ajout affich onering

include/env_map.h

@@ -308,9 +308,7 @@ inline void EnvMap::pushAgentInCells(Agent* agent, Dart d)
 		while (ddd != dd)
 		{
 			if (!map.isBoundaryMarked2(ddd))
-			{
 				addElementToVector<Agent*>(neighborAgentvect[ddd],agent);
-			}
 
 //			neighborAgentvect[ddd].push_back(agent) ;
 //			nbAgentsIncrease(ddd);
@@ -335,9 +333,8 @@ inline void EnvMap::popAgentInCells(Agent* agent, Dart d)
 		while (ddd != dd)
 		{
 			if (!map.isBoundaryMarked2(ddd))
-			{
 				removeElementFromVector<Agent*>(neighborAgentvect[ddd], agent) ;
-			}
+
 //			nbAgentsDecrease(ddd) ;
 			ddd = map.alpha1(ddd) ;
 		}
@@ -366,7 +363,7 @@ inline void EnvMap::addObstAsNeighbor (Obstacle *  o, const std::vector<Dart>& b
 	neighbor_cells->clear();
 	CellMarkerMemo<FACE> memo_mark(map);
 	CellMarkerMemo<FACE> OneRingMark(map);
-	memo_mark.unmarkAll();
+
 	for (std::vector<Dart>::const_iterator it =belonging_cells.begin();it<belonging_cells.end();++it)
 		memo_mark.mark(*it);
 

include/viewer.h

@@ -54,6 +54,8 @@
 #include "shaderCustom.h"
 
 //#define EXPORTING
+//#define ONERING
+//#define SHADOWSHELL
 
 using namespace CGoGN ;
 
@@ -104,6 +106,8 @@ public:
 	Utils::VBO* m_colorVBO;
 	Utils::ShaderSimpleColor* m_simpleColorShader;
 
+	Algo::Render::GL2::MapRender* m_renderWithin;
+
 	//building
 	Algo::Render::GL2::MapRender* m_render_scenary;
 	Utils::VBO* m_positionVBO_scenary;

src/agent.cpp

@@ -9,11 +9,12 @@
 #include "agent.h"
 #include "simulator.h"
 #include "Geometry/frame.h"
+#include "Utils/colorMaps.h"
 
 unsigned int Agent::maxNeighbors_ = 10 ;
 unsigned int Agent::maxMovingObstacles_ = 20;
-float Agent::averageMaxSpeed_ = 2.0f ;
-// float Agent::averageMaxSpeed_ = 20.0f ;
+//float Agent::averageMaxSpeed_ = 2.0f ;
+ float Agent::averageMaxSpeed_ = 20.0f ;
 // float Agent::neighborDist_ = 10.0f ;
 float Agent::neighborDist_ = 20.0f ;
 float Agent::neighborDistSq_ = neighborDist_ * neighborDist_ ;
@@ -122,7 +123,10 @@ void Agent::initGL()
 {
 #ifdef EXPORTING_AGENT
 	m_ghost_shader = new Utils::ShaderSimpleColor();
-	m_ghost_shader->setColor(Geom::Vec4f(1.,0.,0.,0.));
+
+	VEC3 col = Utils::color_map_BCGYR(float(agentNo)/float(sim_->agents_.size()));
+	m_ghost_shader->setColor(Geom::Vec4f(col[0],col[1],col[2],0.));
+//	m_ghost_shader->setColor(Geom::Vec4f(1.,0.,0.,0.));
 //	m_ghost_shader->setAmbiant(Geom::Vec4f(1.,1.,0.,0.)) ;
 //	m_ghost_shader->setDiffuse(Geom::Vec4f(1.,1.,0.,0.));
 
