Program Listing for File InputStatic.cpp
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/*
Copyright 2025 Institute of Light and Matter, CNRS UMR 5306, University Claude Bernard Lyon 1
Contributors: Oscar DUFOUR, Maxime STAPELLE, Alexandre NICOLAS
This software is a computer program designed to generate a realistic crowd from anthropometric data and
simulate the mechanical interactions that occur within it and with obstacles.
This software is governed by the CeCILL-B license under French law and abiding by the rules of distribution
of free software. You can use, modify and/ or redistribute the software under the terms of the CeCILL-B
license as circulated by CEA, CNRS and INRIA at the following URL "http://www.cecill.info".
As a counterpart to the access to the source code and rights to copy, modify and redistribute granted by
the license, users are provided only with a limited warranty and the software's author, the holder of the
economic rights, and the successive licensors have only limited liability.
In this respect, the user's attention is drawn to the risks associated with loading, using, modifying
and/or developing or reproducing the software by the user in light of its specific status of free software,
that may mean that it is complicated to manipulate, and that also therefore means that it is reserved
for developers and experienced professionals having in-depth computer knowledge. Users are therefore
encouraged to load and test the software's suitability as regards their requirements in conditions enabling
the security of their systems and/or data to be ensured and, more generally, to use and operate it in the
same conditions as regards security.
The fact that you are presently reading this means that you have had knowledge of the CeCILL-B license and that
you accept its terms.
*/
#include "InputStatic.h"
#include <fstream>
#include <map>
#include <string>
#include <vector>
#include "../3rdparty/tinyxml/tinyxml2.h"
using std::cout, std::cerr, std::string, std::endl, std::vector, std::map;
int readParameters(const std::string& file)
{
tinyxml2::XMLDocument document;
document.LoadFile(file.data());
if (document.ErrorID() != 0)
{
cerr << "Error: Could not load or parse Parameters file " << file << endl;
return EXIT_FAILURE;
}
/* Read the Parameters block */
tinyxml2::XMLElement* parametersElement = document.FirstChildElement("Parameters");
if (!parametersElement)
{
cerr << "Error: Parameters must be embedded in \"Parameters\" tag!" << endl;
return EXIT_FAILURE;
}
/* Read times */
const tinyxml2::XMLElement* timesElement = parametersElement->FirstChildElement("Times");
if (!timesElement)
{
cerr << "Error: no Times present in " << file << endl;
return EXIT_FAILURE;
}
if (timesElement->QueryDoubleAttribute("TimeStep", &dt) != tinyxml2::XML_SUCCESS)
{
cerr << R"(Error: Could not read "TimeStep" attribute in )" << file << endl;
return EXIT_FAILURE;
}
if (timesElement->QueryDoubleAttribute("TimeStepMechanical", &dt_mech) != tinyxml2::XML_SUCCESS)
{
cerr << R"(Error: Could not read "TimeStepMechanical" attribute in )" << file << endl;
return EXIT_FAILURE;
}
/* Input and Output directories */
const char *staticDirectory, *dynamicDirectory;
if (const tinyxml2::XMLElement* directoriesElement = parametersElement->FirstChildElement("Directories"))
{
if (directoriesElement->QueryStringAttribute("Static", &staticDirectory) != tinyxml2::XML_SUCCESS)
{
cerr << R"(Error: Could not read the directory for "static" files in )" << file << endl;
return EXIT_FAILURE;
}
if (directoriesElement->QueryStringAttribute("Dynamic", &dynamicDirectory) != tinyxml2::XML_SUCCESS)
{
cerr << R"(Error: Could not read the directory for "dynamic" files in )" << file << endl;
return EXIT_FAILURE;
}
pathStatic = staticDirectory;
