() ;
#endif
#ifndef SPATIAL_HASHING
void foreach_neighborFace(Dart d, FunctorType& f) ;
void registerObstaclesInFaces() ;
void registerWallInFaces();
void addNeighborObstacles(PFP::OBSTACLES& obst, Dart d, bool edgeNeighbor) ;
void setAgentNeighborsAndObstacles(Agent* agent) ;
......@@ -91,7 +96,6 @@ public:
void nbAgentsDecrease(Dart d) ;
void pushAgentInCells(Agent* agent, Dart d) ;
void popAgentInCells(Agent* agent, Dart d) ;
// void agentChangeFaceThroughEdge(Agent* agent);
void agentChangeFace(Agent* agent, Dart oldFace) ;
void pushObstacleInCells(Obstacle* o, Dart d) ;
......@@ -108,29 +112,39 @@ public:
PFP::MAP mapScenary ;
PFP::TVEC3 positionScenary ;
PFP::TVEC3 normalScenary ;
CellMarker obstacleMarkS ;
CellMarker buildingMarkS ;
CellMarker<EDGE> obstacleMarkS ;
CellMarker<FACE> buildingMarkS ;
CellMarker<EDGE> obstacleMark ;
CellMarker<FACE> buildingMark ;
CellMarker<FACE> pedWayMark ;
// ajout moving obst
void addObstAsNeighbor (Obstacle * o, const std::list<Dart>& belonging_cells, std::list<Dart> * nieghbor_cells);
// void addMovingObstAsNeighbor (MovingObstacle * mo,std::list<Dart> belonging_cells, std::list<Dart> *neighbor_cells);
void pushObstNeighborInCells(Obstacle* o, Dart d);
void popObstNeighborInCells(Obstacle* o, Dart d);
void find_next(Obstacle* o,Dart * d, CellMarkerStore<FACE>& cms);
std::vector<Dart> newBuildings ;
#ifndef SPATIAL_HASHING
AttributeHandler<PFP::BOOLATTRIB> subdivisableFace ;
PFP::TAB_AGENTVECT agentvect;
PFP::TAB_AGENTVECT neighborAgentvect;
FaceAttribute<PFP::BOOLATTRIB> subdivisableFace ;
PFP::TAB_AGENTVECT agentvect ;
PFP::TAB_AGENTVECT neighborAgentvect ;
PFP::TAB_OBSTACLEVECT neighborObstvect;
#endif
PFP::TAB_OBSTACLEVECT obstvect ;
CellMarker obstacleMark ;
CellMarker buildingMark ;
CellMarker pedWayMark ;
#ifndef SPATIAL_HASHING
static const unsigned int nbAgentsToSubdivide = 10 ;
static const unsigned int nbAgentsToSimplify = 4 ;
CellMarker refineMark ;
CellMarker coarsenMark ;
CellMarker<FACE> refineMark ;
CellMarker<FACE> coarsenMark ;
std::vector<Dart> refineCandidate ;
std::vector<Dart> coarsenCandidate ;
......@@ -148,32 +162,47 @@ public:
return geometry.size(i) / obstacleDistance ;
}
Geom::Vec2ui agentPositionCell(VEC3& pos)
{
VEC3 relativePos = pos - geometry.min() ;
relativePos /= minCellSize ;
return Geom::Vec2ui(relativePos[0], relativePos[1]) ;
}
Geom::Vec2ui agentPositionCell(Agent* a) ;
Geom::Vec2ui obstaclePositionCell(VEC3& pos)
Geom::Vec2ui obstaclePositionCell(VEC3 pos)
{
VEC3 relativePos = pos - geometry.min() ;
relativePos /= obstacleDistance ;
return Geom::Vec2ui(relativePos[0], relativePos[1]) ;
}
const std::vector<Agent*>& getNeighbors(Geom::Vec2ui c) {
assert(ht_agents.hasData(c)) ;
return ht_agents[c];
}
const std::vector<Agent*>& getNeighbors(Agent* a) ;
void getOneRingNeighbors(Agent* a, std::vector<Agent*>& neighbors) ;
void addAgentInGrid(Agent* a) ;
void addAgentInGrid(Agent* a, Geom::Vec2ui c) ;
void removeAgentFromGrid(Agent* a) ;
