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Commit ae1ce285 authored by Pierre Kraemer's avatar Pierre Kraemer
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ajout SPATIAL_HASHING

parent af4b0a5f
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CMakeLists.txt
View file @ ae1ce285
......@@ -2,6 +2,8 @@ cmake_minimum_required(VERSION 2.8)
project(SocialAgents)
add_definitions(-DSPATIAL_HASHING)
SET(CGoGN_ROOT_DIR ${CMAKE_SOURCE_DIR}/../../CGoGN CACHE STRING "CGoGN root dir")
include(${CGoGN_ROOT_DIR}/apps_cmake.txt)
......
include/agent.h
View file @ ae1ce285
......@@ -5,6 +5,7 @@
#include "utils.h"
#include "env_map.h"
#include "spatialHashing.h"
#include "Algo/MovingObjects/particle_cell_2D.h"
class Simulator;
......@@ -12,7 +13,11 @@ class Simulator;
class Agent
{
public:
#ifdef SPATIAL_HASHING
Agent(Simulator* sim, const VEC3& position) ;
#else
Agent(Simulator* sim, const VEC3& position, Dart d);
#endif
VEC3 getPosition();
......@@ -46,8 +51,12 @@ public:
std::vector<std::pair<float, Agent*> > agentNeighbors_;
std::vector<std::pair<float, Obstacle*> > obstacleNeighbors_;
#ifdef SPATIAL_HASHING
VEC3 pos ;
#else
CGoGN::Algo::MovingObjects::ParticleCell2D<PFP> part_;
#endif
std::vector<VEC3> goals_;
......@@ -58,10 +67,12 @@ public:
static unsigned int maxNeighbors_;
static float maxSpeed_;
static float neighborDist_;
static float neighborDistSq_;
static float radius_;
static float timeHorizon_;
static float timeHorizonObst_;
static float range_;
static float rangeSq_;
static float timeStep ;
......
include/env_generator.h
View file @ ae1ce285
......@@ -22,8 +22,10 @@ Algo::Modelisation::Polyhedron<PFP> generateTrianGrid(typename PFP::MAP& map, ty
template <typename PFP>
Dart extrudeFaceAndMark(typename PFP::MAP& map, typename PFP::TVEC3& position, Dart d, CellMarker& buildingMark, float height);
#ifndef SPATIAL_HASHING
template <typename PFP>
bool animateCity(EnvMap* envMap);
#endif
//template <typename PFP>
//Dart generateBuilding(typename PFP::MAP& map, typename PFP::TVEC3& position, Dart d, float height, unsigned int buildingType, CellMarker& obstacleMark, CellMarker& buildingMark);
......
include/env_generator.hpp
View file @ ae1ce285
#include "Algo/Modelisation/subdivision.h"
#include "Geometry/inclusion.h"
#include "Topology/generic/traversorCell.h"
#include <algorithm>
namespace CGoGN
{
......@@ -170,6 +171,7 @@ Dart extrudeFaceAndMark(typename PFP::MAP& map, typename PFP::TVEC3& position, D
return dRoof;
}
#ifndef SPATIAL_HASHING
template <typename PFP>
bool animateCity(EnvMap* envMap)
{
......@@ -252,6 +254,7 @@ bool animateCity(EnvMap* envMap)
return false;
}
#endif
//template <typename PFP>
//Dart generateBuilding(typename PFP::MAP& map, typename PFP::TVEC3& position, Dart d, float height, unsigned int buildingType, CellMarker& obstacleMark, CellMarker& buildingMark)
......@@ -279,7 +282,33 @@ Dart generateBuilding(EnvMap* envMap, Dart d, float height, unsigned int buildin
Dart previous = map.phi_1(dd);
Obstacle* o = new Obstacle(position[dd], position[next], position[previous], position[map.phi1(next)]);
#ifdef SPATIAL_HASHING
VEC3 ov = o->p2 - o->p1 ;
unsigned int nbsteps = ov.norm() / envMap->o_cell_size_x + 1 ;
ov.normalize() ;
VEC3 step = ov * envMap->o_cell_size_x ;
VEC3 pos = o->p1 ;
for(unsigned int i = 0; i < nbsteps; ++i)
{
Geom::Vec2ui c = envMap->obstaclePositionCell(pos) ;
for(int ii = -1; ii <= 1; ++ii)
{
for(int jj = -1; jj <= 1; ++jj)
{
if(!(ii == 0 && jj == 0))
{
Geom::Vec2ui cc = c + Geom::Vec2ui(ii, jj) ;
std::vector<Obstacle*>& ovect = envMap->ht_obstacles[cc] ;
if(std::find(ovect.begin(), ovect.end(), o) == ovect.end())
ovect.push_back(o) ;
}
}
}
pos += step ;
}
#else
envMap->pushObstacleInCells(o, map.phi2(dd));
#endif
dd = map.phi1(dd);
} while(dd != d);
......
