pop

cams/cam.out~

-0 2892
-0 13.2112 -343.6 594.385 10.9265 -307.115 501.306 0.0322209 0.930812 0.364074
-1637 13.2112 -343.6 594.385 10.9265 -307.115 501.306 0.0322209 0.930812 0.364074
-2263 -225.649 -65.4916 186.836 -153.811 -25.9154 129.625 0.511978 0.255997 0.819966
-2892 154.528 244.386 80.6884 119.103 153.875 57.1753 0.0753229 -0.278238 0.957554
+925 268.919 -599.764 174.022 229.193 -513.318 143.218 -0.154631 0.267809 0.950982
+1420 114.119 -361.09 564.72 97.6865 -312.66 478.787 -0.25495 0.820722 0.511289
+3115 -119.914 -198.458 186.027 -85.6747 -137.812 114.265 0.346014 0.628714 0.696415
+4784 -179.491 -194.446 135.444 -125.036 -132.211 79.2166 0.368223 0.424929 0.826951
+7798 -179.204 -102.848 442.481 -148.784 -85.0303 348.901 0.727103 0.591244 0.34893
+12828 -125.14 -65.2268 467.511 -106.094 -55.2945 369.845 0.762254 0.611961 0.210886

include/env_map.h

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

src/agent.cpp

@@ -763,7 +763,7 @@ void Agent::computeNewVelocity()
 	VEC3 normFace = VEC3 (0,0,1);
 #endif
 	double collision_softening_factor;
-	float ag_ambient_damping = 10.0;
+	float ag_ambient_damping = 1000.0;
 
 	// double mass_var = 0.95;
 	// double average_mass = 1.0;

src/moving_obstacle.cpp

@@ -168,6 +168,14 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 		speed_detection_factor(100)
 
 {
+	double stiff_agent=500;
+	double radius_agent=30;
+
+	double stiff_obst=0.01;
+	double radius_obst=12;
+
+	double long_radius_agent=40;
+	double long_radius_obst=10;
 
 	for (unsigned int i = 0; i < nbVertices; ++i)
 			{
@@ -386,7 +394,7 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 	{
 		Obstacle* o = new Obstacle(parts_[i]->getPosition(),
 				parts_[(i + 1) % nbVertices]->getPosition(),
-				 this, i,1000,0.01,100,12);
+				 this, i,stiff_agent,stiff_obst,radius_agent,radius_obst);
 		obstacles_.push_back(o);
 		/////definition du troisieme point
 		if (rigid_) o->p3=parts_[(i + 2) % nbVertices]->getPosition();
@@ -400,7 +408,7 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 	{
 		Obstacle* o = new Obstacle(parts_[nbVertices]->getPosition(),
 						parts_[nbVertices+1]->getPosition(),
-						 this, nbVertices,1000,100,500,20);
+						 this, nbVertices,stiff_agent,stiff_obst,long_radius_agent,long_radius_obst);
 
 				obstacles_.push_back(o);
 
@@ -511,6 +519,7 @@ void MovingObstacle::draw(bool showPath)
 	{
 
 		m_ds->newList(GL_COMPILE_AND_EXECUTE);
+
 		m_ds->begin(GL_LINE_STRIP);
 
 		VEC3 col = Utils::color_map_BCGYR(float(index)/float(sim_->movingObstacles_.size()));
@@ -526,7 +535,8 @@ void MovingObstacle::draw(bool showPath)
 
 		m_ds->end();
 		m_ds->endList();
-}
+
+	}
 }
 
 VEC3 MovingObstacle::getDilatedPosition(unsigned int ind)
@@ -1619,6 +1629,11 @@ void MovingObstacle::computePrefVelocity() //calcul du vecteur optimal pour atte
 			if (goalDist2 < (rigid_ ? 5 : 1.4)*(gravity_dist*gravity_dist) )
 			{
 				curGoal_ = (curGoal_ + 1) % goals_.size() ;
+				velocity_factor/=1.3 ;
+
+
+
+
 				goalVector = goals_[curGoal_] - center ;
 	//			goalVector = goals_[curGoal_] - position[groundFace] ;
 				goalDist2 = goalVector.norm2() ;

src/simulator.cpp

@@ -497,6 +497,7 @@ void Simulator::setupCrowdedScenario(unsigned int nbAgents , unsigned int nbObst
 	start = center;
 	float mapSize=(envMap_.geometry.max()[1]-envMap_.geometry.min()[1]);
 	start[1]-= mapSize/4;
+	start[0]-=10.0f;
 	std::vector<VEC3> goals;
 	VEC3 goal ;
 
@@ -513,11 +514,11 @@ if(snake==1)
 	positions[0]=vPos;
 	goal=center;
 	goals.push_back(goal);
-	goal=center+VEC3(mapSize/4,mapSize/4,0);
+	goal=center+VEC3(mapSize/6,mapSize/6,0);
 	goals.push_back(goal);
 	goal=center;
 	goals.push_back(goal);
-	goal=center+VEC3(-mapSize/4,mapSize/4,0);
+	goal=center+VEC3(-mapSize/6,mapSize/6,0);
 	goals.push_back(goal);
 	goal=center;
 	goals.push_back(goal);

src/viewer.cpp

@@ -2170,21 +2170,21 @@ int main(int argc, char** argv)
 	glewInit();
 
 
-//	sa.cam_output_file.open("cams/cam.out",std::ofstream::out);
-//	char camfile[100];
-//	sprintf(camfile,"cams/cam.scn%d.spline",config);
-//
-//	sa.readCameraInputFile("cams/toto");
-//	if(sa.cif_exists)
-//	{
-//		unsigned int i;
-//
-//		for(i=0;i<sa.cif_begin;i++)
-//		{
-//			sa.nbIterations = sa.cif_begin;
+	sa.cam_output_file.open("cams/cam.out",std::ofstream::out);
+	char camfile[100];
+	sprintf(camfile,"cams/cam.scn%d.spline",config);
+
+	sa.readCameraInputFile(camfile);
+	if(sa.cif_exists)
+	{
+		unsigned int i;
+
+		for(i=0;i<sa.cif_begin;i++)
+		{
+			sa.nbIterations = sa.cif_begin;
 			sa.simulator.doStep();
-//		}
-//	}
+		}
+	}
 
 	sa.show() ;
 //	if (argc > 1)