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Thomas Pitiot
SocialAgents3D
Commits
fe70a9c8
Commit
fe70a9c8
authored
Apr 01, 2015
by
Thomas Pitiot
Browse files
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working but collisions
parent
e9c23882
Changes
6
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6 changed files
with
314 additions
and
51 deletions
+314
-51
include/agent.h
include/agent.h
+15
-4
include/utils.h
include/utils.h
+124
-2
src/agent.cpp
src/agent.cpp
+154
-30
src/env_map.cpp
src/env_map.cpp
+2
-0
src/simulator.cpp
src/simulator.cpp
+17
-14
src/viewer.cpp
src/viewer.cpp
+2
-1
No files found.
include/agent.h
View file @
fe70a9c8
...
...
@@ -16,16 +16,14 @@ public:
Agent
(
Simulator
*
sim
,
VEC3
startingPoint
,
std
::
vector
<
VEC3
>
goals
,
Dart
d
)
;
~
Agent
();
void
init
(
Simulator
*
sim
,
VEC3
startingPoint
,
std
::
vector
<
VEC3
>
goals
,
Dart
d
);
VEC3
getPosition
();
void
updatePosition
();
void
updateNeighbors
()
;
void
computePrefVelocity
();
void
computeAvoidanceVelocity
();
void
computeNewVelocity
();
// affichage
void
initGL
();
void
draw
();
...
...
@@ -34,6 +32,7 @@ public:
Particule
*
part_
;
static
float
radius
;
// taille de l'agent
static
float
averageVelocity
;
// vitesse moyenne d'un agent
// objectif(s)
unsigned
int
curGoal_
;
std
::
vector
<
VEC3
>
goals_
;
...
...
@@ -50,6 +49,18 @@ public:
std
::
vector
<
std
::
pair
<
float
,
Segment
*>
>
segmentNeighbors_
;
std
::
vector
<
std
::
pair
<
float
,
Triangle
*>
>
triangleNeighbors_
;
//avec les distances de détection
float
neighborAgDistSq_
;
float
neighborSegDistSq_
;
float
neighborTriDistSq_
;
//calcul des répulsions
VEC3
avoidanceAgents
();
VEC3
avoidanceSegments
();
VEC3
avoidanceTriangles
();
// nb de voisins considérés par l'évitement
// int maxNeighbors_ ;
//couleur
float
r
;
float
g
;
...
...
include/utils.h
View file @
fe70a9c8
...
...
@@ -4,13 +4,135 @@
#include <cmath>
#include <limits>
#include <vector>
#include <stdlib.h>
#include <stdio.h>
#include <time.h>
#include <math.h>
#include "Geometry/vector_gen.h"
typedef
CGoGN
::
Geom
::
Vec3f
VEC3
;
static
const
float
RVO_EPSILON
=
0.00001
f
;
typedef
double
vec3
[
3
];
inline
double
frand
(
void
){
return
((
rand
()
-
(
RAND_MAX
/
2
))
/
(
RAND_MAX
/
2.
