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test #141

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378223e
fix build for debug
Jul 2, 2016
60eae56
add access to simulator interface
Jul 3, 2016
9118aad
add new scenes, follow state and conditions
Jul 26, 2016
257850b
limit simulation steps to specified global time
Aug 11, 2016
81ae67c
Add second nearest goal selector
Aug 11, 2016
c0273a2
add congregate scene
Aug 21, 2016
c6fac72
add new scene, made buildings simpler
Sep 9, 2016
302c73c
tune for case study
Sep 10, 2016
8b12f86
rename states to be more meaningful
Dec 8, 2016
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4 changes: 2 additions & 2 deletions examples/core/4square/4squareS.xml
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Expand Up @@ -3,7 +3,7 @@
<SpatialQuery type="kd-tree" test_visibility="false" />

<OpenSteer max_force="8" leak_through="0.1" reaction_time="0.5" />
<Common time_step="0.1" />
<Common time_step="0.01" />
<GCF reaction_time="0.5" max_agent_dist="2" max_agent_force="3" agent_interp_width="0.1" nu_agent="0.35" />
<Helbing agent_scale="2000" obstacle_scale="4000" reaction_time="0.5" body_force="1200" friction="2400" force_distance="0.015" />
<Johansson agent_scale="25" obstacle_scale="35" reaction_time="0.5" force_distance="0.15" stride_time="0.5" />
Expand Down Expand Up @@ -108,4 +108,4 @@
</Obstacle>
</ObstacleSet>

</Experiment>
</Experiment>
9 changes: 9 additions & 0 deletions examples/core/cong.xml
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<?xml version="1.0"?>

<Project
scene="cong/congS.xml"
behavior="cong/congB.xml"
view="cong/congV.xml"
model="orca"
dumpPath="images/test"
/>
91 changes: 91 additions & 0 deletions examples/core/cong/congB.xml
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<?xml version="1.0"?>

<BFSM>
<GoalSet id="0">
<Goal capacity="10000" id="0" type="AABB" weight="1.00" max_x="-19.90" min_x="-22.34" max_y="1.28" min_y="0.58"/>
<Goal capacity="10000" id="1" type="AABB" weight="1.00" max_x="-17.10" min_x="-19" max_y="1.28" min_y="0.57"/>
<Goal capacity="10000" id="2" type="AABB" weight="1.00" max_x="-15.00" min_x="-18.5" max_y="1.25" min_y="0.58"/>
<Goal capacity="10000" id="3" type="AABB" weight="1.00" max_x="-12.70" min_x="-17.5" max_y="1.28" min_y="0.63"/>
<Goal capacity="10000" id="4" type="AABB" weight="1.00" max_x="-20" min_x="-21.175" max_y="7.54" min_y="6.98"/>
<Goal capacity="10000" id="6" type="AABB" weight="1.00" max_x="-11.50" min_x="-17.315" max_y="-4.42" min_y="-9.57"/>
<Goal capacity="10000" id="7" type="AABB" weight="1.00" max_x="-16.70" min_x="-18.96" max_y="-8.3" min_y="-9.02"/>
<Goal capacity="10000" id="8" type="AABB" weight="1.00" max_x="-16.70" min_x="-18.77" max_y="-6.2" min_y="-7.74"/>
<Goal capacity="10000" id="9" type="AABB" weight="1.00" max_x="-19.10" min_x="-19.72" max_y="-7.83" min_y="-8.87"/>
<Goal capacity="10000" id="10" type="AABB" weight="1.00" max_x="-10.40" min_x="-14.15" max_y="-10.43" min_y="-13.98"/>
<Goal capacity="10000" id="11" type="AABB" weight="1.00" max_x="-17.20" min_x="-20.14" max_y="-10.16" min_y="-11.98"/>
<Goal capacity="10000" id="12" type="AABB" weight="1.00" max_x="-12.50" min_x="-14.48" max_y="-12.23" min_y="-12.98"/>
<Goal capacity="10000" id="13" type="AABB" weight="1.00" max_x="1.06" min_x="-1.06" max_y="-5.13" min_y="-10.55"/>
<Goal capacity="10000" id="14" type="AABB" weight="1.00" max_x="0" min_x="-3.14" max_y="-7.93" min_y="-9.62"/>
<Goal capacity="10000" id="15" type="AABB" weight="1.00" max_x="0" min_x="-4.5" max_y="-7.41" min_y="-11.47"/>
<Goal capacity="10000" id="16" type="AABB" weight="1.00" max_x="2" min_x="0" max_y="-11.11" min_y="-11.99"/>
<Goal capacity="10000" id="17" type="AABB" weight="1.00" max_x="0" min_x="-2.06" max_y="-1.01" min_y="-5.90"/>
<Goal capacity="10000" id="18" type="AABB" weight="1.00" max_x="0" min_x="-7.304" max_y="-0.60" min_y="-4.41"/>
<Goal capacity="10000" id="19" type="AABB" weight="1.00" max_x="-2.3" min_x="-7.54" max_y="-0.45" min_y="-5.44"/>
<Goal capacity="10000" id="21" type="AABB" weight="1.00" max_x="-3.24" min_x="-5.63" max_y="-7.21" min_y="-7.96"/>
<Goal capacity="10000" id="22" type="AABB" weight="1.00" max_x="-6.82" min_x="-7.74" max_y="-8.45" min_y="-10.78"/>
<Goal capacity="10000" id="23" type="AABB" weight="1.00" max_x="2.78" min_x="-1.38" max_y="8.84" min_y="8.24"/>
<Goal capacity="10000" id="24" type="AABB" weight="1.00" max_x="0" min_x="-7.2" max_y="11.89" min_y="9.96"/>
<Goal capacity="10000" id="25" type="AABB" weight="1.00" max_x="-15.6" min_x="-19.2" max_y="8.23" min_y="7.09"/>
<Goal capacity="10000" id="26" type="AABB" weight="1.00" max_x="0" min_x="-7.3" max_y="10.24" min_y="9.52"/>
<Goal capacity="10000" id="27" type="AABB" weight="1.00" max_x="2.78" min_x="-0.67" max_y="11.33" min_y="10.36"/>
<Goal capacity="10000" id="28" type="AABB" weight="1.00" max_x="-6.06" min_x="-9.02" max_y="10.14" min_y="5.03"/>
<Goal capacity="10000" id="29" type="AABB" weight="1.00" max_x="-2.97" min_x="-6.01" max_y="9.14" min_y="6.09"/>
<Goal capacity="10000" id="30" type="AABB" weight="1.00" max_x="-19.30" min_x="-20.5" max_y="10.76" min_y="9.67"/>
<Goal capacity="10000" id="31" type="AABB" weight="1.00" max_x="-17.00" min_x="-19.56" max_y="11.54" min_y="10.68"/>
<Goal capacity="10000" id="32" type="AABB" weight="1.00" max_x="12.80" min_x="-12.01" max_y="8.67" min_y="6.33"/>
<Goal capacity="10000" id="33" type="AABB" weight="1.00" max_x="12.80" min_x="-12.03" max_y="6.20" min_y="3.67"/>

