Baseline Flop Count Update, New Float Baseline
This commit is contained in:
[Quy Anh] «Elliot» Nguyen
committed by
Ahmed Kallala
Ahmed Kallala
parent
40f4421d60
commit
43e54871df
@@ -35,9 +35,21 @@ using namespace std;
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// forces.cpp
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// Flop count: 2 ADDs, 5 MULTs, 1 SQRT
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double w(Vector2d e, Vector2d f) {
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if (e.dot(f) >= f.norm() * cos_phi)
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// Flop count: 2 ADDs, 6 MULTs
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double w_ped(Vector2d e, Vector2d f) {
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double f_norm_sq = f.dot(f);
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double rhs = f_norm_sq * cos_phi_sq;
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double e_dot_f = e.dot(f);
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double e_dot_f_sq = e_dot_f * e_dot_f;
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if (e_dot_f >= 0.0 || e_dot_f_sq <= rhs)
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return dt_neg;
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else
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return c_neg_times_dt;
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}
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double w_obstacle(Vector2d e, Vector2d f) {
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double e_dot_f = (f.y == 0) ? 0 : (f.y < 0 ? -e.y : e.y);
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if (e_dot_f >= cos_phi)
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return dt_neg;
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else
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return c_neg_times_dt;
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@@ -57,7 +69,7 @@ Vector2d acceleration_term_dt(const Pedestrian &alpha) {
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return f_alpha_0_dt;
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}
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// Flop count: 12 ADDs, 23 MULTs, 1 DIV, 4 SQRTs, 1 EXP
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// Flop count: 12 ADDs, 24 MULTs, 1 DIV, 3 SQRTs, 1 EXP
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Vector2d pedestrian_repulsion_dt(const Pedestrian &alpha, const Pedestrian &beta) {
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// # 2 ADDs
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@@ -129,16 +141,16 @@ Vector2d pedestrian_repulsion_dt(const Pedestrian &alpha, const Pedestrian &beta
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//
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Vector2d f_alpha_beta_neg = r_ab * scalar_mult_r_ab + r_ab2 * scalar_mult_r_ab2;
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// # 2 ADDs, 7 MULTs, 1 SQRT
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// # 2 ADDs, 8 MULTs
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//
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// $\vec{F}_{\alpha\beta}(\vec{e}_{\alpha}, \vec{r}_{\alpha \beta}).dt = w(\vec{e}_{\alpha}, -\vec{f}_{\alpha\beta}(\vec{r}_{\alpha \beta})).\vec{f}_{\alpha\beta}(\vec{r}_{\alpha \beta}).dt$
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//
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Vector2d f_alpha_beta_dt = f_alpha_beta_neg * w(alpha.e, f_alpha_beta_neg);
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Vector2d f_alpha_beta_dt = f_alpha_beta_neg * w_ped(alpha.e, f_alpha_beta_neg);
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return f_alpha_beta_dt;
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}
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// Flop count: 10 ADDs, 18 MULTs, 1 DIVs, 2 SQRTs, 1 EXP
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// Flop count: 8 ADDs, 13 MULTs, 1 DIV, 1 SQRT, 1 EXP
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Vector2d obstacle_repulsion_dt(const Pedestrian &alpha, const Obstacle &B) {
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// # 7 ADDs, 5 MULTs
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@@ -162,11 +174,11 @@ Vector2d obstacle_repulsion_dt(const Pedestrian &alpha, const Obstacle &B) {
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//
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Vector2d f_alpha_B_neg = r_aB * scalar_mult;
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// # 2 ADDs, 7 MULTs, 1 SQRT
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// # 2 MULTs
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//
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// $\vec{F}_{\alpha B}(\vec{e}_{\alpha}, \vec{r}_{\alpha B}).dt = w(\vec{e}_{\alpha}, -\vec{F}_{\alpha B}(\vec{r}_{\alpha B})).\vec{F}_{\alpha B}(\vec{r}_{\alpha B}).dt$
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//
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Vector2d f_alpha_B_dt = f_alpha_B_neg * w(alpha.e, f_alpha_B_neg);
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Vector2d f_alpha_B_dt = f_alpha_B_neg * w_obstacle(alpha.e, f_alpha_B_neg);
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return f_alpha_B_dt;
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}
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@@ -280,8 +292,7 @@ int run_simulation(Pedestrian *pedestrians, Board &board, int n_p, int n_iter, c
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//
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Vector2d f_alpha_dt = acceleration_term_dt(p);
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// # (N-1) * (12 ADDs, 23 MULTs, 1 DIV, 4 SQRTs, 1 EXP)
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// + (N-1) * 2 ADDs
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// # (N-1) * (14 ADDs, 24 MULTs, 1 DIV, 3 SQRTs, 1 EXP)
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//
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// $\sum_{\beta} \vec{F}_{\alpha\beta}(\vec{e}_{\alpha},\vec{r}_{\alpha} - \vec{r}_{\beta})$
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//
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@@ -292,8 +303,7 @@ int run_simulation(Pedestrian *pedestrians, Board &board, int n_p, int n_iter, c
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f_alpha_dt += pedestrian_repulsion_dt(p, pedestrians[j]);
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}
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// # board.n_obstacles * (10 ADDs, 18 MULTs, 1 DIV, 2 SQRTs, 1 EXP)
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// + board.n_obstacles * 2 ADDs
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// # board.n_obstacles * (10 ADDs, 13 MULTs, 1 DIV, 1 SQRT, 1 EXP)
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//
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// $\sum_{B} \vec{F}_{\alpha B}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{B})$
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//
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@@ -0,0 +1,409 @@
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// This file is merged from the forces.cpp and social_forces_baseline.cpp
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// The goal is that we from now on only have one file as our baseline
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// This should make it more easy in the future to implement optimizations
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// Our naming convention from now on is: variant_<variant_name>.cpp (Please make sure to keep that consistent, otherwise our Makefile wont work anymore)
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#include "../headers/board_float.hpp"
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#include "../headers/constants_float.hpp"
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#include "../headers/pedestrian_float.hpp"
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#include "../headers/vector2d_float.hpp"
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#include <algorithm>
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#include <cmath>
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#include <fstream>
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#include <iostream>
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#include <math.h> // keep — forces code uses unqualified sqrt/exp
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#include <random>
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#include <tuple>
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#include <vector>
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#define SEED 42
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#define BOARD_WIDTH 10.0f
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#define BOARD_LENGTH 50.0f
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#define WALL_EPS 1e-3f
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#define BOARD_WIDTH_MINUS_WALL_EPS 9.999f
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#ifndef RANDOM_SEED
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#define RANDOM_SEED 0
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#endif
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#ifndef BENCHMARK
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#define BENCHMARK 0
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#endif
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using namespace std;
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// forces.cpp
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// Flop count: 2 ADDs, 6 MULTs
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float w_ped(Vector2d e, Vector2d f) {
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float f_norm_sq = f.dot(f);
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float rhs = f_norm_sq * cos_phi_sq;
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float e_dot_f = e.dot(f);
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float e_dot_f_sq = e_dot_f * e_dot_f;
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if (e_dot_f >= 0.0 || e_dot_f_sq <= rhs)
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return dt_neg;
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else
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return c_neg_times_dt;
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}
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float w_obstacle(Vector2d e, Vector2d f) {
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float e_dot_f = (f.y == 0) ? 0 : (f.y < 0 ? -e.y : e.y);
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if (e_dot_f >= cos_phi)
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return dt_neg;
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else
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return c_neg_times_dt;
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}
