diff --git a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistArrayStampedPublisher.cs b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistArrayStampedPublisher.cs
index 3292e70636da5f93e7d4da6da58db0889513b706..0bfbce5d8aadb1205d3b7f8e0bb126db51ba5c4c 100644
--- a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistArrayStampedPublisher.cs
+++ b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistArrayStampedPublisher.cs
@@ -5,9 +5,11 @@ namespace RosSharp.RosBridgeClient
{
public class TwistArrayStampedPublisher : Publisher<Messages.crowdbotsim.TwistArrayStamped>
{
+ [System.NonSerialized]
public Rigidbody[] agent;
private Messages.crowdbotsim.TwistArrayStamped message;
+ [System.NonSerialized]
public bool started = false;
private bool initialized = false;
diff --git a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistArrayStampedSubscriber.cs b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistArrayStampedSubscriber.cs
index 313024eaef65be59d2be2758c3fb09789192e7f8..4b14aa274234574882d14495d4f7de445c8ab3a2 100644
--- a/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistArrayStampedSubscriber.cs
+++ b/Assets/AddOns/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistArrayStampedSubscriber.cs
@@ -5,10 +5,13 @@ namespace RosSharp.RosBridgeClient
{
public class TwistArrayStampedSubscriber : Subscriber<Messages.crowdbotsim.TwistArrayStamped>
{
+ [System.NonSerialized]
public UnityTwist[] ut;
+ [System.NonSerialized]
public Rigidbody[] agent;
private bool isMessageReceived;
+ [System.NonSerialized]
public bool started = false;
diff --git a/Assets/Demo/DutraDemo/DutraDemo.unity b/Assets/Demo/DutraDemo/DutraDemo.unity
index 90d1f1677d4db3975449a500e87725e1b3a4a999..cb301819812331f54b852a50ccb4d45eb2c2101e 100644
--- a/Assets/Demo/DutraDemo/DutraDemo.unity
+++ b/Assets/Demo/DutraDemo/DutraDemo.unity
@@ -180,7 +180,7 @@ GameObject:
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- component: {fileID: 333326179}
m_Layer: 0
- m_Name: CrowdBotSimMainManager
+ m_Name: "DutraMainManager\x13"
m_TagString: GameManager
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
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m_Enabled: 1
m_EditorHideFlags: 0
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+ m_Script: {fileID: 11500000, guid: d898cf07e683fae63914f2e2a83b1ecc, type: 3}
m_Name:
m_EditorClassIdentifier:
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+ configPath: ./config.xml
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m_ObjectHideFlags: 0
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value: Corridor
objectReference: {fileID: 0}
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type: 3}
propertyPath: m_LocalPosition.x
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type: 3}
propertyPath: ROS
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value: 20
objectReference: {fileID: 0}
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diff --git a/Assets/Demo/GroupExperiment/GroupExperiment.unity b/Assets/Demo/GroupExperiment/GroupExperiment.unity
index d4f61a6e72216d9afd4e1e2cfb6587c1b84d161f..4d18d422a9d7fe8a0cf26ec32f8594e04a20637d 100644
--- a/Assets/Demo/GroupExperiment/GroupExperiment.unity
+++ b/Assets/Demo/GroupExperiment/GroupExperiment.unity
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diff --git a/Assets/Examples/CrowdBot.meta b/Assets/Examples/CrowdBot.meta
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index 0000000000000000000000000000000000000000..889056e765ac7b97d13a572fa2fa6ab44a6db3e9
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@@ -0,0 +1,8 @@
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diff --git a/Assets/Examples/CrowdBot/1D_flow_pepper_player.meta b/Assets/Examples/CrowdBot/1D_flow_pepper_player.meta
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diff --git a/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot.meta b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot.meta
new file mode 100644
index 0000000000000000000000000000000000000000..743a44b32a1880fed930987641febc8231d276ea
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diff --git a/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/CrowdBotControlSim.cs b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/CrowdBotControlSim.cs
new file mode 100644
index 0000000000000000000000000000000000000000..d13876049f877745002949553ba1abeab70762ea
--- /dev/null
+++ b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/CrowdBotControlSim.cs
@@ -0,0 +1,71 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class CrowdBotControlSim : ControlSim
+{
+ int ConfigId;
+ CrowdBot.Simulator sim;
+
+ public CrowdBotControlSim(int id)
+ {
+ ConfigId = id;
+ sim = new CrowdBot.Simulator();
+ }
+
+ public void addAgent(Vector3 position, TrialControlSim infos)
+ {
+ CrowdBotControlSimConfig ConfigInfos = (CrowdBotControlSimConfig)infos;
+ sim.addAgent(position, ConfigInfos.neighborDist, ConfigInfos.maxNeighbors, ConfigInfos.timeHorizon, ConfigInfos.timeHorizonObst, ConfigInfos.radius, ConfigInfos.maxSpeed, new Vector3(0,0,0));
+ }
+
+ public void addNonResponsiveAgent(Vector3 position, float radius)
+ {
+ sim.addAgent(position, 0, 0, 0, 0, radius, 5, new Vector3(0,0,0));
+ }
+
+ public void addObstacles(Obstacles obst)
+ {
+ foreach (ObstCylinder pillar in obst.Pillars)
+ {
+ sim.addAgent(pillar.position, 0, 0, 0, 0, pillar.radius, 5, new Vector3(0,0,0));
+ }
+
+ foreach (ObstWall wall in obst.Walls)
+ {
+ sim.addWall(wall);
+ }
+ }
+
+ public void clear()
+ {
+ sim.Clear();
+ }
+