include/env_map.h
View file @ ae1ce285
......@@ -21,6 +21,8 @@
#include "Algo/Parallel/parallel_foreach.h"
#include "spatialHashing.h"
using namespace CGoGN;
class Agent;
......@@ -55,38 +57,38 @@ public :
unsigned int mapMemoryCost();
void scale(float scaleVal);
#ifndef SPATIAL_HASHING
Dart getBelongingCell(const PFP::VEC3& pos);
void subdivideAllToMaxLevel();
void subdivideToProperLevel();
#endif
void init(unsigned int config);
#ifndef SPATIAL_HASHING
void foreach_neighborFace(Dart d, FunctorType& f);
void registerObstaclesInFaces();
void addNeighborObstacles(PFP::OBSTACLES& obst, Dart d, bool edgeNeighbor);
void pushObstacleInCells(Obstacle* o, Dart d);
void popObstacleInCells(Obstacle* o, Dart d);
void obstacleChangeFace(Obstacle* agent, Dart newFace, Dart oldFace);
void setAgentNeighborsAndObstacles(Agent* agent);
// void agentChangeFaceThroughEdge(Agent* agent);
void agentChangeFace(Agent* agent, Dart oldFace);
void pushAgentInCells(Agent* agent, Dart d);
void popAgentInCells(Agent* agent, Dart d);
template <typename T>
inline void removeElementFromVector(std::vector<T>& a, T ag);
// void agentChangeFaceThroughEdge(Agent* agent);
void agentChangeFace(Agent* agent, Dart oldFace);
void pushObstacleInCells(Obstacle* o, Dart d);
void popObstacleInCells(Obstacle* o, Dart d);
void obstacleChangeFace(Obstacle* agent, Dart newFace, Dart oldFace);
void clearUpdateCandidates();
void updateMap();
void resetAgentInFace(Agent* agent);
#endif
PFP::MAP map;
PFP::TVEC3 position;
......@@ -98,19 +100,22 @@ public :
CellMarker obstacleMarkS;
CellMarker buildingMarkS;
AttributeHandler<PFP::BOOLATTRIB> subdivisableFace;
std::vector<Dart> newBuildings;
#ifndef SPATIAL_HASHING
AttributeHandler<PFP::BOOLATTRIB> subdivisableFace;
PFP::TAB_AGENTVECT agentvect;
PFP::TAB_AGENTVECT neighborAgentvect;
PFP::TAB_OBSTACLEVECT obstvect;
#endif
CellMarker obstacleMark;
CellMarker buildingMark;
CellMarker pedWayMark;
#ifndef SPATIAL_HASHING
static const unsigned int nbAgentsToSubdivide = 5;
static const unsigned int nbAgentsToSimplify = 4;
......@@ -118,12 +123,53 @@ public :
CellMarker coarsenMark;
std::vector<Dart> refineCandidate;
std::vector<Dart> coarsenCandidate;
#endif
#ifdef SPATIAL_HASHING
PFP::VEC3 origin ;
unsigned int a_cell_size_x, a_cell_size_y ;
float a_cell_nb_x, a_cell_nb_y ;
unsigned int o_cell_size_x, o_cell_size_y ;
float o_cell_nb_x, o_cell_nb_y ;
Geom::Vec2ui agentPositionCell(VEC3& pos)
{
return Geom::Vec2ui((origin[0] + pos[0]) / a_cell_size_x, (origin[1] + pos[1]) / a_cell_size_y) ;
}
Geom::Vec2ui obstaclePositionCell(VEC3& pos)
{
return Geom::Vec2ui((origin[0] + pos[0]) / o_cell_size_x, (origin[1] + pos[1]) / o_cell_size_y) ;
}
HashTable2D< std::vector<Agent*> > ht_agents ;
HashTable2D< std::vector<Agent*> > ht_neighbor_agents ;
HashTable2D< std::vector<Obstacle*> > ht_obstacles ;
#endif
};
/**************************************