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// Flop count: 2 ADDs, 4 MULTs
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Vector2d acceleration_term_dt(const Pedestrian &alpha) {
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// # 2 MULTs
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Vector2d desired_velocity = alpha.e * alpha.desired_v0;
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Vector2d actual_velocity = alpha.curr_vel;
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// # 2 ADDs, 2 MULTs
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Vector2d f_alpha_0_dt = (desired_velocity - actual_velocity) * dt_times_tau_alpha_inv;
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return f_alpha_0_dt;
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}
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// Flop count: 12 ADDs, 24 MULTs, 1 DIV, 3 SQRTs, 1 EXP
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Vector2d pedestrian_repulsion_dt(const Pedestrian &alpha, const Pedestrian &beta) {
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// # 2 ADDs
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// $\vec{r}_{\alpha\beta}$
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Vector2d r_ab = alpha.curr_pos - beta.curr_pos;
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// # 1 ADD, 2 MULTs, 1 SQRT
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// $\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert$
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float r_ab_norm = r_ab.norm();
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r_ab_norm = r_ab_norm > EPS ? r_ab_norm : EPS; // Avoid division by zero
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// $v_\beta \Delta t \vec{e}_\beta$
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Vector2d s_b_e = beta.s_b_e;
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// # 2 ADDs
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// $\vec{r}_{\alpha\beta} - \vec{v}_{\beta}\varDelta_{t}\vec{e}_{\beta}$
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Vector2d r_ab2 = r_ab - s_b_e;
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// # 1 ADD, 2 MULTs, 1 SQRT
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// $\Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert$
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float r_ab2_norm = r_ab2.norm();
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r_ab2_norm = r_ab2_norm > EPS ? r_ab2_norm : EPS; // Avoid division by zero
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// # 1 ADD
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// $\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert$
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float r_ab_norm_sum = r_ab_norm + r_ab2_norm;
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// # 1 ADD, 1 MULTs, 1 SQRT
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//
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// $2b = \sqrt{(\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert)^2 - (v_\beta \Delta t)^2}$
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//
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float two_b_sq = r_ab_norm_sum * r_ab_norm_sum - beta.s_b_sq;
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two_b_sq = two_b_sq > EPS_SQ ? two_b_sq : EPS_SQ; // Avoid sqrt of negative and avoid division by zero
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float two_b = sqrt(two_b_sq);
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// # 5 MULTs, 1 DIV, 1 EXP
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//
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// $\frac{-V^0_{\alpha\beta}}{2\sigma}\,e^{-b/\sigma}\,\frac{\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert}{2b\,\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert\,\Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert}$
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//
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float scalar_mult_common = (r_ab_norm_sum / (two_b * r_ab_norm * r_ab2_norm)) * (NEG_V0_AB_div_TWO_SIGMA * exp(two_b * NEG_TWO_SIGMA_INV));
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// # 1 MULT
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//
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// $\frac{-V^0_{\alpha\beta}}{2\sigma}\,e^{-b/\sigma}\,\frac{\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert}{2b\,\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert}$
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//
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float scalar_mult_r_ab = scalar_mult_common * r_ab2_norm;
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// # 1 MULT
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//
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// $\frac{-V^0_{\alpha\beta}}{2\sigma}\,e^{-b/\sigma}\,\frac{\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert}{2b\,\Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert}$
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//
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float scalar_mult_r_ab2 = scalar_mult_common * r_ab_norm;
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// # 2 ADDs, 4 MULTs
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//
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// $\vec{-f}_{\alpha \beta}(\vec{r}_{\alpha \beta}) = \frac{-V^0_{\alpha \beta}}{2\sigma}e^{-b / \sigma} 2\grad_{\vec{r}_{\alpha \beta}}b $
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//
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//
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// $= \frac{-V^0_{\alpha\beta}}{2\sigma}\,e^{-b/\sigma}\,\frac{\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert}{2b\,\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert}\,\vec{r}_{\alpha \beta} + \frac{-V^0_{\alpha\beta}}{2\sigma}\,e^{-b/\sigma}\,\frac{\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert}{2b\,\Arrowvert \vec{r}_{\alpha \beta} -
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// v_\beta \Delta t \vec{e}_\beta \Arrowvert}\,(\vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta)$
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//
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//
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//
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// $2\grad_{\vec{r}_{\alpha \beta}}b = \frac{(\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert)(\frac{\vec{r}_{\alpha \beta}}{\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert} + \frac{\vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta}{\Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert})}{2b}$
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//
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//
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// $= \frac{\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta Delta t \vec{e}_\beta \Arrowvert}{2b\,\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert}\,\vec{r}_{\alpha \beta} + \frac{\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert}{2b\,\Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert}\,(\vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta)$
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//
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//
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Vector2d f_alpha_beta_neg = r_ab * scalar_mult_r_ab + r_ab2 * scalar_mult_r_ab2;
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// # 2 ADDs, 8 MULTs
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//
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// $\vec{F}_{\alpha\beta}(\vec{e}_{\alpha}, \vec{r}_{\alpha \beta}).dt = w(\vec{e}_{\alpha}, -\vec{f}_{\alpha\beta}(\vec{r}_{\alpha \beta})).\vec{f}_{\alpha\beta}(\vec{r}_{\alpha \beta}).dt$
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//
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Vector2d f_alpha_beta_dt = f_alpha_beta_neg * w_ped(alpha.e, f_alpha_beta_neg);
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return f_alpha_beta_dt;
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}
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// Flop count: 8 ADDs, 13 MULTs, 1 DIV, 1 SQRT, 1 EXP
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Vector2d obstacle_repulsion_dt(const Pedestrian &alpha, const Obstacle &B) {
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// # 7 ADDs, 5 MULTs
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// $\vec{r}_{\alpha B}$
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Vector2d r_aB = alpha.curr_pos - B.find_nearest_obstacle_point(alpha.curr_pos);
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// # 1 ADD, 2 MULTs, 1 SQRT
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// $\Arrowvert \vec{r}_{\alpha B} \Arrowvert$
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float r_aB_norm = r_aB.norm();
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r_aB_norm = r_aB_norm > EPS ? r_aB_norm : EPS; // Avoid division by zero
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// # 2 MULTs, 1 DIV, 1 EXP
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//
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// $\frac{-U^0_{\alpha B}}{R} e^{- \Arrowvert \vec{r}_{\alpha B} \Arrowvert / R}$
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//
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float scalar_mult = (NEG_U0_AB_div_R * exp(r_aB_norm * NEG_R_INV)) / r_aB_norm;
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// # 2 MULTs
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//
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// $-\vec{F}_{\alpha B}(\vec{r}_{\alpha B}) = \frac{-U^0_{\alpha B}}{R} e^{- \Arrowvert \vec{r}_{\alpha B} \Arrowvert / R} \frac{\vec{r}_{\alpha B}}{\Arrowvert \vec{r}_{\alpha B} \Arrowvert}$
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//
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Vector2d f_alpha_B_neg = r_aB * scalar_mult;
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// # 2 MULTs
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//
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// $\vec{F}_{\alpha B}(\vec{e}_{\alpha}, \vec{r}_{\alpha B}).dt = w(\vec{e}_{\alpha}, -\vec{F}_{\alpha B}(\vec{r}_{\alpha B})).\vec{F}_{\alpha B}(\vec{r}_{\alpha B}).dt$
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//
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Vector2d f_alpha_B_dt = f_alpha_B_neg * w_obstacle(alpha.e, f_alpha_B_neg);
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return f_alpha_B_dt;
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}
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// social_force_baseline.cpp
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Pedestrian *init_pedestrians(int n_p) {
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#if RANDOM_SEED
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random_device rd; // Platform-provided random seed source.