@@ -475,9 +479,12 @@ void Agent::update()
 		#endif
 
 		#ifdef EXPORTING_AGENT
-			m_ghost_previousPos.push_back(target);
-			if(m_ghost_previousPos.size()>m_ghost_nb)
-				m_ghost_previousPos.pop_front();
+			if(int(sim_->globalTime_ / sim_->timeStep_) % 4 == 0)
+			{
+				m_ghost_previousPos.push_back(target);
+				if(m_ghost_previousPos.size()>m_ghost_nb)
+					m_ghost_previousPos.pop_front();
+			}
 		#endif
 #endif
 

src/env_map.cpp

@@ -85,6 +85,7 @@ void EnvMap::init(unsigned int config, REAL width, REAL height, REAL minSize, RE
 			break ;
 		case 2 :
 			CityGenerator::generateGrid<PFP>(*this) ;
+//			CityGenerator::generateTrianGrid<PFP>(*this,obstacleMark, buildingMark);
 			// CityGenerator::generateMall<PFP>(map, position, obstacleMark, buildingMark, sideSize);
 			break ;
 		case 3 :
@@ -204,7 +205,7 @@ void EnvMap::init(unsigned int config, REAL width, REAL height, REAL minSize, RE
 	map.init() ;
 //	registerObstaclesInFaces();
 	// TODO Check registerWallInFaces();
-	registerWallInFaces() ;
+//	registerWallInFaces() ;
 //	subdivideAllToMaxLevel();
 
 	for (unsigned int i = subdivisableFace.begin(); i < subdivisableFace.end(); subdivisableFace.next(i))

src/moving_obstacle.cpp

@@ -36,6 +36,7 @@ void  MovingObstacle::addGeneralCell ( Dart d)
 		general_belonging.push_back(std::make_pair(d,1));
 	}
 }
+
 bool  MovingObstacle::removeGeneralCell (Dart d)
 {
 	std::vector< std::pair<Dart,int> >::iterator it =general_belonging.begin();
@@ -775,15 +776,20 @@ void MovingObstacle::update()
 		Obstacle* o = obstacles_[i];
 		o->p1 = getDilatedPosition(i);
 		o->p2 = getDilatedPosition((i+1) % nbVertices);
+
+#ifndef POTENTIAL
 		o->prevP = getDilatedPosition((i - 1 + nbVertices) % nbVertices);
 		o->nextP = getDilatedPosition((i + 2 + nbVertices) % nbVertices);
+#endif
+
 		Dart d1 = parts_[i]->d;
 		Dart d2 = parts_[(i+1)%nbVertices]->d;
+
 		if(!((sim_->envMap_.map.sameFace(d1,d2))&& (parts_[i]->crossCell==CGoGN::Algo::Surface::MovingObjects::NO_CROSS && parts_[(i+1)%nbVertices]->crossCell==CGoGN::Algo::Surface::MovingObjects::NO_CROSS)))
 		{
-		sim_->envMap_.popAndPushObstacleInCells(o,i);
-
+			sim_->envMap_.popAndPushObstacleInCells(o,i);
 		}
+
 		/////affichage des belonging cells
 //		CGoGNout<< CGoGNendl;
 //		CGoGNout << "Obstacle "<< i << ": ";
@@ -859,13 +865,14 @@ void resetObstPartInFace(Obstacle* o, Dart d1)
 {
 	MovingObstacle * mo = o->mo;
 
-	if (mo != NULL) {
+	if (mo != NULL)
+	{
 		unsigned int n =o->index;
 		VEC3 pos1 = mo->parts_[n]->getPosition();
-		if (Algo::Surface::Geometry::isPointInConvexFace2D < PFP
-				> (mo->sim_->envMap_.map, d1, mo->sim_->envMap_.position, pos1, true)) {
+
+		if (Algo::Surface::Geometry::isPointInConvexFace2D<PFP>(mo->sim_->envMap_.map, d1, mo->sim_->envMap_.position, pos1, true))
 			mo->parts_[n]->d = d1;
-		}
+
 		if(n==0)
 			mo->dDir = mo->parts_[0]->d;
 	}
@@ -880,10 +887,9 @@ void resetPart(Obstacle * o, Dart d1)
 
 		if (mo->parts_[n]->d == mo->sim_->envMap_.map.phi1(d1))
 			mo->parts_[n]->d = d1;
+
 		if(n==0)
 			mo->dDir = mo->parts_[n]->d;
-
-
 	}
 }
 
