Merge fini

Debug/CMakeLists.txt

@@ -43,6 +43,7 @@ add_executable( socialAgentsD
 	../src/gl2ps.c
 	../src/ShapeMatching/rigidXfComputation.cpp
 	../src/shaderCustom.cpp
+	../src/shaderCustomTex.cpp
 	${socialAgents_moc}
 	${socialAgents_ui}
 )

Release/CMakeLists.txt

@@ -43,6 +43,7 @@ add_executable( socialAgents
 	../src/gl2ps.c
 	../src/ShapeMatching/rigidXfComputation.cpp
 	../src/shaderCustom.cpp
+	../src/shaderCustomTex.cpp
 	${socialAgents_moc}
 	${socialAgents_ui}
 )

include/agent.h

@@ -7,7 +7,10 @@
 #include "env_map.h"
 #include "spatialHashing.h"
 
+
 //#define SECURED
+#define EXPORTING_AGENT
+//#define EXPORTING_OBJ
 
 #ifdef SECURED
 	#include "Algo/MovingObjects/particle_cell_2D_secured.h"
@@ -15,6 +18,19 @@
 	#include "Algo/MovingObjects/particle_cell_2D.h"
 #endif
 
+#ifdef EXPORTING_AGENT
+	#include "Utils/vbo.h"
+	#include "Utils/Shaders/shaderSimpleColor.h"
+#endif
+
+#ifdef EXPORTING_OBJ
+	#include "Algo/Render/GL2/mapRender.h"
+	#include "Utils/vbo.h"
+
+	#include "Algo/Import/importObjTex.h"
+	#include "shaderCustomTex.h"
+#endif
+
 class Simulator ;
 
 class Agent
@@ -24,6 +40,8 @@ public:
 	Agent(Simulator* sim, const VEC3& position, const VEC3& goals) ;
 
 	void init(const VEC3& start, const VEC3& goal);
+	void initGL();
+	void draw();
 
 	VEC3 getPosition() ;
 
@@ -50,6 +68,32 @@ public:
 	std::vector<std::pair<float, Obstacle*> > obstacleNeighbors_ ;
 	std::vector<std::pair<float, Obstacle*> > movingObstacleNeighbors_;
 
+#ifdef EXPORTING_AGENT
+	static const int m_ghost_nb = 500;
+	std::list<VEC3> m_ghost_previousPos;
+	Utils::VBO * m_ghost_VBO;
+	Utils::ShaderSimpleColor * m_ghost_shader;
+#endif
+
+#ifdef EXPORTING_OBJ
+	PFP2::MAP map;
+	VertexAttribute<VEC3> position;
+	VertexAttribute<VEC3> normal;
+
+	VEC3 previousPos;
+	float previousRot;
+
+	Algo::Render::GL2::MapRender* m_render;
+	Utils::VBO* m_positionVBO;
+	Utils::VBO* m_normalVBO;
+
+	Utils::Texture<2,Geom::Vec3uc>* m_texture;
+	Utils::VBO* m_texcoordVBO;
+	ShaderCustomTex* m_shaderTex;
+	Algo::Surface::Import::OBJModel<PFP2> m_obj;
+	unsigned int m_nbIndices;
+#endif
+
 #ifdef SPATIAL_HASHING
 	VEC3 pos ;
 #else

include/env_generator.hpp

@@ -606,15 +606,16 @@ void generatePlanet(EnvMap& envMap)
 {
 	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 ;
+	if (nx < 1)
+		nx = 1 ;
+	if (ny < 1)
+		ny = 1 ;
 
 	Algo::Surface::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 ;
+	double xRadius = envMap.geometry.size(0) / 2 * M_PI;
+	double yRadius = envMap.geometry.size(1) / 2 * M_PI ;
 
 	prim.embedSphere((xRadius+yRadius)/2.0f) ;
 }
@@ -624,6 +625,7 @@ typename PFP::VEC3 parametrization(typename PFP::VEC3 p, float r,const Geom::Bou
 {
 	p[0] = 2.0f*M_PI*(p[0]-bb.min()[0])/bb.size(0);
 	p[1] = ((2.0f*M_PI*(p[1]-bb.min()[1])/bb.size(1))-M_PI)/2.0f;
+	r += p[2];
 
 	return typename PFP::VEC3(2.0f*r*cos(p[0])*cos(p[1]),
 								2.0f*r*sin(p[0])*cos(p[1]),

include/env_map.h

@@ -32,6 +32,15 @@ class ArticulatedObstacle;
 
