scenario3.ok

include/agent.h

@@ -10,7 +10,7 @@
 
 #define SECURED
 //#define EXPORTING_AGENT
-// #define EXPORTING_OBJ
+#define EXPORTING_OBJ
 
 
 #ifdef SECURED
@@ -156,7 +156,7 @@ public:
 	VEC3 velocity_ ;
 	VEC3 newVelocity_ ;
 	VEC3 prefVelocity_ ;
-	VEC3 meanVelocity_[4] ;
+	VEC3 meanVelocity_[50] ;
 	VEC3 meanDirection_ ;
 
 	Simulator* sim_;

include/env_map.h

@@ -32,7 +32,7 @@ class ArticulatedObstacle;
 
 #include "pfp.h"
 
-//#define EXPORTING3
+#define EXPORTING3
 //#define TWO_AND_HALF_DIM
 
 #ifdef EXPORTING3

include/moving_mesh.h

@@ -18,7 +18,7 @@
 
 using namespace std;
 
-// #define EXPORTING2
+#define EXPORTING2
 
 class MovingMesh
 {

include/moving_obstacle.h

@@ -14,7 +14,7 @@
 	#include "Algo/MovingObjects/particle_cell_2D_memo.h"
 #endif
 
-#define EXPORTING_BOXES
+// #define EXPORTING_BOXES
 
 #ifdef EXPORTING_BOXES
 	#include "Algo/Render/GL2/mapRender.h"

include/viewer.h

@@ -24,6 +24,7 @@
 
 #include <iostream>
 #include <fstream>
+#include <sstream>
 #include <sys/time.h>
 
 #include "Utils/Qt/qtQGLV.h"
@@ -56,7 +57,7 @@
 
 //#define EXPORTING
 //#define ONERING
-#define SHADOWSHELL
+//#define SHADOWSHELL
 
 using namespace CGoGN ;
 
@@ -169,6 +170,18 @@ public:
 	int m_renderStyle;
 	//////
 
+	// ARASH : camera input file
+	std::ifstream cam_input_file;
+	bool cif_exists;
+	int cif_begin, cif_end;
+	VEC3 *cif_lookfrom;
+	VEC3 *cif_lookat;
+	VEC3 *cif_upvector;
+	void readCameraInputFile(char *filename);
+
+	std::ofstream cam_output_file;
+
+
 	Geom::BoundingBox<PFP::VEC3> bb ;
 
 	Utils::QT::uiDockInterface dock ;

src/agent.cpp

@@ -26,7 +26,7 @@ float Agent::radius_ = 3.0f ;
 float Agent::timeHorizon_ = 10.0f ;
 //float Agent::timeHorizon_ = 100.0f ;
 float Agent::timeHorizonObst_ = 10.0f ;
-float Agent::range_ = 2*timeHorizonObst_ * averageMaxSpeed_ + radius_ ;
+float Agent::range_ = 4*timeHorizonObst_ * averageMaxSpeed_ + radius_ ;
 float Agent::rangeSq_ = range_ * range_ ;
 
 unsigned int Agent::cptAgent = 0 ;
@@ -505,11 +505,11 @@ void Agent::update()
 #endif
 
 		meanDirection_.set(0) ;
-		for (unsigned int i=0 ; i<4 ; ++i) {
+		for (unsigned int i=0 ; i<50 ; ++i) {
 			meanDirection_ += meanVelocity_[i] ;
-			meanVelocity_[i] = meanVelocity_[(i+1)%4] ;
+			meanVelocity_[i] = meanVelocity_[(i+1)%50] ;
 		}
-		meanVelocity_[3] = velocity_ ;
+		meanVelocity_[49] = velocity_ ;
 		meanDirection_.normalize() ;
 	}
 
@@ -745,7 +745,7 @@ void Agent::computeNewVelocity()
 {
 	// The objective is to compute the sum of forces exerted on the agent.
 	double collision_softening_factor;
-	float ag_ambient_damping = 10.0;
+	float ag_ambient_damping = 50.0;
 
 	// double mass_var = 0.95;
 	// double average_mass = 1.0;
@@ -759,7 +759,7 @@ void Agent::computeNewVelocity()
 	double rand = 2.0*drand48()-1.0; // compris entre -1 et 1
 //	double ag_mass = average_mass*(1 + rand*mass_var); // valeurs uniformement réparties entre min et max
 
