evitement de loin

CMakeLists.txt

@@ -12,7 +12,7 @@ SET (CGoGN_EXT_LIBS ${CGoGN_EXT_LIBS} ${QT_LIBRARIES} ${QGLVIEWER_LIBRARIES})
 
 
 SET(CGoGN_ROOT_DIR ${CMAKE_SOURCE_DIR}/../../CGoGN CACHE STRING "CGoGN root dir")
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0")
 include(${CGoGN_ROOT_DIR}/apps_cmake.txt)
 
 add_subdirectory(${CMAKE_SOURCE_DIR}/Release Release)

include/env_generator.hpp

@@ -389,9 +389,8 @@ Dart generateBuilding(EnvMap& envMap, Dart d, float height, unsigned int buildin
 		obstacleMark.mark(dd) ;
 
 		Dart next = map.phi1(dd) ;
-		Dart previous = map.phi_1(dd) ;
-		Obstacle* o = new Obstacle(position[dd], position[next], position[previous],
-		                           position[map.phi1(next)], NIL, NIL, NULL, 0);
+
+		Obstacle* o = new Obstacle(position[dd], position[next], NULL, 0);
 
 #ifdef SPATIAL_HASHING
 		VEC3 ov = o->p2 - o->p1 ;

include/env_map.h

@@ -34,7 +34,7 @@ class ArticulatedObstacle;
 
 //#define EXPORTING3
 
-#define TWO_AND_HALF_DIM
+//#define TWO_AND_HALF_DIM
 
 
 #ifdef EXPORTING3
@@ -377,20 +377,7 @@ inline void EnvMap::addObstAsNeighbor (Obstacle *  o, const std::vector<Dart>& b
 
 	for (std::vector<Dart>::const_iterator it =belonging_cells.begin();it<belonging_cells.end();++it)
 			memo_mark.mark(*it);
-	///////TENTATIVE D'AJOUT RATE
-//	MovingObstacle * mo = o->mo;
-//	int n = o->index;
-//	int m = (n+1)%mo->nbVertices;
-//#ifdef TWO_AND_HALF_DIM
-//	CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalfMemo<PFP> * registering_part = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalfMemo<PFP>(mo->sim_->envMap_.map, mo->parts_[n]->d,o->p1,mo->sim_->envMap_.position);
-//#else
-//	CGoGN::Algo::Surface::MovingObjects::ParticleCell2DMemo<PFP> * registering_part = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DMemo<PFP>(mo->sim_->envMap_.map, mo->position[n],o->p1,mo->sim_->envMap_.position);
-//#endif
-//	registering_part->move(mo->velocity_[n]*mo->velocityAvoidanceFactor+mo->position[n],memo_mark_speed);
-//	registering_part->move(mo->velocity_[m]*mo->velocityAvoidanceFactor+mo->position[m],memo_mark_speed);
-//	std::vector<Dart> result =();
-//	d2=registering_part->d;
-//	CGoGNout<<"d1 : "<< *d1<<"|| d2 : "<< *d2<<"|| start : "<< pos<<"|| stop : "<< dest<<CGoGNendl;
+
 
 
 

include/moving_obstacle.h

@@ -6,7 +6,7 @@
 #include "utils.h"
 #include "env_map.h"
 #include <set>
-// #define LINEAR
+ #define LINEAR
 // #define SECURED
 #ifdef LINEAR
 	#include "ShapeMatching/shapeMatchingLinear.h"
@@ -78,6 +78,7 @@ public:
 	void attachAgent(Agent* ag);
 
 	unsigned int nbVertices;
+	unsigned int nbParticles;
 
 #ifdef SECURED
 	CGoGN::Algo::Surface::MovingObjects::ParticleCell2DSecured<PFP> * * parts_ ;
@@ -124,7 +125,7 @@ public:
 	int max_x_ind;
 	int min_x_ind;
 
