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Commit d7777570 authored by Thomas's avatar Thomas
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bah ecoute ok

parent d17e2190
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Showing with 656 additions and 118 deletions
include/env_generator.h
View file @ d7777570
......@@ -24,7 +24,6 @@ void generateBuilding(typename PFP::MAP& map, typename PFP::TVEC3& position, Dar
template <typename PFP>
void generateCity(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMarker& obstacleMark, CellMarker& buildingMark, float sideSize, unsigned int nbSquares);
template <typename PFP>
void generateMall(typename PFP::MAP& map,typename PFP::TVEC3& position, CellMarker& obstacleMark, CellMarker& buildingMark, float sideSize);
......
include/env_generator.hpp
View file @ d7777570
......@@ -63,6 +63,7 @@ void generateBuilding(typename PFP::MAP& map, typename PFP::TVEC3& position, Dar
{
// mark the face as obstacle before extrusion
Dart dd = d;
buildingMark.mark(dd);
do
{
obstacleMark.mark(dd);
......@@ -143,6 +144,7 @@ void generateCity(typename PFP::MAP& map, typename PFP::TVEC3& position, CellMar
}
}
template <typename PFP>
void generateMall(typename PFP::MAP& map,typename PFP::TVEC3& position, CellMarker& obstacleMark, CellMarker& buildingMark, float sideSize)
{
......@@ -154,7 +156,7 @@ void generateMall(typename PFP::MAP& map,typename PFP::TVEC3& position, CellMark
floor2->embedGrid(sideSize*side,sideSize*side);
for(unsigned int i=0;i<5;++i)
for(unsigned int i=0;i<3;++i)
{
float floorHeight = 100;
typename PFP::VEC3 transl(0,0,floorHeight);
......@@ -194,7 +196,7 @@ void generateMall(typename PFP::MAP& map,typename PFP::TVEC3& position, CellMark
map.closeHole(boundary);
buildingMark.mark(map.phi2(boundary));
installGuardRail<PFP>(map,position,obstacleMark,buildingMark,sideSize/5.0f);
installGuardRail<PFP>(map,position,obstacleMark,buildingMark,sideSize/10.0f);
}
template <typename PFP>
......@@ -434,7 +436,7 @@ bool isAnEar(typename PFP::MAP& map, typename PFP::TVEC3& position, Dart dd, flo
typedef typename PFP::VEC3 VEC3;
bool check = false;
if(Geom::testOrientation2D(position[dd], position[map.phi_1(dd)], position[map.phi1(dd)]) == Geom::RIGHT)
if(Geom::testOrientation2D(position[dd], position[map.phi_1(dd)], position[map.phi1(dd)]) == Geom::RIGHT && !map.sameFace(map.phi2(dd),map.phi2(map.phi_1(dd))))
{
VEC3 p = position[dd];
VEC3 p1 = position[map.phi1(dd)];
......@@ -496,7 +498,8 @@ void convexifyFreeSpace(typename PFP::MAP& map, typename PFP::TVEC3& position, C
float area;
CellMarker m(map, FACE);
for(Dart d = map.begin(); d != map.end(); map.next(d))
for(Dart d = map.begin();d != map.end(); map.next(d))
{
if(!m.isMarked(d) && !obstacleMark.isMarked(d) && !buildingMark.isMarked(d))
{
......@@ -518,12 +521,16 @@ void convexifyFreeSpace(typename PFP::MAP& map, typename PFP::TVEC3& position, C
if(liloo.find(map.phi_1(dd)) != liloo.end())
{
moultipass.erase(liloo[map.phi_1(dd)]);
moultipass.erase(liloo[map.phi_1(dd)]);
liloo.erase(map.phi_1(dd));
}
moultipass.erase(liloo[dd]);
liloo.erase(dd);
if(moultipass.size()>0)
{
moultipass.erase(liloo[dd]);
liloo.erase(dd);
}
if(liloo.find(map.phi1(dd))!=liloo.end())
{
......@@ -548,9 +555,9 @@ void convexifyFreeSpace(typename PFP::MAP& map, typename PFP::TVEC3& position, C
}
//simplification
for(Dart d = map.begin(); d != map.end(); map.next(d))
if(canRemoveEdgeConvex<PFP>(map, position, d, obstacleMark) && canRemoveEdgeConvex<PFP>(map, position, map.phi2(d), obstacleMark))
map.mergeFaces(d);
// for(Dart d = map.begin(); d != map.end(); map.next(d))
// if(canRemoveEdgeConvex<PFP>(map, position, d, obstacleMark) && canRemoveEdgeConvex<PFP>(map, position, map.phi2(d), obstacleMark))
// map.mergeFaces(d);
}
template <typename PFP>
......