pathDynamic = dynamicDirectory;
}
return EXIT_SUCCESS;
}
int readMaterials(const std::string& file, std::map<std::string, int32_t>& materialMapping)
{
// If the library is called from many runs where the user forces firstRun=True because of changed static
// data, we first clear the global variables
if (intrinsicProperties)
{
delete intrinsicProperties[YOUNG_MODULUS];
delete intrinsicProperties[SHEAR_MODULUS];
intrinsicProperties = nullptr;
for (uint8_t n = 0; n < nBinaryProperties; n++)
{
for (uint32_t m = 0; m < nMaterials; m++)
{
delete binaryProperties[n][m];
binaryProperties[n][m] = nullptr;
}
delete binaryProperties[n];
binaryProperties[n] = nullptr;
}
}
tinyxml2::XMLDocument document;
document.LoadFile(file.data());
if (document.ErrorID() != 0)
{
cerr << "Error: Could not load or parse XML file " << file << endl;
return EXIT_FAILURE;
}
/* Read the Materials block */
tinyxml2::XMLElement* materialsElement = document.FirstChildElement("Materials");
if (!materialsElement)
{
cerr << "Error: Information about materials must be embedded in \"Materials\" tag!" << endl;
return EXIT_FAILURE;
}
/* Read intrinsic properties */
const tinyxml2::XMLElement* intrinsicElement = materialsElement->FirstChildElement("Intrinsic");
if (!intrinsicElement)
{
cerr << "Error: no Intrinsic tag present in " << file << endl;
return EXIT_FAILURE;
}
// Materials
vector<double2> elasticProperties;
const tinyxml2::XMLElement* materialElement = intrinsicElement->FirstChildElement("Material");
if (!materialElement)
{
cerr << "Error: no materials in " << file << endl;
return EXIT_FAILURE;
}
vector<string> materialIds;
nMaterials = 0;
while (materialElement)
{
const char* id = nullptr;
if (materialElement->QueryStringAttribute("Id", &id) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: found material with no id in " << file << endl;
return EXIT_FAILURE;
}
materialMapping[id] = static_cast<int32_t>(nMaterials);
double E, G;
if (materialElement->QueryDoubleAttribute("YoungModulus", &E) != tinyxml2::XML_SUCCESS)
{
cerr << "Error for material id " << id << ": Young's modulus (E) not provided!" << endl;
return EXIT_FAILURE;
}
if (materialElement->QueryDoubleAttribute("ShearModulus", &G) != tinyxml2::XML_SUCCESS)
{
cerr << "Error for material id " << id << ": Shear modulus (G) not provided!" << endl;
return EXIT_FAILURE;
}
elasticProperties.emplace_back(E, G);
materialIds.emplace_back(static_cast<string>(id));
nMaterials++;
materialElement = materialElement->NextSiblingElement("Material");
}
/* Allocate global variables, now that we know the materials */
intrinsicProperties = new double*[nIntrinsicProperties];
for (uint32_t i = 0; i < nIntrinsicProperties; i++)
{
intrinsicProperties[i] = new double[nMaterials];
}
binaryProperties = new double**[nBinaryProperties];
for (uint32_t i = 0; i < nBinaryProperties; i++)
{
binaryProperties[i] = new double*[nMaterials];
for (uint32_t j = 0; j < nMaterials; j++)
{
binaryProperties[i][j] = new double[nMaterials];
}
}
/* Populate intrinsic parameters */
for (uint32_t i = 0; i < nMaterials; i++)
{
intrinsicProperties[YOUNG_MODULUS][i] = elasticProperties[i].first;
intrinsicProperties[SHEAR_MODULUS][i] = elasticProperties[i].second;
}
/* Populate binary parameters */
// Find stiffness combinations from intrinsic properties
for (uint32_t i = 0; i < nMaterials; i++)
{
for (uint32_t j = 0; j < nMaterials; j++)
{
double stiffnessNormal = computeStiffnessNormal(i, j);
if (stiffnessNormal <= 0)
{
cerr << "Error: materials '" << materialIds[i] << "' and '" << materialIds[j]
<< "' produce non positive normal stiffness!" << endl;
return EXIT_FAILURE;
}
binaryProperties[STIFFNESS_NORMAL][j][i] = stiffnessNormal;
binaryProperties[STIFFNESS_NORMAL][i][j] = stiffnessNormal;
double stiffnessTangential = computeStiffnessTangential(i, j);