@@ -902,7 +908,7 @@ void displayMO(Obstacle * o)
 void MovingObstacle::computePrefVelocity() //calcul du vecteur optimal pour atteindre l'objectif // changer pour 2.5 ?
 {
 	VEC3 goalVector;
-	if (index_parent<1)
+	if (index_parent<1) //not articulated
 	{
 		if(rigid_ || goals_.size()>1)
 		{
@@ -976,9 +982,9 @@ void MovingObstacle::computePrefVelocity() //calcul du vecteur optimal pour atte
 			}
 		}
 	}
-	else
+	else //articulated
 	{
-		goalVector = get_center(parent,index_parent-1) -center;
+		goalVector = (get_center(parent,index_parent-1) -center);
 		float goalDist2 = goalVector.norm2() ;
 		if (goalDist2 > maxSpeed_)
 		{
@@ -988,7 +994,20 @@ void MovingObstacle::computePrefVelocity() //calcul du vecteur optimal pour atte
 	}
 
 	if (spinning)
-		angle =get_angle(goalVector,front-center);
+	{
+		float n_angle = get_angle(goalVector,front-center);
+
+		float bornAngle = M_PI/64.0f;
+		if(fabs(n_angle-angle)<bornAngle)
+			angle = n_angle;
+		else
+		{
+			if(n_angle-angle>=0.0f)
+				angle += bornAngle;
+			else
+				angle -= bornAngle;
+		}
+	}
 
 	prefVelocity_ = goalVector ;
 

src/simulator.cpp

@@ -160,8 +160,10 @@ void Simulator::doStep()
 		}
 	}
 #else
+
 	if (multires)
 		envMap_.map.setCurrentLevel(envMap_.map.getMaxLevel()) ;
+
 	nb_dead = 0 ;
 	for (unsigned int i = 0 ; i < agents_.size() ; ++i)
 	{
@@ -170,17 +172,8 @@ void Simulator::doStep()
 			Dart oldFace = agents_[i]->part_.d ;
 			agents_[i]->update() ;
 
-//		if(envMap_.map.getEmbedding(oldFace, FACE) != envMap_.map.getEmbedding(agents_[i]->part_.d, FACE))
 			if (agents_[i]->part_.crossCell != CGoGN::Algo::Surface::MovingObjects::NO_CROSS)
-//		switch(agents_[i]->part_.crossCell)
-			{
-//			case CGoGN::Algo::MovingObjects::CROSS_EDGE :
-//				envMap_.agentChangeFaceThroughEdge(agents_[i]);
-//				break;
-//			case CGoGN::Algo::MovingObjects::CROSS_OTHER :
 				envMap_.agentChangeFace(agents_[i], oldFace) ;
-//				break;
-			}
 		}
 		else
 			nb_dead++ ;
@@ -223,14 +216,9 @@ void Simulator::addAgent(const VEC3& start, const VEC3& goal, Dart d)
 void Simulator::setupCircleScenario(unsigned int nbAgents , unsigned int nbObstacles)
 {
 	if (multires)
-	{
 		envMap_.init(config, 2000.0f, 2000.0f, minSize, 400.0f) ; //grosses cases
-	}
 	else
-	{
-
 		envMap_.init(config, 2000.0f, 2000.0f, minSize, 400.0f) ; //cases fines
-	}
 
 	std::cout << " - Setup Circle Scenario : " << nbAgents << " agents et " << nbObstacles << " obstacles"<< std::endl ;
 
@@ -508,17 +496,17 @@ void Simulator::setupSnakeCorridorScenario(unsigned int nbAgents, unsigned int n
 	xStartMin = envMap_.geometry.min()[0] + envMap_.geometry.size(0) / 4 ;
 	xStartDelta = envMap_.geometry.size(0) / 2 ;
 	yStartMin = envMap_.geometry.min()[1] + yBorder ;
-	yStartDelta = envMap_.geometry.size(1) / 20 ;
+	yStartDelta = envMap_.geometry.size(1) / 10 ;
 
