buggé limace 2D

include/agent.h

@@ -8,7 +8,7 @@
 #include "spatialHashing.h"
 
 
-#define SECURED
+//#define SECURED
 //#define EXPORTING_AGENT
 
 //#define EXPORTING_OBJ

include/env_map.h

@@ -32,9 +32,9 @@ class ArticulatedObstacle;
 
 #include "pfp.h"
 
-#define EXPORTING3
+//#define EXPORTING3
 
-#define TWO_AND_HALF_DIM
+//#define TWO_AND_HALF_DIM
 
 
 #ifdef EXPORTING3

include/moving_mesh.h

@@ -18,7 +18,7 @@
 
 using namespace std;
 
-#define EXPORTING2
+//#define EXPORTING2
 
 float get_angle3D(VEC3 v1, VEC3 v2);
 

include/moving_obstacle.h

@@ -14,7 +14,7 @@
 	#include "Algo/MovingObjects/particle_cell_2D_memo.h"
 #endif
 
-// #define EXPORTING_BOXES
+ #define EXPORTING_BOXES
 
 #ifdef EXPORTING_BOXES
 	#include "Algo/Render/GL2/mapRender.h"

src/agent.cpp

@@ -21,12 +21,12 @@ float Agent::averageMaxSpeed_ = 2.0f ;
 //float Agent::neighborDist_ = 20.0f ;
 float Agent::neighborDistSq_ = neighborDist_ * neighborDist_ ;
 //float Agent::radius_ = 8.0f ;
-float Agent::radius_ = 3.0f ;
-// float Agent::radius_ = 1.5f ;
+//float Agent::radius_ = 3.0f ;
+float Agent::radius_ = 1.5f ;
 float Agent::timeHorizon_ = 10.0f ;
 //float Agent::timeHorizon_ = 100.0f ;
 float Agent::timeHorizonObst_ = 10.0f ;
-float Agent::range_ = 4*timeHorizonObst_ * averageMaxSpeed_ + radius_ ;
+float Agent::range_ = 2*timeHorizonObst_ * averageMaxSpeed_ + radius_ ;
 float Agent::rangeSq_ = range_ * range_ ;
 
 unsigned int Agent::cptAgent = 0 ;
@@ -506,11 +506,13 @@ void Agent::update()
 #endif
 
 		meanDirection_.set(0) ;
+
 		for (unsigned int i=0 ; i<SMOOTHING_BUFFER_SIZE ; ++i) {
 			meanDirection_ += meanVelocity_[i] ;
 			meanVelocity_[i] = meanVelocity_[(i+1)%SMOOTHING_BUFFER_SIZE] ;
 		}
 		meanVelocity_[SMOOTHING_BUFFER_SIZE-1] = velocity_ ;
+
 		meanDirection_.normalize() ;
 	}
 
@@ -751,7 +753,7 @@ void Agent::computeNewVelocity()
 	VEC3 normFace = VEC3 (0,0,1);
 #endif
 	double collision_softening_factor;
-	float ag_ambient_damping = 50.0;
+	float ag_ambient_damping = 10.0;
 
 	// double mass_var = 0.95;
 	// double average_mass = 1.0;
@@ -765,7 +767,7 @@ void Agent::computeNewVelocity()
 	double rand = 2.0*drand48()-1.0; // compris entre -1 et 1
 //	double ag_mass = average_mass*(1 + rand*mass_var); // valeurs uniformement réparties entre min et max
 
-	double ag_mass = 200.0;
+	double ag_mass = 50.0;
 	/*
 	rand = 2.0*drand48()-1.0; // compris entre -1 et 1
 	radius_ = average_radius + rand*radius_var; // valeurs uniformement réparties entre min et max
@@ -805,7 +807,7 @@ void Agent::computeNewVelocity()
 		obst_radius_infl = 100.; // scenario 0
 	else
 		obst_radius_infl = 40.; // scenario 1 et 3
-	float force_value=0.0;
+	float force_value;
 	int nobst=0;
 
 
@@ -881,14 +883,13 @@ void Agent::computeNewVelocity()
 	// double fixed_obst_stiffness = 50000.0; // agent-obstacle interaction stiffness
 	double fixed_obst_stiffness = 5000.0; // agent-obstacle interaction stiffness
 	// double fixed_obst_damping = 1.0;  // agent-obstacle interaction damping
-	int fixed_obst_power = 4.0;           // the power to which elevate the agent-obstacle distance
+	int fixed_obst_power = 1;           // the power to which elevate the agent-obstacle distance
 	Obstacle* fixed_obst ;
 
 	for(std::vector<std::pair<float, Obstacle*> >::iterator it = obstacleNeighbors_.begin() ;
 		it != obstacleNeighbors_.end() ;
 		++it)
 	{
-
 		double dist = it->first;
 		// cerr << "nobst=" << nobst << "dist=" << dist << endl;
 		// double effective_range = 50*range_;
@@ -901,33 +902,29 @@ void Agent::computeNewVelocity()
 		}
 
 		fixed_obst=it->second ;
+		if(fixed_obst->mo!=NULL)
+			cerr << "Collision avec limace !!!" << endl;
 		VEC3 p1=fixed_obst->p1 ;
 		VEC3 p2=fixed_obst->p2 ;
-
 		vec=p2-p1;
 		vec.normalize();
 		norm= normFace ^vec;
 		forces -= force_value * norm;
 		// cerr << "obstacles fixes : nobst=" << nobst << " dist=" << dist << " force=" << force_value*norm << endl;
 