if (stiffnessTangential <= 0)
{
cerr << "Error: materials '" << materialIds[i] << "' and '" << materialIds[j]
<< "' produce non positive tangential stiffness!" << endl;
return EXIT_FAILURE;
}
binaryProperties[STIFFNESS_TANGENTIAL][j][i] = stiffnessTangential;
binaryProperties[STIFFNESS_TANGENTIAL][i][j] = stiffnessTangential;
}
}
// Read the rest of the binary properties from the XML file - <Binary>
const tinyxml2::XMLElement* relationshipsElement = materialsElement->FirstChildElement("Binary");
if (!relationshipsElement)
{
cerr << "Error: no Binary tag present in " << file << endl;
return EXIT_FAILURE;
}
const tinyxml2::XMLElement* relationshipElement = relationshipsElement->FirstChildElement("Contact");
if (!relationshipElement)
{
cerr << "Error: no binary properties at all in " << file << endl;
return EXIT_FAILURE;
}
while (relationshipElement)
{
const char* id1 = nullptr;
const char* id2 = nullptr;
if (relationshipElement->QueryStringAttribute("Id1", &id1) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: no Id1 in binary property in " << file << endl;
return EXIT_FAILURE;
}
if (relationshipElement->QueryStringAttribute("Id2", &id2) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: no Id2 in binary property in " << file << endl;
return EXIT_FAILURE;
}
if (!materialMapping.contains(id1) || !materialMapping.contains(id2))
{
cerr << "Error: relationships include unknown material ids " << id1 << "or " << id2 << "." << endl;
return EXIT_FAILURE;
}
double gamma_n, gamma_t, mu_d;
if (relationshipElement->QueryDoubleAttribute("GammaNormal", &gamma_n) != tinyxml2::XML_SUCCESS)
{
cerr << "Error for material ids " << id1 << "-" << id2 << ": normal damping (GammaNormal) not provided!" << endl;
return EXIT_FAILURE;
}
if (relationshipElement->QueryDoubleAttribute("GammaTangential", &gamma_t) != tinyxml2::XML_SUCCESS)
{
cerr << "Error for material ids " << id1 << "-" << id2 << ": tangential damping (GammaTangential) not provided!" << endl;
return EXIT_FAILURE;
}
if (relationshipElement->QueryDoubleAttribute("KineticFriction", &mu_d) != tinyxml2::XML_SUCCESS)
{
cerr << "Error for material ids " << id1 << "-" << id2 << ": kinetic friction (KineticFriction) not provided!" << endl;
return EXIT_FAILURE;
}
// Fill the remaining slots in the symmetric binaryProperties matrix
binaryProperties[DAMPING_NORMAL][materialMapping[id1]][materialMapping[id2]] = gamma_n;
binaryProperties[DAMPING_NORMAL][materialMapping[id2]][materialMapping[id1]] = gamma_n;
binaryProperties[DAMPING_TANGENTIAL][materialMapping[id1]][materialMapping[id2]] = gamma_t;
binaryProperties[DAMPING_TANGENTIAL][materialMapping[id2]][materialMapping[id1]] = gamma_t;
binaryProperties[FRICTION_SLIDING][materialMapping[id1]][materialMapping[id2]] = mu_d;
binaryProperties[FRICTION_SLIDING][materialMapping[id2]][materialMapping[id1]] = mu_d;
relationshipElement = relationshipElement->NextSiblingElement("Contact");
}
return EXIT_SUCCESS;
}
int readGeometry(const std::string& file, std::map<std::string, int32_t>& materialMapping)
{
// If the library is called from many runs where the user forces firstRun=True because of changed static
// data, we first clear the global variables
if (!listObstacles.empty())
{
listObstacles.clear();
obstaclesMaterial.clear();
}
tinyxml2::XMLDocument document;
document.LoadFile(file.data());
if (document.ErrorID() != 0)
{
cerr << "Error: Could not load or parse XML file " << file << endl;
return EXIT_FAILURE;
}
/* Read the Geometry block */
tinyxml2::XMLElement* geometryElement = document.FirstChildElement("Geometry");
if (!geometryElement)
{
cerr << "Error: Information about geometry must be embedded in \"Geometry\" tag!" << endl;
return EXIT_FAILURE;
}
/* Read dimensions */
