meilleures proportions

include/env_render.h

@@ -121,7 +121,7 @@ inline void renderAgent(EnvMap& m, Agent* agent, bool showNeighborDist = false,
 
 	if (showObstacleDist)
 	{
-		radius = (agent->timeHorizonObst_ * agent->maxSpeed_) + agent->radius_ ;
+		radius = (agent->range_);
 		glColor3f(0.0f, 0.0f, 1.0f) ;
 		glBegin(GL_LINE_LOOP) ;
 		for (unsigned int i = 0 ; i < 5 ; ++i)

src/agent.cpp

@@ -8,7 +8,7 @@ float Agent::neighborDistSq_ = neighborDist_ * neighborDist_ ;
 float Agent::radius_ = 1.5f ;
 float Agent::timeHorizon_ = 10.0f ;
 float Agent::timeHorizonObst_ = 10.0f ;
-float Agent::range_ = timeHorizonObst_ * maxSpeed_ + radius_ ;
+float Agent::range_ = (timeHorizonObst_ * maxSpeed_ + radius_) ;
 float Agent::rangeSq_ = range_ * range_ ;
 
 unsigned int Agent::cptAgent = 0 ;

src/simulator.cpp

@@ -13,7 +13,7 @@ Simulator::Simulator(int minSize) :
 	avoidance(1),
 	nb_dead(0)
 {
-	multires=false;
+	multires=true;
 	detect_agent_collision=true;
 	srand(10) ;
 	nbStepsPerUnit_ = 1 / timeStep_ ;
@@ -29,15 +29,21 @@ Simulator::~Simulator()
 void Simulator::init(unsigned int config, int minSize, float dimension, bool enablePathFinding)
 {
 	std::cout << "Setup scenario" << std::endl ;
-//	envMap_.init(config, 1600.0f, 960.0f, minSize, 320.0f) ; //grosses cases
+if (multires)
+{
+	envMap_.init(config, 1600.0f, 960.0f, minSize, 320.0f) ; //grosses cases
+}
+else
+{
 	envMap_.init(config, 1600.0f, 960.0f, minSize, 20.0f) ; //cases fines
+}
 	switch (config)
 	{
 		case 0 :
 			setupCircleScenario(100) ;
 			break ;
 		case 1 :
-			setupCorridorScenario(1000,100) ;
+			setupCorridorScenario(1000,40) ;
 			break ;
 		case 2 :
 			setupScenario(1000) ;