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mt19937 gen(rd()); // Non-reproducible initialization.
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#else
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mt19937 gen(SEED); // Reproducible initialization.
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#endif
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normal_distribution<float> velocity_gen(v0_mean, v0_std_dev);
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uniform_real_distribution<float> y_gen(0.3, BOARD_WIDTH - 0.3);
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uniform_real_distribution<float> x_gen_left(2.0, BOARD_LENGTH / 2.0);
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uniform_real_distribution<float> x_gen_right(BOARD_LENGTH / 2.0, BOARD_LENGTH - 2.0);
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Pedestrian *P = new Pedestrian[n_p];
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int n_p_half = n_p / 2;
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// Group of pedestrians walking from left to right.
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for (int i = 0; i < n_p_half; i++) {
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float x = x_gen_left(gen);
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float y = y_gen(gen);
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Vector2d start_pos = Vector2d(x, y);
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Vector2d destination = Vector2d(BOARD_LENGTH + 30.0, y);
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Vector2d init_e = destination - start_pos;
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float init_e_norm = init_e.norm();
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Vector2d init_e_unit = init_e / init_e_norm;
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// Reject near-zero desired speeds to avoid pedestrians that barely move,
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// and reject negative speeds because they would reverse the intended
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// walking direction.
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float desired_v0;
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do {
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desired_v0 = velocity_gen(gen);
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} while (desired_v0 <= 0.1);
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float v_max = 1.3 * desired_v0;
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P[i] = Pedestrian(WHITE, Vector2d(), start_pos, init_e_unit, v_max, desired_v0, destination);
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}
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// Group of pedestrians walking from right to left.
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for (int i = n_p_half; i < n_p; i++) {
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float x = x_gen_right(gen);
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float y = y_gen(gen);
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Vector2d start_pos = Vector2d(x, y);
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Vector2d destination = Vector2d(-30.0, y);
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Vector2d init_e = destination - start_pos;
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float init_e_norm = init_e.norm();
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Vector2d init_e_unit = init_e / init_e_norm;
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// Reject near-zero desired speeds to avoid pedestrians that barely move,
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// and reject negative speeds because they would reverse the intended
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// walking direction.
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float desired_v0;
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do {
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desired_v0 = velocity_gen(gen);
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} while (desired_v0 <= 0.1);
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float v_max = 1.3 * desired_v0;
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P[i] = Pedestrian(BLACK, Vector2d(), start_pos, init_e_unit, v_max, desired_v0, destination);
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}
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return P;
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}
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Board init_board_without_obstacles() { return Board(BOARD_LENGTH, BOARD_WIDTH, 0, nullptr); }
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int run_simulation(Pedestrian *pedestrians, Board &board, int n_p, int n_iter, const char *dump_path) {
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#if BENCHMARK
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// Avoid compiler unused parameter warning
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(void)dump_path;
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#endif
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||||
#if !BENCHMARK
|
||||
const int dump_interval = 1;
|
||||
|
||||
// Each sample stores: time step, pedestrian id, x, y, e.x, e.y, color.
|
||||
vector<tuple<int, int, float, float, float, float, int>> samples;
|
||||
|
||||
if (dump_path) {
|
||||
samples.reserve(static_cast<size_t>(n_iter / dump_interval + 1) * n_p);
|
||||
|
||||
// Store the initial state before the first simulation step.
|
||||
for (int i = 0; i < n_p; i++) {
|
||||
Pedestrian &p = pedestrians[i];
|
||||
samples.emplace_back(0, i, p.curr_pos.x, p.curr_pos.y, p.e.x, p.e.y, p.color);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
for (int t = 0; t < n_iter; t++) {
|
||||
// Pass 1: Compute all forces from the current state.
|
||||
for (int i = 0; i < n_p; i++) {
|
||||
Pedestrian &p = pedestrians[i];
|
||||
|
||||
// # 2 ADDs, 4 MULTs
|
||||
//
|
||||
// $\vec{F}_\alpha(\vec{v}_\alpha, v^0_\alpha \vec{e}_\alpha) = \frac{1}{\tau_\alpha}(v^0_\alpha \vec{e}_\alpha - \vec{v}_\alpha)$
|
||||
//
|
||||
Vector2d f_alpha_dt = acceleration_term_dt(p);
|
||||
|
||||
// # (N-1) * (14 ADDs, 24 MULTs, 1 DIV, 3 SQRTs, 1 EXP)
|
||||
//
|
||||
// $\sum_{\beta} \vec{F}_{\alpha\beta}(\vec{e}_{\alpha},\vec{r}_{\alpha} - \vec{r}_{\beta})$
|
||||
//
|
||||
for (int j = 0; j < n_p; j++) {
|
||||
if (i == j)
|
||||
continue;
|
||||
|
||||
f_alpha_dt += pedestrian_repulsion_dt(p, pedestrians[j]);
|
||||
}
|
||||
|
||||
// # board.n_obstacles * (10 ADDs, 13 MULTs, 1 DIV, 1 SQRT, 1 EXP)
|
||||
//
|
||||
// $\sum_{B} \vec{F}_{\alpha B}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{B})$
|
||||
//
|
||||
for (int k = 0; k < board.n_obstacles; k++) {
|
||||
f_alpha_dt += obstacle_repulsion_dt(p, board.obstacles[k]);
|
||||
}
|
||||
|
||||
// # 2 ADDs
|
||||
//
|
||||
//
|
||||
// $\frac{d\vec{w}_\alpha}{dt} = \vec{F}_{\alpha}(t)$
|
||||
//
|
||||
p.w += f_alpha_dt;
|
||||
}
|
||||
|
||||
// Pass 2: Update pedestrian states after all forces have been computed.