));}
inline
double
dot
(
vec3
v1
,
vec3
v2
){
return
v1
[
0
]
*
v2
[
0
]
+
v1
[
1
]
*
v2
[
1
]
+
v1
[
2
]
*
v2
[
2
];}
inline
double
length
(
vec3
v
){
return
sqrt
(
v
[
0
]
*
v
[
0
]
+
v
[
1
]
*
v
[
1
]
+
v
[
2
]
*
v
[
2
]);
}
inline
double
length
(
vec3
v1
,
vec3
v2
)
{
vec3
v
;
v
[
0
]
=
v2
[
0
]
-
v1
[
0
];
v
[
1
]
=
v2
[
1
]
-
v1
[
1
];
v
[
2
]
=
v2
[
2
]
-
v1
[
2
];
return
length
(
v
);
}
inline
double
get_coulomb_energy
(
int
N
,
vec3
p
[])
{
double
e
=
0
;
for
(
int
i
=
0
;
i
<
N
;
i
++
)
for
(
int
j
=
i
+
1
;
j
<
N
;
j
++
)
{
e
+=
1
/
length
(
p
[
i
],
p
[
j
]);
}
return
e
;
}
inline
void
get_forces
(
int
N
,
vec3
f
[],
vec3
p
[])
{
int
i
,
j
;
for
(
i
=
0
;
i
<
N
;
i
++
){
f
[
i
][
0
]
=
0
;
f
[
i
][
1
]
=
0
;
f
[
i
][
2
]
=
0
;
}
for
(
i
=
0
;
i
<
N
;
i
++
){
for
(
j
=
i
+
1
;
j
<
N
;
j
++
)
{
vec3
r
=
{
p
[
i
][
0
]
-
p
[
j
][
0
],
p
[
i
][
1
]
-
p
[
j
][
1
],
p
[
i
][
2
]
-
p
[
j
][
2
]};
double
l
=
length
(
r
);
l
=
1
/
(
l
*
l
*
l
);
double
ff
;
ff
=
l
*
r
[
0
];
f
[
i
][
0
]
+=
ff
;
f
[
j
][
0
]
-=
ff
;
ff
=
l
*
r
[
1
];
f
[
i
][
1
]
+=
ff
;
f
[
j
][
1
]
-=
ff
;
ff
=
l
*
r
[
2
];
f
[
i
][
2
]
+=
ff
;
f
[
j
][
2
]
-=
ff
;
}
}
}
inline
std
::
vector
<
VEC3
>
sphere
(
int
nbVertices
,
VEC3
origin
,
double
rayon
)
{
static
int
N
=
100
,
Nstep
=
1000
;
static
double
step
=
0.01
;
static
double
minimal_step
=
1.e-10
;
std
::
vector
<
VEC3
>
res
;
N
=
nbVertices
;
vec3
*
p0
=
new
vec3
[
N
];
vec3
*
p1
=
new
vec3
[
N
];
vec3
*
f
=
new
vec3
[
N
];
int
i
,
k
;
vec3
*
pp0
=
p0
,
*
pp1
=
p1
;
srand
(
10
);
for
(
i
=
0
;
i
<
N
;
i
++
)
{
p0
[
i
][
0
]
=
2
*
frand
();
p0
[
i
][
1
]
=
2
*
frand
();
p0
[
i
][
2
]
=
2
*
frand
();
double
l
=
length
(
p0
[
i
]);
if
(
l
!=
0.0
){
p0
[
i
][
0
]
/=
l
;
p0
[
i
][
1
]
/=
l
;
p0
[
i
][
2
]
/=
l
;
}
else
i
--
;
}
double
e0
=
get_coulomb_energy
(
N
,
p0
);
for
(
k
=
0
;
k
<
Nstep
;
k
++
)
{
get_forces
(
N
,
f
,
p0
);
for
(
i
=
0
;
i
<
N
;
i
++
)
{
double
d
=
dot
(
f
[
i
],
pp0
[
i
]);
f
[
i
][
0
]
-=
pp0
[
i
][
0
]
*
d
;
f
[
i
][
1
]
-=
pp0
[
i
][
1
]
*
d
;
f
[
i
][
2
]
-=
pp0
[
i
][
2
]
*
d
;
pp1
[
i
][
0
]
=
pp0
[
i
][
0
]
+
f
[
i
][
0
]
*
step
;
pp1
[
i
][
1
]
=
pp0
[
i
][
1
]
+
f
[
i
][
1
]
*
step
;
pp1
[
i
][
2
]
=
pp0
[
i
][
2
]
+
f
[
i
][
2
]
*
step
;
double
l
=
length
(
pp1
[
i
]);
pp1
[
i
][
0
]
/=
l
;
pp1
[
i
][
1
]
/=
l
;
pp1
[
i
][
2
]
/=
l
;
}
double
e
=
get_coulomb_energy
(
N
,
pp1
);
if
(
e
>=
e0
){
// not successfull step
step
/=
2
;
if
(
step
<
minimal_step
)
break
;
continue
;
}
else
{
// successfull step
vec3
*
t
=
pp0
;
pp0
=
pp1
;
pp1
=
t
;
e0
=
e
;
step
*=
2
;
}
}
for
(
i
=
0
;
i
<
N
;
i
++
)
{
p0
[
i
][
0
]
=
p0
[
i
][
0
]
*
rayon
+
origin
[
0
];
p0
[
i
][
1
]
=
p0
[
i
][
1
]
*
rayon
+
origin
[
1
];
p0
[
i
][
2
]
=
p0
[
i
][
2
]
*
rayon
+
origin
[
2
];
res
.