+ public void doStep(float deltaTime)
+ {
+ sim.setTimeStep(deltaTime);
+ sim.doStep();
+ }
+
+ public Vector3 getAgentPosition(int id)
+ {
+ return sim.getAgentPosition(id);
+ }
+
+ public Vector3 getAgentSpeed(int id)
+ {
+ return sim.getAgentVelocity(id);
+ }
+
+ public int getConfigId()
+ {
+ return ConfigId;
+ }
+
+ public void updateAgentState(int id, Vector3 position, Vector3 goal)
+ {
+ sim.setAgentPosition(id, position);
+ sim.setAgentPrefVelocity(id, goal);
+ }
+}
diff --git a/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/CrowdBotControlSim.cs.meta b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/CrowdBotControlSim.cs.meta
new file mode 100644
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+++ b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/CrowdBotControlSim.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/CrowdBotControlSimConfig.cs b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/CrowdBotControlSimConfig.cs
new file mode 100644
index 0000000000000000000000000000000000000000..db6defc633754c1fd1122e02ae9131ca29e0ab8f
--- /dev/null
+++ b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/CrowdBotControlSimConfig.cs
@@ -0,0 +1,46 @@
+using System.Collections;
+using System.Collections.Generic;
+using System.Xml.Serialization;
+using UnityEngine;
+
+public class CrowdBotControlSimConfig : TrialControlSim
+{
+ [XmlAttribute("SimulationID")]
+ public int id;
+ [XmlAttribute]
+ public float neighborDist;
+ [XmlAttribute]
+ public int maxNeighbors;
+ [XmlAttribute]
+ public float timeHorizon;
+ [XmlAttribute]
+ public float timeHorizonObst;
+ [XmlAttribute]
+ public float radius;
+ [XmlAttribute]
+ public float maxSpeed;
+
+ public int getConfigId()
+ {
+ return id;
+ }
+
+ public ControlSim createControlSim(int id)
+ {
+
+ return new CrowdBotControlSim(id);
+ }
+
+ public CrowdBotControlSimConfig()
+ {
+ id = 0;
+ neighborDist = 5;
+ maxNeighbors = 3;
+ timeHorizon = 5;
+ timeHorizon = 2;
+ radius = 0.33f;
+ maxSpeed = 2;
+
+ }
+
+}
diff --git a/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/CrowdBotControlSimConfig.cs.meta b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/CrowdBotControlSimConfig.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..94a22015503e5feb5e254e10b1634efa86925174
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diff --git a/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/Lib.meta b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/Lib.meta
new file mode 100644
index 0000000000000000000000000000000000000000..0b3e2dd17ab826b8cdab770a0f170161f0bb5235
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diff --git a/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/Lib/CrowdBotCrowdSimulator.cs b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/Lib/CrowdBotCrowdSimulator.cs
new file mode 100644
index 0000000000000000000000000000000000000000..87df475355361e901790cbfcf8b89d7d701b4591
--- /dev/null
+++ b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/Lib/CrowdBotCrowdSimulator.cs
@@ -0,0 +1,288 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace CrowdBot
+{
+ public class Simulator
+ {
+ List<Agent> agents_;
+ List<ObstWall> walls_;
+
+ float timeStep_ = 0.01f;
+
+ private float sigDca_ = 0.3f;
+ private float sigTtca_ = 0.3f;
+ float sigDist_ = 0.1f;
+ private float coefficient_ = 8.0f;
+ private float coefficientSpeed_ = 0.05f;
+ private float coefficientDist_ = 0.001f;
+ private float alpha = 0.15f;
+
+ private float eps = 0.001f;
+
+ public Simulator()
+ {
+ agents_ = new List<Agent>();
+ walls_ = new List<ObstWall>();
+ }
+
+ public int addAgent(Vector3 position, float neighborDist, int maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, Vector3 velocity)
+ {
+ Agent agent = new Agent();
+ agent.id_ = agents_.Count;
+ agent.maxNeighbors_ = maxNeighbors;
+ agent.maxSpeed_ = maxSpeed;
+ agent.neighborDist_ = neighborDist;
+ agent.setPosition(position);
+ agent.radius_ = radius;
+ agent.timeHorizon_ = timeHorizon;
+ agent.timeHorizonObst_ = timeHorizonObst;
+ agent.setVelocity(velocity);
+ agents_.Add(agent);
+
+ return agent.id_;
+ }
+
+ public void Clear()
+ {
+ agents_.Clear();
+ }
+
+ public void setTimeStep(float deltaTime)
+ {
+ timeStep_ = deltaTime;
+ }
+
+ public void doStep()
+ {
+ Vector3[] new_vels = new Vector3[agents_.Count];
+ //Do the magic here
+ foreach(Agent a in agents_)
+ {
+ Vector3 Gradient = new Vector3();
+ Vector3 Vnorm = a.getVelocity().normalized;
+
+ Matrix2x2 R = new Matrix2x2(new Vector3(Vnorm.z, -Vnorm.x), Vnorm);
+
+ float TotalCost = 0;
+ float GradTh = 0;
+ float GradS = 0;
+ Vector3 GradDist = Vector3.zero;
+ Vector3 GradWalls = Vector3.zero;
+
+ //find the neighbors
+ List<int> neighbors_id = FindNeighbors(a.id_);
+
+ int NumAgentsVisible = 0;
+
+ // for each agent of the neighbourhood
+ foreach(int n_id in neighbors_id)
+ {
+ // Compute relative velocity and relative position
+ Vector3 relPos = getAgentPosition(n_id) - a.getPosition();
+ float radius_diff = agents_[n_id].radius_ + a.radius_;
+
+ relPos = relPos.magnitude > radius_diff ? relPos - relPos.normalized * radius_diff : relPos.normalized * eps;
+
+ Vector3 relVelocity = getAgentVelocity(n_id) - a.getVelocity();
+
+ GradDist += coefficientDist_ * relPos / (2*sigDist_*sigDist_) * Mathf.Exp(-0.5f*(relPos.magnitude/sigDist_)*(relPos.magnitude/sigDist_)) * a.getVelocity().sqrMagnitude;
+
+ //Only see agents in front of the direction of motion
+ if (Vector3.Dot(relPos, a.getVelocity()) < 0) {
+ continue;
+ }
+
+ float ttca = 0;
+ float dca = 0;
+ Vector3 vdca = new Vector3(0,0,0);