const tinyxml2::XMLElement* dimensionsElement = geometryElement->FirstChildElement("Dimensions");
if (!dimensionsElement)
{
cerr << "Error: no Dimensions tag present in " << file << endl;
return EXIT_FAILURE;
}
if (dimensionsElement->QueryDoubleAttribute("Lx", &Lx) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: Could not parse domain dimensions from XML file " << file << endl;
return EXIT_FAILURE;
}
if (dimensionsElement->QueryDoubleAttribute("Ly", &Ly) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: Could not parse domain dimensions from XML file " << file << endl;
return EXIT_FAILURE;
}
/* Read Walls */
const tinyxml2::XMLElement* wallElement = geometryElement->FirstChildElement("Wall");
if (!wallElement)
{
cerr << "Error: no wall present on geometry file " << file << endl;
return EXIT_FAILURE;
}
while (wallElement != nullptr)
{
// Fetch material
const char* materialId = nullptr;
if (wallElement->QueryStringAttribute("MaterialId", &materialId) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: no material mentioned for wall on geometry file " << file << endl;
return EXIT_FAILURE;
}
if (!materialId || !materialMapping.contains(materialId))
{
cerr << "Error: unknown or absent material id " << materialId << " given for one of the walls" << endl;
return EXIT_FAILURE;
}
else
obstaclesMaterial.push_back(materialMapping[materialId]);
vector<double2> wall;
const tinyxml2::XMLElement* cornerElement = wallElement->FirstChildElement("Corner");
if (!cornerElement)
{
cerr << "Error: no corners in wall!" << endl;
return EXIT_FAILURE;
}
while (cornerElement != nullptr)
{
const char* buffer = nullptr;
if (cornerElement->QueryStringAttribute("Coordinates", &buffer) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: Could not parse corner coordinates from XML file " << file << endl;
return EXIT_FAILURE;
}
auto [rc, coordinates] = parse2DComponents(buffer);
if (rc != EXIT_SUCCESS)
{
cerr << "Error: Could not parse corner coordinates from XML file " << file << endl;
return EXIT_FAILURE;
}
wall.emplace_back(coordinates);
cornerElement = cornerElement->NextSiblingElement("Corner");
}
listObstacles.push_back(wall);
wallElement = wallElement->NextSiblingElement("Wall");
}
return EXIT_SUCCESS;
}
int readAgents(const std::string& file, std::vector<unsigned>& nShapesPerAgent, std::vector<unsigned>& shapeIDagent,
std::vector<int>& edges, std::vector<double>& radii, std::vector<double>& masses, std::vector<double>& mois,
std::vector<double2>& delta_gtos, std::map<std::string, int32_t>& materialMapping)
{
if (agents)
{
for (uint32_t a = 0; a < nAgents; ++a)
{
delete agents[a];
agents[a] = nullptr;
}
delete agents;
agents = nullptr;
agentMap.clear();
agentMapInverse.clear();
agentProperties.clear();
shapesMaterial.clear();
}
tinyxml2::XMLDocument document;
document.LoadFile(file.data());
if (document.ErrorID() != 0)
{
cerr << "Error: Could not load or parse XML file" << file << endl;
return EXIT_FAILURE;
}
/* Read the Agents block */
tinyxml2::XMLElement* agentsElement = document.FirstChildElement("Agents");
if (!agentsElement)
{
cerr << "Error: agents must be embedded in \"Agents\" tag!" << endl;
return EXIT_FAILURE;
}
const tinyxml2::XMLElement* agentElement = agentsElement->FirstChildElement("Agent");
if (!agentElement)
{
cerr << "Error: no Agent tag present in " << file << endl;
return EXIT_FAILURE;
}
size_t sGlobal = 0;
edges.push_back(static_cast<int>(sGlobal));
uint32_t agentId = 0;
while (agentElement != nullptr)
{
// Id (ignored)
const char* externId;
if (agentElement->QueryStringAttribute("Id", &externId) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: please provide identifiers for your agents " << endl;
return EXIT_FAILURE;
}
agentMap[externId] = agentId;
agentMapInverse.emplace_back(externId);
// Mass and Moment of Inertia