 #include "pfp.h"
 
+#define EXPORTING3
+
+#ifdef EXPORTING3
+	#include "Utils/Shaders/shaderPhongTexture.h"
+	#include "Utils/Shaders/shaderSimpleTexture.h"
+	#include "shaderCustomTex.h"
+	#include "Algo/Import/importObjTex.h"
+#endif
+
 class EnvMap
 {
 public:
@@ -52,6 +61,9 @@ public:
 	EnvMap() ;
 	void init(unsigned int config, REAL width, REAL height, REAL minSize, REAL maxSize) ;
 
+	void initGL();
+	void draw();
+
 	void scale(float val);
 
 	void markPedWay() ;
@@ -96,6 +108,8 @@ public:
 	PFP::TVEC3 position ;
 	PFP::TVEC3 normal ;
 
+	Geom::BoundingBox<PFP::VEC3> bb;
+
 	PFP::MAP mapScenary ;
 	PFP::TVEC3 positionScenary ;
 	PFP::TVEC3 normalScenary ;
@@ -112,6 +126,32 @@ public:
 	void popObstNeighborInCells(Obstacle* o, Dart d);
 	void find_next(Obstacle* o,Dart * d, CellMarkerMemo<FACE>& cms);
 
+#ifdef EXPORTING3
+	std::vector<PFP::MAP *> m_map_Export;
+	std::vector<Algo::Surface::Import::OBJModel<PFP2> *> m_obj_Export;
+
+	std::vector<Utils::Texture<2,Geom::Vec3uc>*> m_texture_Export;
+	std::vector<Utils::VBO*> m_positionVBO_Export;
+	std::vector<Utils::VBO*> m_normalVBO_Export;
+	std::vector<Utils::VBO*> m_texcoordVBO_Export;
+	std::vector<ShaderCustomTex*> m_shaderTex_Export;
+
+	std::vector<unsigned int> m_nbIndice_Export;
+
+//	PFP2::MAP m_map_Export;
+//	VertexAttribute<VEC3> position_Export ;
+//	VertexAttribute<VEC3> normal_Export ;
+//	Algo::Surface::Import::OBJModel<PFP2> * m_obj_Export;
+//
+//	Utils::Texture<2,Geom::Vec3uc>* m_texture_Export;
+//	Utils::VBO* m_positionVBO_Export;
+//	Utils::VBO* m_normalVBO_Export;
+//	Utils::VBO* m_texcoordVBO_Export;
+//	ShaderCustomTex* m_shaderTex_Export;
+//
+//	unsigned int m_nbIndice_Export;
+#endif
+
 
 	std::vector<Dart> newBuildings ;
 
@@ -247,15 +287,15 @@ inline void EnvMap::pushAgentInCells(Agent* agent, Dart d)
 //	assert(std::find(agentvect[d].begin(), agentvect[d].end(), agent) == agentvect[d].end());
 //	map.check();
 
-	TraversorF<PFP::MAP> tF(map);
-		for(Dart ddd = tF.begin() ; ddd != tF.end() ; ddd = tF.next())
-		{
-			if(std::find(agentvect[ddd].begin(), agentvect[ddd].end(), agent) != agentvect[ddd].end())
-				std::cout <<agent << "   SO WRONG ADD" <<ddd.index<< std::endl;
-
-			if(std::find(neighborAgentvect[ddd].begin(), neighborAgentvect[ddd].end(), agent) != neighborAgentvect[ddd].end())
-				std::cout <<agent<< "   SO SO WRONG  ADD" <<ddd.index<< std::endl;
-		}
+//	TraversorF<PFP::MAP> tF(map);
+//		for(Dart ddd = tF.begin() ; ddd != tF.end() ; ddd = tF.next())
+//		{
+//			if(std::find(agentvect[ddd].begin(), agentvect[ddd].end(), agent) != agentvect[ddd].end())
+//				std::cout <<agent << "   SO WRONG ADD" <<ddd.index<< std::endl;
+//
+//			if(std::find(neighborAgentvect[ddd].begin(), neighborAgentvect[ddd].end(), agent) != neighborAgentvect[ddd].end())
+//				std::cout <<agent<< "   SO SO WRONG  ADD" <<ddd.index<< std::endl;
+//		}
 
