ok serpent

cams/cam.out~

-925 268.919 -599.764 174.022 229.193 -513.318 143.218 -0.154631 0.267809 0.950982
-1420 114.119 -361.09 564.72 97.6865 -312.66 478.787 -0.25495 0.820722 0.511289
-3115 -119.914 -198.458 186.027 -85.6747 -137.812 114.265 0.346014 0.628714 0.696415
-4784 -179.491 -194.446 135.444 -125.036 -132.211 79.2166 0.368223 0.424929 0.826951
-7798 -179.204 -102.848 442.481 -148.784 -85.0303 348.901 0.727103 0.591244 0.34893
-12828 -125.14 -65.2268 467.511 -106.094 -55.2945 369.845 0.762254 0.611961 0.210886
+123 -185.685 -467.24 348.076 -161.367 -389.597 289.936 0.0875394 0.57938 0.810343
+123 -185.685 -467.24 348.076 -161.367 -389.597 289.936 0.0875394 0.57938 0.810343
+499 -82.8172 -181.343 312.474 -70.7052 -131.43 226.672 0.136105 0.847868 0.512441
+937 -7.18517 -11.3042 207.64 -10.3007 -0.634028 108.259 0.0767988 0.991602 0.104058
+1563 -62.3674 -142.75 137.936 -37.9392 -68.8674 75.1295 0.201799 0.594775 0.778151
+2352 20.072 -60.9946 203.32 25.6662 -15.5125 114.438 0.00685043 0.890023 0.455864
+3027 -81.1169 -21.0707 779.242 -72.419 -15.6418 679.769 0.0251416 0.998076 0.0566697

include/agent.h

@@ -9,9 +9,9 @@
 
 
 // #define SECURED
-//#define EXPORTING_AGENT
+//#define EXPORTING_AGENT   // trainée derriere l'agent
 
-//#define EXPORTING_OBJ
+//#define EXPORTING_OBJ // skin mexicain
 #define ARASH
 
 

include/articulated_obstacle.h

@@ -14,6 +14,10 @@ public:
 	int nbBodyPart;
 	std::vector<VEC3> goals;
 	VEC3 curGoal;
+	float old_Factor; // pour modification de vitesses
+
+	PFP::VEC3 get_center ( int index);
+	PFP::VEC3 get_front ( int index);
 };
 
 #endif

include/moving_mesh.h

@@ -18,7 +18,16 @@
 
 using namespace std;
 
-//#define EXPORTING2
+//#define EXPORTING2 // textures des limaces
+
+
+
+#ifdef EXPORTING2
+	#include "Utils/Shaders/shaderPhongTexture.h"
+	#include "Utils/Shaders/shaderSimpleTexture.h"
+	#include "shaderCustomTex.h"
+	#include "Algo/Import/importObjTex.h"
+#endif
 
 float get_angle3D(VEC3 v1, VEC3 v2);
 

include/moving_obstacle.h

@@ -7,7 +7,7 @@
 #include "env_map.h"
 #include <set>
 
- #define LINEAR
+// #define LINEAR //shapematching linéaire ou quadratic ?
 
 // #define SECURED
 
@@ -28,7 +28,7 @@
 #endif
 #endif
 
-  #define EXPORTING_BOXES
+  #define EXPORTING_BOXES    // boites des obstacles
 
 #ifdef EXPORTING_BOXES
 	#include "Algo/Render/GL2/mapRender.h"
@@ -44,7 +44,7 @@ using namespace std;
 PFP::VEC3 rotate2D (PFP::VEC3 pos1, PFP::VEC3 center, float angle);
 VEC3 computeForce(VEC3 p, VEC3 p1, VEC3 p2, float obst_radius_infl, float obst_power, float obst_stiffness, VEC3 normFace);
 float get_angle (PFP::VEC3 v1, PFP::VEC3 v2);
-PFP::VEC3 get_center (ArticulatedObstacle * art, int index);
+
 class Simulator ;
 class MovingMesh;
 