</GoalSet>
<GoalSet id="1">
<Goal type="point" id="0" x="4.5" y="0.0"/>

</GoalSet>
<GoalSet id ="2">

<Goal type="point" id="1" x="1" y="0"/>
</GoalSet>

<State name="Walk1" final="0" >
<GoalSelector type="random" goal_set="0" />
<VelComponent type="goal"/>
</State>
<State name="Wait" final="0" >
<GoalSelector type="identity"/>
<VelComponent type="goal"/>
</State>
<State name="Wait1" final="0" >
<GoalSelector type="identity"/>
<VelComponent type="goal"/>
</State>
<State name="Congregate" final="0" >
<GoalSelector type="explicit" goal_set="1" goal="0" />
<VelComponent type="goal"/>
</State>




<Transition from="Walk1" to="Wait" >
<Condition type="goal_reached" distance="0.5" />
</Transition>
<Transition from="Wait" to="Walk1" >
<Condition type="timer" dist="u" min="5" max="7" per_agent="0"/>
</Transition>
<Transition from="Walk1" to="Congregate" >
<!--<Condition type="proximity" distance="10.0" agentToAvoid="260"/> -->
<!--<Condition type = "and">
<Condition type="proximity" distance="10.0" agentToAvoid="260"/>
<Condition type="timer" dist="u" min="25" max="26" per_agent="1"/>
</Condition>--><Condition type="timer" dist="u" min="10" max="20" per_agent="0"/>
</Transition>
<Transition from="Wait" to="Congregate" >
<!--<Condition type="proximity" distance="10.0" agentToAvoid="260"/>-->
<!--<Condition type = "and">
<Condition type="proximity" distance="10.0" agentToAvoid="260"/>
<Condition type="timer" dist="u" min="25" max="26" per_agent="1"/>
</Condition>--> <Condition type="timer" dist="u" min="10" max="20" per_agent="0"/>
</Transition>
<Transition from="Congregate" to="Wait1" >
<Condition type="goal_reached" distance="5.0"/>
</Transition>
</BFSM>
64 changes: 64 additions & 0 deletions examples/core/cong/congS.xml
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<?xml version="1.0"?>
<Experiment version="2.0">
<SpatialQuery type="kd-tree" test_visibility="false" />

<OpenSteer max_force="8" leak_through="0.1" reaction_time="0.5" />
<Common time_step="0.1" />
<GCF reaction_time="0.5" max_agent_dist="2" max_agent_force="3" agent_interp_width="0.1" nu_agent="0.35" />
<Helbing agent_scale="2000" obstacle_scale="4000" reaction_time="0.5" body_force="1200" friction="2400" force_distance="0.015" />
<Johansson agent_scale="25" obstacle_scale="35" reaction_time="0.5" force_distance="0.15" stride_time="0.5" />
<Karamouzas orient_weight="0.8" fov="200" reaction_time="0.4" wall_steepness="2" wall_distance="2" colliding_count="5" d_min="1" d_mid="8" d_max="10" agent_force="4" />
<Zanlungo agent_scale="2000" obstacle_scale="4000" reaction_time="0.5" force_distance="0.005" />
<Dummy stddev="1.0" />

