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include/env_generator.hpp

@@ -485,8 +485,9 @@ Dart generateBuilding(EnvMap& envMap, Dart d, float height, unsigned int buildin
 				dRoof = extrudeFaceAndMark<PFP>(map, position, dRoofSmall, buildingMark,
 												height / 2.0f) ;
 			}
-			bool spike = rand() % 2 ;
 #ifndef TWO_AND_HALF_DIM
+			bool spike = rand() % 2 ;
+
 			if (spike)
 			{
 				typename PFP::VEC3 c = Algo::Surface::Geometry::faceCentroid<PFP>(map, dRoof, position) ;

include/env_map.h

@@ -32,7 +32,7 @@ class ArticulatedObstacle;
 
 #include "pfp.h"
 
-//#define EXPORTING3
+#define EXPORTING3
 
 #define TWO_AND_HALF_DIM
 
@@ -131,7 +131,7 @@ public:
 	void pushObstNeighborInCells(Obstacle* o, Dart d);
 	void popObstNeighborInCells(Obstacle* o, Dart d);
 	void find_next(Obstacle* o,Dart * d, CellMarkerMemo<FACE>& cms);
-
+	bool movingObstacleFree(Dart d);
 #ifdef EXPORTING3
 	std::vector<PFP::MAP *> m_map_Export;
 	std::vector<Algo::Surface::Import::OBJModel<PFP2> *> m_obj_Export;

include/simulator.h

@@ -98,9 +98,9 @@ public:
 	void setupCityScenario(int nbLines, int nbRank) ;
 	void setupScenario(unsigned int nbMaxAgent, bool pedWay=false) ;
 
-	void setupPlanetScenario(unsigned int nbAgents, unsigned int nbObstacles);
+	void setupPlanetScenario(unsigned int nbAgents, unsigned int nbObstacles, unsigned int nbx = 2,unsigned int nby= 2, float areaMin = 100.0f);
 
-	void addMovingObstacles(unsigned int nb, unsigned int type, float areaMin = 1400);
+	void addMovingObstacles(unsigned int nb, unsigned int type, float areaMin = 1400, int randLimace=12);
 	void addMovingObstacle(Dart d, unsigned int obstType=0);
 
 	void addAgent(const VEC3& start,const VEC3& goals);

src/env_map.cpp

@@ -1503,6 +1503,27 @@ int EnvMap::testOrientation(VEC3 p, VEC3 p1, VEC3 p2, Dart d)
 
 }
 
+bool EnvMap::movingObstacleFree(Dart d)
+{
+	std::vector<Obstacle*>& obst = obstvect[d];
+	for(std::vector<Obstacle*>::const_iterator it = obst.begin() ; it != obst.end() ; ++it)
+	{
+
+		if((*it)->mo!=NULL)
+		{
+			return false;
+		}
+	}
+
+	return true;
+
+
+
+
+
+}
+
+
 #ifdef SPATIAL_HASHING
 Geom::Vec2ui EnvMap::agentPositionCell(Agent* a)
 {

src/moving_obstacle.cpp

@@ -175,13 +175,17 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 		edgeLength = map.addAttribute<float, EDGE>("edgeLength") ;
 		vertexAngle = map.addAttribute<float, DART>("vertexAngle") ;
 	}
-
+	for (unsigned int i = 0; i < nbVertices; ++i)
+		{
+			center += pos[i];
+		}
+	center /= nbVertices;
 	for (unsigned int i = 0; i < nbVertices; ++i)
 	{
 #ifdef TWO_AND_HALF_DIM
 		Dart d = dInside;
-		parts_[i] = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>(sim_->envMap_.map, d, pos[i], sim_->envMap_.position);
-
+		parts_[i] = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>(sim_->envMap_.map, d, center, sim_->envMap_.position);
+		parts_[i]->move(pos[i]);
 #else
 		Dart d = sim_->envMap_.getBelongingCell(pos[i]);
 #ifdef SECURED
@@ -191,15 +195,15 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 		parts_[i]  = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>(sim_->envMap_.map, d, pos[i], sim_->envMap_.position);
 #endif
 #endif
-		center += pos[i];
+
 
 		if(i==0)
 			dDir = d;
 	}
 
-	center /= nbVertices;
-	front=(pos[0] + pos[1]) / 2;
 	