@@ -173,6 +173,19 @@ public:
 	Agent* ag_;
 	int index_parent;
 	float gravity_dist; /// distance entre le centre du MO et son sommet le plus éloigné
+
+
+	double stiff_agent;
+	double radius_agent;
+
+	double stiff_obst;
+	double radius_obst;
+
+	double long_radius_agent;
+	double long_radius_obst;
+
+
+
 	VertexAttribute<NoMathIONameAttribute<std::vector<PFP::REAL> > > mvc_;
 
 	/////// ShapeMatching

include/obstacle.h

@@ -7,7 +7,7 @@ class Obstacle
 {
 public:
 	Obstacle(const VEC3 point1, const VEC3 point2,
-	         MovingObstacle * moving1=NULL, unsigned int ind=0,double stiff_agent=20,double stiff_obst=5,double radius_agent=500,double radius_obst=10) :
+	         MovingObstacle * moving1=NULL, unsigned int ind=0,double stiff_agent=20,double stiff_obst=10,double radius_agent=500,double radius_obst=30) :
 		 p1(point1), p2(point2),
 		mo(moving1), index(ind),p3(0,0,0),obst_stiffness_agent(stiff_agent),obst_stiffness_obst(stiff_obst),obst_radius_infl_agent(radius_agent),obst_radius_infl_obst(radius_obst)
 	{

include/viewer.h

@@ -57,8 +57,10 @@
 #include "shaderPhongTexCust.h"
 
 #define DRAW_REGISTRATION //montre l'enregistrement des obstacles mobiles
-//#define AFFICHE_MESH
-//#define EXPORTING
+
+
+#define AFFICHE_MESH
+//#define EXPORTING // ne pas activer
 #define ONERING
 //#define SHADOWSHELL
 

src/agent.cpp

@@ -15,7 +15,7 @@ VEC3 Agent::xyPlane = VEC3(0,0,1);
 
 unsigned int Agent::maxNeighbors_ = 10 ;
 unsigned int Agent::maxMovingObstacles_ = 20;
-float Agent::averageMaxSpeed_ = 0.5f ;
+float Agent::averageMaxSpeed_ =2.0f ;
 // float Agent::averageMaxSpeed_ = 20.0f ;
  float Agent::neighborDist_ = 10.0f ;
 //float Agent::neighborDist_ = 20.0f ;
@@ -763,7 +763,7 @@ void Agent::computeNewVelocity()
 	VEC3 normFace = VEC3 (0,0,1);
 #endif
 	double collision_softening_factor;
-	float ag_ambient_damping = 1000.0;
+	float ag_ambient_damping = 10.0;
 
 	// double mass_var = 0.95;
 	// double average_mass = 1.0;
@@ -795,7 +795,7 @@ void Agent::computeNewVelocity()
 
 	//----- force due à l'attraction de l'objectif ----------
 
-	float goal_attraction_force = 200.0;  // agent-goal interaction stiffness
+	float goal_attraction_force = 100.0;  // agent-goal interaction stiffness
 	VEC3 p_goal = goals_[curGoal_];
 	VEC3 u_goal = p_goal - getPosition();
 	u_goal.normalize();

src/articulated_obstacle.cpp

@@ -4,6 +4,7 @@ ArticulatedObstacle::ArticulatedObstacle(Simulator* sim, int index, int currentI
 {
 	this->index=index;
 	nbBodyPart = size;
+	old_Factor=0;
 	MovingObstacle * mo4= new MovingObstacle(sim,currentIndex+1 ,pos[0],goals,true,true,curGoal, NIL,this,0);
 	members.push_back(mo4);
 	for(int i =1; i<nbBodyPart; i++)
@@ -16,7 +17,11 @@ ArticulatedObstacle::ArticulatedObstacle(Simulator* sim, int index, int currentI
 	}
 }
 
