up

include/ArticulatedObject.h

-#ifndef ArticulatedObject_H
-#define ArticulatedObject_H
-
-#include <iostream>
-#include "glm/glm.hpp"
-#include "env_map.h"
-#include "utils.h"
-//particules
-
-
-
-using namespace CGoGN ;
-class Simulator;
-class ArticulatedObject
-{
-public :
-    ArticulatedObject();
-    virtual ~ArticulatedObject();
-
-
-    inline const VEC3& getPosition(int index) const
-    {
-        return getParticule(index)->getPosition();
-    }
-
-    const VEC3& getPositionSegment(int index) const
-    {
-        return getParticule((Segments_[index])->indexPart1)->getPosition();
-    }
-
-    const Particule* getParticule(int index) const
-    {
-        return parts_[index];
-    }
-    Particule* getParticule(int index)
-    {
-        return parts_[index];
-    }
-    inline const int& getNeedForSubd(int index) const
-    {
-        return partNeedReset[index];
-    }
-    inline const int& getNeedForSubd(int index)
-    {
-        return partNeedReset[index];
-    }
-    inline void setNeedForSubd(int index, int b)
-    {
-        partNeedReset[index]=b;
-    }
-    inline const int& getNeedForSimplif(int index) const
-    {
-        return partNeedResetSimplif[index];
-    }
-    inline const int& getNeedForSimplif(int index)
-    {
-        return partNeedResetSimplif[index];
-    }
-    inline void setNeedForSimplif(int index, int b)
-    {
-        partNeedResetSimplif[index]=b;
-    }
-    const Segment* getSegment(int index) const
-    {
-        return Segments_[index];
-    }
-
-
-    inline void setSimulator(Simulator* sim)
-    {
-        sim_ = sim;
-    }
-
-
-    void addGeneralCell ( Dart d);
-    bool removeGeneralCell (Dart d);
-    void addGeneralNeighbor ( Dart d);
-    bool removeGeneralNeighbor (Dart d);
-    void needResetSegment(Segment * o);
-    void needResetSimplifSegment(Segment * o);
-
-    unsigned int nbVertices;
-    unsigned int nbEdges;
-
-    std::vector<Particule*> parts_ ;
-    std::vector<int>partNeedReset;
-    std::vector<int>partNeedResetSimplif;
-    std::vector<Segment *>  Segments_;
-
-    std::vector< std::vector<Dart> > belonging_cells;
-    std::vector< std::vector<Dart> > neighbor_cells;
-
-    std::vector<std::pair<Dart, int> > general_belonging;
-    std::vector<std::pair<Dart, int> > general_neighbors;
-    double width;
-    Simulator* sim_;
-    unsigned int index_articulated;
-    virtual void changeColor(Segment * s, float distance)=0;
-    float r;
-    float g;
-    float b;
-    float distanceColorationMini;
-    float distanceColorationMaxi;
-};
-
-
-
-
-
-#endif

include/MovingObject.h

-#ifndef MovingObject_H
-#define MovingObject_H
-
-#include "ArticulatedObject.h"
-//particules
-
-
-
-using namespace CGoGN ;
-class Simulator;
-class MovingObject : public ArticulatedObject
-{
-public :
-
-    virtual void move(VEC3 diff)=0;
-    virtual void updateRegistration()=0;
-    virtual void color_close()=0;
-    virtual void unColor_close(Dart oldCell)=0;
-    virtual Dart refine()=0;
-    void changeColor(Segment * s, float distance);
-    bool Needle_or_knife;
-    VEC3 closest_point; //temp
-
-};
-
-
-
-#endif

include/agent.h

 #ifndef Agent_H
 #define Agent_H
 
-#include "env_map.h"
-#include "utils.h"
+#include "Algo/MovingObjects/MovingObject.h"
+#include "Algo/MovingObjects/ParticleAgent.h"
 //particules
 