 	addElementToVector<Agent*>(agentvect[d],agent);
 //	agentvect[d].push_back(agent) ;
@@ -267,7 +307,11 @@ inline void EnvMap::pushAgentInCells(Agent* agent, Dart d)
 		Dart ddd = map.alpha1(map.alpha1(dd)) ;
 		while (ddd != dd)
 		{
-			addElementToVector<Agent*>(neighborAgentvect[ddd],agent);
+			if (!map.isBoundaryMarked2(ddd))
+			{
+				addElementToVector<Agent*>(neighborAgentvect[ddd],agent);
+			}
+
 //			neighborAgentvect[ddd].push_back(agent) ;
 //			nbAgentsIncrease(ddd);
 			ddd = map.alpha1(ddd) ;
@@ -289,22 +333,25 @@ inline void EnvMap::popAgentInCells(Agent* agent, Dart d)
 		Dart ddd = map.alpha1(map.alpha1(dd)) ;
 		while (ddd != dd)
 		{
-			removeElementFromVector<Agent*>(neighborAgentvect[ddd], agent) ;
+			if (!map.isBoundaryMarked2(ddd))
+			{
+				removeElementFromVector<Agent*>(neighborAgentvect[ddd], agent) ;
+			}
 //			nbAgentsDecrease(ddd) ;
 			ddd = map.alpha1(ddd) ;
 		}
 		dd = map.phi1(dd) ;
 	} while (dd != d) ;
 
-	TraversorF<PFP::MAP> tF(map);
-		for(Dart ddd = tF.begin() ; ddd != tF.end() ; ddd = tF.next())
-		{
-			if(std::find(agentvect[ddd].begin(), agentvect[ddd].end(), agent) != agentvect[ddd].end())
-				std::cout <<agent << "   SO WRONG" <<ddd.index<< std::endl;
-
-			if(std::find(neighborAgentvect[ddd].begin(), neighborAgentvect[ddd].end(), agent) != neighborAgentvect[ddd].end())
-				std::cout <<agent<< "   SO SO WRONG " <<ddd.index<< std::endl;
-		}
+//	TraversorF<PFP::MAP> tF(map);
+//		for(Dart ddd = tF.begin() ; ddd != tF.end() ; ddd = tF.next())
+//		{
+//			if(std::find(agentvect[ddd].begin(), agentvect[ddd].end(), agent) != agentvect[ddd].end())
+//				std::cout <<agent << "   SO WRONG" <<ddd.index<< std::endl;
+//
+//			if(std::find(neighborAgentvect[ddd].begin(), neighborAgentvect[ddd].end(), agent) != neighborAgentvect[ddd].end())
+//				std::cout <<agent<< "   SO SO WRONG " <<ddd.index<< std::endl;
+//		}
 }
 
 

include/moving_mesh.h

@@ -13,15 +13,20 @@
 #include "Utils/Shaders/shaderSimpleColor.h"
 #include "Utils/Qt/qtSimple.h"
 
-using namespace std;
+#include "Utils/Shaders/shaderSimpleTexture.h"
+#include "Algo/Import/importObjTex.h"
 
+using namespace std;
 
+//#define EXPORTING2
 
 class MovingMesh
 {
 public:
 	MovingMesh(EnvMap& envMap, Dart d, std::string filename);
 
+	void initGL();
+
 	void linkWithObstacle(MovingObstacle * mo);
 
 	void transform(Geom::Matrix44f m);
@@ -40,14 +45,26 @@ public:
 