include/env_map.h
View file @ d7777570
......@@ -16,6 +16,7 @@
#include "Algo/Modelisation/subdivision.h"
#include "Algo/Geometry/centroid.h"
#include "Algo/Geometry/area.h"
#include "Geometry/bounding_box.h"
#include "Container/fakeAttribute.h"
......@@ -52,8 +53,13 @@ public :
EnvMap();
unsigned int mapMemoryCost();
void scale(float scaleVal);
Dart getBelongingCell(const PFP::VEC3& pos);
void subdivideAllToMaxLevel();
void subdivideToProperLevel();
void init();
void foreach_neighborFace(Dart d, FunctorType& f);
......
include/env_render.h
View file @ d7777570
......@@ -48,9 +48,9 @@ inline void renderAgent(EnvMap& m, Agent* agent, bool showNeighborDist = false,
VEC3 pos = agent->part_.m_position;
float radius = agent->radius_;
// Geom::Plane3D<float> pl = Algo::Geometry::facePlane<PFP>(m.map,agent->part_.d,m.position);
// pos[2] -= 1000;
// Geom::intersectionPlaneRay(pl,pos,VEC3(0,0,-1),pos);
Geom::Plane3D<float> pl = Algo::Geometry::facePlane<PFP>(m.map,agent->part_.d,m.position);
pos[2] -= 1000;
Geom::intersectionPlaneRay(pl,pos,VEC3(0,0,-1),pos);
glLineWidth(1.0f);
......@@ -63,7 +63,7 @@ inline void renderAgent(EnvMap& m, Agent* agent, bool showNeighborDist = false,
VEC3 dir = agent->velocity_;
dir.normalize();
// //draw the speed vector
//draw the speed vector
// VEC3 base(0,0,1);
// VEC3 myAxisRot = base^dir;
// myAxisRot.normalize();
......
include/path_finder.hpp
View file @ d7777570
......@@ -63,6 +63,7 @@ std::vector<Dart> pathFindAStar(typename PFP::MAP& map,const typename PFP::TVEC3
ddd = map.alpha1(ddd);
}
dd = map.phi1(dd);
} while(dd != toDev);
......
include/simulator.h
View file @ d7777570
......@@ -85,6 +85,10 @@ public:
void doStep();
bool reachedGoal();
void setupCircleScenario(unsigned int nbMaxAgent);
void setupCityScenario(float startX, float startY, int nbLines , int nbRank);
void setupScenario(unsigned int nbMaxAgent);
void addPathsToAgents();
......@@ -93,6 +97,8 @@ public:
void swapAgentsGoals();
Geom::BoundingBox<VEC3> getAgentsBB();
EnvMap envMap_;
std::vector<Agent*> agents_;
......
include/utils.h
View file @ d7777570
......@@ -9,7 +9,7 @@
typedef CGoGN::Geom::Vec3f VEC3;
static const float RVO_EPSILON = 0.00001f;
static const float RVO_EPSILON = 0.0001f;
struct Line {
VEC3 point;
......
include/viewer.h
View file @ d7777570
......@@ -30,6 +30,7 @@
#include "simulator.h"
#include "env_render.h"
#include "exportObstacles.h"
#include "gl2ps.h"
#include "Algo/Geometry/boundingbox.h"
......@@ -55,6 +56,7 @@ public:
void cb_initGL() ;
void cb_redraw() ;
void exportInfoFace(std::ofstream& out, Dart d);
bool exportScenePov(PFP::MAP& map, PFP::TVEC3& position, const std::string& filename, PFP::VEC3 cameraPos, PFP::VEC3 cameraLook, PFP::VEC3 translate, float angle_X, float angle_Y, float angle_Z,const FunctorSelect& good = SelectorTrue());
void cb_keyPress(int keycode) ;
......@@ -76,6 +78,8 @@ public:
int visu;
int nbGenerated;
double elapsedTime;
bool drawEnvLines ;
bool drawEnvFaces ;
bool drawEnvTopo ;
......
