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Thomas Pitiot
SocialAgents3D
Commits
ff4a4d6a
Commit
ff4a4d6a
authored
Nov 15, 2012
by
pitiot
Browse files
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Plain Diff
maj cellmarkermemo => 1 unique dans envmap + maj simplif encore un bug
parent
6fef9060
Changes
6
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6 changed files
with
276 additions
and
227 deletions
+276
-227
include/env_map.h
include/env_map.h
+5
-13
include/moving_obstacle.h
include/moving_obstacle.h
+2
-1
src/env_map.cpp
src/env_map.cpp
+255
-203
src/moving_obstacle.cpp
src/moving_obstacle.cpp
+8
-8
src/simulator.cpp
src/simulator.cpp
+2
-2
src/viewer.cpp
src/viewer.cpp
+4
-0
No files found.
include/env_map.h
View file @
ff4a4d6a
...
...
@@ -119,13 +119,13 @@ public:
CellMarker
<
EDGE
>
obstacleMark
;
CellMarker
<
FACE
>
buildingMark
;
CellMarker
<
FACE
>
pedWayMark
;
CellMarkerMemo
<
FACE
>
memo_mark
;
// ajout moving obst
void
addObstAsNeighbor
(
Obstacle
*
o
,
const
std
::
vector
<
Dart
>&
belonging_cells
,
std
::
vector
<
Dart
>
*
nieghbor_cells
);
// void addMovingObstAsNeighbor (MovingObstacle * mo,std::vector<Dart> belonging_cells, std::vector<Dart> *neighbor_cells);
void
pushObstNeighborInCells
(
Obstacle
*
o
,
Dart
d
);
void
popObstNeighborInCells
(
Obstacle
*
o
,
Dart
d
);
void
find_next
(
Obstacle
*
o
,
Dart
*
d
,
CellMarker
Store
<
FACE
>&
cms
);
void
find_next
(
Obstacle
*
o
,
Dart
*
d
,
CellMarker
Memo
<
FACE
>&
cms
);
std
::
vector
<
Dart
>
newBuildings
;
...
...
@@ -299,16 +299,8 @@ inline void EnvMap::addObstAsNeighbor (Obstacle * o, const std::vector<Dart>& b
assert
(
!
belonging_cells
.
empty
());
neighbor_cells
->
clear
();
CellMarkerStore
<
FACE
>
MovingObstMark
(
map
);
CellMarkerStore
<
FACE
>
OneRingMark
(
map
);
for
(
std
::
vector
<
Dart
>::
const_iterator
it
=
belonging_cells
.
begin
();
it
!=
belonging_cells
.
end
();
++
it
)
{
assert
(
!
buildingMark
.
isMarked
(
*
it
))
;
MovingObstMark
.
mark
(
*
it
);
}
std
::
vector
<
Dart
>::
const_iterator
it
=
belonging_cells
.
begin
();
Dart
beg
=
NIL
;
Dart
first
=
NIL
;
...
...
@@ -324,7 +316,7 @@ inline void EnvMap::addObstAsNeighbor (Obstacle * o, const std::vector<Dart>& b
do
{
dd
=
map
.
alpha1
(
map
.
alpha1
(
d
));
do
{
if
(
!
MovingObstM
ark
.
isMarked
(
dd
))
if
(
!
memo_m
ark
.
isMarked
(
dd
))
{
first
=
dd
;
}
...
...
@@ -348,14 +340,14 @@ inline void EnvMap::addObstAsNeighbor (Obstacle * o, const std::vector<Dart>& b
(
*
neighbor_cells
).
push_back
(
d
);
}
find_next
(
o
,
&
d
,
MovingObstM
ark
);
find_next
(
o
,
&
d
,
memo_m
ark
);
// CGoGNout<<"d : "<<d<<CGoGNendl;
}
while
(
!
map
.
sameFace
(
d
,
first
));
}
// find_next cherche la prochaine case "voisine" d'un obstacle faisant parti d'un movingobstacle (algo de parcours du one-ring )
inline
void
EnvMap
::
find_next
(
Obstacle
*
o
,
Dart
*
ddd
,
CellMarker
Store
<
FACE
>&
cms
)
inline
void
EnvMap
::
find_next
(
Obstacle
*
o
,
Dart
*
ddd
,
CellMarker
Memo
<
FACE
>&
cms
)
{
Dart
d
=*
ddd
;
Dart
first
=
NIL
;
...