-	Obstacle* * obstacles_;
+	std::vector<Obstacle *>  obstacles_;
 	std::vector<Dart> * belonging_cells;
 	std::vector<Dart> * neighbor_cells;
 

include/obstacle.h

@@ -6,10 +6,10 @@
 class Obstacle
 {
 public:
-	Obstacle(const VEC3 point1, const VEC3 point2, const VEC3 prevPoint, const VEC3 nextPoint, Dart d_1, Dart d_2,
+	Obstacle(const VEC3 point1, const VEC3 point2,
 	         MovingObstacle * moving1=NULL, unsigned int ind=0) :
-		d1(d_1), d2(d_2), p1(point1), p2(point2), prevP(prevPoint), nextP(nextPoint),
-		mo(moving1), index(ind),p3(0,0,0)
+		 p1(point1), p2(point2),
+		mo(moving1), index(ind),p3(0,0,0),obst_stiffness_agent(20),obst_stiffness_obst(20)
 	{
 //		p1[2] = 0 ;
 //		p2[2] = 0 ;
@@ -17,16 +17,18 @@ public:
 //		nextP[2] = 0 ;
 	}
 
-	Dart d1;
-	Dart d2;
 	VEC3 p1 ;
 	VEC3 p2 ;
-	VEC3 prevP ;
-	VEC3 nextP ;
+
 
 	MovingObstacle * mo ;
 	unsigned int index ;
+
+
 	VEC3 p3; //pour les ellipses
+
+	double obst_stiffness_agent;
+	double obst_stiffness_obst;
 } ;
 
 #endif

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_ = 2.0f ;
+float Agent::averageMaxSpeed_ = 0.5f ;
 // float Agent::averageMaxSpeed_ = 20.0f ;
  float Agent::neighborDist_ = 10.0f ;
 //float Agent::neighborDist_ = 20.0f ;
@@ -25,7 +25,7 @@ float Agent::neighborDistSq_ = neighborDist_ * neighborDist_ ;
 float Agent::radius_ = 1.5f ;
 float Agent::timeHorizon_ = 10.0f ;
 //float Agent::timeHorizon_ = 100.0f ;
-float Agent::timeHorizonObst_ = 10.0f ;
+float Agent::timeHorizonObst_ = 20.0f ;
 float Agent::range_ = 2*timeHorizonObst_ * averageMaxSpeed_ + radius_ ;
 float Agent::rangeSq_ = range_ * range_ ;
 
@@ -809,12 +809,12 @@ void Agent::computeNewVelocity()
 	//----- forces dues à la répulsion des obstacles en mouvement ----------
 
 	VEC3 norm;
-	double obst_stiffness = 100.0; // agent-obstacle interaction stiffness
-	int obst_power = 1   ;           // the power to which elevate the agent-obstacle distance
+
+	int obst_power = 2   ;           // the power to which elevate the agent-obstacle distance
 
 	double obst_radius_infl;
 	if(sim_->config==0)
-		obst_radius_infl = 100.; // scenario 0
+		obst_radius_infl = 1000.; // scenario 0
 	else
 		obst_radius_infl = 40.; // scenario 1 et 3
 	float force_value;
@@ -842,7 +842,7 @@ void Agent::computeNewVelocity()
 			if(sum_of_dists < rest_sum_of_dists)
 			{
 				collision_softening_factor = pow(1-sum_of_dists/rest_sum_of_dists,obst_power);
-				force_value = obst_stiffness*collision_softening_factor*(rest_sum_of_dists - sum_of_dists);
+				force_value = obst->obst_stiffness_agent*collision_softening_factor*(rest_sum_of_dists - sum_of_dists);
 				VEC3 v_obst = p2 - p1;
 				VEC3 normal = normFace ^v_obst;
 				// Ajouter une composante tangentielle

src/env_map.cpp

@@ -699,9 +699,8 @@ void EnvMap::registerWallInFaces()
 				{
 					Dart dd2 = map.phi2(dd) ;
 					Dart next = map.phi1(dd2) ;
-					Dart previous = map.phi_1(dd2) ;
-					Obstacle* o = new Obstacle(position[next], position[dd2], position[previous],
-					                           position[map.phi1(next)], next, dd2, NULL, 0) ;
+
+					Obstacle* o = new Obstacle(position[next], position[dd2], NULL, 0) ;
 					obstvect[dd2].push_back(o) ;
 				}
 				dd = map.phi1(dd) ;
@@ -745,10 +744,8 @@ void EnvMap::registerObstaclesInFaces()
 					{
 						Dart dd2 = map.phi2(dd) ;
 						Dart next = map.phi1(dd2) ;
-						Dart previous = map.phi_1(dd2) ;
+
 						Obstacle* o = new Obstacle(position[dd2], position[next],
-						                           position[previous], position[map.phi1(next)],
-						                           next, dd2,
 						                           NULL, 0) ;
 						obstvect[d].push_back(o) ;
 					}
@@ -798,9 +795,8 @@ void EnvMap::addNeighborObstacles(PFP::OBSTACLES& obst, Dart d, bool edgeNeighbo
 //			{
 			Dart dd2 = map.phi2(dd) ;
 			Dart next = map.phi1(dd2) ;
-			Dart previous = map.phi_1(dd2) ;
-			Obstacle* o = new Obstacle(position[dd2], position[next], position[previous],
-			                           position[map.phi1(next)], next, dd2,  NULL, 0) ;
+
+			Obstacle* o = new Obstacle(position[dd2], position[next],  NULL, 0) ;
 			obst.push_back(o) ;
 //			}
 		}