src/agent.cpp
View file @ d7777570
......@@ -49,7 +49,10 @@ void Agent::updateAgentNeighbors()
{
if(distSq > maxDist)
maxDist = distSq;
agentNeighbors_.push_back(std::make_pair(distSq, *it));
// if( sim_->envMap_.map.sameFace(part_.d,(*it)->part_.d) ||
// !sim_->envMap_.buildingMark.isMarked(sim_->envMap_.map.phi2(part_.faceOrientationState((*it)->getPosition()))))
agentNeighbors_.push_back(std::make_pair(distSq, *it));
}
}
......@@ -61,7 +64,10 @@ void Agent::updateAgentNeighbors()
{
if(distSq > maxDist)
maxDist = distSq;
agentNeighbors_.push_back(std::make_pair(distSq, *it));
// if( sim_->envMap_.map.sameFace(part_.d,(*it)->part_.d) ||
// !sim_->envMap_.buildingMark.isMarked(sim_->envMap_.map.phi2(part_.faceOrientationState((*it)->getPosition()))))
agentNeighbors_.push_back(std::make_pair(distSq, *it));
}
}
......@@ -94,10 +100,10 @@ void Agent::update()
meanSpeed_ *= 3.0f;
meanSpeed_ += velocity_;
meanSpeed_ /= 4.0f;
meanPos_ *= 9.0f;
meanPos_ += part_.m_position;
meanPos_ /= 10.0f;
//
// meanPos_ *= 9.0f;
// meanPos_ += part_.m_position;
// meanPos_ /= 10.0f;
part_.move(target);
}
......@@ -107,7 +113,7 @@ void Agent::computePrefVelocity()
VEC3 goalVector = goals_[curGoal_] - part_.m_position;
float goalDist2 = goalVector.norm2();
if(goalDist2 < 100.0f)
if(goalDist2 < 200.0f)
{
curGoal_ = (curGoal_ + 1) % goals_.size();
goalVector = goals_[curGoal_] - part_.m_position;
......@@ -120,10 +126,11 @@ void Agent::computePrefVelocity()
/*
* Perturb a little to avoid deadlocks due to perfect symmetry.
*/
float angle = std::rand() * 2.0f * M_PI / RAND_MAX;
float dist = std::rand() * 0.0001f / RAND_MAX;
// float angle = std::rand() * 2.0f * M_PI / RAND_MAX;
// float dist = std::rand() * 0.0001f / RAND_MAX;
prefVelocity_ = goalVector + VEC3(dist * cos(angle), dist * sin(angle), 0.0f);
// prefVelocity_ = goalVector + VEC3(dist * cos(angle), dist * sin(angle), 0.0f);
prefVelocity_ = goalVector;
}
void Agent::computeNewVelocity2()
......@@ -517,6 +524,7 @@ bool Agent::linearProgram1(const std::vector<Line>& lines, unsigned int lineNo,
return false;
}
/* Optimize direction. */
if (directionOpt)
{
......@@ -562,6 +570,8 @@ bool Agent::linearProgram2(const std::vector<Line>& lines, unsigned int num, flo
else
result = optVelocity;
for (unsigned int i = 0; i < num; ++i)
{
if (det2D(lines[i].direction, result - lines[i].point) < 0.0f)
......
src/env_map.cpp
View file @ d7777570
......@@ -6,6 +6,8 @@
#include "Algo/MovingObjects/particle_cell_2D_memo.h"
#include "Algo/Modelisation/subdivision.h"
#include "Algo/Geometry/normal.h"
#include "Algo/Import/importSvg.h"
#include "Algo/BooleanOperator/mergeVertices.h"
using namespace CGoGN;
......@@ -21,6 +23,24 @@ EnvMap::EnvMap() :
neighborAgentvect = map.addAttribute<PFP::AGENTVECT>(FACE, "neighborAgents");
obstvect = map.addAttribute<PFP::OBSTACLEVECT>(FACE, "obstacles");
subdivisableFace = map.addAttribute<PFP::BOOLATTRIB>(FACE, "subdivisableFace");
refineCandidate.reserve(100);
coarsenCandidate.reserve(100);
// std::string filename = "/home/jund/Desktop/drawingQuads.svg";
// std::string filename = "/home/jund/Desktop/drawingTest.svg";