+
+ // there is adaptation only if relative velocity is not zero
+ if (relVelocity.sqrMagnitude > eps)
+ {
+ // computing ttc and dca
+ ttca = -Vector3.Dot(relPos, relVelocity) / relVelocity.sqrMagnitude;
+ vdca = (relPos + ttca * relVelocity);
+ dca = vdca.magnitude;
+ if (ttca < 0) continue;
+
+ // saving the total cost
+ float cost = Cost(ttca,dca);
+
+ // cost = cost * (coefficient_ / relPos.sqrMagnitude); //simulate num of pixels of an agent in screen
+ cost = cost * (coefficient_ / relPos.magnitude); //simulate num of pixels of an agent in screen
+ TotalCost += cost;
+
+ // computing gradients of the cost regarding the speed and velocity of the main agent
+ Vector3 velRot = new Vector3(a.getVelocity().z,0,-a.getVelocity().x);
+ float gradTtcaAngle = -Vector3.Dot(relPos + 2*ttca*relVelocity,velRot) / (Vector3.Dot(relVelocity,relVelocity));
+ float gradTtcaSpeed = Vector3.Dot(relPos + 2*ttca*relVelocity,a.getVelocity().normalized) / (Vector3.Dot(relVelocity,relVelocity));
+
+ float gradDcaAngle, gradDcaSpeed;
+ if(Mathf.Abs(dca) > eps){
+ gradDcaAngle = Vector3.Dot(vdca, gradTtcaAngle*relVelocity + ttca*velRot) / dca;
+ gradDcaSpeed = Vector3.Dot(vdca, gradTtcaSpeed*relVelocity - ttca * (a.getVelocity().normalized))/ dca;
+ }
+ else {
+ gradDcaAngle = 0;
+ gradDcaSpeed = 0;
+ }
+
+ float gradCSpeed = -cost * ( gradTtcaSpeed * (ttca/(sigTtca_*sigTtca_)) + gradDcaSpeed * (dca/(sigDca_*sigDca_)));
+ float gradCAngle = -cost * ( gradTtcaAngle * (ttca/(sigTtca_*sigTtca_)) + gradDcaAngle * (dca/(sigDca_*sigDca_)));
+
+ gradCSpeed += 0.5f*UnityEngine.Random.Range(-1.0f,1.0f);
+ gradCAngle += 1.0f*UnityEngine.Random.Range(-1.0f,1.0f);
+ gradCSpeed *= coefficientSpeed_;
+ gradCAngle *= coefficient_;
+
+ GradTh += gradCAngle;
+ GradS += gradCSpeed;
+
+ ++NumAgentsVisible;
+ }
+ // else{
+ // GradS = coefficientSpeed_*UnityEngine.Random.Range(-1.0f,1.0f);
+ // GradTh = coefficient_*UnityEngine.Random.Range(-1.0f,1.0f);
+ // }
+ }
+ foreach(ObstWall wall in walls_)
+ {
+ //TODO: better
+
+ //find the longest part
+ Vector3 L1 = wall.B - wall.A;
+ Vector3 L2 = wall.D - wall.A;
+
+ Vector3 AB = (L1.magnitude > L2.magnitude) ? L1 : L2;
+ Vector3 AP = a.getPosition() - wall.A;
+ Vector3 AM = Vector3.Dot(AP,AB)*AB.normalized;
+ Vector3 PM = AP - AM;
+
+ // 1000 factor to boost it
+ GradWalls = PM.normalized * Mathf.Exp(-0.5f*(PM.sqrMagnitude))*1000.0f;
+ }
+ if(Mathf.Abs(GradS) > a.getVelocity().magnitude || a.getVelocity().magnitude < eps) GradS = 0;
+ // GradTh *= coefficient_;
+ // GradS *= coefficient_;
+ // GradS = Mathf.Clamp(GradS,-0.5f,0.5f);
+ // GradS = 0;
+ // GradTh = Mathf.Clamp(GradTh, -0.5f, 0.5f);
+
+ // Gradient = -1 * R.product(new Vector3(Mathf.Sin(GradTh), 0, 1 - Mathf.Cos(GradTh))*a.getVelocity().magnitude + new Vector3(0,0,GradS));
+ // Gradient = a.getVelocity().normalized - Quaternion.AngleAxis(GradTh, Vector3.up) * a.getVelocity().normalized * (1 + GradS);
+ // Gradient = -(a.getVelocity().normalized - Quaternion.AngleAxis(GradTh, Vector3.up) * a.getVelocity().normalized);
+ // Gradient = -(a.getVelocity().normalized - Quaternion.AngleAxis(GradTh, Vector3.up) * a.getVelocity().normalized*(1+GradS)) - GradDist - GradWalls;
+ Gradient = -(a.getVelocity().normalized - Quaternion.AngleAxis(GradTh, Vector3.up) * a.getVelocity().normalized);
+ Gradient -= a.getVelocity()*GradS;
+ Gradient -= GradDist;
+ if (NumAgentsVisible > 0) {
+ Gradient = Gradient / (float)NumAgentsVisible;
+ TotalCost = TotalCost / (float)NumAgentsVisible;
+ }
+
+
+ Vector3 new_delta_vel = new Vector3();
+
+ //TODO Debug this
+
+ // float CostAngle = -0.5f*Vector3.Angle(a.pref_velocity_, a.velocity_)*Mathf.Exp(-0.5f*( Mathf.Pow(Vector3.Angle(a.pref_velocity_, a.velocity_),2)));
+ // float CostSpeed = -0.5f*(a.velocity_.magnitude - a.pref_velocity_.magnitude)*Mathf.Exp(-0.5f*( Mathf.Pow(a.velocity_.magnitude - a.pref_velocity_.magnitude,2)));
+
+ // Vector3 CostMov = new Vector3(CostAngle, 0, CostSpeed);
+
+ // if(a.velocity_.magnitude > 0){
+ // // new_vel = Quaternion.AngleAxis(CostMov.x, Vector3.up) * (a.velocity_.normalized * (a.velocity_.magnitude + CostMov.z));
+ // new_vel = Quaternion.LookRotation(a.pref_velocity_, Vector3.up) * (a.velocity_.normalized * (a.velocity_.magnitude + CostMov.z));
+ // }
+ // else{
+ // new_vel = Quaternion.LookRotation(a.pref_velocity_, Vector3.up) * (a.pref_velocity_.normalized * CostMov.z);
+ // }
+
+ //new_delta_vel = (a.pref_velocity_ - a.velocity_) + Gradient;
+ new_delta_vel = alpha * (a.pref_velocity_ - a.getVelocity()) + (1-alpha) * Gradient;
+ // if(new_delta_vel.magnitude >= 0.8f)
+ // {
+ // new_delta_vel = new_delta_vel.normalized * 0.8f;
+ // }
+ new_vels[a.id_] = a.getVelocity() + new_delta_vel;
+ if(new_vels[a.id_].magnitude > 2.0f){
+ new_vels[a.id_] = new_vels[a.id_].normalized*2.0f;
+ }
+ // a.setVelocity(new_vels[a.id_]);
+ // a.setPosition(a.getPosition() + a.getVelocity() * timeStep_);
+ // Debug.DrawLine(a.getPosition(), a.getPosition() + Gradient*10.0f);
+ }
+
+ foreach(Agent a in agents_)
+ {
+ a.setVelocity(new_vels[a.id_]);
+ a.setPosition(a.getPosition() + a.getVelocity() * timeStep_);
+ }
+ }
+
+ private struct Matrix2x2 {
+ float a11_;
+ float a12_;
+ float a21_;
+ float a22_;
+ public Matrix2x2(Vector3 v1, Vector3 v2) {
+ a11_ = v1.x;
+ a21_ = v1.z;
+ a12_ = v2.x;
+ a22_ = v2.z;
+ }
+ public Vector3 product(Vector3 v)
+ {
+ return new Vector3(a11_*v.x + a12_*v.z, 0, a21_*v.x + a22_*v.z);
+ }
+ }
+
+ float Cost(float ttca, float dca){
+ return Mathf.Exp(-0.5f*( (ttca/sigTtca_)*(ttca/sigTtca_) + (dca/sigDca_)*(dca/sigDca_) ) );