-	double ag_mass = 50.0;
+	double ag_mass = 200.0;
 	/*
 	rand = 2.0*drand48()-1.0; // compris entre -1 et 1
 	radius_ = average_radius + rand*radius_var; // valeurs uniformement réparties entre min et max
@@ -799,7 +799,7 @@ void Agent::computeNewVelocity()
 		obst_radius_infl = 100.; // scenario 0
 	else
 		obst_radius_infl = 40.; // scenario 1 et 3
-	float force_value;
+	float force_value=0.0;
 	int nobst=0;
 
 #define ARASH
@@ -874,49 +874,44 @@ void Agent::computeNewVelocity()
 	// double fixed_obst_stiffness = 50000.0; // agent-obstacle interaction stiffness
 	double fixed_obst_stiffness = 50000.0; // agent-obstacle interaction stiffness
 	// double fixed_obst_damping = 1.0;  // agent-obstacle interaction damping
-	int fixed_obst_power = 1;           // the power to which elevate the agent-obstacle distance
+	int fixed_obst_power = 4.0;           // the power to which elevate the agent-obstacle distance
 	Obstacle* fixed_obst ;
 
 	for(std::vector<std::pair<float, Obstacle*> >::iterator it = obstacleNeighbors_.begin() ;
 		it != obstacleNeighbors_.end() ;
 		++it)
 	{
-		double dist = it->first;
-		// cerr << "nobst=" << nobst << "dist=" << dist << endl;
-		// double effective_range = 50*range_;
-		double effective_range = 10*range_;
-		float force_value=0.0;
-		if(dist < effective_range)
-		{
-			collision_softening_factor = pow(1-dist/effective_range,fixed_obst_power);
-			force_value = fixed_obst_stiffness*collision_softening_factor*(effective_range-dist);
-		}
-
 		fixed_obst=it->second ;
-		if(fixed_obst->mo!=NULL)
-			cerr << "Collision avec limace !!!" << endl;
 		VEC3 p1=fixed_obst->p1 ;
 		VEC3 p2=fixed_obst->p2 ;
-		vec=p2-p1;
-		vec.normalize();
+		VEC3 obst_vec=p2-p1;
+		obst_vec.normalize();
 		norm.zero();
+		norm[0]=obst_vec[1] ;
+		norm[1]=-obst_vec[0] ;
 
-		norm[0]=vec[1] ;
-		norm[1]=-vec[0] ;
-		forces += force_value * norm;
-		// cerr << "obstacles fixes : nobst=" << nobst << " dist=" << dist << " force=" << force_value*norm << endl;
+		double dist = it->first;
+		// double effective_range = 10*range_*2*drand48();
+		// double effective_range = 10*range_;
+		double effective_range = radius_*(1+10*drand48());
+		if(dist<effective_range)
+		{
+			collision_softening_factor = pow(1-dist/effective_range,fixed_obst_power);
+			float force_value = fixed_obst_stiffness*collision_softening_factor*(effective_range-dist);
+			forces += force_value * norm;
+		}
 
 		nobst++;
 	}
 
 	//----- forces dues à la répulsion des autres agents -------
 
-	double ag_stiffness = 200.0;    // agent-agent interaction stiffness
+	double ag_stiffness = 50.0;    // agent-agent interaction stiffness
 	double ag_damping   = 1.0;     // agent-agent interaction damping
-//	double ag_power = 1;        // the power to which elevate the agent-agent distance
+	double ag_power = 4.0;        // the power to which elevate the agent-agent distance
 
-	rand = 2.0*drand48()-1.0; // compris entre -1 et 1
-	double radius_var = 0.5;
+	rand = drand48(); // aleatoire compris entre 0 et 1
+	double radius_var = 8;
 	double ag_phys_radius_coef = 4.0*(1 + rand*radius_var); // valeurs uniformement réparties entre min et max
 
 	unsigned int nbA = 0 ;
@@ -946,8 +941,7 @@ void Agent::computeNewVelocity()
 
 		if(dist < combinedRadius)
 		{
-			// collision_softening_factor = pow(1-dist/combinedRadius,ag_power);
-			collision_softening_factor = 1;
+			collision_softening_factor = pow(1-dist/combinedRadius,ag_power);
 			float force_value = - ag_stiffness*collision_softening_factor*(combinedRadius-dist)
 				- ag_damping * (dist - previous_dist) / sim_->timeStep_;
 

src/env_map.cpp

@@ -234,7 +234,7 @@ void EnvMap::initGL()
 	std::vector<std::string> filenames;
 	std::vector<std::string> texturenames;
 