* INLINE FUNCTIONS *
**************************************/
template <typename T>
inline void removeElementFromVector(std::vector<T>& a, T ag)
{
typename std::vector<T>::iterator end = a.template end();
for(typename std::vector<T>::iterator it = a.begin(); it != end; ++it)
{
if(*it == ag)
{
*it = a.back();
a.pop_back();
return;
}
}
}
#ifndef SPATIAL_HASHING
inline void EnvMap::pushAgentInCells(Agent* agent, Dart d)
{
assert(map.getCurrentLevel() == map.getMaxLevel());
......@@ -164,19 +210,51 @@ inline void EnvMap::popAgentInCells(Agent* agent, Dart d)
} while(dd != d);
}
template <typename T>
inline void EnvMap::removeElementFromVector(std::vector<T>& a, T ag)
inline void EnvMap::pushObstacleInCells(Obstacle* o, Dart d)
{
typename std::vector<T>::iterator end = a.template end();
for(typename std::vector<T>::iterator it = a.begin(); it != end; ++it)
{
if(*it == ag)
{
*it = a.back();
a.pop_back();
return;
}
}
assert(map.getCurrentLevel() == map.getMaxLevel());
assert(!buildingMark.isMarked(d));
obstvect[d].push_back(o);
// obstvect[map.phi<12>(d)].push_back(o);
// obstvect[map.phi2(map.phi_1(d))].push_back(o);
// Dart dd = d;
// do
// {
// Dart ddd = map.alpha1(map.alpha1(dd));
// while(ddd != dd)
// {
// obstvect[ddd].push_back(o);
// ddd = map.alpha1(ddd);
// }
//
// dd = map.phi1(dd);
// } while(dd != d);
}
inline void EnvMap::popObstacleInCells(Obstacle* o, Dart d)
{
assert(map.getCurrentLevel() == map.getMaxLevel());
assert(!buildingMark.isMarked(d));
removeElementFromVector<Obstacle* >(obstvect[d], o);
// removeElementFromVector<Obstacle* >(obstvect[map.phi<12>(d)],o);
// removeElementFromVector<Obstacle* >(obstvect[map.phi2(map.phi_1(d))],o);
// Dart dd = d;
// do
// {
// Dart ddd = map.alpha1(map.alpha1(dd));
// while(ddd != dd)
// {
// removeElementFromVector<Obstacle* >(obstvect[ddd], o);
// ddd = map.alpha1(ddd);
// }
// dd = map.phi1(dd);
// } while(dd != d);
}
inline void EnvMap::clearUpdateCandidates()
......@@ -184,5 +262,6 @@ inline void EnvMap::clearUpdateCandidates()
refineCandidate.clear();
coarsenCandidate.clear();
}
#endif
#endif
include/env_render.h
View file @ ae1ce285
......@@ -46,7 +46,11 @@ static const float sinT[5] = { 0, 0.951057, 0.587785, -0.587785, -0.951057 };
inline void renderAgent(EnvMap& m, Agent* agent, bool showNeighborDist = false, bool showObstacleDist = false)
{
#ifdef SPATIAL_HASHING
const VEC3& pos = agent->pos;
#else
VEC3 pos = agent->part_.m_position;
#endif
float radius = agent->radius_;
// Geom::Plane3D<float> pl = Algo::Geometry::facePlane<PFP>(m.map,agent->part_.d,m.position);
......@@ -99,7 +103,7 @@ inline void renderAgent(EnvMap& m, Agent* agent, bool showNeighborDist = false,
if(showNeighborDist)
{
radius = sqrt(agent->neighborDistSq_);
radius = agent->neighborDist_;
glColor3f(0.0f,1.0f,0.0f);
glBegin(GL_LINE_LOOP);
for(unsigned int i = 0; i < 5; ++i)
......