+ }
+
+ public Vector3 getAgentPosition(int id)
+ {
+ return agents_[id].getPosition();
+ }
+ public Vector3 getAgentVelocity(int id)
+ {
+ return agents_[id].getVelocity();
+ }
+ public void setAgentPosition(int id, Vector3 position)
+ {
+ agents_[id].setPosition(position);
+
+ }
+ public void setAgentPrefVelocity(int id, Vector3 goal)
+ {
+ agents_[id].pref_velocity_ = goal;
+ }
+
+ private List<int> FindNeighbors(int a_id)
+ {
+ //TODO: KDTREE
+ List<int> n = new List<int>();
+ if(agents_[a_id].maxNeighbors_ == 0) return n;
+ for(int i = 0; i < agents_.Count; i++)
+ {
+ if(n.Count >= agents_[a_id].maxNeighbors_)
+ return n;
+ if(i == a_id)
+ continue;
+ if(Vector3.Distance(getAgentPosition(a_id), getAgentPosition(i)) < agents_[a_id].neighborDist_)
+ {
+ n.Add(i);
+ }
+ }
+ return n;
+ }
+
+ public void addWall(ObstWall wall)
+ {
+ walls_.Add(wall);
+ }
+ }
+}
diff --git a/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/Lib/CrowdBotCrowdSimulator.cs.meta b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/Lib/CrowdBotCrowdSimulator.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..72bbeaa85dabc2c1f53880ddd7020923d299d387
--- /dev/null
+++ b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/Lib/CrowdBotCrowdSimulator.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 70fa961f7860f2e4da3c7d1faf88fe08
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/Lib/agent.cs b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/Lib/agent.cs
new file mode 100644
index 0000000000000000000000000000000000000000..9b8120b0e74a02fe688b8d16d2128f9d0f23b227
--- /dev/null
+++ b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/Lib/agent.cs
@@ -0,0 +1,50 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace CrowdBot
+{
+ public class Agent
+ {
+ public int id_;
+ public int maxNeighbors_;
+ public float maxSpeed_;
+ public float neighborDist_;
+ private Vector3 position_;
+ public float radius_;
+ public float timeHorizon_;
+ public float timeHorizonObst_;
+ private Vector3 velocity_;
+ public Vector3 pref_velocity_;
+
+ public Agent()
+ {
+ id_ = -1;
+ maxNeighbors_ = 10;
+ maxSpeed_ = 2.0f;
+ neighborDist_ = 10.0f;
+ position_ = Vector3.zero;
+ radius_ = 0.3f;
+ timeHorizon_ = 10.0f;
+ timeHorizonObst_ = 10.0f;
+ velocity_ = Vector3.zero;
+ pref_velocity_ = Vector3.zero;
+ }
+
+ public void setVelocity(Vector3 v)
+ {
+ velocity_ = Vector3.Lerp(getVelocity(),new Vector3(v.x,0,v.z),0.5f);
+ }
+ public void setPosition(Vector3 v)
+ {
+ position_ = new Vector3(v.x,0,v.z);
+ }
+
+ public Vector3 getPosition(){ return new Vector3(position_.x, 0, position_.z); }
+ public Vector3 getVelocity()
+ {
+ Vector3 vel = new Vector3(velocity_.x, 0, velocity_.z);
+ return vel;
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/Lib/agent.cs.meta b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/Lib/agent.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..4f212ca223736c4302e2c99a9bab7db5ac00cf43
--- /dev/null
+++ b/Assets/MainAssets/Script/Agents/ControlSim/CrowdBot/Lib/agent.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 043014237e87ec31d9fa6d2412127833
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/MainAssets/Script/Agents/ControlSim/Simulations.cs b/Assets/MainAssets/Script/Agents/ControlSim/Simulations.cs
index 785cfe6255aba3cc4fb86c7857cfd1f61d09076f..4e4468e69376e6bf148e22496eb802bb74f51737 100644
--- a/Assets/MainAssets/Script/Agents/ControlSim/Simulations.cs
+++ b/Assets/MainAssets/Script/Agents/ControlSim/Simulations.cs
@@ -39,12 +39,10 @@ public class SimManager {
// Create simulators
agentToSim.Add(getInternalId(LoaderConfig.playerInfo.getControlSimInfo()));
- //tmp.Add(LoaderConfig.playerInfo.getControlSimInfo());
foreach (TrialAgent a in LoaderConfig.agentsInfo)
{
agentToSim.Add(getInternalId(a.getControlSimInfo()));
- //tmp.Add(a.getControlSimInfo());
}
// Fill simulators with agents and Obstacles
diff --git a/Assets/MainAssets/Script/Managers/CrowdBotSimMainManager.cs b/Assets/MainAssets/Script/Managers/CrowdBotSimMainManager.cs
index 3edddf265b0498c1331c53f373488811d0d54a0c..80b39ffab6c0efcc4fe924bac82cd353cd74959c 100644
--- a/Assets/MainAssets/Script/Managers/CrowdBotSimMainManager.cs
+++ b/Assets/MainAssets/Script/Managers/CrowdBotSimMainManager.cs
@@ -69,7 +69,7 @@ public class CrowdBotSimMainManager : MainManager {
ToolsTime.newLevel();
// Initialize the trial manager
- currentTrialManager = sceneGameObject.GetComponent<CrowdBotSimTrial>();
+ currentTrialManager = sceneGameObject.GetComponent<TrialManager>();
if (currentTrialManager == null)
{
ToolsDebug.logFatalError("Trials " + LoaderConfig.xpCurrentTrial.ToString() + " does not have a manager");
diff --git a/Assets/MainAssets/Script/Managers/CrowdBotSimMainManager.cs.meta b/Assets/MainAssets/Script/Managers/CrowdBotSimMainManager.cs.meta
index 821b97bba106d8a562344c9e8210e322996a14d7..4502365edf4a0e48724e0a3c553bc42b64f99996 100644
--- a/Assets/MainAssets/Script/Managers/CrowdBotSimMainManager.cs.meta
+++ b/Assets/MainAssets/Script/Managers/CrowdBotSimMainManager.cs.meta
@@ -4,7 +4,7 @@ MonoImporter:
externalObjects: {}
serializedVersion: 2
defaultReferences: []
- executionOrder: 0
+ executionOrder: -1
icon: {instanceID: 0}
userData:
assetBundleName:
diff --git a/Assets/MainAssets/Script/Managers/DutraMainManager.cs b/Assets/MainAssets/Script/Managers/DutraMainManager.cs
new file mode 100644
index 0000000000000000000000000000000000000000..f3c2b96a5b44ebe1c32f7018ec47906e2f200a69
--- /dev/null
+++ b/Assets/MainAssets/Script/Managers/DutraMainManager.cs