 
+typedef CGoGN::Algo::Volume::MovingObjects::MovingObject MovingObject;
+typedef CGoGN::Algo::Volume::MovingObjects::ParticleAgent ParticleAgent;
+typedef CGoGN::Algo::Volume::MovingObjects::mapOperators mapOperators;
 
 using namespace CGoGN ;
-class Simulator;
-class Agent
+class Agent : public ParticleAgent, public MovingObject
 {
 public:
-    Agent(Simulator* sim,VEC3 startingPoint,std::vector<VEC3> goals);
-    Agent(Simulator* sim, VEC3 startingPoint,std::vector<VEC3> goals,Dart d) ;
-    ~Agent();
-    void init(Simulator * sim ,VEC3 startingPoint,std::vector<VEC3> goals,Dart d);
+    Agent(mapOperators * operators, int numAgent, VEC3 startingPoint, std::vector<VEC3> goals, float timeStep_);
+    void init(mapOperators * operators , int numAgent, VEC3 startingPoint,std::vector<VEC3> goals, float timeStep_);
     VEC3 getPosition();
-    void updatePosition();
-
+    void updatePosition( );
     void updateNeighbors() ;
-    void computeNewVelocity();
-
-
-
-
-
-    //particule
-    Particule * part_;
+    void computeNewVelocity( );
 
     static float radius; // taille de l'agent
     static float averageVelocity; // vitesse moyenne d'un agent
@@ -36,7 +28,7 @@ public:
     std::vector<VEC3> goals_ ;
 
     //vitesses
-    VEC3 newVelocity_ ;
+
     VEC3 forces;
     double ag_stiffness;    // agent-agent interaction stiffness
     double ag_damping  ;     // agent-agent interaction damping
@@ -44,33 +36,32 @@ public:
     float maxVelocity_;
 
 
+    void move(VEC3 diff);
+    void updateRegistration();
+    void color_close();
+    void unColor_close(Dart oldCell);
+
+
     //voisins retenus pour l'évitement
-    std::vector<std::pair<float, Agent*> > agentNeighbors_ ;
-    std::vector<std::pair<float, Segment*> > segmentNeighbors_ ;
-    std::vector<std::pair<float, Triangle*> > triangleNeighbors_;
+    std::vector<std::pair<float, ParticleAgent*> > agentNeighbors_ ;
+//    std::vector<std::pair<float, Segment*> > segmentNeighbors_ ;
+//    std::vector<std::pair<float, Triangle*> > triangleNeighbors_;
 
     //avec les distances de détection
     float neighborAgDistSq_;
-    float neighborSegDistSq_;
-    float neighborTriDistSq_;
+//    float neighborSegDistSq_;
+//    float neighborTriDistSq_;
 
     //calcul des répulsions
     void goalAttraction();
-    void avoidanceAgents();
-    void avoidanceSegments();
-    void avoidanceTriangles();
+    void avoidanceAgents( );
+//    void avoidanceSegments();
+//    void avoidanceTriangles();
 
     // nb de voisins considérés par l'évitement
 //    int maxNeighbors_ ;
-    //couleur
-    float r;
-    float g;
-    float b;
-
-    //lien simulateur
-    unsigned int agentNo ;
-    Simulator* sim_;
-    bool alive;
+
+    float timeStep_;
 };
 
 

include/env_map.h

@@ -2,9 +2,10 @@
 #define ENV_MAP_H
 
 
-//#define DEBUG_affichage
+#define DEBUG_affichage
 //#define DEBUG
 
+
 #include <iostream>
 #include <algorithm>
 #include <chrono>
@@ -27,285 +28,31 @@
 #include "Algo/Geometry/volume.h"
 #include "Algo/Geometry/area.h"
 
-
-/////////////////particules
-#include "Algo/MovingObjects/particle_cell_3D_memo.h"
-
+#include "Algo/MovingObjects/mapOperators.h"
 
 using namespace CGoGN ;
-#include "pfp.h"
-
-typedef CGoGN::Algo::Volume::MovingObjects::ParticleCell3D<PFP> Particule;
-typedef CGoGN::Algo::Volume::MovingObjects::ParticleCell3DMemo<PFP> ParticuleMemo;
-
-#include "segment.h"
-#include "triangle.h"
-#include "agent.h"
-
-
-
+typedef CGoGN::Algo::Volume::MovingObjects::mapOperators mapOperators;
 
 class EnvMap
 {
 public:
-    std::chrono::duration<double> duration_pop, duration_subdiv, duration_push;
+//    std::chrono::duration<double> duration_pop, duration_subdiv, duration_push;
 