push_back
(
VEC3
(
p0
[
i
][
0
],
p0
[
i
][
1
],
p0
[
i
][
2
]));
}
delete
[]
p0
;
delete
[]
p1
;
delete
[]
f
;
return
res
;
}
struct
Line
{
...
...
src/agent.cpp
View file @
fe70a9c8
#include "simulator.h"
float
Agent
::
radius
=
0.05
;
float
Agent
::
averageVelocity
=
3.0
f
;
// initialisation Agent
void
Agent
::
init
(
Simulator
*
sim
,
VEC3
startingPoint
,
std
::
vector
<
VEC3
>
goals
,
Dart
d
)
{
sim_
=
sim
;
goals_
=
goals
;
r
=
0.0
f
;
g
=
0.0
f
;
b
=
1.0
f
;
agentNo
=
sim_
->
agents
.
size
()
;
part_
=
new
CGoGN
::
Algo
::
Volume
::
MovingObjects
::
ParticleCell3D
<
PFP
>
(
sim_
->
envMap_
.
map
,
d
,
startingPoint
,
sim_
->
envMap_
.
position
,
&
(
sim_
->
envMap_
.
facecenter
),
&
(
sim_
->
envMap_
.
volumecenter
));
curGoal_
=
0
;
//vitesses
avoidanceVelocity_
=
VEC3
(
0
);
newVelocity_
=
VEC3
(
0
);
prefVelocity_
=
VEC3
(
0
);
maxVelocity_
=
3.0
f
;
srand
(
agentNo
);
float
ratio
=
(
80.0
f
+
rand
()
%
20
)
/
100.0
f
;
r
=
1.0
f
*
ratio
;
g
=
1.0
f
*
5.0
f
*
(
1
-
ratio
);
b
=
0.0
f
;
maxVelocity_
=
std
::
min
(
averageVelocity
*
ratio
,
sim_
->
envMap_
.
maxCellRay
/
sim_
->
timeStep_
);
//distances de détection
float
neighborDist
=
sim_
->
envMap_
.
maxCellRay
;
neighborAgDistSq_
=
neighborDist
*
neighborDist
;
neighborSegDistSq_
=
neighborDist
*
neighborDist
;
neighborTriDistSq_
=
neighborDist
*
neighborDist
;
//lien simulateur
agentNo
=
sim_
->
agents
.
size
()
;
alive
=
true
;
sim_
->
envMap_
.
pushAgent
(
this
,
d
);
sim_
->
agents
.
push_back
(
this
);
}
...
...
@@ -40,13 +52,6 @@ void Agent::updatePosition()
Dart
oldCell
=
part_
->
getCell
();
VEC3
velocity_
=
newVelocity_
;
VEC3
diff
=
(
velocity_
*
sim_
->
timeStep_
);
if
(
diff
.
norm
()
>
sim_
->
envMap_
.
maxCellRay
)
// on limite la taille du déplacement pour pouvoir vérifier rapidement si l'objectif est dans la carte
{
// CGoGNout<< "déplacement trop grand, on raccourci "<<CGoGNendl;
diff
.
normalize
();
diff
*=
sim_
->
envMap_
.
maxCellRay
*
0.9
;
}
VEC3
target
=
part_
->
getPosition
()
+
diff
;
if
(
sim_
->
envMap_
.
map
.
isVolumeIncidentToBoundary
(
oldCell
))
{
...