 	PFP::MAP& motherMap;
 	VertexAttribute<VEC3>& motherPosition;
-	PFP::MAP map;
+	PFP2::MAP map;
 	VertexAttribute<VEC3> position;
 	VertexAttribute<VEC3> normal;
 
 	Algo::Render::GL2::MapRender* m_render;
 	Utils::VBO* m_positionVBO;
 	Utils::VBO* m_normalVBO;
+#ifdef EXPORTING2
+	Utils::Texture<2,Geom::Vec3uc>* m_texture;
+
+	Utils::VBO* m_texcoordVBO;
+
+	ShaderCustomTex* m_shaderTex;
+//	Utils::ShaderPhongTexture* m_shaderTex;
+//	Utils::ShaderSimpleTexture* m_shaderTex;
+	Algo::Surface::Import::OBJModel<PFP2> m_obj;
+	unsigned int m_nbIndices;
+#else
 	Utils::ShaderSimpleColor* m_simpleColorShader;
+#endif
 
 	float scaleValue;
 

include/moving_obstacle.h

@@ -8,6 +8,15 @@
 #include <set>
 #include "Algo/MovingObjects/particle_cell_2D_memo.h"
 
+//#define EXPORTING_BOXES
+
+#ifdef EXPORTING_BOXES
+	#include "Algo/Render/GL2/mapRender.h"
+	#include "Utils/Shaders/shaderSimpleColor.h"
+	#include "Utils/Shaders/shaderFlat.h"
+	#include "Utils/vbo.h"
+#endif
+
 using namespace std;
 PFP::VEC3 rotate (PFP::VEC3 pos1, PFP::VEC3 center, float angle);
 float get_angle (PFP::VEC3 v1, PFP::VEC3 v2);
@@ -19,6 +28,9 @@ class MovingObstacle
 {
 public:
 	MovingObstacle(Simulator* sim, int index, std::vector<PFP::VEC3> pos, std::vector<VEC3> goals, bool rigid, bool spin,int curGoal=0, Dart d=NIL, ArticulatedObstacle * art=NULL, int indParent=-1);
+	void initGL();
+	void draw();
+
 	bool test_opposition(VEC3 o, VEC3 p1, VEC3 p2);
 //	void contournerBatiment();
 	void updateAgentNeighbors() ;
@@ -53,6 +65,13 @@ public:
 
 	Dart groundFace;
 
+#ifdef EXPORTING_BOXES
+	Algo::Render::GL2::MapRender* m_render;
+	Utils::VBO* m_positionVBO;
+	Utils::VBO* m_normalVBO;
+	Utils::ShaderSimpleColor* m_shader;
+#endif
+
 	//vector de détails pour la deformation
 //	std::vector<PFP::VEC3> verticesDeformation;
 

include/pfp.h

@@ -24,6 +24,13 @@ struct PFP : public PFP_STANDARD
 	typedef NoMathIONameAttribute<std::pair<bool, bool> > BOOLATTRIB ;
 } ;
 
+struct PFP2 : public PFP_STANDARD
+{
+	// definition de la carte
+//	typedef EmbeddedMap2 MAP ;
+	typedef Algo::Surface::IHM::ImplicitHierarchicalMap MAP ;
+} ;
+
 typedef PFP::VEC3 VEC3 ;
 typedef PFP::REAL REAL ;
 

include/simulator.h

@@ -94,7 +94,7 @@ public:
 	void setupCorridorScenario(unsigned int nbAgents, unsigned int nbObstacles) ;
 	void setupSnakeCorridorScenario(unsigned int nbAgents, unsigned int nbSnakes, int snakeSize) ;
 	void setupCityScenario(int nbLines, int nbRank) ;
-	void setupScenario(unsigned int nbMaxAgent, bool path) ;
+	void setupScenario(unsigned int nbMaxAgent, bool pedWay=false) ;
 
 	void addMovingObstacles(unsigned int nb);
 	void addMovingObstacle(Dart d, unsigned int obstType=0);
@@ -112,7 +112,6 @@ public:
 
 	bool importAgents(std::string filename) ;
 	bool exportAgents(std::string filename) ;
-	void checkRegistering();
 	void swapAgentsGoals() ;
 