// std::string filename = "/home/jund/Desktop/drawingSimple.svg";
// std::string filename = "/home/jund/Desktop/drawingLines.svg";
// std::string filename = "/home/jund/Desktop/mapKrutSimple.svg";
// std::string filename = "/home/jund/Desktop/mapKrut.svg";
// Algo::Import::importSVG<PFP>(map,filename,position, obstacleMark, buildingMark);
// scale(3.2808399f);
// Algo::BooleanOperator::mergeVertices<PFP>(map,position);
// DartMarker amelk(map);
// map.closeMap(amelk);
// Algo::Modelisation::CatmullClarkSubdivision<PFP>(map,position);
// Algo::Modelisation::computeDual<PFP>(map);
}
unsigned int EnvMap::mapMemoryCost()
......@@ -31,6 +51,106 @@ unsigned int EnvMap::mapMemoryCost()
+ (map.getAttributeContainer(FACE)).memorySize();
}
void EnvMap::scale(float scaleVal)
{
Geom::BoundingBox<PFP::VEC3> bb(position.begin());
for(unsigned int v = position.begin() ; v != position.end() ; position.next(v))
{
bb.addPoint(position[v]);
}
VEC3 center = bb.center();
for(unsigned int v = position.begin() ; v != position.end() ; position.next(v))
{
position[v] -= center;
position[v] *= scaleVal;
}
}
void EnvMap::subdivideAllToMaxLevel()
{
bool subdiv;
do
{
subdiv=false;
{
CellMarker subd(map,FACE);
for(Dart d = map.begin(); d!= map.end(); map.next(d))
{
if(!subd.isMarked(d))
{
subd.mark(d);
if(!buildingMark.isMarked(d))
{
//check if subdivision is authorized
float minDistSq = Agent::neighborDistSq_ ;
bool subdivisable = true;
Dart old = map.faceOldestDart(d) ;
unsigned int fLevel = map.faceLevel(old) ;
map.setCurrentLevel(fLevel) ;
PFP::VEC3 fCenter = Algo::Geometry::faceCentroid<PFP>(map, old, position) ;
Dart fd = old ;
do
{
PFP::VEC3& p = position[fd] ;
PFP::VEC3 edge = Algo::Geometry::vectorOutOfDart<PFP>(map, fd, position) ;
PFP::VEC3 proj = fCenter - (p + (edge * (fCenter - p) / edge.norm2()) * edge) ;
if(proj.norm2() < minDistSq)
{
subdivisable = false ;
break ;
}
fd = map.phi1(fd) ;
} while(fd != old) ;
if(subdivisable)
{
map.setCurrentLevel(fLevel) ;
Algo::IHM::subdivideFace<PFP>(map, old, position) ;
subdiv = true;
}
map.setCurrentLevel(map.getMaxLevel()) ;
}
}
}
}
} while(subdiv);
}
void EnvMap::subdivideToProperLevel()
{
bool subdiv;
do
{
subdiv=false;
{
CellMarker subd(map,FACE);
for(Dart d = map.begin(); d!= map.end(); map.next(d))
{
if(!subd.isMarked(d))
{
subd.mark(d);
if(!refineMark.isMarked(d) && agentvect[d].size() > nbAgentsToSubdivide)
{
std::pair<bool,bool>& sf = subdivisableFace[d];
if(sf.first == false || (sf.first == true && sf.second))
{
subdiv=true;
refineMark.mark(d);
refineCandidate.push_back(d);
}
}
}
}
subd.unmarkAll();
}
updateMap();
refineCandidate.clear();
map.setCurrentLevel(map.getMaxLevel());
} while(subdiv);
}
Dart EnvMap::getBelongingCell(const PFP::VEC3& pos)
{
CellMarkerStore m(map, FACE);
......@@ -51,12 +171,22 @@ Dart EnvMap::getBelongingCell(const PFP::VEC3& pos)
void EnvMap::init()
{
float sideSize = 70.0f;
unsigned int nbSquares = 14;
unsigned int nbSquares = 5;
// float sideSize = 420.0f;
// unsigned int nbSquares = 4;
// CityGenerator::generateGrid<PFP>(map, position,nbSquares,nbSquares, sideSize, obstacleMark,buildingMark);
// CityGenerator::generateCorridor<PFP>(map, position, obstacleMark, buildingMark, 50, nbSquares);