     EnvMap() ;
-    void init(int argc, char **argv) ;
-    bool checkPointInMap(VEC3 pos,Dart neighborhood);
-    bool checkPointInCube(VEC3 pos);
-    bool checkFaces();  // vérifie que tous les points des faces sont bien coplanaires si ce n'eest pas le cas renvoie true
-    bool insideVolume(VEC3 pos, Dart d);
-    REAL volumeMaxdistance(Vol volume);
-    VEC3 normaleFromVolume(Dart volume,Dart face);
-    void open_file(std::string filename);
+    VolumeAttribute<VEC3, MAP> color ;
     float mapMinX;
     float mapMaxX;
     float mapMinY;
     float mapMaxY;
     float mapMinZ;
     float mapMaxZ;
-    float maxCellRay;
-    void resetPartNeighborsFace(Dart neighbor, unsigned int vLevel);
-    void simplifyNeedle(Dart celltoSimplify, Dart needleCell);
-    bool simplifyCellAgents(Dart volume);
-    bool simplifyVolume (Dart d , CellMarkerMemo<MAP,VOLUME>& smallCells );
-    bool subdivideVolume(Dart d );
-    void subdivideToMaxLevel();
-    bool subdivideMap();
-    bool simplifyMap();
-    Dart getBelongingCell(const PFP::VEC3& pos);
-    unsigned int nbAgentsToSubdivide;
-    unsigned int nbAgentsToSimplify;
-
-
+    void init(int argc, char **argv) ;
     PFP::MAP map ;
-    CellMarkerMemo<MAP,VOLUME> refineMark;
-    CellMarkerMemo<MAP,VOLUME> simplifyMark;
-    VertexAttribute<VEC3, MAP> position ;
-    FaceAttribute<VEC3, MAP> facecenter;
-    VolumeAttribute<VEC3, MAP> color ;
-    VolumeAttribute<VEC3, MAP> volumecenter;
-    VolumeAttribute<AGENTS,MAP> RegisteredAgents;
-    VolumeAttribute<AGENTS,MAP> RegisteredNeighborAgents;
-    VolumeAttribute<ARETES, MAP> RegisteredEdges ;
-    VolumeAttribute<ARETES, MAP> RegisteredNeighborEdges ;
-    VolumeAttribute<TRIANGLES, MAP> RegisteredTriangles ;
-    VolumeAttribute<TRIANGLES, MAP> RegisteredNeighborTriangles ;
-    VolumeAttribute<Dart, MAP> OldestDart;
-    VolumeAttribute<bool,MAP> CellOnMaxLevel; // remplacer par marker ?
-    Geom::BoundingBox<PFP::VEC3> bb;
-
-    std::vector<Dart> getMemoCross(const VEC3& pos, const VEC3& dest, Dart& d1, unsigned int state);
-    void FindNeighborCells (const std::vector<Dart>& belonging_cells, std::vector<Dart> * nieghbor_cells);
-
-
-// Enregistrement Aretes//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-   //
-    Dart popAndPushSegment(Segment* o);
-    void FirstRegistrationSegment(Segment * mo);
-    void pushAOneCellSegment(Segment * o, Dart d);
-    void pushSegmentInSetOfCells(Segment* o, const std::vector<Dart>& memo_cross);
-    void popSegment(Segment* o);
-
-
-    void pushSegmentInCellAsNeighbor(Segment* o, Dart d);
-    void popSegmentInCellAsNeighbor(Segment* o, Dart d);
-    void resetPartSubdiv(Segment* o);
-    void resetPartSimplif(Segment* cell, Dart d);
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-    //Enregistrement Surfaces
-    void popAndPushTriangle(Triangle* o);                // pop et push d'une Triangle
-    void FirstRegistrationTriangle (Triangle* o);        // premier enregistrement d'une Triangle
-    void markNeighbors(CellMarkerMemo<MAP,VOLUME> * memo_mark, CellMarkerMemo<MAP,VOLUME> * OneRingMark, const std::vector<Dart>& memo_cross); // marker les cellules voisines d'un ensemble de cellules retenu dans memo_cross
-    void popTriangle(Triangle* o);
-
-    void pushTriangleInCell(Triangle*  o, Dart d);
-    void popTriangleInCell(Triangle*  o, Dart d);
-    void pushTriangleInCellAsNeighbor(Triangle* cell, Dart d);
-    void popTriangleInCellAsNeighbor(Triangle* cell, Dart d);
-    void resetPartSubdiv(Triangle* cell);
-    void resetPartSimplif(Triangle* cell, Dart d);
-
-    /// enregistrement des agents
-
-    void agentChangeFace(Agent * ag , Dart oldCell);
-    void popAgent(Agent * agent,Dart  oldCell) ;
-    void pushAgent(Agent * agent,Dart newVolume) ;
-
-    void pushAgentInCell(Agent*  o, Dart d);
-    void popAgentInCell(Agent*  o, Dart d);
-    void pushAgentInCellAsNeighbor(Agent* cell, Dart d);
-    void popAgentInCellAsNeighbor(Agent* cell, Dart d);
-#ifndef IHMap
-    Dart volumeLowestIndex(Dart v);
-#endif
+    mapOperators* operators;
 
