gestion de but multiples pour les obstacles

include/moving_obstacle.h

@@ -55,9 +55,10 @@ public:
 	VEC3 finalGoal;
 	float make_half_turn;
 //	Dart finalDart;
-//
-//	unsigned int curGoal_;
-//
+	std::vector<VEC3> goals_ ;
+
+	unsigned int curGoal_;
+
 //	static float neighborDistSq_;
 	static unsigned int maxNeighbors_;
 	static float detectionFixedObst;

include/simulator.h

@@ -106,6 +106,7 @@ public:
 	void setupMovingObstacle(unsigned int nbObstacles) ;
 
 #ifndef SPATIAL_HASHING
+	void addPathToObstacle(MovingObstacle * mo, Dart dStart, Dart dGoal);
 	void addPathToCorner() ;
 	void addPathsToAgents() ;
 	void addPathsToAgents_height() ;

src/moving_obstacle.cpp

@@ -73,7 +73,7 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, V
 	movingObstNeighbors_.reserve(maxNeighbors_);
 
 	rot = rota;
-	finalGoal = goal;
+
 	VEC3 sum = 0;
 	nb_agents_voisins = 0;
 	nb_register_cells = 0;
@@ -121,6 +121,10 @@ MovingObstacle::MovingObstacle(Simulator* sim, int ind, std::vector<VEC3> pos, V
 
 	obstacle_range = 15.0f * 15.0f;
 	make_half_turn = get_angle(finalGoal - center, (parts_[0]->getPosition() + parts_[1]->getPosition()) / 2 - center) * nbVertices;
+
+	goals_.push_back(center);
+	goals_.push_back(goal);
+	curGoal_ = 0;
 }
 
 bool MovingObstacle::test_opposition(VEC3 o, VEC3 p1, VEC3 p2)
@@ -192,31 +196,49 @@ void MovingObstacle::updateFixedObstNeighbors()
 // TODO Check position
 void MovingObstacle::computePrefVelocity()
 {
-	VEC3 goalVector = finalGoal - center;
-	int co=2;
-	float angle;
-	float goalDist2 = goalVector.norm2();
-	//	CGoGNout << "finalGoal "<< finalGoal << CGoGNendl;
-	//	CGoGNout << "dist 2 "<< goalDist2 << CGoGNendl;
-	if(goalDist2 < 2.0f)
-	{
-//		co=rand() % 2 + 1;
-
+	VEC3 goalVector = goals_[curGoal_] - center ;
+	float goalDist2 = goalVector.norm2() ;
 
-		if(co==1)
-			finalGoal[0]*=-1;
-		else
-			finalGoal[1]*=-1;
+	if (goalDist2 < 2.0f)
+	{
+		curGoal_ = (curGoal_ + 1) % goals_.size() ;
+		goalVector = goals_[curGoal_] - center ;
+		goalDist2 = goalVector.norm2() ;
+	}
 
-		goalVector = finalGoal - center;
-		angle =get_angle(finalGoal-center,(parts_[0]->getPosition())-center);
-		make_half_turn=angle*nbVertices;
+	if (goalDist2 > maxSpeed_)
+	{
+		goalVector.normalize() ;
+		goalVector *= maxSpeed_;
 	}
 
-	if (goalDist2 > 1.0f)
-		goalVector.normalize();
+	prefVelocity_ = goalVector ;
 
-	prefVelocity_=goalVector;
+//	VEC3 goalVector = finalGoal - center;
+//	int co=2;
+//	float angle;
+//	float goalDist2 = goalVector.norm2();
+//	//	CGoGNout << "finalGoal "<< finalGoal << CGoGNendl;
+//	//	CGoGNout << "dist 2 "<< goalDist2 << CGoGNendl;
+//	if(goalDist2 < 2.0f)
+//	{
+////		co=rand() % 2 + 1;
+//
+//
+//		if(co==1)
+//			finalGoal[0]*=-1;
+//		else
+//			finalGoal[1]*=-1;
+//
+//		goalVector = finalGoal - center;
+//		angle =get_angle(finalGoal-center,(parts_[0]->getPosition())-center);
+//		make_half_turn=angle*nbVertices;
+//	}
+//
+//	if (goalDist2 > 1.0f)
+//		goalVector.normalize();
+//
+//	prefVelocity_=goalVector;
 