|
||||
// # (7 ADDs, 16 MULTs, 2 DIVs, 3 SQRTs) * n_p
|
||||
for (int i = 0; i < n_p; i++) {
|
||||
Pedestrian &p = pedestrians[i];
|
||||
|
||||
// # 1 ADD, 2 MULTs, 1 SQRT
|
||||
float w_norm = p.w.norm();
|
||||
|
||||
float w_norm2 = w_norm > EPS ? w_norm : EPS; // Avoid division by zero.
|
||||
|
||||
// # 1 DIV
|
||||
float correction_factor = std::min(1.0f, p.v_max / w_norm2);
|
||||
|
||||
// # 2 MULTs
|
||||
p.curr_vel = p.w * correction_factor;
|
||||
|
||||
// # 2 ADDs, 2 MULTs
|
||||
//
|
||||
// $\vec{r}_i^{t+1} = \vec{r}_i^t + \vec{v}_i^t dt$
|
||||
//
|
||||
p.curr_pos = p.curr_pos + p.curr_vel * dt;
|
||||
|
||||
// When a pedestrian reaches the end of the corridor, teleport them back
|
||||
// to the opposite entrance while keeping the same y-coordinate. This
|
||||
// maintains a constant pedestrian flow and makes lane formation easier to
|
||||
// observe.
|
||||
if (p.color == WHITE && p.curr_pos.x > (BOARD_LENGTH - 1.5)) {
|
||||
p.curr_pos.x = 1.0;
|
||||
p.destination.y = p.curr_pos.y;
|
||||
p.w = Vector2d(p.desired_v0, 0.0);
|
||||
p.curr_vel = p.w;
|
||||
}
|
||||
if (p.color == BLACK && p.curr_pos.x < 1.5) {
|
||||
p.curr_pos.x = BOARD_LENGTH - 1.0;
|
||||
p.destination.y = p.curr_pos.y;
|
||||
p.w = Vector2d(-p.desired_v0, 0.0);
|
||||
p.curr_vel = p.w;
|
||||
}
|
||||
|
||||
// Keep pedestrians inside the board boundaries.
|
||||
p.curr_pos.y = clamp(p.curr_pos.y, WALL_EPS, BOARD_WIDTH_MINUS_WALL_EPS);
|
||||
|
||||
// # 2 ADDs
|
||||
Vector2d e = p.destination - p.curr_pos;
|
||||
|
||||
// # 1 ADD, 2 MULTs, 1 DIV, 1 SQRT
|
||||
float e_norm = e.norm();
|
||||
float e_norm2 = e_norm > EPS ? e_norm : EPS; // Avoid division by zero.
|
||||
float e_norm_inv = 1.0 / e_norm2;
|
||||
|
||||
// # 2 MULTs
|
||||
p.e = e * e_norm_inv;
|
||||
|
||||
// # 1 ADD, 2 MULTs
|
||||
float velocity_norm_sq = p.curr_vel.dot(p.curr_vel);
|
||||
|
||||
// # 1 SQRT
|
||||
float velocity_norm = std::sqrt(velocity_norm_sq);
|
||||
|
||||
// # 1 MULT
|
||||
p.s_b_sq = velocity_norm_sq * delta_t_sq;
|
||||
|
||||
// # 3 MULTs
|
||||
p.s_b_e = p.e * (velocity_norm * delta_t);
|
||||
|
||||
#if !BENCHMARK
|
||||
// Store the current pedestrian state for visualization.
|
||||
if (dump_path && (t % dump_interval == 0)) {
|
||||
samples.emplace_back(t + 1, i, p.curr_pos.x, p.curr_pos.y, p.e.x, p.e.y, p.color);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
#if !BENCHMARK
|
||||
// Export recorded simulation states to CSV.
|
||||
if (dump_path) {
|
||||
ofstream out(dump_path);
|
||||
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';
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,296 @@
|
||||
// # Changes: Replaced «double» with «float» in variable declarations
|
||||
// # Predecessor: variant_float_baseline.cpp
|
||||
|
||||
#include "../headers/board_reduced_float.hpp"
|
||||
#include "../headers/constants_float.hpp"
|
||||
#include "../headers/pedestrian_reduced_float.hpp"
|
||||
|
||||
#include <algorithm>
|
||||
#include <cmath>
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
#include <math.h>
|
||||
#include <random>
|
||||
#include <tuple>
|
||||
#include <vector>
|
||||
|
||||
#define SEED 42
|
||||
#define BOARD_WIDTH 10.0f
|
||||
#define BOARD_LENGTH 50.0f
|
||||
#define WALL_EPS 1e-3f
|
||||
#define BOARD_WIDTH_MINUS_WALL_EPS 9.999f
|
||||
|
||||
#ifndef RANDOM_SEED
|
||||
#define RANDOM_SEED 0
|
||||
#endif
|
||||
|
||||
#ifndef BENCHMARK
|
||||
#define BENCHMARK 0
|
||||
#endif
|
||||
|
||||
using namespace std;
|
||||
|
||||
Pedestrian *init_pedestrians(int n_p) {
|
||||
#if RANDOM_SEED
|
||||
random_device rd;
|
||||
mt19937 gen(rd());
|
||||
#else
|
||||
mt19937 gen(SEED);
|
||||
#endif
|
||||
|
||||
normal_distribution<float> velocity_gen(v0_mean, v0_std_dev);
|
||||
uniform_real_distribution<float> y_gen(0.3, BOARD_WIDTH - 0.3);
|
||||
uniform_real_distribution<float> x_gen_left(2.0, BOARD_LENGTH / 2.0);
|
||||
uniform_real_distribution<float> x_gen_right(BOARD_LENGTH / 2.0, BOARD_LENGTH - 2.0);
|
||||
|
||||
Pedestrian *P = new Pedestrian[n_p];
|
||||
|
||||
int n_p_half = n_p / 2;
|
||||
|
||||
for (int i = 0; i < n_p_half; i++) {
|
||||
float x = x_gen_left(gen);
|
||||
float y = y_gen(gen);
|
||||
|
||||
float start_pos_x = x;
|
||||
