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store preffered velocity w_alpha separately from the actual v_alpha

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now we track w_alpha across steps to preserve speed over time memory (equation 10 and 11)

In the pedestrian 2.pass (integrate) we now integrate dw/dt = F instead of dv/dt = F

Co-authored-by: Copilot <copilot@github.com>
This commit is contained in:
lbaumberger
2026-04-26 17:25:37 +02:00
parent 36a0c7b8f2
commit c29c3c3156
2 changed files with 9 additions and 4 deletions
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pedestrian.hpp
+5 -2
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@@ -7,7 +7,8 @@ enum Color { BLACK, WHITE };
struct Pedestrian {
Color color;
Vector2d curr_vel;
Vector2d curr_vel; // v_alpha (actual, ≤ v_max)
Vector2d w; // w_alpha (preferred, integrates force)
Vector2d curr_pos;
Vector2d e;
double v_max;
@@ -17,5 +18,7 @@ struct Pedestrian {
Pedestrian() : color(WHITE), curr_vel(0.0, 0.0), curr_pos(0.0, 0.0), e(0.0, 0.0), v_max(0.0), desired_v0(0.0), destination(0.0, 0.0), f_i(0.0, 0.0) {}
Pedestrian(Color clr, Vector2d c_v, Vector2d c_p, Vector2d e, double v_max, double desired_v0, Vector2d d, Vector2d f) : color(clr), curr_vel(c_v), curr_pos(c_p), e(e), v_max(v_max), desired_v0(desired_v0), destination(d), f_i(f) {}
Pedestrian(Color clr, Vector2d c_v, Vector2d c_p, Vector2d e, double v_max, double desired_v0, Vector2d d, Vector2d f)
: color(clr), curr_vel(c_v), w(c_v), // initialize w = v at t=0
curr_pos(c_p), e(e), v_max(v_max), desired_v0(desired_v0), destination(d), f_i(f) {}
};