 	// Arrivée des obstacles à l'opposée
-
-	yGoalDelta = 3* envMap_.geometry.size(1) / 5 ;
+	yGoalDelta = envMap_.geometry.size(1) / 5 ;
 
 	yGoalMin = envMap_.geometry.max()[1] - yBorder - yGoalDelta ;
 
 	VEC3 xSide (5.0f,0.0f,0.0f);
 	VEC3 ySide (0.0f,10.0f,0.0f);
 
+	std::cout << "geom : " << envMap_.geometry << std::endl;
 
 	int sumObstacles=0;
 	for(unsigned int j = 0; j<nbSnakes; j++)
@@ -541,12 +529,17 @@ void Simulator::setupSnakeCorridorScenario(unsigned int nbAgents, unsigned int n
 		std::vector<VEC3> goals;
 		goals.push_back(start);
 		int r=0;
-		while (r<40)
+		while (r<80)
 		{
 			x = xStartMin + rand() % xStartDelta;
 			goal=VEC3 (x, yGoalMin  + rand() % yGoalDelta,  0) ;
-			if ((goal-goals[r]).norm2()>1000)
+
+
+			if ((r==0 || angle(goal-goals[r],goals[r]-goals[r-1])<M_PI/2.0f) )
 			{
+
+				std::cout << "new goal " << goal << std::endl;
+
 				goals.push_back(goal);
 				r++;
 			}
@@ -604,8 +597,8 @@ void Simulator::setupScenario(unsigned int nbMaxAgent, bool pedWay)
 	TraversorF<PFP::MAP> tF(envMap_.map);
 	Dart d = tF.begin() ;
 
-	unsigned int nbx = 4 ;
-	unsigned int nby = 4 ;
+	unsigned int nbx = 1 ;
+	unsigned int nby = 1 ;
 
 	unsigned int bMax = nbx * nby > 0 ? nbMaxAgent / (nbx * nby) : nbMaxAgent ;
 

src/viewer.cpp

@@ -133,6 +133,10 @@ void SocialAgents::cb_initGL()
 
 	// create the render
 	m_render = new Algo::Render::GL2::MapRender();
+#ifdef ONERING
+	m_renderWithin = new Algo::Render::GL2::MapRender();
+#endif
+
 	m_renderTopo = new Algo::Render::GL2::TopoRender();
 	m_ds = new Utils::Drawer();
 
@@ -222,6 +226,10 @@ void SocialAgents::initRendering()
 	{
 		m_render->initPrimitives<PFP>(simulator.envMap_.map, Algo::Render::GL2::LINES,false) ;
 		m_render->initPrimitives<PFP>(simulator.envMap_.map, Algo::Render::GL2::TRIANGLES,false) ;
+
+#ifdef ONERING
+		m_renderWithin->initPrimitives<PFP>(simulator.envMap_.map, Algo::Render::GL2::TRIANGLES,false) ;
+#endif
 	}
 
 	m_renderTopo->updateData<PFP>(simulator.envMap_.map, simulator.envMap_.position, 0.9, 0.9);
@@ -471,9 +479,46 @@ void SocialAgents::updateAgentPredTriVBO()
 
 void SocialAgents::updateVBOprimitives(int upType)
 {
+#ifdef ONERING
+	CellMarker<FACE> cmF(simulator.envMap_.map);
+	TraversorF<PFP::MAP> tF(simulator.envMap_.map);
+	for(Dart d = tF.begin() ; d != tF.end() ; d = tF.next())
+	{
+		if(simulator.envMap_.neighborObstvect[d].size() > 0 && !(simulator.envMap_.obstvect[d].size()>0))
+			cmF.mark(d);
+	}
+
+	MapBrowserSelector mbs1(simulator.envMap_.map,SelectorCellMarked<FACE>(cmF));
+	simulator.envMap_.map.setBrowser(&mbs1);
+
 	if(upType & Algo::Render::GL2::TRIANGLES)
 		m_render->initPrimitives<PFP>(simulator.envMap_.map, Algo::Render::GL2::TRIANGLES, false) ;
 
