linear ok

include/moving_obstacle.h

@@ -6,7 +6,7 @@
 #include "utils.h"
 #include "env_map.h"
 #include <set>
- #define LINEAR
+// #define LINEAR
 // #define SECURED
 #ifdef LINEAR
 	#include "ShapeMatching/shapeMatchingLinear.h"

src/moving_obstacle.cpp

@@ -163,7 +163,7 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 		index_parent(indParent),
 		gravity_dist(0),
 		beta(0.95),
-		alpha(0.2)
+		alpha(0.99)
 
 {
 	assert(pos.size() > 2);
@@ -1096,12 +1096,12 @@ void MovingObstacle::updateForces()
 			//-------------------------------------------------------------------------
 			// ARASH : A présent on calcule les interactions avec les autres obstacles.
 		VEC3 norm;
-		double obst_stiffness = 2.0; // agent-obstacle interaction stiffness
+		double obst_stiffness = 0.5; // agent-obstacle interaction stiffness
 		int obst_power = 2  ;           // the power to which elevate the agent-obstacle distance
 
 		double obst_radius_infl, obst_radius_infl_buildings;
 
-			obst_radius_infl = 20.; // scenario 1 et 3
+			obst_radius_infl = 30.; // scenario 1 et 3
 			obst_radius_infl_buildings= 50.0f;
 
 		float fixed_obst_factor = 5.0f;
@@ -1110,6 +1110,7 @@ void MovingObstacle::updateForces()
 				{
 			PFP::VEC3 normFace = CGoGN::Algo::Surface::Geometry::faceNormal<PFP>(sim_->envMap_.map, parts_[i]->d, sim_->envMap_.position);
 				Dart dd = map.phi_1(d);
+
 					VEC3 p = position[dd]+(velocity[dd] * sim_->timeStep_);
 
 					// Evitement d'obstacles mobiles
@@ -1241,26 +1242,35 @@ void MovingObstacle::applyForces()
 	if(!rigid_)
 	{
 		Dart d = groundFace;
-		shape_->animate();
+
 
 
 
 		for (unsigned int i = 0; i < nbVertices; ++i)
 		{
 
-			velocity[d] += forces[d] * sim_->timeStep_ +(alpha/sim_->timeStep_)*(shape_->goal[d]-position[d]);
-			velocity[map.phi_1(map.phi2(d))] += forces[d] * sim_->timeStep_ +(alpha/sim_->timeStep_)*(shape_->goal[map.phi_1(map.phi2(d))]-position[map.phi_1(map.phi2(d))]);;
+			velocity[d] += (forces[d]-0.01*velocity[d]) * sim_->timeStep_ ;
+
 			position[d] += (velocity[d] * sim_->timeStep_);
-			position [map.phi_1(map.phi2(d))]+=(velocity[map.phi_1(map.phi2(d))] * sim_->timeStep_);
+			position [map.phi_1(map.phi2(d))]+=(0.5*velocity[d] * sim_->timeStep_);
 //			PFP::VEC3 normal = CGoGN::Algo::Surface::Geometry::faceNormal<PFP>(sim_->envMap_.map, parts_[i]->d, sim_->envMap_.position);
 //			normal *= height;
 //			position[map.phi_1(map.phi2(d))] = position[d]+normal;
 			d=map.phi_1(d);;
 		}
+		d = groundFace;
 //		velocity[centerDart] +=forces[centerDart] * sim_->timeStep_;
 //		position[centerDart] += (velocity[centerDart] * sim_->timeStep_);
-
-
+		shape_->animate();
+		for (unsigned int i = 0; i < nbVertices; ++i)
+		{
+			position[d] += alpha*(shape_->goal[d]-position[d]);
+			position [map.phi_1(map.phi2(d))]+=alpha*(shape_->goal[map.phi_1(map.phi2(d))]-position[map.phi_1(map.phi2(d))]);
+//			PFP::VEC3 normal = CGoGN::Algo::Surface::Geometry::faceNormal<PFP>(sim_->envMap_.map, parts_[i]->d, sim_->envMap_.position);
+//			normal *= height;
+//			position[map.phi_1(map.phi2(d))] = position[d]+normal;
+			d=map.phi_1(d);;
+		}
 
 
 

src/simulator.cpp

@@ -17,7 +17,7 @@ timespec timespec_delta(const timespec& t1, const timespec& t2) {
 
 Simulator::Simulator(unsigned int config, unsigned int minS, unsigned int nbAgent, unsigned int nbObst, bool resolution) :
 #ifdef TWO_AND_HALF_DIM
-	timeStep_(0.05f),
+	timeStep_(0.5f),
 #else
 //	timeStep_(config > 2 ? 0.01f : 0.25f),
 	timeStep_(0.01f),