@@ -0,0 +1,197 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+
+/// <summary>
+/// The main manager controlling the Experiment flow
+/// </summary>
+public class DutraMainManager : MainManager {
+
+ [System.NonSerialized]
+ public GameObject[] robotsModels;
+
+ // Use this for initialization
+ public override void Start () {
+
+
+ if (!initializeConstants())
+ {
+ ToolsDebug.logFatalError("Error on GUIManager constants initialisation");
+ Application.Quit();
+ }
+
+ isEndXP = false;
+ startTrial();
+ startTransition();
+ }
+
+ /// <summary>
+ /// Load and setup current trial
+ /// </summary>
+ public override void startTrial()
+ {
+ // Load trial file
+ if (!LoaderConfig.LoadXP())
+ {
+ ToolsDebug.log("End of the trials", 2);
+ isEndXP = true;
+ //Application.Quit();
+ return;
+ }
+
+ // Load the trial scene and unload the others
+ string sceneMeshName = LoaderConfig.sceneName;
+ foreach (GameObject currentGameObject in sceneObjectsModels)
+ {
+ /*Make every scene disapered exept the one given by the scenarioLoader*/
+ if (currentGameObject.name == sceneMeshName)
+ {
+ currentGameObject.SetActive(true);
+
+ if (currentGameObject.GetComponent<TrialManager>() == null)
+ {
+ ToolsDebug.logFatalError("The trial need a Manager");
+ return;
+ }
+
+
+ sceneGameObject = currentGameObject;
+ sceneGameObject.transform.position = LoaderConfig.scenePosition;
+ sceneGameObject.transform.rotation = Quaternion.Euler(LoaderConfig.sceneRotation);
+ break;
+ }
+ }
+
+ if (sceneGameObject == null)
+ ToolsDebug.logFatalError("Scene not found (" + sceneMeshName + ")");
+
+ // Reset trial time
+ ToolsTime.newLevel();
+
+ // Initialize the trial manager
+ currentTrialManager = sceneGameObject.GetComponent<TrialManager>();
+ if (currentTrialManager == null)
+ {
+ ToolsDebug.logFatalError("Trials " + LoaderConfig.xpCurrentTrial.ToString() + " does not have a manager");
+ Application.Quit();
+ }
+ currentTrialManager.initializeTrial(playerModels, agentModels);
+
+ trialStarted = false;
+ }
+
+ /// <summary>
+ /// Method used to initialize scene constants
+ /// </summary>
+ /// <returns>True if constant are well initialized, otherwise False</returns>
+ protected override bool initializeConstants()
+ {
+ playerModels =GameObject.FindGameObjectsWithTag("Player");
+ foreach (GameObject p in playerModels)
+ {
+ p.SetActive(false);
+ }
+ sceneObjectsModels = GameObject.FindGameObjectsWithTag("Stage");
+ foreach (GameObject scene in sceneObjectsModels)
+ {
+ scene.SetActive(false);
+ }
+
+ agentModels = GameObject.FindGameObjectsWithTag("AgentModels");
+ foreach (GameObject go in agentModels)
+ {
+ go.SetActive(false);
+ }
+
+ robotsModels = GameObject.FindGameObjectsWithTag("Robot");
+ foreach (GameObject go in robotsModels)
+ {
+ go.SetActive(false);
+ }
+
+ PluginManager[] plugins = gameObject.GetComponentsInChildren<PluginManager>();
+ foreach (PluginManager plugin in plugins)
+ {
+ plugin.LoadPlugin();
+ }
+
+ return true;
+ }
+
+ // Update is called once per frame
+ void Update () {
+ ToolsTime.updateTime();
+
+ if (currentTrialManager == null)
+ return;
+
+ if (currentTrialManager.hasEnded())
+ endTrial();
+ else
+ currentTrialManager.doStep();
+ }
+
+ // Handle key/button input in LateUpdate
+ protected override void LateUpdate()
+ {
+ if ((currentTrialManager==null || currentTrialManager.isReady()) && (ToolsInput.GetKeyDown(KeyCode.Space) || ToolsInput.GetButtonDown(ButtonCode.Fire1)))
+ {
+ if (!trialStarted)
+ {
+ trialStarted = true;
+ currentTrialManager.startTrial();
+ }
+
+ if (isEndXP)
+ Application.Quit();
+ else
+ ToolsTime.tooglePause();
+ }
+
+ if (ToolsInput.GetKeyDown(KeyCode.N))
+ {
+ endTrial();
+ }
+
+ if (ToolsInput.GetKeyDown(KeyCode.P))
+ {
+ endTrial(-1);
+ }
+
+ if (ToolsInput.GetKeyDown(KeyCode.R))
+ {
+ endTrial(0);
+ }
+
+ if (ToolsInput.GetKeyDown(KeyCode.Escape))
+ {
+ Application.Quit();
+ }
+ }
+
+ /// <summary>
+ /// End the current trial change it
+ /// </summary>
+ void endTrial(int trialSwitch=1)
+ {
+ currentTrialManager.clear();
+ sceneGameObject.gameObject.SetActive(false);
+ sceneGameObject = null;
+ currentTrialManager = null;
+ LoaderConfig.ChangeTrial(trialSwitch);
+ startTrial();
+ }
+
+ /// <summary>
+ /// Update and load transition screen
+ /// </summary>
+ public override void startTransition()
+ {
+ if (isEndXP)
+ {
+ player.gameObject.SetActive(true);
+ return;
+ }
+ }
+}
diff --git a/Assets/MainAssets/Script/Managers/DutraMainManager.cs.meta b/Assets/MainAssets/Script/Managers/DutraMainManager.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..2a8cc266c4ccf7711c177a0a8e37680828039406
--- /dev/null
+++ b/Assets/MainAssets/Script/Managers/DutraMainManager.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d898cf07e683fae63914f2e2a83b1ecc
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: -2
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/MainAssets/Script/Managers/DutraTrial.cs b/Assets/MainAssets/Script/Managers/DutraTrial.cs
new file mode 100644
index 0000000000000000000000000000000000000000..69db887d4956d8a7e56bcbb0eda4566e4bd1844b
--- /dev/null
+++ b/Assets/MainAssets/Script/Managers/DutraTrial.cs
@@ -0,0 +1,357 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+/// <summary>
+/// Regular trial manager with moving agents/player
+/// </summary>
+public class DutraTrial : MonoBehaviour, TrialManager {
+
+ protected Player player;
+ protected List<Agent> agentsList;
+ protected List<GameObject> robotsList;
+ protected Recorder rec;
+ protected SimManager sims;
+ protected ToolsCamRecord camRecord;
+ public GameObject obstaclesContainer;