include/moving_obstacle.h
View file @ ae1ce285
#ifndef M_MOVING_OBSTACLE_H
#define M_MOVING_OBSTACLE_H
#include <iostream>
#include "utils.h"
#include "env_map.h"
#include "Algo/MovingObjects/particle_cell_2D.h"
class Simulator;
class MovingObstacle
{
public:
MovingObstacle(EnvMap* envmap, std::vector<PFP::VEC3> pos);
void updateAgentNeighbors();
void computePrefVelocity();
void computeNewVelocity();
void update();
unsigned int nbVertices;
CGoGN::Algo::MovingObjects::ParticleCell2D<PFP>* * parts_;
Obstacle* * obstacles_;
std::vector<std::pair<float, Agent*> > agentNeighbors_;
VEC3 finalGoal;
Dart finalDart;
unsigned int curGoal_;
static float neighborDistSq_;
static float timeStep ;
VEC3 velocity_;
VEC3 newVelocity_;
VEC3 prefVelocity_;
EnvMap* envMap_;
};
#endif
//#ifndef M_MOVING_OBSTACLE_H
//#define M_MOVING_OBSTACLE_H
//
//#include <iostream>
//
//#include "utils.h"
//#include "env_map.h"
//#include "Algo/MovingObjects/particle_cell_2D.h"
//
//class Simulator;
//
//class MovingObstacle
//{
//public:
// MovingObstacle(EnvMap* envmap, std::vector<PFP::VEC3> pos);
//
// void updateAgentNeighbors();
//
// void computePrefVelocity();
// void computeNewVelocity();
//
// void update();
//
// unsigned int nbVertices;
// CGoGN::Algo::MovingObjects::ParticleCell2D<PFP>* * parts_;
// Obstacle* * obstacles_;
//
// std::vector<std::pair<float, Agent*> > agentNeighbors_;
//
// VEC3 finalGoal;
// Dart finalDart;
//
// unsigned int curGoal_;
//
// static float neighborDistSq_;
// static float timeStep ;
//
// VEC3 velocity_;
// VEC3 newVelocity_;
// VEC3 prefVelocity_;
//
// EnvMap* envMap_;
//};
//
//#endif
include/simulator.h
View file @ ae1ce285
......@@ -6,7 +6,7 @@
#include "env_map.h"
#include "agent.h"
#include "obstacle.h"
#include "moving_obstacle.h"
//#include "moving_obstacle.h"
#include "path_finder.h"
#include <iostream>
......@@ -97,9 +97,11 @@ public:
void setupMovingObstacle(unsigned int nbObstacles);
#ifndef SPATIAL_HASHING
void addPathToCorner();
void addPathsToAgents();
void addPathsToAgents_height();
#endif
bool importAgents(std::string filename);
bool exportAgents(std::string filename);
......@@ -110,7 +112,7 @@ public:
EnvMap envMap_;
std::vector<Agent*> agents_;
std::vector<MovingObstacle*> movingObstacles_;
// std::vector<MovingObstacle*> movingObstacles_;
float timeStep_;
float globalTime_;
......
