First full commit

This should be all of the code and resources to build.
MengeCrowdSim · Oct 19, 2014 · 7e45a15 · 7e45a15
1 parent 50a761d
commit 7e45a15
Show file tree

Hide file tree

Showing 886 changed files with 168,138 additions and 0 deletions.
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,10 @@
+debug/
+Exe/
+release/
+COPY.txt
+*.scb
+*.suo
+build/
+*.sdf
+*.opensdf
+ipch/
diff --git a/examples/core/4square.xml b/examples/core/4square.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+
+<Project 
+	scene="4square/4squareS.xml" 
+	behavior="4square/4squareB.xml" 
+	view="4square/4squareV.xml" 
+	model="orca"
+	dumpPath="images/test"
+/>
diff --git a/examples/core/4square/4squareB.xml b/examples/core/4square/4squareB.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+
+<BFSM>
+	<State name="Walk" final="0" >
+		<GoalSelector type="mirror" mirror_x="1" mirror_y="1"/>
+		<VelComponent type="goal" />
+	</State>
+	<State name="Stop" final="1" >
+		<GoalSelector type="identity" />
+		<VelComponent type="goal" />
+	</State>
+	<Transition from="Walk" to="Stop" >
+		<Condition type="goal_reached" distance="0.05" />
+	</Transition>
+</BFSM>
diff --git a/examples/core/4square/4squareS.xml b/examples/core/4square/4squareS.xml
@@ -0,0 +1,111 @@
+<?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" >
+		<Common max_angle_vel="360"  max_neighbors="10" obstacleSet="1" neighbor_dist="5" r="0.2" pref_speed="1.34" max_speed="2" max_accel="5" />
+		<OpenSteer tau="3" tauObst="6" />
+		<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="3.0" tauObst="0.15" />
+        <Zanlungo mass="80" orient_weight="0.75" />
+	</AgentProfile>
+
+	<AgentProfile name="group2" inherits="group1" >
+		<Common class="2" />
+	</AgentProfile>
+
+	<AgentProfile name="group3" inherits="group1" >
+		<Common class="3" />
+	</AgentProfile>
+
+	<AgentProfile name="group4" inherits="group1" >
+		<Common class="4" r="0.35" >
+			<Property name="pref_speed" dist="c" value="0.75" />
+		</Common>
+	</AgentProfile>
+
+    <AgentGroup>
+        <ProfileSelector type="const" name="group1" />
+		<StateSelector type="const" name="Walk" />
+		<Generator type="rect_grid" 
+					anchor_x="-7.3" anchor_y="-7.3" 
+					offset_x="-1.333" offset_y="-1.333" 
+					count_x="5" count_y="5" 
+					displace_dist="u" displace_min="0.0" displace_max="0.25"
+					/>
+	</AgentGroup>
+
+    <AgentGroup>
+        <ProfileSelector type="const" name="group2" />
+		<StateSelector type="const" name="Walk" />
+		<Generator type="rect_grid" 
+					anchor_x="7.3" anchor_y="-7.3" 
+					offset_x="1.333" offset_y="-1.333" 
+					count_x="5" count_y="5" 
+					displace_dist="u" displace_min="0.0" displace_max="0.25"
+					/>
+    </AgentGroup>
+
+    <AgentGroup>
+        <ProfileSelector type="const" name="group3" />
+		<StateSelector type="const" name="Walk" />
+		<Generator type="rect_grid" 
+					anchor_x="-7.3" anchor_y="7.3" 
+					offset_x="-1.333" offset_y="1.333" 
+					count_x="5" count_y="5" 
+					displace_dist="u" displace_min="0.0" displace_max="0.25"
+					/>
+    </AgentGroup>
+
+    <AgentGroup>
+        <ProfileSelector type="const" name="group4" />
+		<StateSelector type="const" name="Walk" />
+		<Generator type="rect_grid" 
+					anchor_x="7.3" anchor_y="7.3" 
+					offset_x="1.333" offset_y="1.333" 
+					count_x="5" count_y="5" 
+					displace_dist="u" displace_min="0.0" displace_max="0.25"
+					/>
+    </AgentGroup>
+
+    <ObstacleSet type="explicit" class="1"> 
+          <Obstacle closed="1"  >
+            <Vertex p_x = "1.333" p_y = "1.333"/>
+            <Vertex p_x = "5.333" p_y = "1.333"/>
+            <Vertex p_x = "5.333" p_y = "5.333"/>
+            <Vertex p_x = "1.333" p_y = "5.333"/> 
+          </Obstacle>
+          <Obstacle closed="1"  >