+    bool intersect_SegmentTriangle( VEC3 s0, VEC3 s1,VEC3 t1, VEC3 t2, VEC3 t3, VEC3& I );
 } ;
 
-/**************************************
- *           INLINE FUNCTIONS          *
- **************************************/
-//////////////////// BASIC OPERATIONS ////////////////////////////////////////////////////////////////
-template <typename T>
-inline bool addElementToVector(std::vector<T>& a, T ag)
-{
-    if (std::find(a.begin(), a.end(), ag) == a.end())
-    {
-        a.push_back(ag) ;
-        return true;
-    }
-    return false;
-}
-
-template <typename T>
-inline bool removeElementFromVector(std::vector<T>& a, T ag)
-{
-    typedef  typename std::vector<T>::iterator iterator;
-    iterator it = std::find(a.begin(), a.end(), ag);
-    if (it == a.end())
-    {
-        return false;
-    } else {
-        *it = a.back();
-        a.pop_back();
-    }
-    return true;
-}
-
-/////////////////////////////////////////////////////////////////////REGISTRATIONS
-
-inline std::vector<Dart> EnvMap::getMemoCross(const VEC3& pos, const VEC3& dest, Dart& d1 , unsigned int state)
-{
-    typedef CGoGN::Algo::Volume::MovingObjects::ParticleCell3DMemo<PFP> ParticleCell3DMemo;
-    ParticleCell3DMemo part(map, d1, pos,position,&facecenter,&volumecenter);
-    part.setState(state);
-    return part.move(dest);
-}
-
-
-
-inline void EnvMap::pushAgentInCell(Agent*  o, Dart d)
-{
-#ifdef IHMap
-    assert(map.getCurrentLevel() == map.getMaxLevel());
-#endif
-    addElementToVector(RegisteredAgents[d],o);
-}
-
-inline void EnvMap::popAgentInCell(Agent*  o, Dart d)
-{
-#ifdef IHMap
-    assert(map.getCurrentLevel() == map.getMaxLevel());
-#endif
-    removeElementFromVector(RegisteredAgents[d],o);
-}
-inline void EnvMap::pushAgentInCellAsNeighbor(Agent* o, Dart d)
-{
-#ifdef IHMap
-    assert(map.getCurrentLevel() == map.getMaxLevel());
-#endif
-    addElementToVector(RegisteredNeighborAgents[d],o);
-}
-inline void EnvMap::popAgentInCellAsNeighbor(Agent* o, Dart d)
-{
-#ifdef IHMap
-    assert(map.getCurrentLevel() == map.getMaxLevel());
-#endif
-    removeElementFromVector(RegisteredNeighborAgents[d],o);
-}
-
-
-inline void EnvMap::FindNeighborCells (const std::vector<Dart>& belonging_cells, std::vector<Dart> *neighbor_cells)
-{
-#ifdef IHMap
-    assert(map.getCurrentLevel() == map.getMaxLevel());
-#endif
-    assert(!belonging_cells.empty());
-
-    neighbor_cells->clear();
-    CellMarkerMemo<MAP,VOLUME> memo_mark(map); //marqueur des cellules "présentes"
-    CellMarkerMemo<MAP,VOLUME> OneRingMark(map); // marquer des cellules voisines
-
-    for (std::vector<Dart>::const_iterator it =belonging_cells.begin();it<belonging_cells.end();++it)
-            memo_mark.mark(*it);
-
-   for( Dart dd : belonging_cells)
-   {
-        for (Vol d : volumesAdjacentByVertex3(map,dd))
-        {
-
-            if (!map.isBoundaryMarked<3>(d) && !memo_mark.isMarked(d) && !OneRingMark.isMarked(d) )
-            {
-                OneRingMark.mark(d);
-#ifdef IHMap
-                (*neighbor_cells).push_back(OldestDart[d]);
-#else
-                (*neighbor_cells).push_back(volumeLowestIndex(d));
-#endif
-            }
-        }
-
-    }
-
-}
-
-
-
-inline void EnvMap::pushSegmentInCellAsNeighbor(Segment* o, Dart d)
-{
-#ifdef IHMap
-    assert(map.getCurrentLevel() == map.getMaxLevel());
-#endif
-    addElementToVector(RegisteredNeighborEdges[d],o);
-
-}
-
-inline void EnvMap::popSegmentInCellAsNeighbor(Segment* o, Dart d)
-{
-#ifdef IHMap
-    assert(map.getCurrentLevel() == map.getMaxLevel());
-#endif
-    removeElementFromVector(RegisteredNeighborEdges[d],o);
-}
-
-inline void EnvMap::pushTriangleInCellAsNeighbor(Triangle*  o, Dart d)
-{
-#ifdef IHMap
-    assert(map.getCurrentLevel() == map.getMaxLevel());
-#endif
-    addElementToVector(RegisteredNeighborTriangles[d],o);
-
-}
-
-inline void EnvMap::popTriangleInCellAsNeighbor(Triangle*  o, Dart d)
-{
-#ifdef IHMap
-    assert(map.getCurrentLevel() == map.getMaxLevel());
-#endif
-    removeElementFromVector(RegisteredNeighborTriangles[d],o);
-}
-
-
-
-inline void EnvMap::pushTriangleInCell(Triangle * o, Dart d)
-{
-#ifdef IHMap
-    assert(map.getCurrentLevel() == map.getMaxLevel());
-#endif
-    addElementToVector(RegisteredTriangles[d],o);
-
-}
-
-inline void EnvMap::popTriangleInCell(Triangle* o, Dart d)
-{
-#ifdef IHMap
-    assert(map.getCurrentLevel() == map.getMaxLevel());
-#endif
-    removeElementFromVector(RegisteredTriangles[d],o);
-}
-
 