...
include/moving_obstacle.h
View file @
ff4a4d6a
...
...
@@ -23,7 +23,7 @@ public:
bool
is_inside
(
VEC3
p
);
void
computePrefVelocity
();
std
::
vector
<
Dart
>
getMemoCross
(
const
VEC3
&
pos
,
const
VEC3
&
dest
,
Dart
*
d1
);
std
::
vector
<
Dart
>
getMemoCross
(
const
VEC3
&
pos
,
const
VEC3
&
dest
,
Dart
&
d1
);
void
update
();
...
...
@@ -47,6 +47,7 @@ public:
std
::
vector
<
Dart
>
*
neighbor_cells
;
std
::
vector
<
Dart
>
general_belonging
;
VEC3
front
;
CellMarkerMemo
<
FACE
>
*
memo_mark
;
//difference entre 2 listes utilisé pour update
// std::list<Dart> * res_diff;
...
...
src/env_map.cpp
View file @
ff4a4d6a
...
...
@@ -21,6 +21,7 @@ EnvMap::EnvMap() :
obstacleMark(map),
buildingMark(map),
pedWayMark(map),
memo_mark(map),
#ifndef SPATIAL_HASHING
refineMark(map),
coarsenMark(map)
...
...
@@ -109,6 +110,7 @@ void EnvMap::init(unsigned int config, REAL width, REAL height, REAL minSize, RE
for (unsigned int i = subdivisableFace.begin(); i < subdivisableFace.end(); subdivisableFace.next(i))
subdivisableFace[i].first = false ;
#endif
}
void EnvMap::markPedWay()
...
...
@@ -610,214 +612,264 @@ void EnvMap::updateMap()
}
refineCandidate.clear() ;
// // On recrée une liste des faces à simplifier en empêchant les doublons
// // On en profite pour vérifier les conditions de simplifications
// std::vector<Dart> checkCoarsenCandidate ;
// checkCoarsenCandidate.reserve(coarsenCandidate.size()) ;
//
// for (unsigned int it = 0; it < coarsenCandidate.size(); ++it)
// {
// Dart old = coarsenCandidate[it] ;
// bool oldIsMarked = coarsenMark.isMarked(old) ;
// coarsenMark.unmark(old) ;
//
// unsigned int fLevel = map.faceLevel(old) ;
//
// if (oldIsMarked && fLevel > 0 && map.getDartLevel(old) < fLevel)
// {
// unsigned int cur = map.getCurrentLevel() ;
// map.setCurrentLevel(fLevel - 1) ;
//
// if (map.faceIsSubdividedOnce(old))
// {
// // on compte le nombre d'agents dans les sous-faces
// // on en profite pour compter le degré de la face grossière
// unsigned int degree = 0 ;
// unsigned int nbAgents = 0 ;
// Dart fit = old ;
// do
// {
// nbAgents += agentvect[fit].size() ;
// ++degree ;
// coarsenMark.unmark(fit) ;
//// TODO Optimisation déjà faite
//// unsigned int start = it + 1;
//// unsigned int fEmb = map.getEmbedding<FACE>(fit) ;
//// while(start < coarsenCandidate.size())
//// {
//// if(map.getEmbedding<FACE>(coarsenCandidate[start]) == fEmb)
//// {
//// coarsenCandidate[start] = coarsenCandidate.back() ;
//// coarsenCandidate.pop_back() ;
//// }
//// else
//// ++start ;
//// }
//
// fit = map.phi1(fit) ;
// } while (fit != old) ;
//
//
// //Loop subdivision
// if (degree == 3)
// {
// map.setCurrentLevel(fLevel) ;
// Dart centerFace = map.phi2(map.phi1(old)) ;
// nbAgents += agentvect[centerFace].size() ;
// coarsenMark.unmark(centerFace) ;
//// TODO Optimisation déjà faite
//// unsigned int start = it + 1;
//// unsigned int fEmb = map.getEmbedding<FACE>(centerFace) ;
//// while(start < coarsenCandidate.size())
//// {
//// if(map.getEmbedding<FACE>(coarsenCandidate[start]) == fEmb)