float start_pos_y = y;
|
||||
|
||||
float destination_x = BOARD_LENGTH + 30.0;
|
||||
float destination_y = y;
|
||||
|
||||
float init_e_x = destination_x - start_pos_x;
|
||||
float init_e_y = destination_y - start_pos_y;
|
||||
float init_e_norm = sqrt(init_e_x * init_e_x + init_e_y * init_e_y);
|
||||
float init_e_unit_x = init_e_x / init_e_norm;
|
||||
float init_e_unit_y = init_e_y / init_e_norm;
|
||||
|
||||
float desired_v0;
|
||||
do {
|
||||
desired_v0 = velocity_gen(gen);
|
||||
} while (desired_v0 <= 0.1);
|
||||
|
||||
float v_max = 1.3 * desired_v0;
|
||||
|
||||
P[i] = Pedestrian(0, 0, 0, start_pos_x, start_pos_y, init_e_unit_x, init_e_unit_y, v_max, desired_v0, destination_x, destination_y);
|
||||
}
|
||||
|
||||
for (int i = n_p_half; i < n_p; i++) {
|
||||
float x = x_gen_right(gen);
|
||||
float y = y_gen(gen);
|
||||
|
||||
float start_pos_x = x;
|
||||
float start_pos_y = y;
|
||||
float destination_x = -30;
|
||||
float destination_y = y;
|
||||
|
||||
float init_e_x = destination_x - start_pos_x;
|
||||
float init_e_y = destination_y - start_pos_y;
|
||||
float init_e_norm = sqrt(init_e_x * init_e_x + init_e_y * init_e_y);
|
||||
float init_e_unit_x = init_e_x / init_e_norm;
|
||||
float init_e_unit_y = init_e_y / init_e_norm;
|
||||
|
||||
float desired_v0;
|
||||
do {
|
||||
desired_v0 = velocity_gen(gen);
|
||||
} while (desired_v0 <= 0.1);
|
||||
|
||||
float v_max = 1.3 * desired_v0;
|
||||
|
||||
P[i] = Pedestrian(1, 0, 0, start_pos_x, start_pos_y, init_e_unit_x, init_e_unit_y, v_max, desired_v0, destination_x, destination_y);
|
||||
}
|
||||
|
||||
return P;
|
||||
}
|
||||
|
||||
Board init_board_without_obstacles() { return Board(BOARD_LENGTH, BOARD_WIDTH, 0, nullptr); }
|
||||
|
||||
int run_simulation(Pedestrian *pedestrians, Board &board, int n_p, int n_iter, const char *dump_path) {
|
||||
|
||||
#if BENCHMARK
|
||||
(void)dump_path;
|
||||
#endif
|
||||
|
||||
#if !BENCHMARK
|
||||
const int dump_interval = 1;
|
||||
|
||||
vector<tuple<int, int, float, float, float, float, int>> samples;
|
||||
|
||||
if (dump_path) {
|
||||
samples.reserve(static_cast<size_t>(n_iter / dump_interval + 1) * n_p);
|
||||
|
||||
for (int i = 0; i < n_p; i++) {
|
||||
Pedestrian &p = pedestrians[i];
|
||||
samples.emplace_back(0, i, p.curr_pos_x, p.curr_pos_y, p.e_x, p.e_y, p.color);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
for (int t = 0; t < n_iter; t++) {
|
||||
for (int i = 0; i < n_p; i++) {
|
||||
Pedestrian &p = pedestrians[i];
|
||||
|
||||
float desired_velocity_x = p.e_x * p.desired_v0;
|
||||
float desired_velocity_y = p.e_y * p.desired_v0;
|
||||
float f_alpha_dt_x = (desired_velocity_x - p.curr_vel_x) * dt_times_tau_alpha_inv;
|
||||
float f_alpha_dt_y = (desired_velocity_y - p.curr_vel_y) * dt_times_tau_alpha_inv;
|
||||
|
||||
for (int j = 0; j < n_p; j++) {
|
||||
if (i == j)
|
||||
continue;
|
||||
|
||||
float r_ab_x = p.curr_pos_x - pedestrians[j].curr_pos_x;
|
||||
float r_ab_y = p.curr_pos_y - pedestrians[j].curr_pos_y;
|
||||
|
||||
float r_ab_norm = sqrt(r_ab_x * r_ab_x + r_ab_y * r_ab_y);
|
||||
r_ab_norm = r_ab_norm > EPS ? r_ab_norm : EPS;
|
||||
|
||||
float r_ab2_x = r_ab_x - pedestrians[j].s_b_e_x;
|
||||
float r_ab2_y = r_ab_y - pedestrians[j].s_b_e_y;
|
||||
|
||||
float r_ab2_norm = sqrt(r_ab2_x * r_ab2_x + r_ab2_y * r_ab2_y);
|
||||
r_ab2_norm = r_ab2_norm > EPS ? r_ab2_norm : EPS;
|
||||
|
||||
float r_ab_norm_sum = r_ab_norm + r_ab2_norm;
|
||||
|
||||
float two_b_sq = r_ab_norm_sum * r_ab_norm_sum - pedestrians[j].s_b_sq;
|
||||
two_b_sq = two_b_sq > EPS_SQ ? two_b_sq : EPS_SQ;
|
||||
float two_b = sqrt(two_b_sq);
|
||||
float scalar_mult_common = (r_ab_norm_sum / (two_b * r_ab_norm * r_ab2_norm)) * (NEG_V0_AB_div_TWO_SIGMA * exp(two_b * NEG_TWO_SIGMA_INV));
|
||||
float scalar_mult_r_ab = scalar_mult_common * r_ab2_norm;
|
||||
float scalar_mult_r_ab2 = scalar_mult_common * r_ab_norm;
|
||||
|
||||
float f_alpha_beta_neg_x = r_ab_x * scalar_mult_r_ab + r_ab2_x * scalar_mult_r_ab2;
|
||||
float f_alpha_beta_neg_y = r_ab_y * scalar_mult_r_ab + r_ab2_y * scalar_mult_r_ab2;
|
||||
|
||||
float w_val;
|
||||
|
||||
float f_norm_sq = f_alpha_beta_neg_x * f_alpha_beta_neg_x + f_alpha_beta_neg_y * f_alpha_beta_neg_y;
|