+            <Vertex p_x = "-5.333" p_y = "1.333"/>
+            <Vertex p_x = "-1.333" p_y = "1.333"/>
+            <Vertex p_x = "-1.333" p_y = "5.333"/>
+            <Vertex p_x = "-5.333" p_y = "5.333"/> 
+          </Obstacle>
+          <Obstacle closed="1"  >
+            <Vertex p_x = "-5.333" p_y = "-5.333"/>
+            <Vertex p_x = "-1.333" p_y = "-5.333"/>
+            <Vertex p_x = "-1.333" p_y = "-1.333"/>
+            <Vertex p_x = "-5.333" p_y = "-1.333"/> 
+          </Obstacle>
+          <Obstacle closed="1"  >
+            <Vertex p_x = "1.333" p_y = "-5.333"/>
+            <Vertex p_x = "5.333" p_y = "-5.333"/>
+            <Vertex p_x = "5.333" p_y = "-1.333"/>
+            <Vertex p_x = "1.333" p_y = "-1.333"/> 
+          </Obstacle>
+    </ObstacleSet>
+
+</Experiment>
diff --git a/examples/core/4square/4squareV.xml b/examples/core/4square/4squareV.xml
@@ -0,0 +1,16 @@
+<?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="270.172" zpos="0.01" xtgt="0" ytgt="0" ztgt="0" far="600" near="0.01" fov="0.0" orthoScale="7.14431" />
+	<Camera xpos="-5.65128" ypos="9.79036" zpos="19.2892" xtgt="0" ytgt="0" ztgt="0" far="600" near="0.01" fov="45" />
+
+	<!-- 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"/> 
+
+	<Watermark file_name="mengeLogo.png" alignment="bottom_right" scale="0.5" opacity="0.25"/>
+
+
+</View>
diff --git a/examples/core/boolean.xml b/examples/core/boolean.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+
+<Project 
+	scene="boolean/booleanS.xml" 
+	behavior="boolean/booleanB.xml" 
+	view="boolean/booleanV.xml" 
+	model="orca"
+	dumpPath="boolean/images"
+/>
diff --git a/examples/core/boolean/booleanB.xml b/examples/core/boolean/booleanB.xml
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+
+<BFSM>
+	<GoalSet id="0">
+		<Goal type="circle" id="0" x="0" y="0" radius="0.5" />
+		<Goal type="circle" id="1" x="10" y="0" radius="0.5" />
+		<Goal type="circle" id="2" x="10" y="5" radius="0.5" />
+		<Goal type="circle" id="3" x="10" y="-5" radius="0.5" />
+	</GoalSet>
+
+	<State name="Start" final="0">
+		Walk to the action box
+		<GoalSelector type="explicit" goal_set="0" goal="0" />
+		<VelComponent type="goal"/>
+	</State>
+	<State name="ChangeSpeed" final="0">
+		Walk to the action box
+		<Action type="set_property" property="pref_speed" dist="u" min="0.5" max="1.5" exit_reset="1" />
+		<GoalSelector type="explicit" goal_set="0" goal="1" />
+		<VelComponent type="goal" />
+	</State>
+	<State name="Slow" final="0">
+		Walk the slow direction
+		<GoalSelector type="explicit" goal_set="0" goal="2" />
+		<VelComponent type="goal"/>
+	</State>
+	<State name="Fast" final="0">
+		Walk the fast direction
+		<GoalSelector type="explicit" goal_set="0" goal="3" />
+		<VelComponent type="goal"/>
+	</State>
+	<State name="Done" final="1"/>
+
+	<Transition from="Start" to="ChangeSpeed" >
+		<Condition type="goal_reached" distance="0.2" />
+	</Transition>
+	<Transition from="ChangeSpeed" to="Fast" >
+		First of two transitions out of ChangeSpeed
+			If I've reached the goal AND the timer has NOT reached at least 10 seconds, transition to fast
+		<Condition type="and">
+			<Condition type="goal_reached" distance="0.2" />
+			<Condition type="not">
+				<Condition type="timer" per_agent="0" dist="c" value="10" />
+			</Condition>
+		</Condition>
+	</Transition>
+	<Transition from="ChangeSpeed" to="Slow" >
+		Second transtion out of ChangeSpeed
+			- it is evaluated after the previous (because it is defined second).
+			- If the previous condition was NOT met, it is either because the goal wasn't reached, or it
+				wasn't reached fast enough.
+			- If it was a case of timing, this condition will be met (at goal), the agent will be filtered
+				in the slow direction.