<AgentProfile name="group1" >
<OpenSteer tau="3" tauObst="6" />
<Common max_angle_vel="180" max_neighbors="10" obstacleSet="1" neighbor_dist="5" r="0.27" class="1" pref_speed="1.04" max_speed="2" max_accel="5" />
<PedVO factor="1.57" buffer="0.9" tau="3" tauObst="0.1" turningBias="1.0" />
<GCF stand_depth="0.18" move_scale="0.53" slow_width="0.25" sway_change="0.05" orient_weight="0.75" />
<Helbing mass="80" />
<Johansson fov_weight="0.16" />
<Karamouzas personal_space="0.69" anticipation="8" />
<ORCA tau="3" tauObst="0.15" />
<Zanlungo mass="80" orient_weight="0.75" />
</AgentProfile>
<AgentProfile name="attraction" >
<OpenSteer tau="3" tauObst="6" />
<Common max_angle_vel="180" max_neighbors="100" obstacleSet="1" neighbor_dist="5" r="3" class="1" pref_speed="2" max_speed="1.5" max_accel="5" />
<PedVO factor="1.57" buffer="0.9" tau="3" tauObst="0.1" turningBias="0.1" />
<GCF stand_depth="0.18" move_scale="0.53" slow_width="0.25" sway_change="0.00" orient_weight="100" />
<Helbing mass="300" />
<Johansson fov_weight="0.16" />
<Karamouzas personal_space="0" anticipation="0" />
<ORCA tau="3" tauObst="0.15" />
<Zanlungo mass="300" orient_weight="0.75" />
</AgentProfile>

<AgentGroup>
<ProfileSelector type="const" name="group1" />
<StateSelector type="const" name="Walk1" />
<Generator type="rect_grid"
anchor_x="0" anchor_y="10"
offset_x="-2" offset_y="-2"
count_x="20" count_y="13"
displace_dist="u" displace_min="0.0" displace_max="0.25"
/>
</AgentGroup>
<AgentGroup>
<ProfileSelector type="const" name="attraction" />
<StateSelector type="const" name="Wait1" />
<Generator type="explicit">
<Agent p_x="4.5" p_y="0" />
</Generator>
</AgentGroup>
<ObstacleSet type="explicit" class="1">
<Obstacle closed="1" >
<Vertex p_x = "7.5" p_y = "3.5"/>
<Vertex p_x = "1.5" p_y = "3.5"/>
<Vertex p_x = "1.5" p_y = "-3.5"/>
<Vertex p_x = "7.5" p_y = "-3.5"/>
</Obstacle>

</ObstacleSet>

</Experiment>
16 changes: 16 additions & 0 deletions examples/core/cong/congV.xml
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<?xml version="1.0"?>

<View width="640" height="480" >
<!-- Multiple cameras are mapped to a key from 1-9 in the order they are defined here -->
<Camera xpos="0" ypos="19.13" zpos="0.01" xtgt="0" ytgt="0" ztgt="0" far="500" near="0.01" fov="0.0" orthoScale="0.148687" />
<Camera xpos="-50.4039" ypos="42.0134" zpos="-1.68529" xtgt="-2.92525" ytgt="-3.08614" ztgt="-1.48571" far="500" near="0.01" fov="45" />
<Camera xpos="9.66527" ypos="19.1216" zpos="16.1774" xtgt="9.66527" ytgt="-0.00845144" ztgt="16.1674" far="500" near="0.01" fov="0.0" orthoScale="0.143958" />
<Camera xpos="9.83013" ypos="25.4353" zpos="49.3125" xtgt="-1.6328" ytgt="-0.234482" ztgt="9.07047" far="500" near="0.01" fov="45" />
<Camera xpos="0" ypos="19.13" zpos="0.01" xtgt="0" ytgt="0" ztgt="0" far="500" near="0.01" fov="0.0" orthoScale="1" />
<Camera xpos="-4.69053" ypos="19.1347" zpos="-8.93903" xtgt="-4.69053" ytgt="0.00467801" ztgt="-8.94903" far="500" near="0.01" fov="0.0" orthoScale="0.774902" />
<!-- Comment out lights for a constant-illuminated visualization -->
<Light x="1" y="0" z="-1" type="directional" diffR="1.0" diffG="0.8" diffB="0.8" space="camera"/>
<Light x="-1" y="0" z="-1" type="directional" diffR="0.8" diffG="0.8" diffB="1.0" space="camera"/>
<Light x="0" y="1" z="0" type="directional" diffR="0.8" diffG="0.8" diffB="0.8" space="world"/>
</View>

9 changes: 9 additions & 0 deletions examples/core/outside.xml
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<?xml version="1.0"?>

<Project
scene="outside/outsideS.xml"
behavior="outside/outsideB.xml"
view="outside/outsideV.xml"
model="orca"
dumpPath="images/test"
/>
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