-
 		nobst++;
 	}
 
 	//----- forces dues à la répulsion des autres agents -------
 
-
 	double ag_stiffness = 400.0;    // agent-agent interaction stiffness
-
-
 	double ag_damping   = 1.0;     // agent-agent interaction damping
-	double ag_power = 4.0;        // the power to which elevate the agent-agent distance
+//	double ag_power = 1;        // the power to which elevate the agent-agent distance
 
 	rand = 2.0*drand48()-1.0; // compris entre -1 et 1
 	double radius_var = 0.5;
 	double ag_phys_radius_coef = 2.0*(1 + rand*radius_var); // valeurs uniformement réparties entre min et max
 
-
 	unsigned int nbA = 0 ;
 
 	for (std::vector<std::pair<float, Agent*> >::iterator it = agentNeighbors_.begin() ;
@@ -955,7 +952,8 @@ void Agent::computeNewVelocity()
 
 		if(dist < combinedRadius)
 		{
-			collision_softening_factor = pow(1-dist/combinedRadius,ag_power);
+			// collision_softening_factor = pow(1-dist/combinedRadius,ag_power);
+			collision_softening_factor = 1;
 			float force_value = - ag_stiffness*collision_softening_factor*(combinedRadius-dist)
 				- ag_damping * (dist - previous_dist) / sim_->timeStep_;
 

src/env_map.cpp

@@ -314,7 +314,7 @@ void EnvMap::initGL()
 
 		position_nmap.push_back(position_Export);
 
-		TraversorV<PFP2::MAP> tV(*nmap);
+//		TraversorV<PFP2::MAP> tV(*nmap);
 
 //		for(Dart d = tV.begin() ; d != tV.end() ; d = tV.next())
 ////		{

src/moving_mesh.cpp

@@ -246,6 +246,7 @@ std::vector<VEC3> MovingMesh::computeProjectedPointSet(float maxHeight, Dart d)
 	VEC3 axis = VEC3(0,0,1) ^ normale ;
 
 //	Geom::translate(center[0],center[1],center[2],rot);
+	if(angle != 0)
 	Geom::rotate(axis, angle, rot) ;
 
 	for(Dart dd = tv.begin() ; dd != tv.end() ; dd = tv.next())
@@ -264,6 +265,7 @@ std::vector<VEC3> MovingMesh::computeProjectedPointSet(float maxHeight, Dart d)
 		axis = VEC3(0,0,1) ^ normale ;
 
 	//	Geom::translate(center[0],center[1],center[2],rot);
+		if(angle != 0)
 		Geom::rotate(axis, angle, rot) ;
 
 	for(unsigned int i = 0; i < points.size() ; ++i)
@@ -275,8 +277,8 @@ std::vector<VEC3> MovingMesh::computeProjectedPointSet(float maxHeight, Dart d)
 //			std::cout << "fin " << points[i] << std::endl;
 	}
 
-	std::cout << "nb vertices before simplification -> " << points.size() << std::endl;
-	std::cout << "nb vertices after simplification -> " << res.size() << std::endl;
+	std::cout << "nb vertices before simplification -> " << points.size() <<" ||" << points [0]<< std::endl;
+	std::cout << "nb vertices after simplification -> " << res.size() << " ||" << res [0]<< std::endl;
 
 	return res;
 }

src/moving_obstacle.cpp

@@ -147,9 +147,24 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 		dInside = sim_->envMap_.getBelongingCell(pos[0]);
 
 #ifdef TWO_AND_HALF_DIM
-	parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>*[nbVertices+1];
+
+	if(!rigid_)
+		{
+			parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>*[nbVertices+1];
+		}
+		else
+		{
+		parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>*[nbVertices];
+		}
 #else
+	if(!rigid_)
+	{
+		parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>*[nbVertices+1];
+	}
+	else
+	{
 	parts_ = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>*[nbVertices];
+	}
 #endif
 
 	obstacles_ = new Obstacle*[nbVertices];
@@ -188,13 +203,21 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 
 		center /= nbVertices;
 		front=(pos[0] + pos[1]) / 2;
+#ifdef TWO_AND_HALF_DIM
 
+		if(!rigid_)
+		{
+			CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>* part = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>(sim_->envMap_.map, dInside, center, sim_->envMap_.position);
+			parts_[nbVertices]=part;
+		}
+#else
 