//// {
//// coarsenCandidate[start] = coarsenCandidate.back() ;
//// coarsenCandidate.pop_back() ;
//// }
//// else
//// ++start ;
//// }
// map.setCurrentLevel(fLevel - 1) ;
// }
// if (nbAgents < nbAgentsToSimplify) checkCoarsenCandidate.push_back(old) ;
// }
// map.setCurrentLevel(cur) ;
// }
// }
// coarsenCandidate.clear() ;
//
// // On réalise la simplification (les conditions ont déjà été vérifiées)
// for (unsigned int it = 0; it < checkCoarsenCandidate.size(); ++it)
// {
// Dart old = checkCoarsenCandidate[it] ;
//
// unsigned int fLevel = map.faceLevel(old) ;
// unsigned int cur = map.getCurrentLevel() ;
// map.setCurrentLevel(fLevel - 1) ;
//
// // on compte le degré de la face grossière
// unsigned int degree = 0 ;
// Dart fit = old ;
// do
// {
// ++degree ;
// fit = map.phi1(fit) ;
// } while (fit != old) ;
//
// PFP::AGENTS agents ;
// PFP::OBSTACLEVECT obst ;
// PFP::OBSTACLEVECT neighborObst ;
//
// fit = old ;
// do
// {
// PFP::AGENTS a(agentvect[fit]) ;
// PFP::OBSTACLEVECT ob(obstvect[fit]) ;
// PFP::OBSTACLEVECT nob(neighborObstvect[fit]) ;
//
// agents.insert(agents.end(), a.begin(), a.end()) ;
// obst.insert(obst.end(), ob.begin(), ob.end()) ;
// neighborObst.insert(neighborObst.end(), nob.begin(), nob.end()) ;
// map.setCurrentLevel(map.getMaxLevel()) ;
// for (PFP::AGENTS::iterator ait = a.begin(); ait != a.end(); ++ait)
// popAgentInCells(*ait, fit) ;
// map.setCurrentLevel(fLevel - 1) ;
// Dart nf = map.phi2(fit) ;
// if (!map.faceIsSubdivided(nf))
// {
// map.setCurrentLevel(fLevel) ;
// PFP::AGENTS& an = agentvect[nf] ;
// PFP::OBSTACLEVECT resetob = obstvect[nf] ;
// for (PFP::AGENTS::iterator ait = an.begin(); ait != an.end(); ++ait)
// {
// if ((*ait)->part_.d == map.phi1(nf)) (*ait)->part_.d = nf ;
// }
// for (PFP::OBSTACLEVECT::iterator ait = resetob.begin(); ait != resetob.end(); ++ait)
// {
// MovingObstacle* mo = (*ait)->mo ;
// if (mo != NULL)
// On recrée une liste des faces à simplifier en empêchant les doublons
// On en profite pour vérifier les conditions de simplifications
std::vector<Dart> checkCoarsenCandidate ;
checkCoarsenCandidate.reserve(coarsenCandidate.size()) ;
for (unsigned int it = 0; it < coarsenCandidate.size(); ++it)
{
Dart old = coarsenCandidate[it] ;
bool oldIsMarked = coarsenMark.isMarked(old) ;
coarsenMark.unmark(old) ;
unsigned int fLevel = map.faceLevel(old) ;
if (oldIsMarked && fLevel > 0 && map.getDartLevel(old) < fLevel)
{
unsigned int cur = map.getCurrentLevel() ;
map.setCurrentLevel(fLevel - 1) ;
if (map.faceIsSubdividedOnce(old))
{
// on compte le nombre d'agents dans les sous-faces
// on en profite pour compter le degré de la face grossière
unsigned int degree = 0 ;
unsigned int nbAgents = 0 ;
Dart fit = old ;
do
{
nbAgents += agentvect[fit].size() ;
++degree ;
coarsenMark.unmark(fit) ;
// TODO Optimisation déjà faite
// unsigned int start = it + 1;
// unsigned int fEmb = map.getEmbedding<FACE>(fit) ;
// while(start < coarsenCandidate.size())
// {
// resetPart(mo,nf) ;