 	Geom::BoundingBox<VEC3> getAgentsBB() ;

include/viewer.h

@@ -83,8 +83,7 @@ public:
 	void exportInfoFace(std::ofstream& out, Dart d) ;
 	bool exportScenePov(PFP::MAP& map, PFP::TVEC3& position, const std::string& filename,
 	                    PFP::VEC3 cameraPos, PFP::VEC3 cameraLook, PFP::VEC3 translate,
-	                    float angle_X, float angle_Y, float angle_Z,
-	                    const FunctorSelect& good = SelectorTrue()) ;
+	                    float angle_X, float angle_Y, float angle_Z) ;
 #endif
 
 	void cb_keyPress(int keycode) ;

src/agent.cpp

@@ -27,6 +27,9 @@ float Agent::rangeSq_ = range_ * range_ ;
 unsigned int Agent::cptAgent = 0 ;
 
 Agent::Agent(Simulator* sim, const VEC3& start, const VEC3& goal, Dart d) :
+#ifdef EXPORTING_OBJ
+	m_obj(map),
+#endif
 #ifdef SPATIAL_HASHING
 	pos(position),
 #else
@@ -44,6 +47,9 @@ Agent::Agent(Simulator* sim, const VEC3& start, const VEC3& goal, Dart d) :
 }
 
 Agent::Agent(Simulator* sim, const VEC3& start, const VEC3& goal) :
+#ifdef EXPORTING_OBJ
+	m_obj(map),
+#endif
 #ifdef SPATIAL_HASHING
 	pos(position),
 #else
@@ -62,6 +68,12 @@ Agent::Agent(Simulator* sim, const VEC3& start, const VEC3& goal) :
 
 void Agent::init(const VEC3& start, const VEC3& goal)
 {
+#ifdef EXPORTING_OBJ
+	std::vector<std::string> attrNames ;
+	m_obj.import("./meshRessources/Mexicainlowres.obj",attrNames);
+	position = map.getAttribute<VEC3, VERTEX>(attrNames[0]) ;
+#endif
+
 #ifdef SPATIAL_HASHING
 	sim->envMap_.addAgentInGrid(this) ;
 #endif
@@ -88,9 +100,97 @@ void Agent::init(const VEC3& start, const VEC3& goal)
 	movingObstacles_ = new MovingObstacle* [maxMovingObstacles_];
 	nb_mos=0;
 	agentNo = cptAgent++ ;
-	CGoGNout<<this<<" = agent n°"<<agentNo<<CGoGNendl;
+//	CGoGNout<<this<<" = agent n°"<<agentNo<<CGoGNendl;
 }
 