+ public GameObject ROS;
+ private RosSharp.RosBridgeClient.TwistArrayStampedPublisher crowdPublisher;
+ private GameObject[] robotsModels;
+
+
+ /// <summary>
+ /// Reset trial
+ /// </summary>
+ public virtual void clear()
+ {
+ /* Cleaning old virtual humans */
+ foreach (Agent currentAgent in agentsList)
+ {
+ //GameObject.DestroyImmediate(currentAgent.gameObject); // Dangerous function but mandatory since the GraphicPlayer can't wait the end of the current frame to store the activehumans (Start function) at the beginning of a level, so using Destroy instead will make it store old virtualhumans from the previous level that will be clean at the end of the frame.
+ GameObject.Destroy(currentAgent.gameObject);
+ }
+ agentsList.Clear();
+
+ sims.clear();
+ player.clear();
+ //player.gameObject.SetActive(false);
+ Destroy(player);
+ if (camRecord != null)
+ {
+ Destroy(camRecord);
+ camRecord = null;
+ }
+ if (rec != null)
+ rec.clear();
+
+ }
+
+
+ private void lookForObst(Transform container, ref Obstacles obst)
+ {
+ foreach (Transform item in container.transform)
+ {
+ if (item.tag == "Wall")
+ obst.addWall(item.gameObject);
+ else if (item.tag == "Pillar")
+ obst.addPillar(item.gameObject);
+ else
+ lookForObst(item, ref obst);
+ }
+ }
+
+ /// <summary>
+ /// Initialize trial
+ /// </summary>
+ /// <param name="p">The player</param>
+ /// <param name="agentModels">All the available agent models</param>
+ /// <returns>True if the trial has been correctly intialized</returns>
+ public virtual bool initializeTrial(GameObject[] playersModel, GameObject[] agentModels)
+ {
+ robotsModels = GameObject.FindGameObjectsWithTag("Robot");
+ foreach (GameObject go in robotsModels)
+ {
+ go.SetActive(false);
+ }
+
+ // Compute obstacles list
+ Obstacles obst = new Obstacles();
+ if (obstaclesContainer != null)
+ lookForObst(obstaclesContainer.transform, ref obst);
+
+ // Setup simulations for collision avoidance
+ if (agentsList == null)
+ agentsList = new List<Agent>();
+ if (sims==null)
+ sims = new SimManager();
+ sims.initSimulations(obst);
+
+ // Setup the player
+ foreach (GameObject p in playersModel)
+ {
+
+ if (p.name == LoaderConfig.playerInfo.mesh)
+ {
+ player = LoaderConfig.playerInfo.createPlayerComponnent(p, 0);
+ p.SetActive(true);
+ } else
+ {
+ p.SetActive(false);
+ }
+ }
+
+ // Create each agents from the trial.xml file
+ uint i = 0;
+ foreach (TrialAgent a in LoaderConfig.agentsInfo)
+ {
+ ++i;
+ GameObject currentAgentGameObject = null;
+
+ foreach (GameObject currentAgentInModel in agentModels)
+ {
+
+ if (currentAgentInModel.name == a.mesh)
+ {
+ currentAgentGameObject = (GameObject)GameObject.Instantiate(currentAgentInModel);
+ currentAgentGameObject.name = i.ToString() + " - " + currentAgentGameObject.name;
+ currentAgentGameObject.GetComponent<Collider>().enabled = true;
+ currentAgentGameObject.AddComponent<Rigidbody>();
+ // Rigidbody rb = currentAgentGameObject.GetComponent<Rigidbody>();
+ // rb.mass = 1;
+ // rb.drag = Mathf.Infinity;
+ // rb.angularDrag = 100;
+ // rb.useGravity = false;
+ // rb.constraints = RigidbodyConstraints.FreezePositionY | RigidbodyConstraints.FreezeRotationX | RigidbodyConstraints.FreezeRotationZ;
+
+ break;
+ }
+ }
+
+ if (currentAgentGameObject == null)
+ {
+ ToolsDebug.logFatalError("Error, unknown mesh " + a.mesh);
+ Application.Quit();
+ }
+ currentAgentGameObject.SetActive(true);
+ Agent currentAgent = a.createAgentComponnent(currentAgentGameObject, i + 1);
+ currentAgentGameObject.tag = "VirtualHumanActive";
+ agentsList.Add(currentAgent);
+ }
+
+ // Setup ROS
+ ROS = GameObject.FindGameObjectWithTag("Ros");
+ // crowdpublisher = ros.getcomponent<rossharp.rosbridgeclient.twistarraystampedpublisher>();
+ // crowdPublisher.agent = new Rigidbody[i];
+
+ if (robotsList == null)
+ robotsList = new List<GameObject>();
+
+ DutraMainManager gameManager = GameObject.FindGameObjectWithTag("GameManager").GetComponent<DutraMainManager>();
+
+ foreach(GameObject r in gameManager.robotsModels){
+ // for agents to take the robot into account for collision avoidance
+ r.tag = "VirtualHumanActive";
+ robotsList.Add(r);
+ r.SetActive(true);
+ }
+
+ // Set the list of agent to watch in the recorder
+ rec=gameObject.GetComponent<Recorder>();
+ if (rec!=null)
+ rec.initRecorder(player, agentsList);
+
+ TrialScreenRecorder screenRecorderInfos = LoaderConfig.screenRecorder;
+ if (screenRecorderInfos!=null)
+ {
+ camRecord=Camera.main.gameObject.AddComponent<ToolsCamRecord>();
+ camRecord.record = screenRecorderInfos.record;
+ camRecord.timeToStart = screenRecorderInfos.timeToStart;
+ camRecord.timeToStop = screenRecorderInfos.timeToStop;
+ camRecord.framerate = screenRecorderInfos.framerate;
+ camRecord.saveDir = screenRecorderInfos.saveDir;
+ }
+
+ return true;
+ }
+
+ /// <summary>
+ /// Check the ending conditions of the trials
+ /// </summary>
+ /// <returns>True if the trial is over</returns>
+ public virtual bool hasEnded()
+ {
+ bool isEnd = false;
+ foreach (TrialEnding condition in LoaderConfig.sceneEndings)
+ {
+ float currentValue=0;
+ switch (condition.parameter)
+ {
+ case TrialParam.time:
+ currentValue = ToolsTime.TrialTime;
+ break;
+ case TrialParam.x:
+ currentValue = -player.transform.position.x;
+ break;
+ case TrialParam.y:
+ currentValue = player.transform.position.z;
+ break;
+ }
+
+ switch (condition.test)
+ {
+ case TrialTest.greater:
+ isEnd = isEnd || currentValue > condition.value;
+ break;
+ case TrialTest.less:
+ isEnd = isEnd || currentValue < condition.value;
+ break;
+ }
+ }
+
+ return isEnd;