-PFP::VEC3 get_center (ArticulatedObstacle * art, int index)
+PFP::VEC3 ArticulatedObstacle::get_center (int index)
 {
-	return art->members[index]->center + (art->members[index]->center -art->members[index]->front);
+	return this->members[index]->center ;
+}
+PFP::VEC3 ArticulatedObstacle::get_front (int index)
+{
+	return this->members[index]->front;
 }

src/env_map.cpp

@@ -79,24 +79,28 @@ void EnvMap::init(unsigned int config, REAL width, REAL height, REAL minSize, RE
 	{
 		case 0 :
 //			CityGenerator::generateGrid<PFP>(*this) ;
-			CityGenerator::generateGrid<PFP>(*this) ;
+//			CityGenerator::generateGrid<PFP>(*this) ;
+			CityGenerator::generateTrianGrid<PFP>(*this,obstacleMark, buildingMark);
 			CityGenerator::generateCity<PFP>(*this,0,500.0f) ;
 			break ;
 		case 1 :
-			CityGenerator::generateGrid<PFP>(*this) ;
-//			CityGenerator::generateTrianGrid<PFP>(*this,obstacleMark, buildingMark);
+//			CityGenerator::generateGrid<PFP>(*this) ;
+			CityGenerator::generateTrianGrid<PFP>(*this,obstacleMark, buildingMark);
 			break ;
 		case 2 :
-			CityGenerator::generateGrid<PFP>(*this) ;
-//			CityGenerator::generateTrianGrid<PFP>(*this,obstacleMark, buildingMark);
+//			CityGenerator::generateGrid<PFP>(*this) ;
+			CityGenerator::generateTrianGrid<PFP>(*this,obstacleMark, buildingMark);
 			// CityGenerator::generateMall<PFP>(map, position, obstacleMark, buildingMark, sideSize);
 			break ;
 		case 3 :
-			CityGenerator::generateGrid<PFP>(*this) ;
+//			CityGenerator::generateGrid<PFP>(*this) ;
+			CityGenerator::generateTrianGrid<PFP>(*this,obstacleMark, buildingMark);
 //			CityGenerator::generateCity<PFP>(*this,10,500.0f) ;
 			break ;
 		case 4 :
-			CityGenerator::generateGrid<PFP>(*this) ;
+			CityGenerator::generateTrianGrid<PFP>(*this,obstacleMark, buildingMark);
+
+//			CityGenerator::generateGrid<PFP>(*this) ;
 			break ;
 		case 5 :
 		{
@@ -201,7 +205,7 @@ void EnvMap::init(unsigned int config, REAL width, REAL height, REAL minSize, RE
 		break;
 		case 6:
 			CityGenerator::generatePlanet<PFP>(*this);
-			CityGenerator::generateCity<PFP>(*this,200, 1000.0f, 20.0f) ;
+			CityGenerator::generateCity<PFP>(*this,30, 1000.0f, 20.0f) ;
 			break;
 		case 7 :
 

src/moving_obstacle.cpp

-#include "moving_obstacle.h"
+#include "articulated_obstacle.h"
 #include "obstacle.h"
 #include "agent.h"
 #include "simulator.h"
@@ -9,7 +9,7 @@
 
 //float MovingObstacle::neighborDistSq_ = 5.0f * 5.0f;
 
-float MovingObstacle::maxSpeed_ = 0.9f;
+float MovingObstacle::maxSpeed_ = 2.0f; //  8 pour limaces ?
 float MovingObstacle::neighborDist_ = 10.0f ;
 float MovingObstacle::neighborDistSq_ = neighborDist_ * neighborDist_ ;
 float MovingObstacle::timeHorizonObst_ = 10.0f;
@@ -149,33 +149,39 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 		index(ind),
 		goals_(goals),
 		curGoal_(curGoal),
-		velocity_factor(0.8f),
-		color1(1.0f),
+		velocity_factor(1.0f),
+		color1(1.0f),			// couleur de l'obstacle
 		color2(1.0f),
 		color3(1.0f),
-		seen(false),
-		newVelocity_(0),
-		sim_(sim),
-		rigid_(rigid),
-		spinning(spin),
-		parent(art),
-		mm_(NULL),
-		ag_(NULL),
-		index_parent(indParent),
-		gravity_dist(0),
-		beta(0.95),
-		alpha(0.99),
-		speed_detection_factor(100)
+		seen(false),			// l'obstacle est il vu par des agents
+		newVelocity_(0),		// vitesse actuelle
+		sim_(sim),				// lien vers le simulateur
+		rigid_(rigid),			// rigide ou déformable ?
+		spinning(spin),			// l'obstacle peut il effectuer des rotations ?
+		parent(art),			// obstacle articulé parent
+		mm_(NULL),				// moving mesh associé
+		ag_(NULL),				// agent suivi ?
+		index_parent(indParent), // index de l'obstacle dans l'obstacle articulé
+		gravity_dist(0),		// rayon de la boule englobante de l'obstacle
+#ifdef LINEAR
+		beta(0.60),
+		alpha(0.95),
+#else
+		beta(0.60), // params shpaematching
+		alpha(0.95),
+#endif
+		speed_detection_factor(10) // facteur qui détermine la taille du vecteur d'anticipation
 