src/moving_obstacle.cpp

@@ -9,7 +9,7 @@
 
 //float MovingObstacle::neighborDistSq_ = 5.0f * 5.0f;
 
-float MovingObstacle::maxSpeed_ = 2.0f;
+float MovingObstacle::maxSpeed_ = 1.0f;
 float MovingObstacle::neighborDist_ = 10.0f ;
 float MovingObstacle::neighborDistSq_ = neighborDist_ * neighborDist_ ;
 float MovingObstacle::timeHorizonObst_ = 10.0f;
@@ -144,6 +144,7 @@ VEC3 rotate2D(VEC3 pos1, VEC3 center, float angle)
 
 MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, std::vector<VEC3> goals, bool rigid, bool spin,int curGoal, Dart dInside, ArticulatedObstacle * art, int indParent) :
 		nbVertices(pos.size()),
+		nbParticles(pos.size()),
 		center(0),
 		index(ind),
 		goals_(goals),
@@ -166,12 +167,22 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 		alpha(0.99)
 
 {
+
+	for (unsigned int i = 0; i < nbVertices; ++i)
+			{
+				center += pos[i];
+			}
+		center /= nbVertices;
 	assert(pos.size() > 2);
 
 	if(dInside==NIL)
 		dInside = sim_->envMap_.getBelongingCell(pos[0]);
-
-	unsigned int nbParticles = nbVertices;
+	if(rigid_)
+	{
+			pos.push_back(center);
+			pos.push_back(center);
+			nbParticles=nbVertices+2;
+	}
 //	if(!rigid);
 //	  nbVertices +=1; //a center particle for the mass-spring
 	
@@ -186,9 +197,9 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 #endif
 
 
-	obstacles_ = new Obstacle*[nbVertices];
-	belonging_cells = new std::vector<Dart>[nbVertices];
-	neighbor_cells = new std::vector<Dart>[nbVertices];
+
+	belonging_cells = new std::vector<Dart>[nbParticles];
+	neighbor_cells = new std::vector<Dart>[nbParticles];
 
 	position = map.addAttribute<VEC3, VERTEX>("position") ;
 	normal = map.addAttribute<VEC3, VERTEX>("normal") ;
@@ -202,12 +213,8 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 		edgeLength = map.addAttribute<float, EDGE>("edgeLength") ;
 		vertexAngle = map.addAttribute<float, DART>("vertexAngle") ;
 	}
-	for (unsigned int i = 0; i < nbVertices; ++i)
-		{
-			center += pos[i];
-		}
-	center /= nbVertices;
-	for (unsigned int i = 0; i < nbVertices; ++i)
+
+	for (unsigned int i = 0; i < nbParticles; ++i)
 	{
 #ifdef TWO_AND_HALF_DIM
 		Dart d = dInside;
@@ -226,21 +233,10 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 		if(i==0)
 			dDir = d;
 	}
-	
 	front=(parts_[0]->getPosition() + parts_[1]->getPosition()) / 2;
-//////////////////////particule centrale pour masse ressort
-//	if(!rigid_)
-//	{
-//#ifdef TWO_AND_HALF_DIM
-//		parts_[nbVertices] = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>(sim_->envMap_.map, dInside, center, sim_->envMap_.position);
-//#else
-//#ifdef SECURED
-//		parts_[nbVertices]  = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DSecured<PFP>(sim_->envMap_.map, dInside, center, sim_->envMap_.position);
-//#else
-//		parts_[nbVertices] = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>(sim_->envMap_.map, dInside, center, sim_->envMap_.position);
-//#endif
-//#endif
-//	}
+
+
+
 