-	std::string dir("./meshRessources/cityTex/");
+	std::string dir("./meshRessources/scenario3/");
 	DIR *dp;
 	struct dirent *dirp;
 	if((dp  = opendir(dir.c_str())) == NULL)
@@ -289,8 +289,9 @@ void EnvMap::initGL()
 		TraversorV<PFP2::MAP> tV(*nmap);
 		for(Dart d = tV.begin() ; d != tV.end() ; d = tV.next())
 		{
-			position_Export[d] *= 100.0f;
-			position_Export[d] += VEC3(2000,0,0);
+			// pour scenario5
+			//position_Export[d] *= 100.0f;
+			//position_Export[d] += VEC3(2000,0,0);
 		}
 
 

src/simulator.cpp

@@ -665,9 +665,20 @@ void Simulator::setupScenario(unsigned int nbMaxAgent, bool pedWay)
 	 */
 	TraversorF<PFP::MAP> tF(envMap_.map);
 	Dart d = tF.begin() ;
+
 //-----------------------
+#define SCENARIO3
+#if defined SCENARIO3
+	unsigned int nbx = 5 ;
+	unsigned int nby = 5 ;
+#elif defined SCENARIO5
 	unsigned int nbx = 2 ;
 	unsigned int nby = 2 ;
+#else
+	unsigned int nbx = 1 ;
+	unsigned int nby = 1 ;
+#endif
+
 //-----------------------
 
 	unsigned int bMax = nbx * nby > 0 ? nbMaxAgent / (nbx * nby) : nbMaxAgent ;

src/viewer.cpp

@@ -216,6 +216,9 @@ void SocialAgents::cb_initGL()
 	registerShader(m_simpleColorShader);
 	registerShader(m_sprite);
 
+	qglviewer::Camera* cam = getQGLWidget()->camera();
+	cam->setSceneRadius(10000);
+
 	initRendering();
 }
 
@@ -766,9 +769,10 @@ void SocialAgents::cb_redraw()
 			simulator.movingObstacles_[i]->draw(drawObstPath);
 #endif
 		}
-		// Commente par Arash
-		// for (std::vector<MovingMesh*>::iterator it = simulator.movingMeshes_.begin() ; it != simulator.movingMeshes_.end() ; ++it)
-		// (*it)->draw();
+
+		// Commente par Arash (Pourquoi ?)
+		for (std::vector<MovingMesh*>::iterator it = simulator.movingMeshes_.begin() ; it != simulator.movingMeshes_.end() ; ++it)
+			(*it)->draw();
 
 	}
 
@@ -1016,13 +1020,42 @@ void SocialAgents::animate()
 //	long seconds, nseconds ;
 
 	nbIterations++ ;
+
+	if(cif_exists)
+	{
+		qglviewer::Vec lookfrom, lookat, upvector;
+		qglviewer::Camera* cam = getQGLWidget()->camera();
+
+		if(nbIterations<cif_begin)
+		{
+			lookfrom.setValue(cif_lookfrom[0][0],cif_lookfrom[0][1],cif_lookfrom[0][2]);
+			lookat.  setValue(cif_lookat  [0][0],cif_lookat  [0][1],cif_lookat  [0][2]);
+			upvector.setValue(cif_upvector[0][0],cif_upvector[0][1],cif_upvector[0][2]);
+		}
+		else if((nbIterations>=cif_begin)&&(nbIterations<cif_end))
+		{
+			lookfrom.setValue(cif_lookfrom[nbIterations-cif_begin][0],cif_lookfrom[nbIterations-cif_begin][1],cif_lookfrom[nbIterations-cif_begin][2]);
+			lookat.  setValue(cif_lookat  [nbIterations-cif_begin][0],cif_lookat  [nbIterations-cif_begin][1],cif_lookat  [nbIterations-cif_begin][2]);
+			upvector.setValue(cif_upvector[nbIterations-cif_begin][0],cif_upvector[nbIterations-cif_begin][1],cif_upvector[nbIterations-cif_begin][2]);
+		}
+		else
+		{
+			lookfrom.setValue(cif_lookfrom[cif_end-cif_begin][0],cif_lookfrom[cif_end-cif_begin][1],cif_lookfrom[cif_end-cif_begin][2]);
+			lookat.  setValue(cif_lookat  [cif_end-cif_begin][0],cif_lookat  [cif_end-cif_begin][1],cif_lookat  [cif_end-cif_begin][2]);
+			upvector.setValue(cif_upvector[cif_end-cif_begin][0],cif_upvector[cif_end-cif_begin][1],cif_upvector[cif_end-cif_begin][2]);
+			exit(0);
+		}
+		cam->setPosition(lookfrom);
+		cam->lookAt(lookat);
+		cam->setUpVector(upvector,true);
+	}
+
 	if (maxIterations > 0 && nbIterations > maxIterations)
 	{
 //		std::cout << "t : " << simulator.globalTime_ << std::endl ;
 		timer->stop() ;
 		if (filename != NULL)
 		{
-
 			if (percent) filename<<"_percent";
 