 {
-	double stiff_agent=500;
-	double radius_agent=30;
+	if (index_parent>0) velocity_factor=2.0f;
+	stiff_agent=10000;
+	radius_agent=15;
 
-	double stiff_obst=0.01;
-	double radius_obst=12;
+	stiff_obst=0.02;
+	radius_obst=20;
 
-	double long_radius_agent=40;
-	double long_radius_obst=10;
+	long_radius_agent=25;
+	long_radius_obst=5;
 
 	for (unsigned int i = 0; i < nbVertices; ++i)
 			{
@@ -186,7 +192,7 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 
 	if(dInside==NIL)
 		dInside = sim_->envMap_.getBelongingCell(pos[0]);
-	if(rigid_&&index_parent<1)
+	if(index_parent<1)
 	{
 			pos.push_back(center);
 			pos.push_back(center);
@@ -206,7 +212,7 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 #endif
 
 
-	if(rigid_&&index_parent<1)
+	if(index_parent<1)
 		{
 			belonging_cells = new std::vector<Dart>[nbParticles-1];
 			neighbor_cells = new std::vector<Dart>[nbParticles-1];
@@ -259,43 +265,43 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 	//	width  = (pos[1]-pos[2]).norm();
 	//	sum_dist_foci_rest = 2*(length + width*(sqrt(2)-0.5));
 
-	if ( parent==NULL) //départ face à la cible en cas d'obstacles pouvant effectuer des rotations
-	{
-			VEC3 axeZ=VEC3 (0,0,1);
-#ifdef TWO_AND_HALF_DIM
-
-			VEC3 normale = Algo::Surface::Geometry::faceNormal<PFP>(sim->envMap_.map, parts_[0]->d, sim->envMap_.position);
-#else
-			VEC3 normale =axeZ;
-#endif
-			Geom::Matrix44f rot ;
-			rot.identity() ;
-			angle = Geom::angle(goals_[curGoal_] - center,front  - center);
-			Geom::rotate(axeZ,angle,rot);
-
-			float angle1 = Geom::angle(normale, VEC3 (0,0,1) ) ;
-		//	CGoGNout<<"angle : "<<angle<<CGoGNendl;
-			VEC3 axis = VEC3(0,0,1) ^ normale ;
-
-		//	Geom::translate(center[0],center[1],center[2],rot);
-			Geom::rotate(axis, angle1, rot) ;
-
-
-//			std::cout<<" angle : "<< angle;
-
-			for (unsigned int i = 0; i < nbVertices; ++i)
-			{
-//				std::cout<<" || pos[i] avant : "<< pos [i];
-				Geom::transform(pos[i],rot);
-//				std::cout<<" || pos[i] APRES : "<< pos [i]<<std::endl;
-
-				parts_[i]->move(pos[i]);
-
-
-			}
-			angle=0;
-			front=(pos[0] + pos[1]) / 2;
-	}
+//	if ( parent==NULL) //départ face à la cible en cas d'obstacles pouvant effectuer des rotations
+//	{
+//			VEC3 axeZ=VEC3 (0,0,1);
+//#ifdef TWO_AND_HALF_DIM
+//
+//			VEC3 normale = Algo::Surface::Geometry::faceNormal<PFP>(sim->envMap_.map, parts_[0]->d, sim->envMap_.position);
+//#else
+//			VEC3 normale =axeZ;
+//#endif
+//			Geom::Matrix44f rot ;
+//			rot.identity() ;
+//			angle = Geom::angle(goals_[curGoal_] - center,front  - center);
+//			Geom::rotate(axeZ,angle,rot);
+//
+//			float angle1 = Geom::angle(normale, VEC3 (0,0,1) ) ;
+//		//	CGoGNout<<"angle : "<<angle<<CGoGNendl;
+//			VEC3 axis = VEC3(0,0,1) ^ normale ;
+//
+//		//	Geom::translate(center[0],center[1],center[2],rot);
+//			Geom::rotate(axis, angle1, rot) ;
+//
+//
+////			std::cout<<" angle : "<< angle;
+//
+//			for (unsigned int i = 0; i < nbVertices; ++i)
+//			{
+////				std::cout<<" || pos[i] avant : "<< pos [i];
+//				Geom::transform(pos[i],rot);
+////				std::cout<<" || pos[i] APRES : "<< pos [i]<<std::endl;
+//
+//				parts_[i]->move(pos[i]);
+//
+//
+//			}
+//			angle=0;
+//			front=(pos[0] + pos[1]) / 2;
+//	}
 