+	front=(parts_[0]->getPosition() + parts_[1]->getPosition()) / 2;
+
 	if(!rigid_)
 	{
 #ifdef TWO_AND_HALF_DIM

src/simulator.cpp

@@ -91,35 +91,34 @@ void Simulator::init( float dimension, unsigned int nbAgent, unsigned int nbObst
 		case 6:
 
 			envMap_.init(config,200.0,200.0, minSize, 400.0f);
-			setupPlanetScenario(nbAgent,nbObst);
 			addMovingObstacles(nbObst, 1);
+			setupPlanetScenario(nbAgent,nbObst);
 			addPathToObstacles(envMap_.buildingMark, true);
 			addPathsToAgents();
 
 			break;
 		case 7 : envMap_.init(config,200.0,200.0, minSize, 400.0f);
-			setupPlanetScenario(nbAgent,nbObst);
-			addMovingObstacles(nbObst, 1 , 100 );
+			addMovingObstacles(nbObst, 1 , 300 , 3 );
+			setupPlanetScenario(nbAgent,nbObst, 1 , 1);
 			addPathToObstacles(envMap_.buildingMark, true);
 			addPathsToAgents();
 			break;
 		case 8 : envMap_.init(config,200.0,200.0, minSize, 400.0f);
-			setupPlanetScenario(nbAgent,nbObst);
-			addMovingObstacles(nbObst, 1 , 100 );
+			addMovingObstacles(nbObst, 1 , 100 , 1);
+			setupPlanetScenario(nbAgent,nbObst,1,1);
 			addPathToObstacles(envMap_.buildingMark, true);
 			addPathsToAgents();
 			break;
 		case 9 : envMap_.init(config,200.0,200.0, minSize, 400.0f);
+			addMovingObstacles(nbObst, 1 , 400 , 1);
 			setupPlanetScenario(nbAgent,nbObst);
-			addMovingObstacles(nbObst, 1 , 100 );
 			addPathToObstacles(envMap_.buildingMark, true);
 			addPathsToAgents();
 			break;
-#else
-			std::cout << "Agents not in 2.5D mode" << std::endl;
+
 #endif
 		default:
-			std::cout << "Unknown scenario !" << std::endl ;
+			std::cout << "Unknown scenario ! or not in 2.5D mode" << std::endl ;
 			exit(1) ;
 	}
 
@@ -752,7 +751,7 @@ void Simulator::setupScenario(unsigned int nbMaxAgent, bool pedWay)
 	swapAgentsGoals() ;
 }
 
-void Simulator::setupPlanetScenario(unsigned int nbAgents, unsigned int nbObstacles)
+void Simulator::setupPlanetScenario(unsigned int nbAgents, unsigned int nbObstacles,unsigned int nbx,unsigned int nby, float areaMin)
 {
 	/*
 	* Add agents, specifying their start position, and store their goals on the
@@ -774,8 +773,6 @@ void Simulator::setupPlanetScenario(unsigned int nbAgents, unsigned int nbObstac
 	d=envMap_.map.begin();
 	CellMarker<FACE> filled(envMap_.map);
 
-	unsigned int nbx =1;
-	unsigned int nby = 1;
 
 	unsigned int bMax = nbx * nby > 0 ? nbAgents / (nbx * nby) : nbAgents ;
 
@@ -786,7 +783,8 @@ void Simulator::setupPlanetScenario(unsigned int nbAgents, unsigned int nbObstac
 		Dart dCell;
 		while(!found && d != envMap_.map.end())
 		{
-			if(!filled.isMarked(d) && !envMap_.buildingMark.isMarked(d))
+			float area = Algo::Surface::Geometry::convexFaceArea<PFP>(envMap_.map, d, envMap_.position);
+			if(!filled.isMarked(d) && !envMap_.buildingMark.isMarked(d) && envMap_.movingObstacleFree(d)&& area >areaMin )
 			{
 				filled.mark(d);
 				pos = Algo::Surface::Geometry::faceCentroid<PFP>(envMap_.map, d, envMap_.position);
@@ -825,7 +823,7 @@ void Simulator::setupPlanetScenario(unsigned int nbAgents, unsigned int nbObstac
 	swapAgentsGoals();
 }
 
-void Simulator::addMovingObstacles(unsigned int nb, unsigned int type, float areaMin)
+void Simulator::addMovingObstacles(unsigned int nb, unsigned int type, float areaMin, int randLimace)
 {
 	TraversorF<PFP::MAP> tF(envMap_.map);
 	Dart d = tF.begin() ;
@@ -836,11 +834,11 @@ void Simulator::addMovingObstacles(unsigned int nb, unsigned int type, float are
 		while (!found && d != tF.end())
 		{
 			if (!envMap_.buildingMark.isMarked(d)
-				&& !envMap_.pedWayMark.isMarked(d)
+				&& !envMap_.pedWayMark.isMarked(d) && envMap_.obstvect[d].size() == 0
 				)
 			{
 				float area = Algo::Surface::Geometry::convexFaceArea<PFP>(envMap_.map, d, envMap_.position);
-				if(area>areaMin)
+				if(area>areaMin && (rand() % randLimace == 0))
 				{
 					dCell = d ;
 					found = true ;