||||
float rhs = f_norm_sq * cos_phi_sq;
|
||||
float e_dot_f = p.e_x * f_alpha_beta_neg_x + p.e_y * f_alpha_beta_neg_y;
|
||||
float e_dot_f_sq = e_dot_f * e_dot_f;
|
||||
if (e_dot_f >= 0.0 || e_dot_f_sq <= rhs)
|
||||
w_val = dt_neg;
|
||||
else
|
||||
w_val = c_neg_times_dt;
|
||||
|
||||
f_alpha_dt_x = f_alpha_dt_x + f_alpha_beta_neg_x * w_val;
|
||||
f_alpha_dt_y = f_alpha_dt_y + f_alpha_beta_neg_y * w_val;
|
||||
}
|
||||
|
||||
for (int k = 0; k < board.n_obstacles; k++) {
|
||||
|
||||
float v1_x = p.curr_pos_x - board.obstacles[k].start_x;
|
||||
float v1_y = p.curr_pos_y - board.obstacles[k].start_y;
|
||||
float v2_x = board.obstacles[k].obstacle_v_x;
|
||||
float v2_y = board.obstacles[k].obstacle_v_y;
|
||||
|
||||
float projection = (v1_x * v2_x + v1_y * v2_y) * board.obstacles[k].length_sq_inv;
|
||||
|
||||
if (projection < 0.0)
|
||||
projection = 0.0;
|
||||
else if (projection > 1.0)
|
||||
projection = 1.0;
|
||||
|
||||
float r_aB_x = p.curr_pos_x - (board.obstacles[k].start_x + board.obstacles[k].obstacle_v_x * projection);
|
||||
float r_aB_y = p.curr_pos_y - (board.obstacles[k].start_y + board.obstacles[k].obstacle_v_y * projection);
|
||||
|
||||
float r_aB_norm = sqrt(r_aB_x * r_aB_x + r_aB_y * r_aB_y);
|
||||
r_aB_norm = r_aB_norm > EPS ? r_aB_norm : EPS;
|
||||
|
||||
float scalar_mult = (NEG_U0_AB_div_R * exp(r_aB_norm * NEG_R_INV)) / r_aB_norm;
|
||||
float f_alpha_B_neg_x = r_aB_x * scalar_mult;
|
||||
float f_alpha_B_neg_y = r_aB_y * scalar_mult;
|
||||
|
||||
float w_val;
|
||||
|
||||
float e_dot_f = (f_alpha_B_neg_y == 0) ? 0 : (f_alpha_B_neg_y < 0 ? -p.e_y : p.e_y);
|
||||
|
||||
if (e_dot_f >= cos_phi)
|
||||
w_val = dt_neg;
|
||||
else
|
||||
w_val = c_neg_times_dt;
|
||||
|
||||
float f_alpha_B_dt_x = f_alpha_B_neg_x * w_val;
|
||||
float f_alpha_B_dt_y = f_alpha_B_neg_y * w_val;
|
||||
|
||||
f_alpha_dt_x += f_alpha_B_dt_x;
|
||||
f_alpha_dt_y += f_alpha_B_dt_y;
|
||||
}
|
||||
|
||||
p.w_x += f_alpha_dt_x;
|
||||
p.w_y += f_alpha_dt_y;
|
||||
}
|
||||
|
||||
for (int i = 0; i < n_p; i++) {
|
||||
Pedestrian &p = pedestrians[i];
|
||||
|
||||
float w_norm = sqrt(p.w_x * p.w_x + p.w_y * p.w_y);
|
||||
|
||||
float w_norm2 = w_norm > EPS ? w_norm : EPS;
|
||||
|
||||
float correction_factor = min(1.0f, p.v_max / w_norm2);
|
||||
|
||||
p.curr_vel_x = p.w_x * correction_factor;
|
||||
p.curr_vel_y = p.w_y * correction_factor;
|
||||
|
||||
p.curr_pos_x = p.curr_pos_x + p.curr_vel_x * dt;
|
||||
p.curr_pos_y = p.curr_pos_y + p.curr_vel_y * dt;
|
||||
|
||||
if (p.color == 0 && p.curr_pos_x > (BOARD_LENGTH - 1.5)) {
|
||||
p.curr_pos_x = 1.0;
|
||||
p.destination_y = p.curr_pos_y;
|
||||
p.w_x = p.desired_v0;
|
||||
p.w_y = 0.0;
|
||||
p.curr_vel_x = p.w_x;
|
||||
p.curr_vel_y = p.w_y;
|
||||
}
|
||||
if (p.color == 1 && p.curr_pos_x < 1.5) {
|
||||
p.curr_pos_x = BOARD_LENGTH - 1.0;
|
||||
p.destination_y = p.curr_pos_y;
|
||||
p.w_x = -p.desired_v0;
|
||||
p.w_y = 0.0;
|
||||
p.curr_vel_x = p.w_x;
|
||||
p.curr_vel_y = p.w_y;
|
||||
}
|
||||
|
||||
p.curr_pos_y = clamp(p.curr_pos_y, WALL_EPS, BOARD_WIDTH_MINUS_WALL_EPS);
|
||||
|
||||
float e_x = p.destination_x - p.curr_pos_x;
|
||||
float e_y = p.destination_y - p.curr_pos_y;
|
||||
|
||||
float e_norm = sqrt(e_x * e_x + e_y * e_y);
|
||||
float e_norm2 = e_norm > EPS ? e_norm : EPS;
|
||||
float e_norm_inv = 1.0 / e_norm2;
|
||||
|
||||
p.e_x = e_x * e_norm_inv;
|
||||
p.e_y = e_y * e_norm_inv;
|
||||
|
||||
float velocity_norm_sq = p.curr_vel_x * p.curr_vel_x + p.curr_vel_y * p.curr_vel_y;
|
||||
|
||||
float velocity_norm = sqrt(velocity_norm_sq);
|
||||
|
||||
p.s_b_sq = velocity_norm_sq * delta_t_sq;
|
||||
|
||||
p.s_b_e_x = p.e_x * (velocity_norm * delta_t);
|
||||
p.s_b_e_y = p.e_y * (velocity_norm * delta_t);
|
||||
|
||||
#if !BENCHMARK
|
||||
if (dump_path && (t % dump_interval == 0)) {
|
||||
samples.emplace_back(t + 1, i, p.curr_pos_x, p.curr_pos_y, p.e_x, p.e_y, p.color);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
#if !BENCHMARK
|
||||
if (dump_path) {
|
||||
ofstream out(dump_path);
|
||||
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';
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,280 @@
|
||||
// # This file performs in-lining for run_simulation.