// if(map.getEmbedding<FACE>(coarsenCandidate[start]) == fEmb)
// {
// coarsenCandidate[start] = coarsenCandidate.back() ;
// coarsenCandidate.pop_back() ;
// }
// else
// ++start ;
// }
// }
// map.setCurrentLevel(fLevel - 1) ;
// }
// fit = map.phi1(fit) ;
// } while (fit != old) ;
//
// if (degree == 3)
// {
// map.setCurrentLevel(fLevel) ;
// Dart centerFace = map.phi2(map.phi1(old)) ;
// PFP::AGENTS a(agentvect[centerFace]) ;
// PFP::OBSTACLEVECT ob(obstvect[centerFace]) ;
// PFP::OBSTACLEVECT nob(neighborObstvect[centerFace]) ;
// agents.insert(agents.end(), a.begin(), a.end()) ;
// obst.insert(obst.end(), ob.begin(), ob.end()) ;
// neighborObst.insert(neighborObst.end(), nob.begin(), nob.end()) ;
// map.setCurrentLevel(map.getMaxLevel()) ;
// for (PFP::AGENTS::iterator ait = a.begin(); ait != a.end(); ++ait)
// popAgentInCells(*ait, centerFace) ;
// map.setCurrentLevel(fLevel - 1) ;
// }
// neighborAgentvect[old].clear() ;
//
// for (PFP::OBSTACLEVECT::iterator ait = obst.begin(); ait != obst.end(); ++ait)
// removeElementFromVector<Obstacle* >(neighborObst, (*ait));
// // TODO Check with optimisation
// map.setCurrentLevel(map.getMaxLevel()) ;
// for (PFP::OBSTACLEVECT::iterator ait = obst.begin(); ait != obst.end(); ++ait)
// register_pop(*ait, (*ait)->index) ;
// for (PFP::OBSTACLEVECT::iterator ait = neighborObst.begin(); ait != neighborObst.end(); ++ait)
// register_pop(*ait, (*ait)->index) ;
// map.setCurrentLevel(fLevel - 1) ;
//
// Algo::IHM::coarsenFace<PFP>(map, old, position) ;
//
// std::pair<bool, bool>& sf = subdivisableFace[old] ;
// sf.first = true ;
// sf.second = true ;
//
// map.setCurrentLevel(map.getMaxLevel()) ;
fit = map.phi1(fit) ;
} while (fit != old) ;
//Loop subdivision
if (degree == 3)
{
map.setCurrentLevel(fLevel) ;
Dart centerFace = map.phi2(map.phi1(old)) ;
nbAgents += agentvect[centerFace].size() ;
coarsenMark.unmark(centerFace) ;
// TODO Optimisation déjà faite
// unsigned int start = it + 1;
// unsigned int fEmb = map.getEmbedding<FACE>(centerFace) ;
// while(start < coarsenCandidate.size())
// {
// if(map.getEmbedding<FACE>(coarsenCandidate[start]) == fEmb)
// {
// coarsenCandidate[start] = coarsenCandidate.back() ;
// coarsenCandidate.pop_back() ;
// }
// else
// ++start ;
// }
map.setCurrentLevel(fLevel - 1) ;
}
if (nbAgents < nbAgentsToSimplify) checkCoarsenCandidate.push_back(old) ;
}
map.setCurrentLevel(cur) ;
}
}
coarsenCandidate.clear() ;
// On réalise la simplification (les conditions ont déjà été vérifiées)
for (unsigned int it = 0; it < checkCoarsenCandidate.size(); ++it)
{
Dart old = checkCoarsenCandidate[it] ;
unsigned int fLevel = map.faceLevel(old) ;
unsigned int cur = map.getCurrentLevel() ;
map.setCurrentLevel(fLevel - 1) ;
// on compte le degré de la face grossière
unsigned int degree = 0 ;
Dart fit = old ;
do
{
++degree ;
fit = map.phi1(fit) ;
} while (fit != old) ;
PFP::AGENTS agents ;
PFP::OBSTACLEVECT obst ;
PFP::OBSTACLEVECT neighborObst ;
//premier tour pour les présents
fit = old ;
do
{
