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This commit is contained in:
smail alijagic
2026-04-27 16:42:30 +02:00
parent cc1808ee3c
commit 40eb9a963f
9 changed files with 98055 additions and 1000039 deletions
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9805244v1.pdf
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forces.cpp
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@@ -33,7 +33,7 @@ void compute_acceleration_term(Pedestrian *p) {
// # 55(N - 1) = 55N - 55 flops
//
// $\sum_{\beta} \vec{F}_{\alpha\beta}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{\beta})$
// $\vec{F}_{\alpha\beta}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{\beta})$
//
void compute_repulsive_effects_from_pedestrians(Pedestrian *pedestrians, Pedestrian *p, int N) {
@@ -73,25 +73,25 @@ void compute_repulsive_effects_from_pedestrians(Pedestrian *pedestrians, Pedestr
// # 7 flops = 1 SQRT, 3 ADDs, 2 MULTs, 1 DIV
//
// $(4):2b = \sqrt{(\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert)^2 - (v_\beta \Delta t)^2}$
// $2b = \sqrt{(\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert)^2 - (v_\beta \Delta t)^2}$
//
double b = sqrt((r_ab_norm + r_ab2_norm) * (r_ab_norm + r_ab2_norm) - s_b * s_b) / 2;
// # 12 flops = 6 DIVs, 3 ADDs, 3 MULTs
//
// $(7):\grad_{\vec{r}_{\alpha \beta}}b = \frac{(\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert) (\frac{\vec{r}_{\alpha \beta}}{\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert} + \frac{\vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta}{\Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert})}{4b}$
// $\grad_{\vec{r}_{\alpha \beta}}b = \frac{(\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert) (\frac{\vec{r}_{\alpha \beta}}{\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert} + \frac{\vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta}{\Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert})}{4b}$
//
Vector2d b_grad = (r_ab / r_ab_norm + r_ab2 / r_ab2_norm) * (r_ab_norm + r_ab2_norm) / (4 * b);
Vector2d b_grad = ((r_ab / r_ab_norm + r_ab2 / r_ab2_norm) * (r_ab_norm + r_ab2_norm)) / (4 * b);
// # 6 flops = 3 MULTs, 2 DIVs, 1 EXP
//
// $(5):\vec{f}_{\alpha \beta}(\vec{r}_{\alpha \beta}) = \frac{V^0_{\alpha \beta}}{\sigma}e^{-b / \sigma} \grad_{\vec{r}_{\alpha \beta}}b$
// $\vec{f}_{\alpha \beta}(\vec{r}_{\alpha \beta}) = \frac{V^0_{\alpha \beta}}{\sigma}e^{-b / \sigma} \grad_{\vec{r}_{\alpha \beta}}b$
//
Vector2d f_ped = b_grad * ((V0_AB / SIGMA) * (exp(-b / SIGMA)));
// # 14 flops: 9 MULTs, 4 ADDs, 1 SQRT
//
// $(11):\vec{F}_{\alpha\beta}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{\beta}) = w(\vec{e}_{\alpha}, -\vec{f}_{\alpha\beta})\vec{f}_{\alpha\beta}(\vec{r}_{\alpha} - \vec{r}_{\beta})$
// $\vec{F}_{\alpha\beta}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{\beta}) = w(\vec{e}_{\alpha}, -\vec{f}_{\alpha\beta})\vec{f}_{\alpha\beta}(\vec{r}_{\alpha} - \vec{r}_{\beta})$
//
p->f_i += f_ped * w(p->e, f_ped * -1);
}
@@ -99,6 +99,9 @@ void compute_repulsive_effects_from_pedestrians(Pedestrian *pedestrians, Pedestr
// # Assume that the four borders are also 4 obstacles
// # 48 n_obstacles flops = 192 flops
//
// $\vec{F}_{\alpha B}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{B})$
//
void compute_repulsive_effects_from_borders(Board &board, Pedestrian *p) {
Obstacle *obstacles = board.obstacles;
main
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main.cpp
+11 -9
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@@ -33,7 +33,7 @@ Pedestrian *init_pedestrians(int n_p) {
for (int i = 0; i < n_p / 2; i++) {
double y = y_gen(gen);
Vector2d start_pos = Vector2d(x_gen(gen), y);
Vector2d destination = Vector2d(BOARD_LENGTH + 300, BOARD_WIDTH / 2);
Vector2d destination = Vector2d(BOARD_LENGTH + 30, BOARD_WIDTH / 2);
// double desired_v0 = velocity_gen(gen);
double desired_v0;
do {
@@ -46,7 +46,7 @@ Pedestrian *init_pedestrians(int n_p) {
for (int i = n_p / 2; i < n_p; i++) {
double y = y_gen(gen);
Vector2d start_pos = Vector2d(x_gen(gen), y);
Vector2d destination = Vector2d(-300, BOARD_WIDTH / 2);
Vector2d destination = Vector2d(-30, BOARD_WIDTH / 2);
// double desired_v0 = velocity_gen(gen);
double desired_v0;
do {
@@ -70,7 +70,7 @@ int main(int argc, const char *argv[]) {
const int dump_interval = 50; // dump every 5 iterations -> 20 fps (since dt = 0.01)
