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Thomas Pitiot
SocialAgents3D
Commits
a05111cb
Commit
a05111cb
authored
Mar 28, 2013
by
pitiot
Browse files
maj scenar corridor
parent
4c9e4a57
Changes
1
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Inline
Side-by-side
src/simulator.cpp
View file @
a05111cb
...
...
@@ -392,9 +392,12 @@ void Simulator::setupCircleScenario(unsigned int nbAgents , unsigned int nbObsta
void
Simulator
::
setupCorridorScenario
(
unsigned
int
nbAgents
,
unsigned
int
nbObstacles
)
{
VEC3
xSide
(
5.0
f
,
0.0
f
,
0.0
f
);
VEC3
ySide
(
0.0
f
,
10.0
f
,
0.0
f
);
if
(
multires
)
{
envMap_
.
init
(
config
,
1600.0
f
,
960.0
f
,
minSize
,
320.0
f
)
;
//grosses cases
// envMap_.init(config, 1600.0f, 960.0f, minSize, 320.0f) ; //grosses cases
envMap_
.
init
(
config
,
nbObstacles
>
10
?
((
nbObstacles
*
20
*
xSide
[
0
])
/
6
)
:
500.0
f
,
960.0
f
,
minSize
,
320.0
f
)
;
//grosses cases
}
else
{
...
...
@@ -414,12 +417,12 @@ void Simulator::setupCorridorScenario(unsigned int nbAgents, unsigned int nbObst
// Départ des agents du quart gauche sur toute la hauteur
int
xStartMin
=
envMap_
.
geometry
.
min
()[
0
]
+
xBorder
;
int
xStartDelta
=
envMap_
.
geometry
.
size
(
0
)
/
5
;
int
xStartDelta
=
envMap_
.
geometry
.
size
(
0
)
/
10
;
int
yStartMin
=
envMap_
.
geometry
.
min
()[
1
]
+
yBorder
;
int
yStartDelta
=
envMap_
.
geometry
.
size
(
1
)
-
2
*
yBorder
;
// Arrivée des agents à l'opposée
int
xGoalDelta
=
envMap_
.
geometry
.
size
(
0
)
/
5
;
int
xGoalDelta
=
envMap_
.
geometry
.
size
(
0
)
/
10
;
int
xGoalMin
=
envMap_
.
geometry
.
max
()[
0
]
-
xBorder
-
xGoalDelta
;
int
yGoalMin
=
yStartMin
;
int
yGoalDelta
=
yStartDelta
;
...
...
@@ -437,8 +440,8 @@ void Simulator::setupCorridorScenario(unsigned int nbAgents, unsigned int nbObst
}
// Départ des obstacles du quart haut sur toute une demi-largeur
xStartMin
=
envMap_
.
geometry
.
min
()[
0
]
+
envMap_
.
geometry
.
size
(
0
)
/
4
;
xStartDelta
=
envMap_
.
geometry
.
size
(
0
)
/
2
;
xStartMin
=
envMap_
.
geometry
.
min
()[
0
]
+
envMap_
.
geometry
.
size
(
0
)
/
5
;
xStartDelta
=
6
*
envMap_
.
geometry
.
size
(
0
)
/
10
;
yStartMin
=
envMap_
.
geometry
.
min
()[
1
]
+
yBorder
;
yStartDelta
=
envMap_
.
geometry
.
size
(
1
)
/
5
;
...
...
@@ -446,14 +449,13 @@ void Simulator::setupCorridorScenario(unsigned int nbAgents, unsigned int nbObst
yGoalDelta
=
envMap_
.
geometry
.
size
(
1
)
/
5
;
yGoalMin
=
envMap_
.
geometry
.
max
()[
1
]
-
yBorder
-
yGoalDelta
;
VEC3
xSide
(
5.0
f
,
0.0
f
,
0.0
f
);
VEC3
ySide
(
0.0
f
,
10.0
f
,
0.0
f
);
std
::
vector
<
VEC3
>
vPos
;
MovingObstacle
*
mo4
;
for
(
unsigned
int
i
=
0
;
i
<
nbObstacles
;
i
++
)
{
float
x
=
xStartMin
+
((
int
)
i
*
30
)
%
xStartDelta
;
float
x
=
xStartMin
+
((
int
)
(
i
*
2
*
xSide
[
0
])
)
%
xStartDelta
;
// std::cout << "x ? " << x << " xStartDelta " << xStartDelta << std::endl;
VEC3
start
(
x
,
yStartMin
+
rand
()
%
yStartDelta
,
0
)
;
VEC3
goal
(
x
,
yGoalMin
+
rand
()
%
yGoalDelta
,
0
)
;
...
...
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