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Commit b7f81b10 authored by pitiot's avatar pitiot
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ok serpent

parent 2596423f
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cams/cam.out~
View file @ b7f81b10
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
View file @ b7f81b10
......@@ -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
View file @ b7f81b10
......@@ -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
View file @ b7f81b10
......@@ -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
View file @ b7f81b10
......@@ -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
View file @ b7f81b10
......@@ -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
View file @ b7f81b10
......@@ -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
View file @ b7f81b10
......@@ -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
View file @ b7f81b10
......@@ -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
View file @ b7f81b10
......@@ -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
View file @ b7f81b10
#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
View file @ b7f81b10
......@@ -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);