const char *dump_path = (argc >= 4) ? argv[3] : nullptr;
std::vector<std::tuple<int, int, double, double, int>> samples; // t, id, x, y, color
std::vector<std::tuple<int, int, double, double, double, double, int>> samples; // t, id, x, y, e.x, e.y, color
if (dump_path)
samples.reserve((size_t)n_iter / dump_interval * n_p);
@@ -119,7 +119,7 @@ int main(int argc, const char *argv[]) {
// # 4 flops = 2 ADDs, 2 MULTs
//
// $\vec{r}_i^{t+1} += \vec{r}^t_i + v^t_idt$
// $\vec{r}_i^{t+1} = \vec{r}^t_i + v^t_idt$
//
p.curr_pos = p.curr_pos + p.curr_vel * dt;
@@ -137,11 +137,13 @@ int main(int argc, const char *argv[]) {
}
// # 10 flops = 5 ADDs, 2 DIVs, 1 SQRT, 2 MULTs
p.e = (p.destination - p.curr_pos) / (p.destination - p.curr_pos).norm();
//p.e = (p.destination - p.curr_pos) / (p.destination - p.curr_pos).norm();
//p.e = (p.curr_vel - p.destination) / (p.curr_vel - p.destination).norm();
p.e = (p.destination - (p.curr_vel / p.curr_vel.norm())) / (p.destination - (p.curr_vel / p.curr_vel.norm())).norm();
// if we have a dump path/file we wanna save the data for visualisation
if (dump_path && (t % dump_interval == 0)) {
samples.emplace_back(t, i, p.curr_pos.x, p.curr_pos.y, p.color);
samples.emplace_back(t, i, p.curr_pos.x, p.curr_pos.y, p.e.x, p.e.y, p.color);
}
}
}
@@ -164,9 +166,9 @@ int main(int argc, const char *argv[]) {
// now we wanna save the data to a csv
if (dump_path) {
std::ofstream out(dump_path);
out << "time,id,x,y,color\n";
for (auto &[t, id, x, y, c] : samples) {
out << t << ',' << id << ',' << x << ',' << y << ',' << c << '\n';
out << "time,id,x,y,p.e.x,p.e.y,color\n";
for (auto &[t, id, x, y, e_x, e_y, c] : samples) {
out << t << ',' << id << ',' << x << ',' << y << ',' << e_x << ',' << e_y << ',' << c << '\n';
}
}
main_test_visualisation
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pedestrian.hpp
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@@ -14,7 +14,7 @@ struct Pedestrian {
// $\vec{r}_\alpha(t)$
Vector2d curr_pos;
// $\vec{e}_{\alpha}(t)$
Vector2d e;
Vector2d e; // desired direction vector
// $v_{\alpha}^{max} = 1.3 v^{0}_{\alpha}$
double v_max;
// $v_\alpha^0$
positions.csv
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test_vector_visible_run_out.mp4
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visualization.py
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@@ -1,15 +1,10 @@
import sys
import pandas as pd
import matplotlib.pyplot as plt
from matplotlib.animation import FuncAnimation
if len(sys.argv) < 2:
sys.exit("Use it like the following: python visualization.py positions.csv (out.gif)")
sys.exit("Use it like the following: python visualization.py positions.csv (out.mp4)")
df = pd.read_csv(sys.argv[1])
frames = sorted(df["time"].unique())
@@ -21,32 +16,48 @@ ax.set_xticks([]); ax.set_yticks([])
for s in ("top", "right", "left", "bottom"):
ax.spines[s].set_color("gray")
# Lets define the 2 groups
# WHITE = 1 (left -> right, drawn as filled black circles, like paper)
# BLACK = 0 (right -> left, drawn as empty circles)
s_white = ax.scatter([], [], s=30, facecolors="black", edgecolor="black", zorder=2)
s_black = ax.scatter([], [], s=30, facecolors="white", edgecolor="black", zorder=2)
# update our graphic from t to t+1
title = ax.set_title("")
# Keep a reference to quiver objects so we can remove them each frame
quivers = []
def update(t):
sub = df[df["time"] == t]
w = sub[sub["color"] == 1]
b = sub[sub["color"] == 0]
s_white.set_offsets(w[["x", "y"]].values)
s_black.set_offsets(b[["x", "y"]].values)
# Remove old quiver arrows
for q in quivers:
q.remove()
quivers.clear()
# Draw fresh arrows each frame
arrow_scale = 1.5 # Tune this to change arrow length visually
if len(w):
q_white = ax.quiver(w["x"], w["y"], w["p.e.x"], w["p.e.y"],
color="black", angles="xy", scale_units="xy",
scale=1/arrow_scale, width=0.003,
headwidth=4, headlength=5, zorder=3)
quivers.append(q_white)
if len(b):
q_black = ax.quiver(b["x"], b["y"], b["p.e.x"], b["p.e.y"],
color="gray", angles="xy", scale_units="xy",
scale=1/arrow_scale, width=0.003,
headwidth=4, headlength=5, zorder=3)
quivers.append(q_black)
title.set_text(f"t = {t}")
return s_white, s_black, title
anim = FuncAnimation(fig, update, frames=frames, interval=50, blit=False)
if len(sys.argv) >= 3:
anim.save(sys.argv[2], writer="ffmpeg", fps=20)
print(f"saved {sys.argv[2]}")
print(f"Saved {sys.argv[2]}")
else:
plt.show()