+void Agent::initGL()
+{
+#ifdef EXPORTING_AGENT
+	m_ghost_shader = new Utils::ShaderSimpleColor();
+	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.));
+
+	m_ghost_VBO = new Utils::VBO();
+	m_ghost_VBO->setDataSize(3);
+	m_ghost_VBO->allocate(m_ghost_nb);
+	m_ghost_shader->setAttributePosition(m_ghost_VBO);
+
+//	registerShader(m_ghost_shader);
+#endif
+
+#ifdef EXPORTING_OBJ
+	m_texcoordVBO = new Utils::VBO();
+	m_positionVBO = new Utils::VBO();
+	m_normalVBO = new Utils::VBO();
+
+	m_texture = new Utils::Texture<2,Geom::Vec3uc>(GL_UNSIGNED_BYTE);
+
+	if (m_texture->load("./meshRessources/sombrero2lowres_grp.png"))
+			m_texture->update();
+	else
+		std::cout << "problem : loading texture" << std::endl;
+
+	m_texture->setWrapping(GL_CLAMP_TO_EDGE);
+
+	m_shaderTex = new ShaderCustomTex();
+	m_shaderTex->setAttributePosition(m_positionVBO);
+	m_shaderTex->setAttributeTexCoord(m_texcoordVBO);
+	m_shaderTex->setTextureUnit(GL_TEXTURE0);
+	m_shaderTex->setTexture(m_texture);
+
+	glEnable(GL_TEXTURE_2D);
+
+	if (!m_obj.hasNormals())
+	{
+		normal = map.getAttribute<VEC3, VERTEX>("normal") ;
+		if(!normal.isValid())
+			normal = map.addAttribute<VEC3, VERTEX>("normal") ;
+
+		Algo::Surface::Geometry::computeNormalVertices<PFP2>(map, m_obj.m_positions, normal) ;
+		m_obj.setNormalAttribute(normal);
+	}
+
+	map.setBrowser(NULL);
+
+	m_nbIndices = m_obj.createSimpleVBO_PTN(m_positionVBO,m_texcoordVBO,m_normalVBO);
+
+	previousPos = VEC3(0,0,0);
+#endif
+}
+
+void Agent::draw()
+{
+#ifdef EXPORTING_AGENT
+	PFP::VEC3* data = static_cast<PFP::VEC3*>(m_ghost_VBO->lockPtr());
+
+	unsigned int i = 0;
+	for(std::list<VEC3>::iterator it = m_ghost_previousPos.begin() ; it != m_ghost_previousPos.end() ; ++it, ++i)
+	{
+			data[i] = *it;
+	}
+
+	m_ghost_VBO->releasePtr();
+
+	m_ghost_shader->enableVertexAttribs();
+	glDrawArrays(GL_LINE_STRIP, 0, m_ghost_previousPos.size());
+	m_ghost_shader->disableVertexAttribs();
+#endif
+
+#ifdef EXPORTING_OBJ
+	Algo::Surface::Geometry::computeNormalVertices<PFP2>(map, m_obj.m_positions, normal) ;
+	m_nbIndices = m_obj.createSimpleVBO_PTN(m_positionVBO,m_texcoordVBO,m_normalVBO);
+	glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
+
+	m_shaderTex->activeTexture();
+	m_shaderTex->enableVertexAttribs();
+	glDrawArrays(GL_TRIANGLES, 0, m_nbIndices);
+	m_shaderTex->disableVertexAttribs();
+#endif
+}
+
+
+//-----------------------------------------------------------------
 
 //-----------------------------------------------------------------
 
@@ -217,7 +317,7 @@ void Agent::updateObstacleNeighbors()
 			if ((obstacleNeighbors_.size() < maxMovingObstacles_|| distSq < maxDistObst)
 					&& distSq < rangeSq_)
 			{
-//				if (Geom::testOrientation2D(part_.getPosition(), (*it)->p1, (*it)->p2) == Geom::RIGHT)
+				if (Geom::testOrientation2D(part_.getPosition(), (*it)->p1, (*it)->p2) == Geom::RIGHT)
 				{
 
 					if (distSq > maxDistObst)
@@ -236,7 +336,7 @@ void Agent::updateObstacleNeighbors()
 				if ((movingObstacleNeighbors_.size() < maxMovingObstacles_ || distSq < maxDistMovingObst)
 						&& distSq < rangeSq_)
 				{
-//					if (Geom::testOrientation2D(part_.getPosition(), (*it)->p1, (*it)->p2) == Geom::RIGHT)
+					 if (Geom::testOrientation2D(part_.getPosition(), (*it)->p1, (*it)->p2) == Geom::RIGHT)
 					{
 
 						if (distSq > maxDistMovingObst)
@@ -253,37 +353,37 @@ 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_)
 	{
@@ -321,7 +421,6 @@ void Agent::updateObstacleNeighbors()
 //		}
 }
 
-
 //-----------------------------------------------------------------
 //-----------------------------------------------------------------
 
@@ -339,7 +438,13 @@ void Agent::update()
 
 		#ifdef SECURED
 			if(target != part_.getPosition())
-				std::cout << "Problem agent " << agentNo << " (position : " << part_.getPosition() << ") time " << sim_->globalTime_ << std::endl;
+				std::cout << "Problem agent " << agentNo << " (position : " << part_.getPosition() << ") time " << sim_->nbSteps_ << std::endl;
+		#endif
+
+		#ifdef EXPORTING_AGENT
+			m_ghost_previousPos.push_back(target);
+			if(m_ghost_previousPos.size()>m_ghost_nb)