 
 #endif

include/knife.h

-#ifndef Knife_H
-#define Knife_H
-
-
-#include "MovingObject.h"
-//particules
-
-
-
-using namespace CGoGN ;
-class Simulator;
-class Knife : public MovingObject
-{
-public:
-    Knife(Simulator* sim, std::vector<std::pair<VEC3, Dart>> startingPoints) ;
-
-	void updateRegistration();
-    void move(VEC3 diff);
-
-    void color_close();
-    void unColor_close(Dart oldCell);
-    Dart refine();
-};
-
-
-
-#endif

include/needle.h

-#ifndef Needle_H
-#define Needle_H
-
-#include "MovingObject.h"
-//particules
-
-
-
-using namespace CGoGN ;
-class Simulator;
-class Needle : public MovingObject
-{
-public:
-    Needle(Simulator* sim, std::pair<VEC3, Dart> startingPoint) ;
-    void move(VEC3 diff);
-    void updateRegistration();
-    void createEdge(int index);
-      // Fonctions sur la coloration
-
-    void color_close();
-    void unColor_close(Dart oldCell);
-    float edgeSize;
-
-    Dart oldCell;
-    Dart refine();
-
-
-};
-
-
-
-
-#endif

include/pfp.h

-#ifndef PFP_H_
-#define PFP_H_
-
-// carte
-#define IHMap
-
-#ifndef IHMap
-#include "Topology/map/embeddedMap3.h"
-#include "Algo/Modelisation/tetrahedralization.h"
-#else
-