 	groundFace = map.newFace(nbVertices);
 
@@ -404,7 +410,7 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 	}
 
 	/////obstacles lointain
-	if(rigid_&&index_parent<1)
+	if(index_parent<1)
 	{
 		Obstacle* o = new Obstacle(parts_[nbVertices]->getPosition(),
 						parts_[nbVertices+1]->getPosition(),
@@ -415,15 +421,6 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 		//		CGoGNout<<" obstacle :"<< i << " num : "<< o<<CGoGNendl;
 				sim_->envMap_.pushObstacleInCells(o);
 
-//		Obstacle* o2 = new Obstacle(parts_[nbVertices+1]->getPosition(),
-//							parts_[nbVertices]->getPosition(),
-//							 this, nbVertices+1,1000,100,2500,20);
-//
-//					obstacles_.push_back(o2);
-//
-//			//		CGoGNout<<" obstacle :"<< i << " num : "<< o<<CGoGNendl;
-//					sim_->envMap_.pushObstacleInCells(o2);
-
 
 					/// fin ajout
 	}
@@ -471,7 +468,7 @@ void MovingObstacle::draw(bool showPath)
 //	// if(obstacleNeighbors_.size()==0)
 //		m_shader->setColor(Geom::Vec4f(col[0],col[1],col[2],0));
 //	else
-		m_shader->setColor(Geom::Vec4f(0.5,0.5,0.5,0));
+		m_shader->setColor(Geom::Vec4f(0,0.3,0,0)); // vert
 
 	m_render->draw(m_shader, Algo::Render::GL2::TRIANGLES);
 	m_shader->setColor(Geom::Vec4f(0.,0.,0.,0.));
@@ -515,7 +512,7 @@ void MovingObstacle::draw(bool showPath)
 		m_ds->end();
 		m_ds->endList();
 	}
-	if(true)//show particles
+	if(true)// affichage anticipation
 	{
 
 		m_ds->newList(GL_COMPILE_AND_EXECUTE);
@@ -1218,9 +1215,9 @@ void MovingObstacle::updateForces()
 		float rotor=0;
 
 		if (index_parent==0)
-			rotor = abs_angle*angle > 0.01f ? 0.01f : abs_angle*angle ;
+			rotor = abs_angle*angle > 0.005f ? abs_angle *0.005f : angle ;
 		else
-			rotor = abs_angle*angle ;
+			rotor = abs_angle*angle > 0.02f ? abs_angle *0.005f : angle ;
 	//	CGoGNout << "Obstacle "<< index << CGoGNendl;
 //		CGoGNout << "vitesse : "<< velocity_ << CGoGNendl;
 		//	on fait tourner l'obstacle
@@ -1242,7 +1239,7 @@ void MovingObstacle::updateForces()
 			velocity[d] += nouvpos[0]*x+nouvpos[1]*y;
 #else
 