CityGenerator::generateCity<PFP>(map, position, obstacleMark, buildingMark, sideSize, nbSquares);
// CityGenerator::generateMall<PFP>(map, position, obstacleMark, buildingMark, sideSize);
// CityGenerator::simplifyFreeSpace<PFP>(map, position, obstacleMark, buildingMark);
// CityGenerator::convexifyFreeSpace<PFP>(map, position, obstacleMark, buildingMark);
// CityGenerator::installGuardRail<PFP>(map, position, obstacleMark, buildingMark, 5.0f);
map.init();
registerObstaclesInFaces();
// subdivideAllToMaxLevel();
for(unsigned int i = subdivisableFace.begin(); i < subdivisableFace.end(); subdivisableFace.next(i))
subdivisableFace[i].first = false ;
}
......@@ -251,7 +381,7 @@ void EnvMap::updateMap()
if(agentvect[d].size() > nbAgentsToSubdivide)
{
unsigned int fLevel = -1 ;
int fLevel = -1 ;
Dart old = map.faceOldestDart(d) ;
bool subdivisable = true ;
......@@ -361,12 +491,11 @@ void EnvMap::updateMap()
}
}
for(std::vector<Dart>::iterator it = coarsenCandidate.begin(); it != coarsenCandidate.end(); ++it)
for(unsigned int it = 0; it < coarsenCandidate.size(); ++it)
{
Dart old = (*it) ;
Dart old = coarsenCandidate[it] ;
coarsenMark.unmark(old) ;
// Dart old = map.faceOldestDart(d) ;
unsigned int fLevel = map.faceLevel(old) ;
if(fLevel > 0 && map.getDartLevel(old) < fLevel)
......@@ -401,13 +530,13 @@ void EnvMap::updateMap()
{
map.setCurrentLevel(fLevel) ;
coarsenMark.unmark(fit) ;
std::vector<Dart>::iterator start = it + 1 ;
unsigned int start = it + 1;
unsigned int fEmb = map.getEmbedding(FACE, fit) ;
while(start != coarsenCandidate.end())
while(start < coarsenCandidate.size())
{
if(map.getEmbedding(FACE, *start) == fEmb)
if(map.getEmbedding(FACE, coarsenCandidate[start]) == fEmb)
{
*start = coarsenCandidate.back() ;
coarsenCandidate[start] = coarsenCandidate.back() ;
coarsenCandidate.pop_back() ;
}
else
......@@ -439,13 +568,13 @@ void EnvMap::updateMap()
map.setCurrentLevel(fLevel) ;
Dart centerFace = map.phi2(map.phi1(old)) ;
coarsenMark.unmark(centerFace) ;
std::vector<Dart>::iterator start = it + 1 ;
unsigned int start = it + 1;
unsigned int fEmb = map.getEmbedding(FACE, centerFace) ;
while(start != coarsenCandidate.end())
while(start < coarsenCandidate.size())
{
if(map.getEmbedding(FACE, *start) == fEmb)
if(map.getEmbedding(FACE, coarsenCandidate[start]) == fEmb)
{
*start = coarsenCandidate.back() ;
coarsenCandidate[start] = coarsenCandidate.back() ;
coarsenCandidate.pop_back() ;
}
else
......@@ -468,10 +597,10 @@ void EnvMap::updateMap()
map.setCurrentLevel(map.getMaxLevel());
agentvect[old].clear();
for(PFP::AGENTS::iterator it = agents.begin(); it != agents.end(); ++it)
for(PFP::AGENTS::iterator itA = agents.begin(); itA != agents.end(); ++itA)
{
(*it)->part_.d = old ;
pushAgentInCells(*it, old);
(*itA)->part_.d = old ;
pushAgentInCells(*itA, old);
}
Dart dd = old;
......@@ -486,9 +615,17 @@ void EnvMap::updateMap()
dd = map.phi1(dd);
} while(dd != old);
if(fLevel>1 && !coarsenMark.isMarked(old) && agentvect[old].size() < nbAgentsToSimplify / 4)
{
coarsenMark.mark(old);
coarsenCandidate.push_back(map.faceOldestDart(old));
}
}
}
map.setCurrentLevel(cur) ;
}
}
......