 		// M appartient à l'ellipse ssi MF1 + MF2 = sum_dist_foci est une constante
 		// où F1 et F2 sont les deux foyers.
@@ -370,21 +366,23 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 		map.enableQuickTraversal<VERTEX>();
 
 		dDir=dInside;
-	}
 #ifdef LINEAR
 	shape_= new ShapeMatchingLinear<PFP>(map,position,bord,beta);
 #else
 	shape_= new ShapeMatchingQuadratic<PFP>(map,position,bord,beta);
 #endif
 	shape_->initialize();
+	}
+
 
 	for (unsigned int i = 0; i < nbVertices; ++i)
 	{
 		Obstacle* o = new Obstacle(parts_[i]->getPosition(),
 				parts_[(i + 1) % nbVertices]->getPosition(),
-				parts_[(i - 1 + nbVertices) % nbVertices]->getPosition(),
-				parts_[(i + 2) % nbVertices]->getPosition(), i, (i+1)% nbVertices, this, i);
-		obstacles_[i] = o;
+				 this, i);
+		o->obst_stiffness_obst=0.5;
+		o->obst_stiffness_agent=100;
+		obstacles_.push_back(o);
 		/////definition du troisieme point
 		if (rigid_) o->p3=parts_[(i + 2) % nbVertices]->getPosition();
 
@@ -392,6 +390,32 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 		sim_->envMap_.pushObstacleInCells(o);
 	}
 
+	/////obstacles lointain
+	if(rigid_)
+	{
+		Obstacle* o = new Obstacle(parts_[nbVertices]->getPosition(),
+						parts_[nbVertices+1]->getPosition(),
+						 this, nbVertices);
+				o->obst_stiffness_obst=100;
+				o->obst_stiffness_agent=1000;
+				obstacles_.push_back(o);
+
+		//		CGoGNout<<" obstacle :"<< i << " num : "<< o<<CGoGNendl;
+				sim_->envMap_.pushObstacleInCells(o);
+
+		Obstacle* o2 = new Obstacle(parts_[nbVertices+1]->getPosition(),
+							parts_[nbVertices]->getPosition(),
+							 this, nbVertices+1);
+					o2->obst_stiffness_obst=100;
+					o2->obst_stiffness_agent=1000;
+					obstacles_.push_back(o2);
+
+			//		CGoGNout<<" obstacle :"<< i << " num : "<< o<<CGoGNendl;
+					sim_->envMap_.pushObstacleInCells(o2);
+
+
+					/// fin ajout
+	}
 
 }
 
@@ -480,6 +504,26 @@ void MovingObstacle::draw(bool showPath)
 		m_ds->end();
 		m_ds->endList();
 	}
+	if(true)//show particles
+	{
+
+		m_ds->newList(GL_COMPILE_AND_EXECUTE);
+		m_ds->begin(GL_LINE_STRIP);
+
+		VEC3 col = Utils::color_map_BCGYR(float(index)/float(sim_->movingObstacles_.size()));
+		m_ds->color3f(col[0],col[1],col[2]);
+
+
+		for(unsigned int i = nbVertices ; i < nbParticles ; i++)
+		{
+
+			m_ds->vertex(parts_[i]->getPosition());
+
+		}
+
+		m_ds->end();
+		m_ds->endList();
+}
 }
 
 VEC3 MovingObstacle::getDilatedPosition(unsigned int ind)
@@ -1096,7 +1140,7 @@ void MovingObstacle::updateForces()
 			//-------------------------------------------------------------------------
 			// ARASH : A présent on calcule les interactions avec les autres obstacles.
 		VEC3 norm;
-		double obst_stiffness = 0.5; // agent-obstacle interaction stiffness
+
 		int obst_power = 2  ;           // the power to which elevate the agent-obstacle distance
 
 		double obst_radius_infl, obst_radius_infl_buildings;
@@ -1122,7 +1166,7 @@ void MovingObstacle::updateForces()
 						VEC3 p1=obst->p1 ;
 						VEC3 p2=obst->p2 ;
 
-						forces[dd] += computeForce(p,p1,p2,obst_radius_infl,obst_power,obst_stiffness,normFace);
+						forces[dd] += computeForce(p,p1,p2,obst_radius_infl,obst_power,obst->obst_stiffness_obst,normFace);
 					}
 