PFP::AGENTS a(agentvect[fit]) ;
PFP::OBSTACLEVECT ob(obstvect[fit]) ;
agents.insert(agents.end(), a.begin(), a.end()) ;
map.setCurrentLevel(map.getMaxLevel()) ;
for(PFP::OBSTACLEVECT::iterator ait = ob.begin(); ait != ob.end(); ++ait)
{
register_pop(*ait, (*ait)->index) ;
obst.push_back(*ait);
}
for (PFP::AGENTS::iterator ait = a.begin(); ait != a.end(); ++ait)
popAgentInCells(*ait, fit) ;
map.setCurrentLevel(fLevel - 1) ;
Dart nf = map.phi2(fit) ;
if (!map.faceIsSubdivided(nf))
{
map.setCurrentLevel(fLevel) ;
PFP::AGENTS& an = agentvect[nf] ;
PFP::OBSTACLEVECT resetob = obstvect[nf] ;
for (PFP::AGENTS::iterator ait = an.begin(); ait != an.end(); ++ait)
{
if ((*ait)->part_.d == map.phi1(nf)) (*ait)->part_.d = nf ;
}
for (PFP::OBSTACLEVECT::iterator ait = resetob.begin(); ait != resetob.end(); ++ait)
{
MovingObstacle* mo = (*ait)->mo ;
if (mo != NULL)
{
resetPart(mo,nf) ;
}
}
map.setCurrentLevel(fLevel - 1) ;
}
fit = map.phi1(fit) ;
} while (fit != old) ;
if (degree == 3)
{
map.setCurrentLevel(fLevel) ;
Dart centerFace = map.phi2(map.phi1(old)) ;
PFP::AGENTS a(agentvect[centerFace]) ;
PFP::OBSTACLEVECT ob(obstvect[centerFace]) ;
agents.insert(agents.end(), a.begin(), a.end()) ;
map.setCurrentLevel(map.getMaxLevel()) ;
for(PFP::OBSTACLEVECT::iterator ait = ob.begin(); ait != ob.end(); ++ait)
{
register_pop(*ait, (*ait)->index) ;
obst.push_back(*ait);
}
for (PFP::AGENTS::iterator ait = a.begin(); ait != a.end(); ++ait)
popAgentInCells(*ait, centerFace) ;
map.setCurrentLevel(fLevel - 1) ;
}
//deuxieme tour concernant les voisins
fit = old ;
do
{
PFP::OBSTACLEVECT nob(neighborObstvect[fit]) ;
map.setCurrentLevel(map.getMaxLevel()) ;
for(PFP::OBSTACLEVECT::iterator ait = nob.begin(); ait != nob.end(); ++ait)
{
register_pop(*ait, (*ait)->index) ;
neighborObst.push_back(*ait);
}
map.setCurrentLevel(fLevel - 1) ;
fit = map.phi1(fit) ;
} while (fit != old) ;
if (degree == 3)
{
map.setCurrentLevel(fLevel) ;
Dart centerFace = map.phi2(map.phi1(old)) ;
PFP::OBSTACLEVECT nob(neighborObstvect[centerFace]) ;
map.setCurrentLevel(map.getMaxLevel()) ;
for(PFP::OBSTACLEVECT::iterator ait = nob.begin(); ait != nob.end(); ++ait)
{
register_pop(*ait, (*ait)->index) ;
neighborObst.push_back(*ait);
}
map.setCurrentLevel(fLevel - 1) ;
}
neighborAgentvect[old].clear() ;
// TODO Check with optimisation
//
// for (PFP::AGENTS::iterator itA = agents.begin(); itA != agents.end(); ++itA)
// {
// (*itA)->part_.d = old ;
// pushAgentInCells(*itA, old) ;
// }
// CGoGNout<<"Avant pop"<<CGoGNendl;
// CGoGNout<<"Obst dans la case : ";
// for (PFP::OBSTACLEVECT::iterator ait = obst.begin(); ait != obst.end(); ++ait)
// {
// resetObstPartInFace(*ait, old) ;
// update_registration(*ait) ;
// }
// CGoGNout<<(*ait)->index<<" ; ";
// CGoGNout<<CGoGNendl;
// CGoGNout<<"Obst voisins : ";
// for (PFP::OBSTACLEVECT::iterator ait = neighborObst.begin(); ait != neighborObst.end(); ++ait)
// {
// update_registration(*ait) ;
// }
//
// Dart dd = old ;
// do
// {
// Dart ddd = map.alpha1(map.alpha1(dd)) ;
// while (ddd != dd)