+	simulator.envMap_.map.setBrowser(NULL);
+
+	CellMarker<FACE> cmF2(simulator.envMap_.map);
+	TraversorF<PFP::MAP> tF2(simulator.envMap_.map);
+	for(Dart d = tF.begin() ; d != tF.end() ; d = tF.next())
+	{
+		if(simulator.envMap_.obstvect[d].size() > 0)
+		{
+			cmF2.mark(d);
+		}
+	}
+
+	MapBrowserSelector mbs2(simulator.envMap_.map,SelectorCellMarked<FACE>(cmF2));
+	simulator.envMap_.map.setBrowser(&mbs2);
+
+	if(upType & Algo::Render::GL2::TRIANGLES)
+		m_renderWithin->initPrimitives<PFP>(simulator.envMap_.map, Algo::Render::GL2::TRIANGLES, false) ;
+
+	simulator.envMap_.map.setBrowser(NULL);
+#else
+	if(upType & Algo::Render::GL2::TRIANGLES)
+		m_render->initPrimitives<PFP>(simulator.envMap_.map, Algo::Render::GL2::TRIANGLES, false) ;
+#endif
+
+
 	if(upType & Algo::Render::GL2::LINES)
 		m_render->initPrimitives<PFP>(simulator.envMap_.map, Algo::Render::GL2::LINES,false) ;
 
@@ -573,7 +618,6 @@ void SocialAgents::cb_redraw()
 	fbo.createAttachDepthTexture();
 	fbo.bind();
 	fbo.enableAllColorAttachments();
-
 #endif
 
 	glClearColor( 0.8f, 0.8f, 1.0f, 1.0f );
@@ -586,21 +630,6 @@ void SocialAgents::cb_redraw()
 	glEnable(GL_POINT_SMOOTH);
 	glHint(GL_POINT_SMOOTH_HINT, GL_NICEST);
 
-//	glEnable(GL_POLYGON_OFFSET_FILL) ;
-//	glPolygonOffset( 2.0f,2.0f) ;
-
-#ifdef EXPORTING
-//	m_Ground_Shader->enableVertexAttribs();
-//	glDrawArrays(GL_QUADS, 0, 4*N_THETA*N_PHI );
-//	glDrawArrays(GL_POLYGON, 0, 4);
-//	m_Ground_Shader->disableVertexAttribs();
-
-
-#endif
-
-//	glDisable(GL_POLYGON_OFFSET_FILL) ;
-
-
 	glPolygonMode(GL_FRONT_AND_BACK, GL_FILL) ;
 	glEnable(GL_LIGHTING);
 
@@ -609,41 +638,34 @@ void SocialAgents::cb_redraw()
 
 	dock.check_slide->setRange(0, simulator.envMap_.map.end().index) ;
 
-	if (draw_posX)
-	{
-	}
-
 	if (drawAgents)
 	{
 #ifdef EXPORTING_OBJ
-	for (unsigned int i=0; i< simulator.agents_.size(); ++i)
-	{
-		m_nbIndicesAgent = m_objAgent.createSimpleVBO_PTN(m_positionVBOAgent,m_texcoordVBOAgent,m_normalVBOAgent);
-		glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-
-		m_shaderTexAgent->setTransformation(simulator.agents_[i]->m_transfo);
-		m_shaderTexAgent->activeTexture();
-		m_shaderTexAgent->enableVertexAttribs();
-		glDrawArrays(GL_TRIANGLES, 0, m_nbIndicesAgent);
-		m_shaderTexAgent->disableVertexAttribs();
-	}
-
-//		glDrawArraysInstanced(GL_TRIANGLES, 0, m_nbIndicesAgent, simulator.agents_.size());
-
+		for (unsigned int i=0; i< simulator.agents_.size(); ++i)
+		{
+			m_nbIndicesAgent = m_objAgent.createSimpleVBO_PTN(m_positionVBOAgent,m_texcoordVBOAgent,m_normalVBOAgent);
+			glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
+
+			m_shaderTexAgent->setTransformation(simulator.agents_[i]->m_transfo);
+			m_shaderTexAgent->activeTexture();
+			m_shaderTexAgent->enableVertexAttribs();
+			glDrawArrays(GL_TRIANGLES, 0, m_nbIndicesAgent);
+			m_shaderTexAgent->disableVertexAttribs();
+		}
 #else
-	PFP::VEC3* data = static_cast<PFP::VEC3*>(m_agentsVBO->lockPtr());
-	for (unsigned int i=0; i< simulator.agents_.size(); ++i)
-	{
-		VEC3 p = simulator.agents_[i]->getPosition();
-		data[i] = p;
-	}
-	m_agentsVBO->releasePtr();
+		PFP::VEC3* data = static_cast<PFP::VEC3*>(m_agentsVBO->lockPtr());
+		for (unsigned int i=0; i< simulator.agents_.size(); ++i)
+		{
+			VEC3 p = simulator.agents_[i]->getPosition();
+			data[i] = p;
+		}
+		m_agentsVBO->releasePtr();
 