double mass, moi;
if (agentElement->QueryDoubleAttribute("Mass", &mass) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: could not get mass from agent " << externId << endl;
return EXIT_FAILURE;
}
if (agentElement->QueryDoubleAttribute("MomentOfInertia", &moi) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: could not get moment of inertia from agent " << externId << endl;
return EXIT_FAILURE;
}
masses.push_back(mass);
mois.push_back(moi);
double dampingTranslational, dampingRotational;
if (agentElement->QueryDoubleAttribute("FloorDamping", &dampingTranslational) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: for agent " << externId << ": translational damping (FloorDamping) not provided! " << endl;
return EXIT_FAILURE;
}
if (agentElement->QueryDoubleAttribute("AngularDamping", &dampingRotational) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: for agent " << externId << ": rotational damping (AngularDamping) not provided! " << endl;
return EXIT_FAILURE;
}
if (dampingTranslational == 0.0 || dampingRotational == 0.0)
{
cerr << "Error: you must input non-zero dampings for each agent: " << endl;
return EXIT_FAILURE;
}
agentProperties.emplace_back(dampingTranslational, dampingRotational);
// Shapes
const tinyxml2::XMLElement* shapeElement = agentElement->FirstChildElement("Shape");
if (!shapeElement)
{
cerr << "Error: an agent has no shapes in " << file << endl;
return EXIT_FAILURE;
}
size_t s = 0;
while (shapeElement != nullptr)
{
// Fill shapeIDagent - as many agentIds as there are shapes for it
shapeIDagent.push_back(agentId);
// Fetch material
const char* materialId = nullptr;
if (shapeElement->QueryStringAttribute("MaterialId", &materialId) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: no material mentioned for agent in " << file << endl;
return EXIT_FAILURE;
}
if (!materialMapping.contains(materialId))
{
cerr << "Error: unknown material id " << materialId << "given for one of the shapes." << endl;
return EXIT_FAILURE;
}
else
shapesMaterial[sGlobal] = materialMapping[materialId];
double radius;
if (shapeElement->QueryDoubleAttribute("Radius", &radius) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: could not get radius from shape " << s + 1 << " in agent " << agentId << endl;
return EXIT_FAILURE;
}
radii.push_back(radius);
const char* buffer = nullptr;
if (shapeElement->QueryStringAttribute("Position", &buffer) != tinyxml2::XML_SUCCESS)
{
cerr << "Error: Could not parse shape coordinates from XML file " << file << endl;
return EXIT_FAILURE;
}
auto [rc, coordinates] = parse2DComponents(buffer);
if (rc != EXIT_SUCCESS)
{
cerr << "Error: Could not parse shape coordinates from XML file " << file << endl;
return EXIT_FAILURE;
}
delta_gtos.emplace_back(coordinates);
shapeElement = shapeElement->NextSiblingElement("Shape");
s++;
sGlobal++;
}
nShapesPerAgent.push_back(s);
edges.push_back(static_cast<int>(sGlobal));
agentElement = agentElement->NextSiblingElement("Agent");
agentId++;
}
nAgents = masses.size();
return EXIT_SUCCESS;
}
double computeStiffnessNormal(const uint32_t i, const uint32_t j)
{
const double Ei = intrinsicProperties[YOUNG_MODULUS][i];
const double Ej = intrinsicProperties[YOUNG_MODULUS][j];
const double Gi = intrinsicProperties[SHEAR_MODULUS][i];
const double Gj = intrinsicProperties[SHEAR_MODULUS][j];
return 1 / ((4 * Gi - Ei) / (4 * pow(Gi, 2)) + (4 * Gj - Ej) / (4 * pow(Gj, 2)));
}
double computeStiffnessTangential(const uint32_t i, const uint32_t j)
{
const double Ei = intrinsicProperties[YOUNG_MODULUS][i];
const double Ej = intrinsicProperties[YOUNG_MODULUS][j];
const double Gi = intrinsicProperties[SHEAR_MODULUS][i];
const double Gj = intrinsicProperties[SHEAR_MODULUS][j];
return 1 / ((6 * Gi - Ei) / (8 * pow(Gi, 2)) + (6 * Gj - Ej) / (8 * pow(Gj, 2)));
}