 					//	Evitement d'obstacles fixes
@@ -1134,7 +1178,7 @@ void MovingObstacle::updateForces()
 						VEC3 p1=obst->p2 ;
 						VEC3 p2=obst->p1 ;
 
-						forces[dd] += computeForce(p,p1,p2,obst_radius_infl_buildings,fixed_obst_factor*obst_power,fixed_obst_factor*obst_stiffness,normFace);
+						forces[dd] += computeForce(p,p1,p2,obst_radius_infl_buildings,fixed_obst_factor*obst_power,fixed_obst_factor*obst->obst_stiffness_obst,normFace);
 					}
 
 				d = map.phi_1(d);
@@ -1250,7 +1294,11 @@ void MovingObstacle::applyForces()
 		{
 
 			velocity[d] += (forces[d]-0.01*velocity[d]) * sim_->timeStep_ ;
-
+//			if (velocity[d].norm2() > maxSpeed_)
+//			{
+//				velocity[d].normalize() ;
+//				velocity[d] *= maxSpeed_;
+//			}
 			position[d] += (velocity[d] * sim_->timeStep_);
 			position [map.phi_1(map.phi2(d))]+=(0.5*velocity[d] * sim_->timeStep_);
 //			PFP::VEC3 normal = CGoGN::Algo::Surface::Geometry::faceNormal<PFP>(sim_->envMap_.map, parts_[i]->d, sim_->envMap_.position);
@@ -1323,17 +1371,20 @@ void MovingObstacle::updateRegistration()
 			position[map.phi_1(d)] = position[d]+normal;
 		}
 	}
+
+	//////ajouts evitement lointain
+	parts_[nbVertices]->move(center);
+	parts_[nbVertices+1]->move(center+100*velocity_);
+
+
+
 	for (unsigned int i = 0; i < nbVertices; ++i)
 	{
 	//		CGoGNout << "avant une etape : Obstacle "<< i << CGoGNendl;
 		Obstacle* o = obstacles_[i];
-		o->p1 = getDilatedPosition(i);
-		o->p2 = getDilatedPosition((i+1) % nbVertices);
-
-
-		o->prevP = getDilatedPosition((i - 1 ) % nbVertices);
-		o->nextP = getDilatedPosition((i + 2 ) % nbVertices);
-		if (rigid_) o->p3=getDilatedPosition((i + 2 ) % nbVertices);
+		o->p1 = parts_[i]->getPosition();
+		o->p2 = parts_[(i + 1 ) % nbVertices]->getPosition();
+		if (rigid_) o->p3=parts_[(i + 2 ) % nbVertices]->getPosition();
 
 		Dart d1 = parts_[i]->d;
 		Dart d2 = parts_[(i+1)%nbVertices]->d;
@@ -1354,6 +1405,28 @@ void MovingObstacle::updateRegistration()
 	//		CGoGNout << "Apres une etape : Obstacle "<< i << CGoGNendl;
 	}
 	
+	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;
+
+	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)))
+	{
+		sim_->envMap_.popAndPushObstacleInCells(o,nbVertices);
+	}
+	Obstacle* o2 = obstacles_[nbVertices+1];
+	o2->p1 = parts_[nbVertices+1]->getPosition();
+	o2->p2 = parts_[nbVertices]->getPosition();
+	 d1 = parts_[nbVertices+1]->d;
+	d2 = parts_[nbVertices]->d;
+
+	if(!((sim_->envMap_.map.sameFace(d1,d2))&& (parts_[nbVertices+1]->crossCell==CGoGN::Algo::Surface::MovingObjects::NO_CROSS && parts_[nbVertices]->crossCell==CGoGN::Algo::Surface::MovingObjects::NO_CROSS)))
+	{
+		sim_->envMap_.popAndPushObstacleInCells(o2,nbVertices+1);
+	}
+
+
 	/////affichage du general_belonging
 //	CGoGNout<< CGoGNendl;
 //	CGoGNout << "General : ";
@@ -1408,8 +1481,15 @@ void resetPartSubdiv(Obstacle* o)
 	if (mo != NULL)
 	{
 		unsigned int n =o->index;
-		unsigned int n2 =(n+1)%(mo->nbVertices);
-
+		/// ajout obstacles lointains
+		unsigned int n2;
+		switch (n-(mo->nbVertices))
+		{
+			case 0 : n2=n+1; break;
+			case 1 : n2=n-1;break;
+			default : n2 =(n+1)%(mo->nbVertices); break;
+		}
+		////////
 		VEC3 pos = mo->parts_[n]->getPosition();
 		VEC3 pos2 = mo->parts_[n2]->getPosition();
 		mo->parts_[n]->CGoGN::Algo::MovingObjects::ParticleBase<PFP>::move(Algo::Surface::Geometry::faceCentroid<PFP>(mo->sim_->envMap_.map, mo->parts_[n]->d, mo->sim_->envMap_.position)) ;
@@ -1417,7 +1497,7 @@ void resetPartSubdiv(Obstacle* o)
 		mo->parts_[n]->setState(FACE) ;
 		mo->parts_[n]->move(pos) ;
 
