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Update board.hpp, forces.hpp, forces.cpp, main.cpp, pedestrian.hpp: correct some bugs in implementation

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This commit is contained in:
AKallala
2026-04-23 20:14:24 +02:00
parent d347534ff2
commit aa1daf9149
5 changed files with 102 additions and 206 deletions
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forces.cpp
+25 -71
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@@ -1,35 +1,26 @@
#include "forces.hpp"
#include <math.h>
// # Done
double w(Vector2d e, Vector2d f) {
if (e.dot(f) >= f.norm() * cos_phi)
return 1.0;
return c;
else
return c;
}
double g(double v_max_alpha, double w_alpha_norm) {
if (w_alpha_norm <= v_max_alpha) {
return 1;
}
return v_max_alpha / w_alpha_norm;
}
// # Done
//
// $\vec{F}_\alpha(\vec{v}_\alpha, v^0_\alpha \vec{e}_\alpha) \vec{e}_\alpha(t) = \frac{1}{\tau_\alpha}(v^0_\alpha \vec{e}_\alpha - \vec{v}_\alpha)$
//
void compute_acceleration_term(Pedestrian *p) {
// $v_{\alpha}^{0}\vec{e}_{\alpha}$
Vector2d desired_velocity = p->e * p->desired_v0;
// $\vec{v}_{\alpha}(t)$
Vector2d actual_velocity = p->curr_vel;
double tau_alpha_inv = 1 / tau_alpha;
p->F_i += (desired_velocity - actual_velocity) * tau_alpha_inv;
p->f_i += (desired_velocity - actual_velocity) / tau_alpha;
}
// # Done
//
// $\sum_{\beta} \vec{F}_{\alpha\beta}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{\beta})$
//
void compute_repulsive_effects_from_pedestrians(Pedestrian *pedestrians, Pedestrian *p, int N) {
for (int i = 0; i < N; i++) {
@@ -43,78 +34,41 @@ void compute_repulsive_effects_from_pedestrians(Pedestrian *pedestrians, Pedestr
// continue;
// }
// $\vec{r}_{\alpha\beta}$
Vector2d r_ab = p->curr_pos - pedestrians[i].curr_pos;
// $\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert$
double r_ab_norm = r_ab.norm();
// $\vec{e}_{\beta}$
Vector2d e_beta = pedestrians[i].e;
Vector2d e_b = pedestrians[i].e;
// $v_\beta \Delta t$
double v_beta_delta_t = pedestrians[i].desired_v0 * delta_t;
double s_b = pedestrians[i].desired_v0 * delta_t;
// $\vec{r}_{\alpha\beta} - \vec{v}_{\beta}\varDelta_{t}\vec{e}_{\beta}$
Vector2d r_ab_minus_v_beta_delta_t_e_beta = r_ab - (e_beta * v_beta_delta_t);
Vector2d r_ab2 = r_ab - (e_b * s_b);
// $\Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert$
double r_ab_minus_v_beta_delta_t_e_beta_norm = r_ab_minus_v_beta_delta_t_e_beta.norm();
double r_ab2_norm = r_ab2.norm();
// (4):
//
// $2b = \sqrt{(\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert)^2 - (v_\beta \Delta t)^2}$
//
double b = sqrt(pow(r_ab_norm + r_ab2_norm, 2) - pow(s_b, 2)) / 2;
double b = sqrt((r_ab_norm + r_ab_minus_v_beta_delta_t_e_beta_norm) * (r_ab_norm + r_ab_minus_v_beta_delta_t_e_beta_norm) - (v_beta_delta_t) * (v_beta_delta_t)) / 2;
Vector2d b_grad = (r_ab / r_ab_norm + r_ab2 / r_ab2_norm) * (r_ab_norm + r_ab2_norm) / (4 * b);
// (7):
//
// $\grad_{\vec{r}_{\alpha \beta}}b = \frac{(\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert) (\frac{\vec{r}_{\alpha \beta}}{\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert} + \frac{\vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta}{\Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert})}{4b}$
//
//
Vector2d delta_r_alpha_beta_b = (((r_ab / r_ab_norm) + (r_ab_minus_v_beta_delta_t_e_beta / r_ab_minus_v_beta_delta_t_e_beta_norm)) * (r_ab_norm + r_ab_minus_v_beta_delta_t_e_beta_norm)) / (4 * b);
Vector2d f_ped = b_grad * ((V0_AB / SIGMA) * (exp(-b / SIGMA)));
// (5):
//
// $\vec{f}_{\alpha \beta}(\vec{r}_{\alpha \beta}) = \frac{V^0_{\alpha \beta}}{\sigma}e^{-b / \sigma} \grad_{\vec{r}_{\alpha \beta}}b$
//
//
Vector2d f_alpha_beta_r_alpha_beta = delta_r_alpha_beta_b * ((V0_AB / SIGMA) * (exp(-b / SIGMA)));
// (11):
//
// $\vec{F}_{\alpha\beta}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{\beta}) = w(\vec{e}_{\alpha}, -\vec{f}_{\alpha\beta})\vec{f}_{\alpha\beta}(\vec{r}_{\alpha} - \vec{r}_{\beta})$
//
// Add repulsive effects from other pedestrians to current pedestrian's social force
p->F_i += f_alpha_beta_r_alpha_beta * w(p->e, f_alpha_beta_r_alpha_beta * -1);
p->f_i += f_ped * w(p->e, f_ped * -1);
}
}
// # Done
void compute_repulsive_effects_from_borders(Board &B, Pedestrian *p) {
void compute_repulsive_effects_from_borders(Board &board, Pedestrian *p) {
Vector2d *borders = B.borders;
int n_borders = B.n_borders;
Obstacle *obstacles = board.obstacles;
int n_borders = board.n_obstacles;
for (int i = 0; i < n_borders; i++) {
Vector2d border = borders[i];
Obstacle obstacle = obstacles[i];
// $\vec{r}_{\alpha B}$
Vector2d r_alpha_B = p->curr_pos - border;
Vector2d r_aB = p->curr_pos - obstacle.find_nearest_obstacle_point(p->curr_pos);
//
// $\vec{F}_{\alpha B}(\vec{r}_{\alpha B}) = \frac{U^0_{\alpha B}}{R} e^{- \Arrowvert \vec{r}_{\alpha B} \Arrowvert / R} \frac{\vec{r}_{\alpha B}}{\Arrowvert \vec{r}_{\alpha B} \Arrowvert}$
//
Vector2d f_obst = (r_aB / r_aB.norm()) * (U0_AB / R) * std::exp(-r_aB.norm() / R);
Vector2d F_alpha_B = (r_alpha_B / r_alpha_B.norm()) * (U0_AB / R) * std::exp(-r_alpha_B.norm() / R);
// (12):
//
// $\vec{F}_{\alpha B}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{ B}) = w(\vec{e}_{\alpha}, -\vec{F}_{\alpha B})\vec{F}_{\alpha B}(\vec{r}_{\alpha} - \vec{r}_{ B})$
//
p->F_i += F_alpha_B * w(p->e, F_alpha_B * (-1));
p->f_i += f_obst;
}
}