-			position[d] += rotate2D(position[d], center, abs_angle*rotor);
+			position[d] += rotate2D(position[d], center, rotor);
 #endif
 			position[d] += (velocity_ * sim_->timeStep_);
 			velocity[d]=position[d]-oldPos;
@@ -1251,7 +1248,7 @@ void MovingObstacle::updateForces()
 #ifdef EXPORTING_BOXES
 
 #ifndef TWO_AND_HALF_DIM
-			position[map.phi<211>(d)] += rotate2D(position[map.phi<211>(d)], center, abs_angle*rotor);
+			position[map.phi<211>(d)] += rotate2D(position[map.phi<211>(d)], center, rotor);
 			position[map.phi<211>(d)] += (velocity_ * sim_->timeStep_);
 #endif
 
@@ -1266,10 +1263,9 @@ void MovingObstacle::updateForces()
 		}
 
 		front=(position[0] + position[1]) / 2;
-		if(angle >0)
-			angle -= rotor;
-		else
-			angle += rotor;
+
+			angle -= abs_angle*rotor;
+
 	}
 
 	center = bary / nbVertices;
@@ -1366,6 +1362,8 @@ void MovingObstacle::updateRegistration()
 			d=map.phi_1(d);
 		}
 		center = bary / nbVertices;
+		parts_[nbVertices]->move(center);
+		parts_[nbVertices+1]->move(center+speed_detection_factor*velocity_);
 	}
 	else
 	{
@@ -1419,13 +1417,16 @@ void MovingObstacle::updateRegistration()
 //		CGoGNout<< CGoGNendl;
 	//		CGoGNout << "Apres une etape : Obstacle "<< i << CGoGNendl;
 	}
-	if(rigid_ &&index_parent<1)
+	if(index_parent<1)
 	{
 		Obstacle* o = obstacles_[nbVertices];
 		o->p1 = parts_[nbVertices]->getPosition();
 		o->p2 = parts_[nbVertices+1]->getPosition();
 		Dart d1 = parts_[nbVertices]->d;
 		Dart d2 = parts_[nbVertices+1]->d;
+		o->obst_radius_infl_agent=radius_agent*velocity_factor;
+		o->obst_stiffness_agent=stiff_agent*velocity_factor;
+
 
 		if(!((sim_->envMap_.map.sameFace(d1,d2))&& (parts_[nbVertices]->crossCell==CGoGN::Algo::Surface::MovingObjects::NO_CROSS && parts_[nbVertices+1]->crossCell==CGoGN::Algo::Surface::MovingObjects::NO_CROSS)))
 		{
@@ -1624,17 +1625,25 @@ void MovingObstacle::computePrefVelocity() //calcul du vecteur optimal pour atte
 		{
 			goalVector = goals_[curGoal_] - center ;
 	//		goalVector = goals_[curGoal_] - position[groundFace] ;
+			VEC3 distVect =goals_[curGoal_] - position[groundFace] ;
+			float goalDist2 = distVect.norm2() ;
 
-			float goalDist2 = goalVector.norm2() ;
-
-			if (goalDist2 < (rigid_ ? 5 : 1.4)*(gravity_dist*gravity_dist) )
+			if (goalDist2 < (gravity_dist*gravity_dist) )
 			{
 				curGoal_ = (curGoal_ + 1) % goals_.size() ;
-				velocity_factor/=1.3 ;
-
-
-
+				if(parent!=NULL)                                  // modification de vitesse des serpents
+				{
+					if (parent->old_Factor>velocity_factor)
+					{
+						velocity_factor=parent->old_Factor;
+					}
+					else
+					{
+						parent->old_Factor=velocity_factor;
+						velocity_factor/=2 ;
+					}
 
+				}
 				goalVector = goals_[curGoal_] - center ;
 	//			goalVector = goals_[curGoal_] - position[groundFace] ;
 				goalDist2 = goalVector.norm2() ;
@@ -1710,12 +1719,13 @@ void MovingObstacle::computePrefVelocity() //calcul du vecteur optimal pour atte
 	}
 	else //articulated
 	{
-		VEC3 nextFront =get_center(parent,index_parent-1);
-		goalVector = (nextFront -center);
-		float distFront=(center-front).norm();
-		float distCenter=goalVector.norm();
+		VEC3 nextCenter =parent->get_center(index_parent-1);
+		VEC3 nextFront = parent->get_front(index_parent-1);
+		VEC3 nextBack = 2*nextCenter-nextFront;
+		goalVector = (nextBack -center);
+
 