+		<Condition type="goal_reached" distance="0.2" />
+	</Transition>
+	<Transition from="Fast" to="Done">
+		<Condition type="goal_reached" distance="0.2"/>
+	</Transition>
+	<Transition from="Slow" to="Done">
+		<Condition type="goal_reached" distance="0.2"/>
+	</Transition>
+</BFSM>
diff --git a/examples/core/boolean/booleanS.xml b/examples/core/boolean/booleanS.xml
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<Experiment version="2.0">
+    <SpatialQuery type="kd-tree" />
+
+    <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="360" max_neighbors="10" obstacleSet="1" neighbor_dist="5" r="0.19" 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>
+
+	<AgentGroup>
+        <ProfileSelector type="const" name="group1" />
+		<StateSelector type="const" name="Start" />
+		<Generator type="rect_grid"
+				anchor_x="0" anchor_y="3.0"
+				offset_x="0" offset_y="2.0"
+				count_x="1" count_y="10"
+				/>
+    </AgentGroup>
+
+</Experiment>
diff --git a/examples/core/boolean/booleanV.xml b/examples/core/boolean/booleanV.xml
@@ -0,0 +1,14 @@
+<?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="4.67002" ypos="9.1298" zpos="0.230371" xtgt="4.67002" ytgt="-0.000197559" ztgt="0.220371" far="400" near="0.01" fov="0.0" orthoScale="0.571561" />
+
+	<!-- 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"/> 
+
+	<Watermark file_name="../mengeLogo.png" alignment="bottom_right" scale="0.5" opacity="0.25"/>
+
+</View>
diff --git a/examples/core/bottleneck.xml b/examples/core/bottleneck.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+
+<Project 
+	scene="bottleneck/bottleneckS.xml" 
+	behavior="bottleneck/bottleneckB.xml" 
+	view="bottleneck/bottleneckV.xml" 
+	model="orca"
+	dumpPath="images/bottleneck"
+/>
diff --git a/examples/core/bottleneck/bottleneckB.xml b/examples/core/bottleneck/bottleneckB.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+
+<BFSM>
+	<GoalSet id="0">
+		<Goal type="AABB" id="0" min_x="-20" min_y="6" max_x="-10" max_y="8" />
+	</GoalSet>
+
+	<State name="Walk" final="0" >
+		<GoalSelector type="explicit" goal_set="0" goal="0"  />
+		<VelComponent type="road_map" file_name="bottleneckMap.txt" />
+	</State>
+	<State name="Wait" final="1">
+		<GoalSelector type="identity" />
+		<VelComponent type="zero" />
+	</State>
+
+	<Transition from="Walk" to="Wait" >
+		<Condition type="goal_reached" distance="0.25" />
+	</Transition>
+
+</BFSM>
diff --git a/examples/core/bottleneck/bottleneckMap.txt b/examples/core/bottleneck/bottleneckMap.txt
@@ -0,0 +1,18 @@
+6
+4 -0.5 -3.0
+4 0.5 -3.0
+4 -0.5 3.0
+4 0.5 3.0
+2 1.0 -6
+2 1.0 6
+10
+0 1
+0 2
+0 3
+1 2
+1 3
+2 3
+0 4
+1 4
+2 5
+3 5
diff --git a/examples/core/bottleneck/bottleneckS.xml b/examples/core/bottleneck/bottleneckS.xml
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<Experiment version="2.0">
+	<SpatialQuery type="kd-tree" test_visibility="false" />
+
+    <Common time_step="0.1" />
+    <Helbing agent_scale="2000" obstacle_scale="4000" reaction_time="0.5" body_force="1200" friction="2400" force_distance="0.015" />
+    <Dummy stddev="0.05" />
+
+	<AgentProfile name="group1" >
+		<Common max_angle_vel="360" max_neighbors="10" obstacleSet="1" neighbor_dist="5" r="0.19"  pref_speed="1.04" max_speed="2" max_accel="5" priority="0.0"/>
+		<PedVO factor="1.57" buffer="0.9" tau="3" tauObst="0.1" turningBias="1.0" />
+        <Helbing mass="80" />
+        <ORCA tau="3.0" tauObst="0.15" />
+	</AgentProfile>
+
+    <AgentGroup>
+        <ProfileSelector type="const" name="group1" />
+        <StateSelector type="const" name="Walk" />
+		<Generator type="rect_grid"
+					anchor_x="-18" anchor_y="-6"
+					offset_x="1" offset_y="0"
+					count_x="5" count_y="1"
+					/>
+    </AgentGroup>
+
+    <ObstacleSet type="explicit" class="1">
+		<Obstacle  closed="1" >
+			<Vertex p_x="-30" p_y="-5" />
+			<Vertex p_x="-1" p_y="-5" />
+			<Vertex p_x="-1" p_y="5" />
+			<Vertex p_x="-30" p_y="5" />
+		</Obstacle>
+
+		<Obstacle  closed="1" >
+			<Vertex p_x="30" p_y="-5" />
+			<Vertex p_x="30" p_y="5" />
+			<Vertex p_x="1" p_y="5" />
+			<Vertex p_x="1" p_y="-5" />
+		</Obstacle>
+	</ObstacleSet>
+</Experiment>