void removeAgentFromGrid(Agent* a, Geom::Vec2ui c) ;
HashTable2D< std::vector<Agent*> > ht_agents ;
HashTable2D< std::vector<Agent*> > ht_neighbor_agents ;
HashTable2D< std::vector<Obstacle*> > ht_obstacles ;
#endif
} ;
void update_registration(Obstacle * o);
void register_pop(Obstacle* o, int n);
void resetObstInFace(Obstacle* o);
void resetObstPartInFace(Obstacle* o, Dart d);
void resetPart(MovingObstacle * mo, Dart d);
void displayMO(Obstacle * o);
/**************************************
* INLINE FUNCTIONS *
**************************************/
template <typename T>
inline void removeElementFromVector(std::vector<T>& a, T ag)
inline bool removeElementFromVector(std::vector<T>& a, T ag)
{
typename std::vector<T>::iterator end = a.template end() ;
for (typename std::vector<T>::iterator it = a.begin(); it != end; ++it)
......@@ -182,9 +211,10 @@ inline void removeElementFromVector(std::vector<T>& a, T ag)
{
*it = a.back() ;
a.pop_back() ;
return ;
return true ;
}
}
return false ;
}
#ifndef SPATIAL_HASHING
......@@ -218,6 +248,7 @@ inline void EnvMap::nbAgentsDecrease(Dart d)
inline void EnvMap::pushAgentInCells(Agent* agent, Dart d)
{
assert(map.getCurrentLevel() == map.getMaxLevel()) ;
// assert(std::find(agentvect[d].begin(), agentvect[d].end(), agent) == agentvect[d].end());
agentvect[d].push_back(agent) ;
// nbAgentsIncrease(d);
......@@ -257,9 +288,116 @@ inline void EnvMap::popAgentInCells(Agent* agent, Dart d)
} while (dd != d) ;
}
//ajout moving obst///////////////////////////////////////////////////////////////////////////////////////////////////////
inline void EnvMap::addObstAsNeighbor (Obstacle * o, const std::list<Dart>& belonging_cells, std::list<Dart> *neighbor_cells)
{
assert(map.getCurrentLevel() == map.getMaxLevel());
neighbor_cells->clear();
CellMarkerStore<FACE> MovingObstMark(map);
CellMarkerStore<FACE> OneRingMark(map);
for(std::list<Dart>::const_iterator it= belonging_cells.begin();it!=belonging_cells.end();++it)
{
assert(!buildingMark.isMarked(*it)) ;
MovingObstMark.mark(*it);
}
std::list<Dart>::const_iterator it=belonging_cells.begin();
Dart beg = NIL;
Dart first =NIL;
Dart d=NIL;
Dart dd=NIL;
//boucle pour trouver une face du voisinage de l'obstacle ne contenant pas l'obstacle
do
{
beg = *it;
first = NIL;
d=beg;
do {
dd=map.alpha1(map.alpha1(d));
do {
if (!MovingObstMark.isMarked(dd))
{
first = dd;
}
dd=map.alpha1(dd);
}while (first==NIL && dd!=d);
d=map.phi1(d);
} while(first==NIL && d!=beg);
++it;
}while(first==NIL && it!=belonging_cells.end());
assert(!buildingMark.isMarked(d)) ;
d=first;
do
{
if (!OneRingMark.isMarked(d))
{
OneRingMark.mark(d);
(*neighbor_cells).push_back(d);
}
find_next(o,&d, MovingObstMark);
}while(!map.sameFace(d,first));
}
// find_next cherche la prochaine case "voisine" d'un obstacle faisant parti d'un movingobstacle (algo de parcours du one-ring )
inline void EnvMap::find_next(Obstacle* o,Dart * ddd, CellMarkerStore<FACE>& cms)
{
Dart d=*ddd;
Dart first = NIL;
Dart dd;