-		mo->parts_[n2]->CGoGN::Algo::MovingObjects::ParticleBase<PFP>::move(Algo::Surface::Geometry::faceCentroid<PFP>(mo->sim_->envMap_.map, mo->parts_[n]->d, mo->sim_->envMap_.position)) ;
+		mo->parts_[n2]->CGoGN::Algo::MovingObjects::ParticleBase<PFP>::move(Algo::Surface::Geometry::faceCentroid<PFP>(mo->sim_->envMap_.map, mo->parts_[n2]->d, mo->sim_->envMap_.position)) ;
 
 		mo->parts_[n2]->setState(FACE) ;
 		mo->parts_[n2]->move(pos2) ;
@@ -1433,7 +1513,15 @@ void resetObstPartInFace(Obstacle* o, Dart d1)
 	if (mo != NULL)
 	{
 		unsigned int n =o->index;
-		unsigned int n2 =(n+1)%(mo->nbVertices);
+		/// ajout obstacles lointains
+		unsigned int n2;
+		switch (n-(mo->nbVertices))
+		{
+			case 0 : n2=n+1; break;
+			case 1 : n2=n-1;break;
+			default : n2 =(n+1)%(mo->nbVertices); break;
+		}
+		////////
 		VEC3 pos1 = mo->parts_[n]->getPosition();
 		VEC3 pos2 = mo->parts_[n2]->getPosition();
 //		if (Algo::Surface::Geometry::isPointInConvexFace2D <PFP> (mo->sim_->envMap_.map, d1, mo->sim_->envMap_.position, pos1, true))
@@ -1478,11 +1566,20 @@ void resetPart(Obstacle * o, Dart d1)
 	{
 		int n =o->index;
 
+		/// ajout obstacles lointains
+		unsigned int n2;
+		switch (n-(mo->nbVertices))
+		{
+			case 0 : n2=n+1; break;
+			case 1 : n2=n-1;break;
+			default : n2 =(n+1)%(mo->nbVertices); break;
+		}
+		////////
 		if (mo->parts_[n]->d == mo->sim_->envMap_.map.phi1(d1))
 			mo->parts_[n]->d = d1;
 
-		if (mo->parts_[(n+1)%mo->nbVertices]->d == mo->sim_->envMap_.map.phi1(d1))
-					mo->parts_[(n+1)%mo->nbVertices]->d = d1;
+		if (mo->parts_[n2]->d == mo->sim_->envMap_.map.phi1(d1))
+					mo->parts_[n2]->d = d1;
 
 		if(n==0)
 			mo->dDir = mo->parts_[n]->d;

src/simulator.cpp

@@ -20,7 +20,7 @@ Simulator::Simulator(unsigned int config, unsigned int minS, unsigned int nbAgen
 	timeStep_(0.5f),
 #else
 //	timeStep_(config > 2 ? 0.01f : 0.25f),
-	timeStep_(0.01f),
+	timeStep_(0.25f),
 #endif
 
 	globalTime_(0.0f),

src/viewer.cpp

@@ -803,8 +803,8 @@ void SocialAgents::cb_redraw()
 			MovingObstacle * mo =simulator.movingObstacles_[i];
 			if (drawEnvTopo)
 				{
-				unsigned int n = 0;
-					if(n<mo->nbVertices)
+				unsigned int n = mo->nbVertices;
+					if(n<mo->nbParticles)
 					{
 						for (std::vector<Dart>::iterator it = mo->belonging_cells[n].begin();	it != mo->belonging_cells[n].end(); ++it)
 						{