...
@@ -63,9 +68,68 @@ void Agent::updatePosition()
}
VEC3
Agent
::
getPosition
()
{
return
part_
->
getPosition
();
}
void
Agent
::
updateNeighbors
()
{
if
(
alive
)
{
agentNeighbors_
.
clear
();
VEC3
pos
=
getPosition
();
for
(
Agent
*
ag
:
sim_
->
envMap_
.
RegisteredAgents
[
part_
->
getCell
()])
{
if
(
ag
->
alive
&&
ag
!=
this
)
{
float
distSq
=
(
pos
-
ag
->
getPosition
()).
norm2
()
;
if
(
distSq
<
neighborAgDistSq_
)
{
if
(
distSq
<
radius
*
radius
)
{
alive
=
false
;
ag
->
alive
=
false
;
r
=
0
;
g
=
0
;
b
=
1
;
ag
->
r
=
0
;
ag
->
g
=
0
;
ag
->
b
=
1
;
return
;
}
agentNeighbors_
.
push_back
(
std
::
make_pair
(
distSq
,
ag
))
;
}
}
}
for
(
Agent
*
ag
:
sim_
->
envMap_
.
RegisteredNeighborAgents
[
part_
->
getCell
()])
{
if
(
ag
->
alive
&&
ag
!=
this
)
{
float
distSq
=
(
pos
-
ag
->
getPosition
()).
norm2
()
;
if
(
distSq
<
neighborAgDistSq_
)
{
if
(
distSq
<
radius
*
radius
)
// cas de collision
{
alive
=
false
;
ag
->
alive
=
false
;
r
=
0
;
g
=
0
;
b
=
1
;
ag
->
r
=
0
;
ag
->
g
=
0
;
ag
->
b
=
1
;
return
;
}
agentNeighbors_
.
push_back
(
std
::
make_pair
(
distSq
,
ag
))
;
}
}
}
}
}
void
Agent
::
computePrefVelocity
()
...
...
@@ -100,32 +164,92 @@ void Agent::computePrefVelocity()
}
}
void
Agent
::
computeAvoidanceVelocity
()
VEC3
Agent
::
avoidanceAgents
()
{
if
(
avoidanceVelocity_
.
norm
()
>
maxVelocity_
)
VEC3
res
=
VEC3
(
0
);
VEC3
previous_pos
=
getPosition
()
-
newVelocity_
*
sim_
->
timeStep_
;
double
ag_stiffness
=
1000.0
;
// agent-agent interaction stiffness
double
ag_damping
=
1.0
;
// agent-agent interaction damping
double
ag_mass
=
0.1
;
// double ag_power = 1; // the power to which elevate the agent-agent distance
srand48
(
agentNo
);
double
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
for
(
std
::
pair
<
float
,
Agent
*>
pere
:
agentNeighbors_
)
{
avoidanceVelocity_
.
normalize
();
avoidanceVelocity_
*=
maxVelocity_
;
Agent
*
other
=
pere
.
second
;
const
float
distSq
=
pere
.
first
;
const
float
dist
=
sqrt
(
distSq
);
const
float
combinedRadius
=
ag_phys_radius_coef
*
(
radius
+
other
->
radius
)
;
// const float combinedRadiusSq = combinedRadius * combinedRadius ;
VEC3
other_previous_pos
=
other
->
getPosition
()
-
(
other
->
newVelocity_
*
sim_
->
timeStep_
);
VEC3
previous_relativePosition
=
other_previous_pos
-
previous_pos
;
float
previous_distSq
=
previous_relativePosition
.