src/simulator.cpp
View file @ d7777570
#include "simulator.h"
Simulator::Simulator() : globalTime_(0.0f), timeStep_(0.2f)
Simulator::Simulator() : globalTime_(0.0f), timeStep_(0.25f)
{
srand(10);
envMap_.init();
std::cout << "setup scenario" << std::endl;
// importAgents("myAgents.pos");
setupScenario(700);
setupScenario(10);
// setupCircleScenario(1000);
// setupCityScenario(-1.0f*(24*(70/2.0f)-10),-1.0f*(24*(70.0f/2.0f)-10),167,5);
// addPathsToAgents();
unsigned nbAgents = agents_.size();
......@@ -17,10 +19,12 @@ Simulator::Simulator() : globalTime_(0.0f), timeStep_(0.2f)
agents_[i]->updateAgentNeighbors();
}
// tc1 = new ThreadUpdateInfo(agents_, 0, nbAgents / 4);
// tc2 = new ThreadUpdateInfo(agents_, nbAgents / 4, nbAgents / 2);
// tc1 = new ThreadUpdateInfo(agents_, 0, nbAgents / 2);
// tc2 = new ThreadUpdateInfo(agents_, nbAgents / 2, nbAgents );
// tc3 = new ThreadUpdateInfo(agents_, nbAgents / 2, nbAgents * 3 / 4);
// tc4 = new ThreadUpdateInfo(agents_, nbAgents * 3 / 4, nbAgents);
envMap_.subdivideToProperLevel();
}
Simulator::~Simulator()
......@@ -38,15 +42,17 @@ void Simulator::doStep()
for (unsigned int i = 0; i < agents_.size(); ++i)
{
agents_[i]->updateObstacleNeighbors();
envMap_.map.setCurrentLevel(envMap_.map.getMaxLevel());
agents_[i]->updateAgentNeighbors();
envMap_.map.setCurrentLevel(0);
agents_[i]->computePrefVelocity();
agents_[i]->computeNewVelocity();
}
// ThreadUpdateInfo tc1(agents_,0,agents_.size()/2);
// ThreadUpdateInfo tc2(agents_,agents_.size()/2,agents_.size());
// boost::thread thread1(&ThreadUpdateInfo::run, &tc1);
// boost::thread thread2(&ThreadUpdateInfo::run, &tc2);
// boost::thread thread1(&ThreadUpdateInfo::run, tc1);
// boost::thread thread2(&ThreadUpdateInfo::run, tc2);
// std::vector<Dart> oldDarts;
// oldDarts.reserve(agents_.size());
......@@ -64,11 +70,11 @@ void Simulator::doStep()
{
Dart oldFace = agents_[i]->part_.d;
if(!envMap_.map.isDartValid(agents_[i]->part_.d))
std::cout << " AGENT PART INVALID DART before update" << std::endl ;
// if(!envMap_.map.isDartValid(agents_[i]->part_.d))
// std::cout << " AGENT PART INVALID DART before update" << std::endl ;
agents_[i]->update();
if(!envMap_.map.isDartValid(agents_[i]->part_.d))
std::cout << " AGENT PART INVALID DART after update" << std::endl ;
// if(!envMap_.map.isDartValid(agents_[i]->part_.d))
// std::cout << " AGENT PART INVALID DART after update" << std::endl ;
// if(envMap_.map.getEmbedding(oldFace, FACE) != envMap_.map.getEmbedding(agents_[i]->part_.d, FACE))
if(agents_[i]->part_.crossCell != CGoGN::Algo::MovingObjects::NO_CROSS)
......@@ -91,11 +97,67 @@ void Simulator::doStep()
globalTime_ += timeStep_;
if(int(globalTime_ / timeStep_) % 2000 == 0)
// if(int(globalTime_ / timeStep_) % 2000 == 0)
// {
// std::cout << "swap goals (globalTime -> " << globalTime_ << ")" << std::endl ;
// swapAgentsGoals();
// }
}
bool Simulator::reachedGoal()
{
/* Check if all agents have reached their goals. */
for (unsigned int i = 0; i < agents_.size(); ++i)
if ((agents_[i]->getPosition() - agents_[i]->goals_[agents_[i]->curGoal_]).norm2() > agents_[i]->radius_ * agents_[i]->radius_)
return false;
return true;
}
void Simulator::setupCircleScenario(unsigned int nbMaxAgent)
{
float pi = 3.14159265358979323846f;
float r = 800.0f;
for (int i = 0; i < nbMaxAgent; ++i) {
VEC3 posagent(std::cos(i * 2.0f * pi / float(nbMaxAgent))*r,std::sin(i * 2.0f * pi / float(nbMaxAgent))*r,0);
Dart dCell = envMap_.getBelongingCell(posagent);
agents_.push_back(new Agent(this, posagent, dCell));
agents_.back()->goals_.push_back(-1.0f * posagent);
agents_.back()->curGoal_ = 0;
}
std::cout << "nb agents : " << agents_.size() << std::endl;
for(unsigned int i = 0; i < agents_.size(); ++i)
envMap_.pushAgentInCells(agents_[i], agents_[i]->part_.d);
}
void Simulator::setupCityScenario(float startX, float startY, int nbLines , int nbRank)
{
float xCornerDown = startX;
float yCornerDown = startY;
float goalX = 75.0f;
float goalY = 75.0f;
for (int i = 0; i < nbLines; ++i)