-		float goalDist = distCenter-distFront ;
+		float goalDist = (front-nextBack).norm() ;
 		goalVector.normalize() ;
 		goalVector *= goalDist;
 

src/simulator.cpp

@@ -17,10 +17,10 @@ timespec timespec_delta(const timespec& t1, const timespec& t2) {
 
 Simulator::Simulator(unsigned int config, unsigned int minS, unsigned int nbAgent, unsigned int nbObst, bool resolution) :
 #ifdef TWO_AND_HALF_DIM
-	timeStep_(0.4f),
+	timeStep_(0.1f),
 #else
-//	timeStep_(config > 2 ? 0.01f : 0.25f),
-	timeStep_(0.25f),
+	timeStep_(config > 2 ? 0.02f : 0.25f),
+//	timeStep_(0.1f),
 #endif
 
 	globalTime_(0.0f),
@@ -78,10 +78,10 @@ void Simulator::init( float dimension, unsigned int nbAgent, unsigned int nbObst
 ////			setupCityScenario(-1.0f * (12 * (70.0f / 2.0f) - 10),
 ////					-1.0f * (12 * (70.0f / 2.0f) - 10), 20, 20);
 			break ;
-		case 4 :
-			setupCrowdedScenario(nbAgent,nbObst,1) ;
+		case 4 : //scenario foule dense + train
+			setupCrowdedScenario(nbAgent,8,1) ;
 			break ;
-		case 5:
+		case 5:     //strasbourg
 			envMap_.init(config, 1600.0f, 1200.0f, minSize, 400.0f) ; //svg import
 			setupScenario(nbAgent, true) ;
 //			SelectorCellNotMarked<PFP::MAP> scnm(envMap_.pedWayMark);
@@ -94,7 +94,7 @@ void Simulator::init( float dimension, unsigned int nbAgent, unsigned int nbObst
 
 			envMap_.init(config,200.0,200.0, minSize, 400.0f);
 
-			addMovingObstacles(nbObst, 1, 500, 1);
+			addMovingObstacles(nbObst, 1, 500, 3);
 			setupPlanetScenario(nbAgent,nbObst);
 			addPathToObstacles(envMap_.buildingMark, true);
 			addPathsToAgents();
@@ -440,7 +440,7 @@ void Simulator::setupCircleScenario(unsigned int nbAgents , unsigned int nbObsta
 void Simulator::setupCrowdedScenario(unsigned int nbAgents , unsigned int nbObstacles, int snake)
 {
 	if (multires)
-		envMap_.init(config, 1500.0f, 1500.0f, minSize, 400.0f) ; //grosses cases
+		envMap_.init(config, 750.0f, 750.0f, minSize, 400.0f) ; //grosses cases
 	else
 
 	{
@@ -480,7 +480,9 @@ void Simulator::setupCrowdedScenario(unsigned int nbAgents , unsigned int nbObst
 			for (unsigned int cury = 0 ; cury < nby ; ++cury)
 			{
 				VEC3 posagent = posinit + VEC3(ecart * curx, ecart * cury, 0.0f) ;
-				addAgent(posagent, posagent, dCell) ;
+				VEC3 goal = posagent;
+				goal[0]*=-1;
+				addAgent(posagent, goal, dCell) ;
 			}
 		}
 
@@ -509,7 +511,8 @@ void Simulator::setupCrowdedScenario(unsigned int nbAgents , unsigned int nbObst
 
 if(snake==1)
 {
-	int snakeSize=10;
+	CGoGNout<<"IT'S A SNAKE"<<CGoGNendl;
+	int snakeSize=nbObstacles;
 	std::vector<PFP::VEC3> positions [snakeSize] ;
 	positions[0]=vPos;
 	goal=center;
@@ -549,9 +552,12 @@ else
 	goals.push_back(goal);