+ }
+
+ /// <summary>
+ /// Perform a step of the trial
+ /// </summary>
+ public virtual void doStep()
+ {
+ if (ToolsTime.DeltaTime == 0)
+ return;
+
+ List<Vector3> currPos = new List<Vector3>();
+
+ // Do regular step
+ currPos.Add(player.Position);
+ player.doStep();
+
+ foreach (Agent a in agentsList)
+ {
+ currPos.Add(a.Position);
+ a.doStep();
+ }
+
+ sims.doStep(ToolsTime.DeltaTime, currPos, player, agentsList);
+ }
+
+ ///// <summary>
+ ///// Method used to initialize the VirtualHumans
+ ///// </summary>
+ ///// <returns>True if the VirtualHumans are well initialized, otherwise False</returns>
+ //private bool initializeAgents()
+ //{
+
+ // if (agentsList == null)
+ // {
+ // agentsList = new List<Agent>();
+ // }
+ // else
+ // {
+ // /* Cleaning old virtual humans */
+ // foreach (Agent currentAgent in agentsList)
+ // {
+ // GameObject.DestroyImmediate(currentAgent.gameObject); // Dangerous function but mandatory since the GraphicPlayer can't wait the end of the current frame to store the activehumans (Start function) at the beginning of a level, so using Destroy instead will make it store old virtualhumans from the previous level that will be clean at the end of the frame.
+ // }
+ // agentsList.Clear();
+ // }
+
+
+ // int i = 0;
+ // foreach (TrialAgent a in LoaderConfig.agentsInfo)
+ // {
+ // ++i;
+ // GameObject currentAgentGameObject = null;
+
+ // foreach (GameObject currentAgentInModel in agentModels)
+ // {
+
+ // if (currentAgentInModel.name == a.mesh)
+ // {
+ // currentAgentGameObject = (GameObject)GameObject.Instantiate(currentAgentInModel);
+ // currentAgentGameObject.name = i.ToString() + " - " + currentAgentGameObject.name;
+ // break;
+ // }
+ // }
+
+ // if (currentAgentGameObject == null)
+ // {
+ // ToolsDebug.logFatalError("Error, unknown mesh " + a.mesh);
+ // Application.Quit();
+ // }
+ // Agent currentAgent = currentAgentGameObject.GetComponent<Agent>();
+ // currentAgent.initAgent(a);
+ // currentAgent.gameObject.SetActive(true);
+ // currentAgent.gameObject.tag = "VirtualHumanActive";
+
+ // }
+
+
+
+
+ // // virtualHumanListForSimulationWatcher.Add(currentVirtualHumanGameObject);
+ // // VirtualHuman.GameObject = currentVirtualHumanGameObject;
+ // // VirtualHuman.GraphicObject = VirtualHuman.GameObject.GetComponent<GraphicVirtualHuman>();
+ // // VirtualHuman.Behavior = controlLawGenerator.setControlModule(VirtualHuman.BehaviorXelement, currentVirtualHumanGameObject);
+
+ // // VirtualHuman.GameObject.SetActive(true);
+ // // VirtualHuman.GraphicObject.SetPositionAndRotation(VirtualHuman.PositionAndRotation);
+ // // VirtualHuman.GraphicObject.AnimationOffset = VirtualHuman.AnimationOffset;
+ // // VirtualHuman.GraphicObject.idleAnimationIndex = VirtualHuman.IdleAnimationIdex;
+ // // VirtualHuman.GraphicObject.IdColor = TableColor[i - 1];
+ // // InvertColorDict[TableColor[i - 1]] = i - 1;
+ // // VirtualHuman.GameObject.tag = "VirtualHumanActive";
+
+
+
+ // // /* Set RVO and other responsive systems */
+ // // if (VirtualHuman.Behavior.getBehaviorType() == BehaviorType.responsive)
+ // // {
+ // // _isRVOUsed = true;
+ // // RVOManager.addAgent(currentVirtualHumanGameObject);
+ // // }
+ // // else if (VirtualHuman.Behavior.getBehaviorType() == BehaviorType.unresponsive)
+ // // {
+ // // RVOManager.addBlindAgent(currentVirtualHumanGameObject);
+ // // }
+ // //}
+
+ // //if (currentXPManager != null)
+ // // virtualHumanListForSimulationWatcher.AddRange(currentXPManager.getRecordedObjects());
+
+ // //this.GetComponent<simulationWatcher>().VirtualHumans = virtualHumanListForSimulationWatcher;
+ // //this.GetComponent<simulationWatcher>().InvertColorDict = InvertColorDict;
+ // //this.GetComponent<simulationWatcher>().InitDictGaze();
+
+ // return true;
+ //}
+
+ // Use this for initialization
+ void Start () {
+ if (agentsList==null)
+ agentsList = new List<Agent>();
+ }
+
+ // Update is called once per frame
+ void Update ()
+ {
+
+ }
+
+ public Player getPlayer()
+ {
+ return player;
+
+ }
+
+ public virtual bool isReady()
+ {
+ return true;
+ }
+ public virtual void startTrial()
+ {
+
+
+ }
+
+
+}
diff --git a/Assets/MainAssets/Script/Managers/DutraTrial.cs.meta b/Assets/MainAssets/Script/Managers/DutraTrial.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..50a8e007c9e872cb44e93165a0b86fb7fcde198e
--- /dev/null
+++ b/Assets/MainAssets/Script/Managers/DutraTrial.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 3944ff65718da4282bfaacbc24ce200f
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Scenario/DutraDemo/FileOrder0.csv b/Scenario/DutraDemo/FileOrder0.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c9872ef1a49cd5845d8f34dbc08e9bc2311e873d
--- /dev/null
+++ b/Scenario/DutraDemo/FileOrder0.csv
@@ -0,0 +1 @@
+/Scenario/DutraDemo/trial.xml
\ No newline at end of file
diff --git a/Scenario/DutraDemo/trial.xml b/Scenario/DutraDemo/trial.xml
new file mode 100644
index 0000000000000000000000000000000000000000..29a2454ac1d12879a596cbb3e02f639d8ae3179c
--- /dev/null
+++ b/Scenario/DutraDemo/trial.xml
@@ -0,0 +1,296 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Trial xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+ <scene meshName="Corridor">
+ <Position x="0" y="0" z="0" />
+ <Rotation x="0" y="0" z="0" />
+ <endingConditions>
+ <condition parameter="time" test="less" value="0" />
+ </endingConditions>
+ </scene>
+
+ <player>
+ <TrialRegularPlayer mesh="RegPlayer" radius="0.33">
+ <Position x="-20" y="0" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawControllerSpeedAngle speedCurrent="0" speedDefault="0" speedVariation="1.5" angularSpeed="30" accelerationMax="0.8" timeBeforeControl="0" />
