maj scenar corridor

src/simulator.cpp

@@ -392,9 +392,12 @@ void Simulator::setupCircleScenario(unsigned int nbAgents , unsigned int nbObsta
 
 void Simulator::setupCorridorScenario(unsigned int nbAgents, unsigned int nbObstacles)
 {
+	VEC3 xSide (5.0f,0.0f,0.0f);
+	VEC3 ySide (0.0f,10.0f,0.0f);
 	if (multires)
 	{
-		envMap_.init(config, 1600.0f, 960.0f, minSize, 320.0f) ; //grosses cases
+//		envMap_.init(config, 1600.0f, 960.0f, minSize, 320.0f) ; //grosses cases
+		envMap_.init(config, nbObstacles > 10 ? ((nbObstacles*20*xSide[0])/6) : 500.0f , 960.0f, minSize, 320.0f) ; //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 (5.0f,0.0f,0.0f);
-	VEC3 ySide (0.0f,10.0f,0.0f);
+
 	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) ;