|
||||
// # Changes: Replaced references to Vector2d structs inside each Obstacle of Board.obstacles with references to doubles
|
||||
// # Predecessor: variant_inlining_7.cpp
|
||||
|
||||
#include "../headers/board_reduced.hpp"
|
||||
#include "../headers/constants.hpp"
|
||||
#include "../headers/pedestrian_reduced.hpp"
|
||||
|
||||
#include <algorithm>
|
||||
#include <cmath>
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
#include <math.h>
|
||||
#include <random>
|
||||
#include <tuple>
|
||||
#include <vector>
|
||||
|
||||
#define SEED 42
|
||||
#define BOARD_WIDTH 10.0
|
||||
#define BOARD_LENGTH 50.0
|
||||
#define WALL_EPS 1e-3
|
||||
#define BOARD_WIDTH_MINUS_WALL_EPS 9.999
|
||||
|
||||
#ifndef RANDOM_SEED
|
||||
#define RANDOM_SEED 0
|
||||
#endif
|
||||
|
||||
#ifndef BENCHMARK
|
||||
#define BENCHMARK 0
|
||||
#endif
|
||||
|
||||
using namespace std;
|
||||
|
||||
Pedestrian *init_pedestrians(int n_p) {
|
||||
#if RANDOM_SEED
|
||||
random_device rd;
|
||||
mt19937 gen(rd());
|
||||
#else
|
||||
mt19937 gen(SEED);
|
||||
#endif
|
||||
|
||||
normal_distribution<double> velocity_gen(v0_mean, v0_std_dev);
|
||||
uniform_real_distribution<double> y_gen(0.3, BOARD_WIDTH - 0.3);
|
||||
uniform_real_distribution<double> x_gen_left(2.0, BOARD_LENGTH / 2.0);
|
||||
uniform_real_distribution<double> x_gen_right(BOARD_LENGTH / 2.0, BOARD_LENGTH - 2.0);
|
||||
|
||||
Pedestrian *P = new Pedestrian[n_p];
|
||||
|
||||
int n_p_half = n_p / 2;
|
||||
|
||||
for (int i = 0; i < n_p_half; i++) {
|
||||
double x = x_gen_left(gen);
|
||||
double y = y_gen(gen);
|
||||
|
||||
double start_pos_x = x;
|
||||
double start_pos_y = y;
|
||||
|
||||
double destination_x = BOARD_LENGTH + 30.0;
|
||||
double destination_y = y;
|
||||
|
||||
double init_e_x = destination_x - start_pos_x;
|
||||
double init_e_y = destination_y - start_pos_y;
|
||||
double init_e_norm = sqrt(init_e_x * init_e_x + init_e_y * init_e_y);
|
||||
double init_e_unit_x = init_e_x / init_e_norm;
|
||||
double init_e_unit_y = init_e_y / init_e_norm;
|
||||
|
||||
double desired_v0;
|
||||
do {
|
||||
desired_v0 = velocity_gen(gen);
|
||||
} while (desired_v0 <= 0.1);
|
||||
|
||||
double v_max = 1.3 * desired_v0;
|
||||
|
||||
P[i] = Pedestrian(0, 0, 0, start_pos_x, start_pos_y, init_e_unit_x, init_e_unit_y, v_max, desired_v0, destination_x, destination_y);
|
||||
}
|
||||
|
||||
for (int i = n_p_half; i < n_p; i++) {
|
||||
double x = x_gen_right(gen);
|
||||
double y = y_gen(gen);
|
||||
|
||||
double start_pos_x = x;
|
||||
double start_pos_y = y;
|
||||
double destination_x = -30;
|
||||
double destination_y = y;
|
||||
|
||||
double init_e_x = destination_x - start_pos_x;
|
||||
double init_e_y = destination_y - start_pos_y;
|
||||
double init_e_norm = sqrt(init_e_x * init_e_x + init_e_y * init_e_y);
|
||||
double init_e_unit_x = init_e_x / init_e_norm;
|
||||
double init_e_unit_y = init_e_y / init_e_norm;
|
||||
|
||||
double desired_v0;
|
||||
do {
|
||||
desired_v0 = velocity_gen(gen);
|
||||
} while (desired_v0 <= 0.1);
|
||||
|
||||
double v_max = 1.3 * desired_v0;
|
||||
|
||||
P[i] = Pedestrian(1, 0, 0, start_pos_x, start_pos_y, init_e_unit_x, init_e_unit_y, v_max, desired_v0, destination_x, destination_y);
|
||||
}
|
||||
|
||||
return P;
|
||||
}
|
||||
|
||||
Board init_board_without_obstacles() { return Board(BOARD_LENGTH, BOARD_WIDTH, 0, nullptr); }
|
||||
|
||||
int run_simulation(Pedestrian *pedestrians, Board &board, int n_p, int n_iter, const char *dump_path) {
|
||||
|
||||
#if BENCHMARK
|
||||
(void)dump_path;
|
||||
#endif
|
||||
|
||||
#if !BENCHMARK
|
||||
const int dump_interval = 1;
|
||||
|
||||
vector<tuple<int, int, double, double, double, double, int>> samples;
|
||||
|
||||
if (dump_path) {
|
||||
samples.reserve(static_cast<size_t>(n_iter / dump_interval + 1) * n_p);
|
||||
|
||||
for (int i = 0; i < n_p; i++) {
|
||||
Pedestrian &p = pedestrians[i];
|
||||
samples.emplace_back(0, i, p.curr_pos_x, p.curr_pos_y, p.e_x, p.e_y, p.color);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
for (int t = 0; t < n_iter; t++) {
|
||||
for (int i = 0; i < n_p; i++) {
|
||||
Pedestrian &p = pedestrians[i];
|
||||
|
||||
double desired_velocity_x = p.e_x * p.desired_v0;
|
||||
double desired_velocity_y = p.e_y * p.desired_v0;
|
||||
|
||||
double f_alpha_dt_x = (desired_velocity_x - p.curr_vel_x) * dt_times_tau_alpha_inv;
|
||||
double f_alpha_dt_y = (desired_velocity_y - p.curr_vel_y) * dt_times_tau_alpha_inv;
|
||||
|
||||
for (int j = 0; j < n_p; j++) {
|
||||
if (i == j)
|
||||
continue;
|
||||
|
||||
double r_ab_x = p.curr_pos_x - pedestrians[j].curr_pos_x;
|
||||
double r_ab_y = p.curr_pos_y - pedestrians[j].curr_pos_y;
|
||||
|
||||
double r_ab_norm = sqrt(r_ab_x * r_ab_x + r_ab_y * r_ab_y);
|
||||
|
||||