 }
 

src/simulator.cpp

@@ -304,6 +304,23 @@ void Simulator::setupCorridorScenario(unsigned int nbAgents, unsigned int nbObst
 			vPos.push_back(start-xSide-ySide);
 		}
 		mo4= new MovingObstacle(this, i,vPos,goal,0);
+
+
+		//for generating a random path
+		unsigned int dartDistForPath = 50 ;
+		mo4->goals_.clear() ;
+		Dart dStart = mo4->parts_[0]->d;
+		Dart dStop = dStart ;
+		for (unsigned int j = 0 ; envMap_.buildingMark.isMarked(dStop) || j < dartDistForPath + rand() * 20 || envMap_.map.sameFace(dStop, dStart) ; ++j)
+		{
+			envMap_.map.next(dStop) ;
+			if (dStop == envMap_.map.end())
+				dStop = envMap_.map.begin() ;
+		}
+
+		addPathToObstacle(mo4, dStart, dStop);
+		addPathToObstacle(mo4, dStop, dStart);
+
 		movingObstacles_.push_back(mo4);
 	}
 }
@@ -432,6 +449,21 @@ void Simulator::setupScenario(unsigned int nbMaxAgent)
 	swapAgentsGoals() ;
 }
 
+void Simulator::addPathToObstacle(MovingObstacle * mo, Dart dStart, Dart dGoal)
+{
+	std::vector<Dart> path = CGoGN::PathFinder::pathFindAStar<PFP>(envMap_.map,
+																   envMap_.position, dStart,
+																   dGoal,
+																   envMap_.buildingMark) ;
+
+	for (std::vector<Dart>::iterator it = path.begin() ; it != path.end() ; ++it)
+	{
+		VEC3 dest = Algo::Geometry::faceCentroid<PFP>(envMap_.map, *it, envMap_.position) ;
+
+		mo->goals_.push_back(dest) ;
+	}
+}
+
 #ifndef SPATIAL_HASHING
 void Simulator::addPathToCorner()
 {

src/viewer.cpp

@@ -634,7 +634,7 @@ void SocialAgents::animate()
 		std::ostringstream oss ;
 		std::ostringstream tmpNb ;
 		tmpNb << std::setfill('0') << std::setw(4) << nbIterations ;
-		oss << "./corridor/corrida" << tmpNb.str() << ".pov" ;
+		oss << "./corridorTop/torrida" << tmpNb.str() << ".pov" ;
 		std::string chaine = oss.str() ;
 //		VEC3 agPos = sim.agents_[0]->meanPos_ ;
 //		agPos[2] = agPos[1] ;
@@ -690,8 +690,12 @@ void SocialAgents::animate()
 //		VEC3 camLook(200, 0, 0) ;
 
 //corridor side
-		VEC3 camPos(-700, 100, 0) ;
-		VEC3 camLook(200, 0, 0) ;
+//		VEC3 camPos(-700, 100, 0) ;
+//		VEC3 camLook(200, 0, 0) ;
+
+//corridor top
+		VEC3 camPos(0, 300, 0) ;
+		VEC3 camLook(0, 0, 0) ;
 
 		exportScenePov(sim.envMap_.map,sim.envMap_.position,chaine,camPos,camLook,VEC3(0.0f,0,0),0,0,0);
 // 		exportScenePov(sim.envMap_.map,sim.envMap_.position,chaine,VEC3(43,762,65),VEC3(0,762,0),VEC3(1.0f,0,0),0,0,0);
@@ -1086,7 +1090,7 @@ bool SocialAgents::exportScenePov(PFP::MAP& map, PFP::TVEC3& position, const std
 		for (std::vector<MovingObstacle*>::iterator it = sim.movingObstacles_.begin() ; it != sim.movingObstacles_.end() ; ++it)
 		{
 			float bottom = 0.0f;
-			float height = 15.0f;
+			float height = 10.0f;
 			unsigned int nbPoints = (*it)->nbVertices;
 
 			out << "prism {" << std::endl;
@@ -1094,7 +1098,7 @@ bool SocialAgents::exportScenePov(PFP::MAP& map, PFP::TVEC3& position, const std
 			out << "linear_spline" << std::endl;
 			out << bottom << std::endl; // sweep the following shape from here ...
 			out << bottom+height << std::endl; // ... up through here
-			out << nbPoints << std::endl; // the number of points making up the shape ...
+			out << nbPoints+1 << std::endl; // the number of points making up the shape ...
 
 			for(unsigned int i=0; i <= nbPoints ; ++i)
 			{