norm2
();
float
previous_dist
=
sqrt
(
previous_distSq
);
// const VEC3 u_other(relativePosition);
VEC3
u_other
(
other
->
getPosition
()
-
getPosition
());
u_other
.
normalize
();
// cerr << "dist=" << dist << " combinedRadius=" << combinedRadius << endl;
if
(
dist
<
combinedRadius
)
{
// collision_softening_factor = pow(1-dist/combinedRadius,ag_power);
float
collision_softening_factor
=
1
;
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;
res
+=
force_value
*
u_other
;
}
}
res
=
res
*
(
sim_
->
timeStep_
/
ag_mass
);
return
res
;
}
void
Agent
::
computeNewVelocity
()
{
computePrefVelocity
();
computeAvoidanceVelocity
();
newVelocity_
=
prefVelocity_
+
avoidanceVelocity_
;
if
(
newVelocity_
.
norm
()
>
maxVelocity_
)
{
newVelocity_
.
normalize
();
newVelocity_
*=
maxVelocity_
;
}
VEC3
Agent
::
avoidanceTriangles
()
{
return
VEC3
(
0
);
}
VEC3
Agent
::
avoidanceSegments
()
{
return
VEC3
(
0
);
}
// affichage
void
Agent
::
initGL
()
void
Agent
::
computeAvoidanceVelocity
()
{
avoidanceVelocity_
=
avoidanceAgents
()
+
avoidanceSegments
()
+
avoidanceTriangles
();
if
(
avoidanceVelocity_
.
norm2
()
>
maxVelocity_
*
maxVelocity_
)
{
avoidanceVelocity_
.
normalize
();
avoidanceVelocity_
*=
maxVelocity_
;
}
}
void
Agent
::
draw
()
void
Agent
::
computeNewVelocity
()
{
if
(
alive
)
{
computePrefVelocity
();
computeAvoidanceVelocity
();
newVelocity_
=
prefVelocity_
+
avoidanceVelocity_
;
if
(
newVelocity_
.
norm2
()
>
maxVelocity_
*
maxVelocity_
)
{
newVelocity_
.
normalize
();
newVelocity_
*=
maxVelocity_
;
}
}
}
src/env_map.cpp
View file @
fe70a9c8
...
...
@@ -75,6 +75,8 @@ void EnvMap::init(int argc, char **argv)
facecenter
=
map
.
addAttribute
<
VEC3
,
FACE
,
MAP
>
(
"facecenter"
);
volumecenter
=
map
.
addAttribute
<
VEC3
,
VOLUME
,
MAP
>
(
"volumecenter"
);
color
=
map
.
addAttribute
<
VEC3
,
VOLUME
,
MAP
>
(
"color"
);
RegisteredAgents
=
map
.
addAttribute
<
AGENTS
,
VOLUME
,
MAP
>
(
"RegisteredAgents"
);
RegisteredNeighborAgents
=
map
.
addAttribute
<
AGENTS
,
VOLUME
,
MAP
>
(
"RegisteredNeighborAgents"
);
RegisteredEdges
=
map
.
addAttribute
<
ARETES
,
VOLUME
,
MAP
>
(
"RegisteredEdges"
);
RegisteredNeighborEdges
=
map
.
addAttribute
<
ARETES
,
VOLUME
,
MAP
>
(
"RegisteredNeighborEdges"
);
RegisteredTriangles
=
map
.
addAttribute
<
TRIANGLES
,
VOLUME
,
MAP
>
(
"RegisteredTriangles"
);
...
...
src/simulator.cpp
View file @
fe70a9c8
...
...
@@ -20,12 +20,11 @@ void Simulator::init(int argc, char **argv)
envMap_
.
init
(
argc
,
argv
);
timeStep_
=
0.01
f
;
nbSteps_
=
0
;
if
(
argc
>
1
)
Needle_or_knife
=
atoi
(
argv
[
1
])
;
else
Needle_or_knife
=
true
;
initAgents
(
1
00
);
initAgents
(
5
00
);
// initFixedObjects();
// initSurfaces();
// initMovingObject();
...