+ </controlLaw>
+ </TrialRegularPlayer>
+ </player>
+
+ <agents>
+ <agent>
+ <TrialRegularAgent mesh="m001" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="5" y="1" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.4" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="16" y="-2" z="0" />
+ <Waypoint x="-14" y="-2" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m002" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="4" y="3" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.5" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-15" y="-1" z="0" />
+ <Waypoint x="17" y="1" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m003" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="3" y="0" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.6" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="15" y="-2" z="0" />
+ <Waypoint x="-11" y="2" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f004" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="-6" y="-2" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.65" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-14" y="0" z="0" />
+ <Waypoint x="15" y="-2" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f005" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="6" y="-5" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.69" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="15" y="0" z="0" />
+ <Waypoint x="-12" y="1" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f006" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="-7" y="2" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.629349" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-14" y="-2" z="0" />
+ <Waypoint x="15" y="0" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f007" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="7" y="0" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.2" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="15" y="0" z="0" />
+ <Waypoint x="-12" y="0" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m001" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="5" y="-1" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.1" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-13" y="-2" z="0" />
+ <Waypoint x="15" y="-2" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m005" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="1" y="-2" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.7" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-15" y="1" z="0" />
+ <Waypoint x="17" y="3" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m006" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="-1" y="5" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.629349" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="15" y="0" z="0" />
+ <Waypoint x="-13" y="0" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m007" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="-2" y="-1" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.62" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-14" y="2" z="0" />
+ <Waypoint x="15" y="1" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f001" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="-3" y="1" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.3" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="17" y="1" z="0" />
+ <Waypoint x="-12" y="-2" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f002" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="-4" y="0" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.0" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-14" y="2" z="0" />
+ <Waypoint x="16" y="1" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f003" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="-5" y="-1" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.7" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="17" y="0" z="0" />
+ <Waypoint x="-13" y="1" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+
+ <!-- <agent>
+ <TrialRegularAgent mesh="m005" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="-4.5" y="0" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.62" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="5" y="0" z="0" />
+ <Waypoint x="-5" y="0" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m006" radius="0.33" visualVariation="0" animationOffset="0" heightOffset="0">
+ <Position x="0" y="-5" z="0" />
+ <Rotation x="0" y="0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.629349" speedDefault="1.6" accelerationMax="0.8" isLooping="true">
+ <Waypoints>
+ <Waypoint x="0" y="-5" z="0" />
+ <Waypoint x="0" y="5" z="0" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <CrowdBotControlSimConfig SimulationID="0" neighborDist="10" maxNeighbors="20" timeHorizon="10" timeHorizonObst="10" radius="0.33" maxSpeed="2" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent> -->
+ </agents>
+</Trial>
\ No newline at end of file
diff --git a/config.xml b/config.xml
index 0ed299b7b1b6745a4cb2e6c8a43c09d56fb7fac8..555816867f6c91a8df87d4be0e93cca40b775bbf 100644
--- a/config.xml
+++ b/config.xml
@@ -2,7 +2,7 @@
<Config xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<experience currentUser="0" startingTrial="0">
- <sourceFileExperiment>./Scenario/GroupExperiment/FileOrder{USER}.csv</sourceFileExperiment>
+ <sourceFileExperiment>./Scenario/DutraDemo/FileOrder{USER}.csv</sourceFileExperiment>
<userHeight>1.7</userHeight>
</experience>