-#ifdef TWO_AND_HALF_DIM
-	CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>* part = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2DAndHalf<PFP>(sim_->envMap_.map, dInside, center, sim_->envMap_.position);
+if(!rigid_)
+{
+	CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>* part = new CGoGN::Algo::Surface::MovingObjects::ParticleCell2D<PFP>(sim_->envMap_.map, dInside, center, sim_->envMap_.position);
 	parts_[nbVertices]=part;
+}
 #endif
-
 		// M appartient à l'ellipse ssi MF1 + MF2 = sum_dist_foci est une constante
 		// où F1 et F2 sont les deux foyers.
 	//	length = (pos[0]-pos[1]).norm();
@@ -263,7 +286,7 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, s
 
 	//extrude face to build a cage
 	// compute edgeLength for mass-spring
-	hight=rigid_ ? -10.0f : 10.0f;
+	hight=rigid_ ? 10.0f : -10.0f;
 	Algo::Surface::Modelisation::extrudeFace<PFP>(map, position, groundFace, hight) ;
 //	Dart dT = map.phi1(map.phi1(map.phi2(Dart(0))));
 //	std::cout << __FUNCTION__ << " val " << dT << std::endl;

src/simulator.cpp

@@ -71,7 +71,7 @@ void Simulator::init( float dimension, unsigned int nbAgent, unsigned int nbObst
 		case 3 :
 			envMap_.init(config, 1000.0f, 1000.0f, minSize, 100.0f) ; //grosses cases
 			setupScenario(nbAgent, false) ;
-			addMovingObstacles(nbObst, 1);
+			addMovingObstacles(nbObst, 1, 10);
 			addPathToObstacles(envMap_.buildingMark, true);
 ////			setupCityScenario(-1.0f * (12 * (70.0f / 2.0f) - 10),
 ////					-1.0f * (12 * (70.0f / 2.0f) - 10), 20, 20);
@@ -708,7 +708,7 @@ void Simulator::setupScenario(unsigned int nbMaxAgent, bool pedWay)
 	TraversorF<PFP::MAP> tF(envMap_.map);
 	d = tF.begin() ;
 
-	unsigned int nbx =  nbMaxAgent==0 ? 1 :  (nbMaxAgent / (nb_cells))/5;
+	unsigned int nbx =  1;
 	unsigned int nby = 5;
 
 
@@ -888,10 +888,10 @@ void Simulator::addMovingObstacle(Dart d, unsigned int obstType)
 			vPos.push_back(start+xSideF*dir1+ySideF*dir2);
 			vPos.push_back(start-xSideF*dir1+ySideF*dir2);
 #else
-			vPos.push_back(start-xSide-ySide);
-			vPos.push_back(start+xSide-ySide);
 			vPos.push_back(start+xSide+ySide);
-			vPos.push_back(start-xSide+ySide);
+					vPos.push_back(start+xSide-ySide);
+					vPos.push_back(start-xSide-ySide);
+					vPos.push_back(start-xSide+ySide);
 #endif
 
 		}
@@ -905,17 +905,7 @@ void Simulator::addMovingObstacle(Dart d, unsigned int obstType)
 			movingMeshes_.push_back(mm);
 			vPos = mm->computeProjectedPointSet(maxHeight, d);
 			std::reverse(vPos.begin(),vPos.end());
-#ifndef TWO_AND_HALF_DIM
-			//scale projected pointset
-			VEC3 bary(0);
-			for(std::vector<VEC3>::iterator it = vPos.begin() ; it != vPos.end() ; ++it)
-				bary += *it;
-			bary /= vPos.size();
-
-			float scale =1.2f;
-			for(std::vector<VEC3>::iterator it = vPos.begin() ; it != vPos.end() ; ++it)
-				*it = *it*scale - bary*(scale-1.0f);
-#endif
+			std::cout << "créé limace" << std::endl;
 		}
 
 			break;
@@ -958,7 +948,7 @@ void Simulator::addMovingObstacle(Dart d, unsigned int obstType)
 
 	MovingObstacle * mo = new MovingObstacle(this, movingObstacles_.size(),vPos,goals, (obstType==0), (obstType==0), 0 , d);
 
-
+	std::cout << "créé obstacle : "<<vPos[0] << std::endl;
 
 	movingObstacles_.push_back(mo);
 

src/viewer.cpp

@@ -2138,13 +2138,13 @@ int main(int argc, char** argv)
 	// S'il y a un cam input file, alors lire le premier
 	// entier N et faire marcher la simulation N fois.
 
-	// sa.readCameraInputFile("src/cam.scn3.spline");
-	// sa.cam_output_file.open("src/cam.out",std::ofstream::out);
-	// sa.cam_output_file("src/cam.out");
-
-	// int i;
-	// for(i=0;i<sa.cif_begin;i++)
-	// sa.animate();
+//	 sa.readCameraInputFile("src/cam.scn3.spline");
+//	 sa.cam_output_file.open("src/cam.out",std::ofstream::out);
+//
+//
+//	 unsigned int i;
+//	 for(i=0;i<sa.cif_begin;i++)
+	 sa.animate();
 
 	return app.exec() ;
 }