-	m_sprite->predraw(Geom::Vec3f(1.0f, 0.0f ,0.0f));
-	m_sprite->enableVertexAttribs();
-	glDrawArrays(GL_POINTS, 0, simulator.agents_.size());
-	m_sprite->disableVertexAttribs();
-	m_sprite->postdraw();
+		m_sprite->predraw(Geom::Vec3f(1.0f, 0.0f ,0.0f));
+		m_sprite->enableVertexAttribs();
+		glDrawArrays(GL_POINTS, 0, simulator.agents_.size());
+		m_sprite->disableVertexAttribs();
+		m_sprite->postdraw();
 #endif
 
 #ifdef EXPORTING_AGENT
@@ -653,20 +675,11 @@ void SocialAgents::cb_redraw()
 		}
 #endif
 
-//		for (std::vector<Agent*>::iterator it = simulator.agents_.begin() ; it != simulator.agents_.end() ; ++it)
-//		{
-//			glPolygonMode(GL_FRONT_AND_BACK, GL_FILL) ;
-//			renderAgent(simulator.envMap_, *it, drawAgentsNeighborDist, drawAgentsObstacleDist, drawAgentsPath,
-//			 (*it)->color1, (*it)->color2, (*it)->color3) ;
-//		}
-
 		if(target_Agent)
 		{
-
 			glDisable(GL_LIGHTING);
 			VEC3 pos =simulator.agents_[agentSlider]->part_.getPosition();
-			CGoGNout<<"agent "<<agentSlider<< " sélectionné, à la position :"<<pos<<CGoGNendl;
-			m_ds->newList(GL_COMPILE);
+			m_ds->newList(GL_COMPILE_AND_EXECUTE);
 			m_ds->lineWidth(5.0f);
 			m_ds->pointSize(10.0f);
 			m_ds->begin(GL_POINTS);
@@ -678,72 +691,40 @@ void SocialAgents::cb_redraw()
 			m_ds->vertex(pos+VEC3(0,0,50));
 
 			m_ds->vertex(pos+VEC3(0,10,50));
-//			m_ds->vertex(VEC3 (pos[0]+10,pos[1]-10,pos[2]));
-
 
 			m_ds->end();
 			m_ds->endList();
-
-			m_ds->callList();
-
 		}
 	}
 
 	if (drawMovingObstacles)
 	{
+#ifdef SHADOWSHELL
 		updateObstacleVBO();
+#endif
 
 		for(unsigned int i = 0 ; i < simulator.movingObstacles_.size() ; ++i)
 		{
+#ifdef SHADOWSHELL
 			Utils::ShaderFlat* moShader = m_obstShader[i];
+//			moShader->setAmbiant(Geom::Vec4f(0.43137254902,0.76862745098,0.8862745098,0.));
+			moShader->setAmbiant(Geom::Vec4f(0,0,0,0.));
+			moShader->setDiffuse(Geom::Vec4f(0.,0.,0.,0.));
+
 			moShader->enableVertexAttribs();
 			glDrawArrays(GL_POLYGON, 0, simulator.movingObstacles_[i]->nbVertices);
 			moShader->disableVertexAttribs();
+#endif
 