// {
// neighborAgentvect[old].insert(neighborAgentvect[old].end(), agentvect[ddd].begin(), agentvect[ddd].end()) ;
// ddd = map.alpha1(ddd) ;
// }
// dd = map.phi1(dd) ;
// } while (dd != old) ;
//
// if (fLevel > 1 && !coarsenMark.isMarked(old) && agentvect[old].size() < nbAgentsToSimplify)
// {
// coarsenMark.mark(old) ;
// coarsenCandidate.push_back(map.faceOldestDart(old)) ;
// }
//
// map.setCurrentLevel(cur) ;
// }
// map.setCurrentLevel(map.getMaxLevel()) ;
// if (coarsenCandidate.size() > 0) updateMap() ;
// CGoGNout<<(*ait)->index<<" ; ";
// CGoGNout<<CGoGNendl;
map.setCurrentLevel(fLevel - 1) ;
Algo::IHM::coarsenFace<PFP>(map, old, position) ;
std::pair<bool, bool>& sf = subdivisableFace[old] ;
sf.first = true ;
sf.second = true ;
map.setCurrentLevel(map.getMaxLevel()) ;
for (PFP::AGENTS::iterator itA = agents.begin(); itA != agents.end(); ++itA)
{
(*itA)->part_.d = old ;
pushAgentInCells(*itA, old) ;
}
for (PFP::OBSTACLEVECT::iterator ait = obst.begin(); ait != obst.end(); ++ait)
{
resetObstPartInFace(*ait, old) ;
update_registration(*ait) ;
}
for (PFP::OBSTACLEVECT::iterator ait = neighborObst.begin(); ait != neighborObst.end(); ++ait)
{
update_registration(*ait) ;
}
Dart dd = old ;
do
{
Dart ddd = map.alpha1(map.alpha1(dd)) ;
while (ddd != dd)
{
neighborAgentvect[old].insert(neighborAgentvect[old].end(), agentvect[ddd].begin(), agentvect[ddd].end()) ;
ddd = map.alpha1(ddd) ;
}
dd = map.phi1(dd) ;
} while (dd != old) ;
if (fLevel > 1 && !coarsenMark.isMarked(old) && agentvect[old].size() < nbAgentsToSimplify)
{
coarsenMark.mark(old) ;
coarsenCandidate.push_back(map.faceOldestDart(old)) ;
}
map.setCurrentLevel(cur) ;
}
map.setCurrentLevel(map.getMaxLevel()) ;
if (coarsenCandidate.size() > 0) updateMap() ;
}
void EnvMap::resetAgentInFace(Agent* agent)
...
...
src/moving_obstacle.cpp
View file @
ff4a4d6a
...
...
@@ -140,7 +140,7 @@ void MovingObstacle::updateFixedObstNeighbors()
for
(
int
k
=
0
;
k
<
2
;
k
++
)
{
registering_part
->
get_memo
(
vertices
[
k
]);
registering_part
->
get_memo
(
vertices
[
k
]
,
sim_
->
envMap_
.
memo_mark
);
std
::
vector
<
Obstacle
*>&
obst
=
sim_
->
envMap_
.
obstvect
[
registering_part
->
d
];
//search all obstacles around
...
...
@@ -388,12 +388,12 @@ void register_add(Obstacle* o, int n, const std::vector<Dart>& memo_cross)
}
}
std
::
vector
<
Dart
>
MovingObstacle
::
getMemoCross
(
const
VEC3
&
pos
,
const
VEC3
&
dest
,
Dart
*
d1
)
std
::
vector
<
Dart
>
MovingObstacle
::
getMemoCross
(
const
VEC3
&
pos
,
const
VEC3
&
dest
,
Dart
&
d1
)
{
registering_part
->
get_memo
(
pos
);
*
d1
=
registering_part
->
d
;
registering_part
->
get_memo
(
pos
,
sim_
->
envMap_
.
memo_mark
);
d1
=
registering_part
->
d
;
// CGoGNout<<"d1 : "<< *d1<<"|| d2 : "<< *d2<<"|| start : "<< pos<<"|| stop : "<< dest<<CGoGNendl;
return
(
registering_part
->
get_memo
(
dest
));
return
(
registering_part
->
get_memo
(
dest
,
sim_
->
envMap_
.
memo_mark
));
}
void
MovingObstacle
::
register_update
(
Obstacle
*
o
,
int
n
)
// maj de l'enregistrement
...