double r_ab2_x = r_ab_x - pedestrians[j].s_b_e_x;
|
||||
double r_ab2_y = r_ab_y - pedestrians[j].s_b_e_y;
|
||||
|
||||
double r_ab2_norm = sqrt(r_ab2_x * r_ab2_x + r_ab2_y * r_ab2_y);
|
||||
double r_ab_norm_sum = r_ab_norm + r_ab2_norm;
|
||||
double two_b_sq = r_ab_norm_sum * r_ab_norm_sum - pedestrians[j].s_b_sq;
|
||||
double two_b = sqrt(two_b_sq);
|
||||
double scalar_mult_common = (r_ab_norm_sum / (two_b * r_ab_norm * r_ab2_norm)) * (NEG_V0_AB_div_TWO_SIGMA * exp(two_b * NEG_TWO_SIGMA_INV));
|
||||
double scalar_mult_r_ab = scalar_mult_common * r_ab2_norm;
|
||||
double scalar_mult_r_ab2 = scalar_mult_common * r_ab_norm;
|
||||
|
||||
double f_alpha_beta_neg_x = r_ab_x * scalar_mult_r_ab + r_ab2_x * scalar_mult_r_ab2;
|
||||
double f_alpha_beta_neg_y = r_ab_y * scalar_mult_r_ab + r_ab2_y * scalar_mult_r_ab2;
|
||||
|
||||
double w_val = dt_neg;
|
||||
double a = (p.e_x * f_alpha_beta_neg_x + p.e_y * f_alpha_beta_neg_y) * cos_phi_inv;
|
||||
double b_sq = f_alpha_beta_neg_x * f_alpha_beta_neg_x + f_alpha_beta_neg_y * f_alpha_beta_neg_y;
|
||||
|
||||
if (a >= 0 && (a * a > b_sq)) {
|
||||
w_val = c_neg_times_dt;
|
||||
}
|
||||
|
||||
f_alpha_dt_x = f_alpha_dt_x + f_alpha_beta_neg_x * w_val;
|
||||
f_alpha_dt_y = f_alpha_dt_y + f_alpha_beta_neg_y * w_val;
|
||||
}
|
||||
|
||||
for (int k = 0; k < board.n_obstacles; k++) {
|
||||
|
||||
double v1_x = p.curr_pos_x - board.obstacles[k].start_x;
|
||||
double v1_y = p.curr_pos_y - board.obstacles[k].start_y;
|
||||
|
||||
double projection = (v1_x * board.obstacles[k].obstacle_v_x + v1_y * board.obstacles[k].obstacle_v_y) * board.obstacles[k].length_sq_inv;
|
||||
|
||||
if (projection < 0.0)
|
||||
projection = 0.0;
|
||||
else if (projection > 1.0)
|
||||
projection = 1.0;
|
||||
|
||||
double r_aB_x = p.curr_pos_x - (board.obstacles[k].start_x + board.obstacles[k].obstacle_v_x * projection);
|
||||
double r_aB_y = p.curr_pos_y - (board.obstacles[k].start_y + board.obstacles[k].obstacle_v_y * projection);
|
||||
|
||||
double r_aB_norm = sqrt(r_aB_x * r_aB_x + r_aB_y * r_aB_y);
|
||||
double scalar_mult = (NEG_U0_AB_div_R * exp(r_aB_norm * NEG_R_INV)) / r_aB_norm;
|
||||
double f_alpha_B_neg_x = r_aB_x * scalar_mult;
|
||||
double f_alpha_B_neg_y = r_aB_y * scalar_mult;
|
||||
|
||||
double w_val;
|
||||
double e_dot_f = (f_alpha_B_neg_y == 0) ? 0 : (f_alpha_B_neg_y < 0 ? -p.e_y : p.e_y);
|
||||
if (e_dot_f >= cos_phi)
|
||||
w_val = dt_neg;
|
||||
else
|
||||
w_val = c_neg_times_dt;
|
||||
|
||||
double f_alpha_B_dt_x = f_alpha_B_neg_x * w_val;
|
||||
double f_alpha_B_dt_y = f_alpha_B_neg_y * w_val;
|
||||
|
||||
f_alpha_dt_x += f_alpha_B_dt_x;
|
||||
f_alpha_dt_y += f_alpha_B_dt_y;
|
||||
}
|
||||
|
||||
p.w_x += f_alpha_dt_x;
|
||||
p.w_y += f_alpha_dt_y;
|
||||
}
|
||||
|
||||
for (int i = 0; i < n_p; i++) {
|
||||
Pedestrian &p = pedestrians[i];
|
||||
|
||||
double w_norm = sqrt(p.w_x * p.w_x + p.w_y * p.w_y);
|
||||
|
||||
double correction_factor = min(1.0, p.v_max / w_norm);
|
||||
|
||||
p.curr_vel_x = p.w_x * correction_factor;
|
||||
p.curr_vel_y = p.w_y * correction_factor;
|
||||
|
||||
p.curr_pos_x = p.curr_pos_x + p.curr_vel_x * dt;
|
||||
p.curr_pos_y = p.curr_pos_y + p.curr_vel_y * dt;
|
||||
|
||||
if (p.color == 0 && p.curr_pos_x > (BOARD_LENGTH - 1.5)) {
|
||||
p.curr_pos_x = 1.0;
|
||||
p.destination_y = p.curr_pos_y;
|
||||
p.w_x = p.desired_v0;
|
||||
p.w_y = 0.0;
|
||||
p.curr_vel_x = p.w_x;
|
||||
p.curr_vel_y = p.w_y;
|
||||
}
|
||||
if (p.color == 1 && p.curr_pos_x < 1.5) {
|
||||
p.curr_pos_x = BOARD_LENGTH - 1.0;
|
||||
p.destination_y = p.curr_pos_y;
|
||||
p.w_x = -p.desired_v0;
|
||||
p.w_y = 0.0;
|
||||
p.curr_vel_x = p.w_x;
|
||||
p.curr_vel_y = p.w_y;
|
||||
}
|
||||
|
||||
p.curr_pos_y = clamp(p.curr_pos_y, WALL_EPS, BOARD_WIDTH_MINUS_WALL_EPS);
|
||||
|
||||
double e_x = p.destination_x - p.curr_pos_x;
|
||||
double e_y = p.destination_y - p.curr_pos_y;
|
||||
|
||||
double e_norm_inv = 1.0 / sqrt(e_x * e_x + e_y * e_y);
|
||||
|
||||
p.e_x = e_x * e_norm_inv;
|
||||
p.e_y = e_y * e_norm_inv;
|
||||
|
||||
double velocity_norm_sq = p.curr_vel_x * p.curr_vel_x + p.curr_vel_y * p.curr_vel_y;
|
||||
|
||||
double velocity_norm = sqrt(velocity_norm_sq);
|
||||
|
||||
p.s_b_sq = velocity_norm_sq * delta_t_sq;
|
||||
|
||||
p.s_b_e_x = p.e_x * (velocity_norm * delta_t);
|
||||
p.s_b_e_y = p.e_y * (velocity_norm * delta_t);
|
||||
|
||||
#if !BENCHMARK
|
||||
if (dump_path && (t % dump_interval == 0)) {
|
||||
samples.emplace_back(t + 1, i, p.curr_pos_x, p.curr_pos_y, p.e_x, p.e_y, p.color);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
#if !BENCHMARK
|
||||
if (dump_path) {
|
||||
ofstream out(dump_path);
|
||||
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';
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user