Baseline Flop Count Update, New Float Baseline

2026-05-23 20:50:59 +02:00
parent 40f4421d60
commit 43e54871df
18 changed files with 241860 additions and 68 deletions
@@ -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;
+}