...
@@ -39,17 +38,18 @@ void Simulator::doStep()
{
for
(
Agent
*
ag
:
agents
)
{
ag
->
updateNeighbors
();
ag
->
computePrefVelocity
();
ag
->
computeNewVelocity
();
Dart
oldCell
=
ag
->
part_
->
getCell
();
ag
->
updatePosition
();
if
(
ag
->
part_
->
crossCell
!=
CGoGN
::
Algo
::
Volume
::
MovingObjects
::
NO_CROSS
)
if
(
ag
->
alive
)
{
envMap_
.
agentChangeFace
(
ag
,
oldCell
);
ag
->
updateNeighbors
();
ag
->
computeNewVelocity
();
Dart
oldCell
=
ag
->
part_
->
getCell
();
ag
->
updatePosition
();
if
(
ag
->
part_
->
crossCell
!=
CGoGN
::
Algo
::
Volume
::
MovingObjects
::
NO_CROSS
)
{
envMap_
.
agentChangeFace
(
ag
,
oldCell
);
}
}
}
++
nbSteps_
;
...
...
@@ -71,10 +71,13 @@ void Simulator::initAgents(int nbAgents)
std
::
cout
<<
"radius "
<<
radius
<<
std
::
endl
;
VEC3
center
=
(
VEC3
(
envMap_
.
mapMaxX
,
envMap_
.
mapMaxY
,
envMap_
.
mapMaxZ
)
+
VEC3
(
envMap_
.
mapMinX
,
envMap_
.
mapMinY
,
envMap_
.
mapMinZ
))
/
2
;
for
(
int
i
=
0
;
i
<
nbAgents
;
++
i
)
std
::
vector
<
VEC3
>
posAgents
=
sphere
(
nbAgents
,
center
,
radius
);
// for ( int i = 0 ; i < nbAgents ; ++i)
for
(
VEC3
v
:
posAgents
)
{
double
angle
=
i
*
2.0
f
*
M_PI
/
float
(
nbAgents
)
;
VEC3
v
(
std
::
cos
(
angle
)
*
radius
,
std
::
sin
(
angle
)
*
radius
,
0.12
)
;
//
double angle = i * 2.0f * M_PI / float(nbAgents) ;
//
VEC3 v(std::cos(angle) * radius, std::sin(angle) * radius, 0.12) ;
VEC3
start
=
center
+
v
;
VEC3
goal
=
center
-
v
;
std
::
vector
<
VEC3
>
goals
;
...
...
src/viewer.cpp
View file @
fe70a9c8
...
...
@@ -292,6 +292,7 @@ void Volusion::cb_initGL()
for
(
Agent
*
ag
:
simul
.
agents
)
{
data
[
i
]
=
ag
->
part_
->
getPosition
();
// CGoGNout<<"agent (num, colors)"<<ag->agentNo<<" "<<ag->r<<" "<<ag->g<<" "<<ag->b<<CGoGNendl;
dataColor
[
i
]
=
VEC3
(
ag
->
r
,
ag
->
g
,
ag
->
b
);
i
++
;
}
...
...
@@ -299,7 +300,7 @@ void Volusion::cb_initGL()
m_agentsPosVBO
->
releasePtr
();
m_agentsColorVBO
->
releasePtr
();
m_agentSprite
=
new
Utils
::
PointSprite
();
m_agentSprite
=
new
Utils
::
PointSprite
(
true
);
m_agentSprite
->
setAttributePosition
(
m_agentsPosVBO
);
m_agentSprite
->
setAttributeColor
(
m_agentsColorVBO
);
m_agentSprite
->
setSize
(
Agent
::
radius
);
...
...
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