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Commit bfe587d3 by Arash HABIBI

### 10_01_2013

parent 78c423cc
 ... ... @@ -181,7 +181,7 @@ inline void renderAgent(EnvMap& m, Agent* agent, bool showNeighborDist = false, for (std::vector::iterator it = ++(agent->goals_.begin()) ; it != agent->goals_.end() ; ++it) { glVertex3f((*it)[0], (*it)[1], (*it)[2]) ; glVertex3f((*it)[0], (*it)[1], agent->agentNo) ; } glEnd() ; glLineWidth(1.0f) ; ... ...
 ... ... @@ -563,8 +563,12 @@ void Agent::computeNewVelocity() VEC3 u_goal = p_goal - getPosition(); u_goal.normalize(); cerr << agentNo << "---------------- position = " << getPosition() << endl; forces += goal_attraction_force * u_goal; cerr << "forces = " << forces << endl; //----- forces dues à la répulsion des obstacles en mouvement ---------- VEC3 norm; ... ... @@ -648,6 +652,7 @@ void Agent::computeNewVelocity() norm[0]=vec[1] ; norm[1]=-vec[0] ; forces += force_value * norm; cerr << "obstacles fixes : nobst=" << nobst << " dist=" << dist << " force=" << force_value*norm << endl; // cerr << "force_value = " << force_value << endl; // cerr << "norm=" << norm << endl; ... ... @@ -693,13 +698,15 @@ void Agent::computeNewVelocity() float force_value = - ag_stiffness*collision_softening_factor*(combinedRadius-dist) - ag_damping * (dist - previous_dist) / sim_->timeStep_; cerr << "autres agents : force_value = " << force_value << endl; forces += force_value * u_other; } } //------- calcul de la trainee -------------------------------------- forces -= ag_ambient_damping * velocity_; // forces -= ag_ambient_damping * velocity_; //------- calcul de la nouvelle valeur de la vitesse ---------------- ... ...
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