 			std::stringstream datas;
@@ -1034,7 +1067,6 @@ void SocialAgents::animate()
 			string data = datas.str();
 			string  gnuplot=gnuplots.str();
 
-
 			float upAgent=((simulator.time_agent)/1000000000.0f);
 			float upObst = ((simulator.time_obstacle)/1000000000.0f);
 			float behaviour = ((simulator.time_behave)/1000000000.0f);
@@ -1049,8 +1081,6 @@ void SocialAgents::animate()
 				upObst = (upObst/sum)*100;
 				behaviour = (behaviour/sum)*100;
 				rendu =(rendu/sum)*100;
-
-
 			}
 			CGoGNout<<"temps total : "<<(time_update/1000000000.0f)<< CGoGNendl;
 			ofstream fichier(data.c_str(), ios::out | ios::trunc);  //déclaration du flux et ouverture du fichier
@@ -1141,10 +1171,10 @@ void SocialAgents::animate()
 #ifndef SPATIAL_HASHING
 	if (render_anim)
 	{
-
 		if(nbIterations%4==0)
 		{
-			getQGLWidget()->resize(800,600);
+			// getQGLWidget()->resize(800,600);
+			getQGLWidget()->resize(1024,768);
 			updateGL() ;
 //			getQGLWidget()->setSnapshotQuality(100);
 
@@ -1156,7 +1186,7 @@ void SocialAgents::animate()
 //			QString filename("./export/meshCercleBA" );
 //			QString filename("./export/meshCorridorBA" );
 //			QString filename("./export/oneRing" );
-			QString filename("./export/oneRingCercle" );
+			QString filename("./export/scenario3." );
 			filename.append((tmpNb.str()).c_str());
 			filename.append(".png");
 //			getQGLWidget()->setSnapshotFileName(filename);
@@ -1813,6 +1843,7 @@ void SocialAgents::keyPressEvent(QKeyEvent *e)
 		std::string filename3("pedway.ply") ;
 		std::string filename4("buildingMap.ply") ;
 		std::string filename5("road.ply") ;
+		std::string filename6("road.obj") ;
 
 		MapBrowserSelector mbs(simulator.envMap_.map,SelectorCellMarked<FACE>(simulator.envMap_.pedWayMark));
 		simulator.envMap_.map.setBrowser(&mbs);
@@ -1823,6 +1854,8 @@ void SocialAgents::keyPressEvent(QKeyEvent *e)
 		simulator.envMap_.map.setBrowser(&mbs2);
 		Algo::Surface::Export::exportPLY<PFP>(simulator.envMap_.map, simulator.envMap_.position,filename5.c_str(), false);
 
+		// Algo::Surface::Export::exportOBJ<PFP>(simulator.envMap_.map, simulator.envMap_.position,filename6.c_str());
+		// L'export OBJ ne semble pas marcher
 