include/spatialHashing.h 0 → 100644
View file @ ae1ce285
#ifndef SPATIAL_HASHING_H
#define SPATIAL_HASHING_H
#include "Geometry/vector_gen.h"
//#include <boost/unordered_map.hpp>
namespace CGoGN
{
//class Vec2uiHash : public boost::hash<Geom::Vec2ui>
//{
//private:
// unsigned int size ;
//
//public:
// Vec2uiHash(unsigned int s) : size(s) {}
// unsigned int operator() (const Geom::Vec2ui& k) const
// {
// return ( (k[0] * 73856093) ^ (k[1] * 19349663) ) % size ;
// }
//};
//class Vec2uiEqual
//{
//public:
// bool operator() (const Geom::Vec2ui& v1, const Geom::Vec2ui& v2) const
// {
// return v1[0] == v2[0] && v1[1] == v2[1] ;
// }
//};
//class Vec2uiComp
//{
//public:
// bool operator() (const Geom::Vec2ui& v1, const Geom::Vec2ui& v2) const
// {
// return v1[0] < v2[0] ;
// }
//};
//template <typename DATA>
//class HashTable2D : public boost::unordered_map<Geom::Vec2ui, DATA, Vec2uiHash, Vec2uiEqual>
//{
//public:
// HashTable2D(unsigned int size, const Vec2uiHash& key_hasher, const Vec2uiEqual& key_equal) :
// boost::unordered_map<Geom::Vec2ui, DATA, Vec2uiHash, Vec2uiEqual>(size, key_hasher, key_equal)
// {}
//
// bool hasData(const Geom::Vec2ui& k) const
// {
// if(this->find(k) != this->end())
// return true ;
// return false ;
// }
//};
template <typename DATA>
class HashTable2D
{
public:
typedef std::list< std::pair<Geom::Vec2ui, DATA> > cell_type ;
HashTable2D(unsigned int s) : m_size(s)
{
m_table = new cell_type[s] ;
}
~HashTable2D()
{
delete[] m_table ;
}
unsigned int size() { return m_size ; }
cell_type& cell(unsigned int i) { return m_table[i] ; }
DATA& operator[] (const Geom::Vec2ui& k)
{
unsigned int c = hash(k) ;
for(typename cell_type::iterator it = m_table[c].begin(); it != m_table[c].end(); ++it)
{
if(it->first == k)
return it->second ;
}
m_table[c].push_back(std::make_pair(k, DATA())) ;
return m_table[c].back().second ;
}
const DATA& operator[] (const Geom::Vec2ui& k) const
{
unsigned int c = hash(k) ;
for(typename cell_type::iterator it = m_table[c].begin(); it != m_table[c].end(); ++it)
{
if(it->first == k)
return it->second ;
}
}
bool hasData(const Geom::Vec2ui& k)
{
unsigned int c = hash(k) ;
for(typename cell_type::iterator it = m_table[c].begin(); it != m_table[c].end(); ++it)
{
if(it->first == k)
return true ;
}
return false ;
}
void erase(const Geom::Vec2ui& k)
{
unsigned int c = hash(k) ;
for(typename cell_type::iterator it = m_table[c].begin(); it != m_table[c].end(); ++it)
{
if(it->first == k)
{
m_table[c].erase(it) ;
return ;
}
}
}
private:
unsigned int hash(const Geom::Vec2ui& k)
{
return ( (k[0] * 73856093) ^ (k[1] * 19349663) ) % m_size ;
}
unsigned int m_size ;
cell_type* m_table ;
} ;
} // namespace CGoGN
#endif
include/viewer.h
View file @ ae1ce285
......@@ -57,8 +57,10 @@ public:
void cb_initGL() ;
void cb_redraw() ;
#ifndef SPATIAL_HASHING
void exportInfoFace(std::ofstream& out, Dart d);
bool exportScenePov(PFP::MAP& map, PFP::TVEC3& position, const std::string& filename, PFP::VEC3 cameraPos, PFP::VEC3 cameraLook, PFP::VEC3 translate, float angle_X, float angle_Y, float angle_Z,const FunctorSelect& good = SelectorTrue());
#endif
void cb_keyPress(int keycode) ;
......
src/agent.cpp
View file @ ae1ce285
......@@ -3,16 +3,34 @@
unsigned int Agent::maxNeighbors_ = 10;
float Agent::maxSpeed_ = 2.0f;
float Agent::neighborDistSq_ = 15.0f * 15.0f;
float Agent::neighborDist_ = 15.0f;