 #ifdef EXPORTING_BOXES
 			simulator.movingObstacles_[i]->draw();
 #endif
-
-//			dCD->newList(GL_COMPILE_AND_EXECUTE);
-//			dCD->begin(GL_POINTS);
-//			dCD->lineWidth(1.0f);
-//			dCD->pointSize(10.0f);
-//			dCD->color3f(0,1,0);
-//			for(unsigned int j = 0 ; j < simulator.movingObstacles_[i]->nbVertices ; ++j)
-//			{
-//				VEC3 p = simulator.movingObstacles_[i]->getPosition(j);
-//				dCD->vertex3f(p[0], p[1], p[2]) ;
-//			}
-//
-//			dCD->end();
-//			dCD->endList();
-
 		}
 
 		// Commente par Arash
 		for (std::vector<MovingMesh*>::iterator it = simulator.movingMeshes_.begin() ; it != simulator.movingMeshes_.end() ; ++it)
-		{
 			(*it)->draw();
-		}
-
-		glColor3f(1.0f, 1.0f, 1.0f) ;
-		for (std::vector<MovingObstacle*>::iterator it = simulator.movingObstacles_.begin() ; it != simulator.movingObstacles_.end() ; ++it)
-		{
-			if (draw_elipse)
-			{	// Dessiner les foyers
-//				glBegin(GL_POINTS);
-//				glColor3f(1.0,0.0,0.0);
-//				glVertex3fv((*it)->focus1.data());
-//				glColor3f(0.0,1.0,0.0);
-//				glVertex3fv((*it)->focus2.data());
-//				glEnd();
-//
-//				// Dessiner l'ellipse
-//				 drawEllipse((*it)->focus1,(*it)->focus2,(*it)->sum_dist_foci,20);
-			}
-//			renderObstacle(simulator.envMap_, *it,false,drawObstPath, true);
 
-		}
 	}
 
 #ifndef SPATIAL_HASHING
@@ -785,65 +766,31 @@ void SocialAgents::cb_redraw()
 
 	if (drawEnvTopo)
 	{
-
 		m_renderTopo->drawTopo();
-		if (draw_dart)
-			{
-				if (dartSlider < (simulator.envMap_.map.end().index))
-				{
-					m_renderTopo->overdrawDart(dartSlider,5.0f,0,1.0f,0.5f);
-				}
-			}
-
-	}
-
-	if (drawObstacles)
-	{
-		glColor3f(0.0f, 0.0f, 1.0f) ;
-		glLineWidth(3.0f) ;
-
-		TraversorE<PFP::MAP> tE(simulator.envMap_.map);
-		for (Dart d = tE.begin() ; d != tE.end() ; d = tE.next())
-		{
-
-				///show buildings
-//				if(simulator.envMap_.buildingMark.isMarked(d))
-//				{
-//					renderFace(simulator.envMap_,d);
-//				}
-
-//				if ((simulator.envMap_.obstvect[d].size()) != 0)
-//				{
-//					renderFace(simulator.envMap_, d) ;
-//				}
-
-				if(simulator.envMap_.obstacleMark.isMarked(d))
-				{
-//					renderDart(simulator.envMap_,d);
-				}
 
-				if(simulator.envMap_.map.isBoundaryEdge(d))
-				{
-//					renderDart(simulator.envMap_,d);
-				}
-		}
+		if (draw_dart && dartSlider < (simulator.envMap_.map.end().index))
+				m_renderTopo->overdrawDart(dartSlider,5.0f,0,1.0f,0.5f);
 	}
 
 	if (drawEnvFaces)
 	{
-//		glEnable(GL_LIGHTING) ;
 		glEnable(GL_POLYGON_OFFSET_FILL) ;
 		glPolygonOffset(1.0f, -0.5f) ;