 
 		simulator.envMap_.map.setBrowser(NULL);
@@ -1830,6 +1863,19 @@ void SocialAgents::keyPressEvent(QKeyEvent *e)
 			Algo::Surface::Export::exportPLY<PFP>(simulator.envMap_.mapScenary, simulator.envMap_.positionScenary,filename4.c_str(), false);
 		break ;
 	}
+
+	case Qt::Key_G:
+	{
+		qglviewer::Camera* cam = getQGLWidget()->camera();
+		qglviewer::Vec lookat = cam->position() + 100*cam->viewDirection();
+
+		cam_output_file << nbIterations << " ";
+		cam_output_file << cam->position()[0] << " "<< cam->position()[1] << " "<< cam->position()[2] << " "
+						<< lookat[0]          << " "<< lookat[1]          << " "<< lookat[2]          << " "
+						<< cam->upVector()[0] << " "<< cam->upVector()[1] << " "<< cam->upVector()[2] << endl;
+		break;
+	}
+
 	case Qt::Key_I:
 	{
 		getQGLWidget()->resize(800,600);
@@ -1842,7 +1888,7 @@ void SocialAgents::keyPressEvent(QKeyEvent *e)
 
 		getQGLWidget()->setSnapshotCounter(++counter);
 		QString filename("./export/test" );
-		filename.append((tmpNb.str()).c_str());
+ 		filename.append((tmpNb.str()).c_str());
 		filename.append(".png");
 //		getQGLWidget()->setSnapshotFileName(filename);
 //		getQGLWidget()->setSnapshotFormat(QString("PNG"));
@@ -1916,6 +1962,7 @@ void SocialAgents::keyPressEvent(QKeyEvent *e)
 		}
 		break;
 	}
+
 	case Qt::Key_5 :
 	{
 			FILE *fp ;
@@ -1947,6 +1994,53 @@ void SocialAgents::keyPressEvent(QKeyEvent *e)
 	updateGL() ;
 }
 
+//---------------------------------------------------------
+
+void SocialAgents::readCameraInputFile(char *filename)
+{
+	std::string line, word;
+
+	// const char *c_line;
+
+	cif_exists=false;
+	cam_input_file.open(filename,std::ifstream::in);
+	if(cam_input_file.is_open())
+	{
+		cif_exists=true;
+		cam_input_file >> cif_begin;
+		cam_input_file >> cif_end;
+		int nb_steps=cif_end-cif_begin+1;
+		cif_lookfrom = new VEC3[nb_steps];
+		cif_lookat   = new VEC3[nb_steps];
+		cif_upvector = new VEC3[nb_steps];
+
+		int i;
+		for(i=0;i<nb_steps;i++)
+		{
+			int j;
+			for(j=0;j<9;j++)
+			{
+				cam_input_file >> word;
+				std::istringstream iss(word);
+				switch(j)
+				{
+				case 0: iss >> cif_lookfrom[i][0]; break;
+				case 1: iss >> cif_lookfrom[i][1]; break;
+				case 2: iss >> cif_lookfrom[i][2]; break;
+				case 3: iss >> cif_lookat  [i][0]; break;
+				case 4: iss >> cif_lookat  [i][1]; break;
+				case 5: iss >> cif_lookat  [i][2]; break;
+				case 6: iss >> cif_upvector[i][0]; break;
+				case 7: iss >> cif_upvector[i][1]; break;
+				case 8: iss >> cif_upvector[i][2]; break;
+				default : cerr << "Unexpected value for switch : " << j << endl; break;
+				}
+			}
+		}
+		cam_input_file.close();
+	}
+}
+
 /**********************************************************************************************
  *                                      MAIN FUNCTION                                         *
  **********************************************************************************************/
@@ -1987,9 +2081,34 @@ int main(int argc, char** argv)
 	sa.setGeometry(0, 0, 1800, 1200) ;
 	sa.initGUI() ;
 	glewInit();
+
+	sa.cam_output_file.open("src/cam.out",std::ofstream::out);
+	sa.readCameraInputFile("src/cam.scn3.spline");
+	if(sa.cif_exists)
+	{
+		int i;
+		for(i=0;i<sa.cif_begin;i++)
+		{
+			sa.nbIterations = sa.cif_begin;
+			sa.simulator.doStep();
+		}
+	}
+
 	sa.show() ;
 //	if (argc > 1)
 //		sa.timer->start() ;
 
+	// Arash :
+	// S'il y a un cam input file, alors lire le premier
+	// entier N et faire marcher la simulation N fois.
+
+	// sa.readCameraInputFile("src/cam.scn3.spline");
+	// sa.cam_output_file.open("src/cam.out",std::ofstream::out);
+	// sa.cam_output_file("src/cam.out");
+
+	// int i;
+	// for(i=0;i<sa.cif_begin;i++)
+	// sa.animate();
+
 	return app.exec() ;
 }