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/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);
 	goals.push_back(start);
 	curGoal = 0;
-	mo4= new MovingObstacle(this, 0,vPos,goals, true, true,curGoal);
+	if (nbObstacles !=0)
+	{
+		mo4= new MovingObstacle(this, 0,vPos,goals, true, true,curGoal);
 
-	movingObstacles_.push_back(mo4);
+		movingObstacles_.push_back(mo4);
+	}
 }
 
 

src/viewer.cpp

@@ -283,7 +283,7 @@ void SocialAgents::initRendering()
 
 #ifdef EXPORTING
 
-#if 1
+#if 0
 	m_Ground_VBO = new Utils::VBO();
 	m_Ground_VBO->setDataSize(3);
 	m_Ground_VBO->allocate(4);
@@ -1160,7 +1160,7 @@ void SocialAgents::animate()
 
 	// setCameraDebug();
 
-/*
+
 	if(cif_exists)
 	{
 		qglviewer::Vec lookfrom, lookat, upvector;
@@ -1189,7 +1189,7 @@ void SocialAgents::animate()
 		cam->lookAt(lookat);
 		cam->setUpVector(upvector,true);
 	}
-*/
+
 	if (maxIterations > 0 && nbIterations > maxIterations)
 	{
 //		std::cout << "t : " << simulator.globalTime_ << std::endl ;
@@ -1271,13 +1271,16 @@ void SocialAgents::animate()
 		exit(0) ;
 	}
 		struct timespec begTime ;
+		int nb_max=2;
+//		if (nbIterations>9000) nb_max=2;
+//		else nb_max=10000;
 		clock_gettime(CLOCK_MONOTONIC, &begTime) ;
-		for(int n =1; n<2; n++)
-		simulator.doStep() ;
+		for(int n =1; n<nb_max; n++)
+			simulator.doStep() ;
 		struct timespec endTime ;
 		clock_gettime(CLOCK_MONOTONIC, &endTime) ;
 
-		time_update += timespec_delta(begTime,endTime).tv_nsec;
+		time_update += timespec_delta(begTime,endTime).tv_nsec/nb_max;
 
 	m_positionVBO->updateData(simulator.envMap_.position);
 
@@ -1311,13 +1314,12 @@ void SocialAgents::animate()
 #ifndef SPATIAL_HASHING
 	if (render_anim)
 	{
-//		if(nbIterations%4==0)
+		if(nbIterations%2==0)
 		{
 			// getQGLWidget()->resize(800,600);
-			getQGLWidget()->resize(1024,768);
+			getQGLWidget()->resize(1580,930);
+			getQGLWidget()->setSnapshotQuality(100);
 			updateGL() ;
-//			getQGLWidget()->setSnapshotQuality(100);
-
 			std::ostringstream tmpNb ;
 			unsigned int counter = getQGLWidget()->snapshotCounter();
 			tmpNb << std::setfill('0') << std::setw(5) << counter ;