...
@@ -410,7 +410,7 @@ void MovingObstacle::register_update(Obstacle* o, int n)// maj de l'enregistreme
// if(p1->crossCell != CGoGN::Algo::MovingObjects::NO_CROSS
// || p2->crossCell != CGoGN::Algo::MovingObjects::NO_CROSS)
// {
memo
=
getMemoCross
(
p1
,
p2
,
&
d1
);
memo
=
getMemoCross
(
p1
,
p2
,
d1
);
d2
=
registering_part
->
d
;
// memo.sort();
// modif=true;
...
...
@@ -450,7 +450,7 @@ void update_registration(Obstacle * o)// réenregistre l'obstacle en question
Dart
d1
=
NIL
;
Dart
d2
=
NIL
;
std
::
vector
<
Dart
>
memo
;
memo
=
mo
->
getMemoCross
(
p1
,
p2
,
&
d1
);
memo
=
mo
->
getMemoCross
(
p1
,
p2
,
d1
);
d2
=
mo
->
registering_part
->
d
;
if
(
mo
->
sim_
->
envMap_
.
map
.
sameFace
(
d1
,
d2
))
...
...
@@ -474,7 +474,7 @@ void resetPartSubdiv(Obstacle* o)
VEC3
pos
=
mo
->
registering_part
->
getPosition
();
mo
->
registering_part
->
ParticleBase
<
PFP
>::
move
(
Algo
::
Geometry
::
faceCentroid
<
PFP
>
(
mo
->
sim_
->
envMap_
.
map
,
mo
->
registering_part
->
d
,
mo
->
sim_
->
envMap_
.
position
))
;
mo
->
registering_part
->
setState
(
FACE
)
;
mo
->
registering_part
->
get_memo
(
pos
)
;
mo
->
registering_part
->
get_memo
(
pos
,
mo
->
sim_
->
envMap_
.
memo_mark
)
;
}
}
...
...
src/simulator.cpp
View file @
ff4a4d6a
...
...
@@ -35,7 +35,7 @@ void Simulator::init(unsigned int config, int minSize, float dimension, bool ena
setupCircleScenario
(
100
)
;
break
;
case
1
:
setupCorridorScenario
(
500
,
4
0
)
;
setupCorridorScenario
(
500
,
10
0
)
;
break
;
case
2
:
setupScenario
(
1000
)
;
...
...
@@ -285,7 +285,7 @@ void Simulator::setupCorridorScenario(unsigned int nbAgents, unsigned int nbObst
for
(
unsigned
int
i
=
0
;
i
<
nbObstacles
;
i
++
)
{
float
x
=
xStartMin
+
((
int
)
i
*
30
)
%
xStartDelta
;
std
::
cout
<<
"x ? "
<<
x
<<
" xStartDelta "
<<
xStartDelta
<<
std
::
endl
;
//
std::cout << "x ? " << x << " xStartDelta " << xStartDelta << std::endl;
VEC3
start
(
x
,
yStartMin
+
rand
()
%
yStartDelta
,
0
)
;
VEC3
goal
(
x
,
yGoalMin
+
rand
()
%
yGoalDelta
,
0
)
;
...
...
src/viewer.cpp
View file @
ff4a4d6a
...
...
@@ -237,6 +237,10 @@ void SocialAgents::cb_redraw()
glPolygonMode
(
GL_FRONT_AND_BACK
,
GL_FILL
)
;
glColor3f
(
1.0
f
,
1.0
f
,
1.0
f
)
;
glLineWidth
(
1.0
f
)
;
if
((
*
it
)
->
index
==
24
)
{
glColor3f
(
1.0
f
,
0.0
f
,
0.5
f
)
;
}
glBegin
(
GL_POLYGON
)
;
for
(
unsigned
int
i
=
0
;
i
<
((
*
it
)
->
nbVertices
)
;
++
i
)
...
...
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