hell yea
This commit is contained in:
Nguyen Quy Anh
+94
-91
@@ -1,117 +1,120 @@
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#include <forces.h>
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#include "forces.hpp"
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#include <math.h>
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// return the direction between curr position and destination
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// $\vectorarrow{e}_\alpha(t)$
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Vector2d get_desired_direction(Pedestrian& p) {
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Vector2d diff = p.desired_next_node - p.curr_pos;
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double length = diff.norm();
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return (p.desired_next_node - p.curr_pos) / length;
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}
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// return the direction between curr position and destination
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// $\vectorarrow{e}_\alpha(t)$
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Vector2d get_actual_direction(Pedestrian& p) {
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Vector2d diff = p.actual_next_node - p.curr_pos;
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double length = diff.norm();
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return (p.actual_next_node - p.curr_pos) / length;
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}
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// # Done
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double w(Vector2d e, Vector2d f) {
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if (e.dot(f) >= f.norm() * PHI_DEG) return 1.0;
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return C;
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if (e.dot(f) >= f.norm() * cos_phi)
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return 1.0;
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return c;
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}
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// F_i is the current position resp. direction vector of pedestrian p in time i?
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// # Done
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//
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// $\vectorarrow{F}_\alpha(\vectorarrow{v}_\alpha, v^0_\alpha \vectorarrow{e}_\alpha) \vectorarrow{e}_\alpha(t) = \frac{1}{\tau_\alpha}(v^0_\alpha \vectorarrow{e}_\alpha - \vectorarrow{v}_\alpha)$
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// $\vec{F}_\alpha(\vec{v}_\alpha, v^0_\alpha \vec{e}_\alpha) \vec{e}_\alpha(t) = \frac{1}{\tau_\alpha}(v^0_\alpha \vec{e}_\alpha - \vec{v}_\alpha)$
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//
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void compute_acceleration_term(Pedestrian *p) {
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Vector2d desired_velocity = get_desired_direction(*p) * p->desired_v0;
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// $v_{\alpha}^{0}\vec{e}_{\alpha}$
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Vector2d desired_velocity = p->e * p->desired_v0;
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// TODO: How to get this number
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// Probably needs to lookup the map and see if the desired position is reachable
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Vector2d actual_velocity = get_actual_direction(*p) * p->actual_v0;
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// $\vec{v}_{\alpha}(t)$
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Vector2d actual_velocity = p->curr_vel;
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double tau_inv = 1 / TAU;
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p->F_i += (desired_velocity - actual_velocity) * tau_inv;
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double tau_alpha_inv = 1 / tau_alpha;
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p->F_i += (desired_velocity - actual_velocity) * tau_alpha_inv;
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}
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// # Done
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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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void compute_repulsive_effects_from_pedestrians(Pedestrian *pedestrians, Pedestrian *p, int N) {
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// $\vectorarrow{f}_{\alpha \beta}(\vectorarrow{r}_{\alpha \beta}) = -\gradient_{\vectorarrow{r}_{\alpha \beta}} V_{\alpha \beta}[b(\vectorarrow{r}_{\alpha \beta})]$
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void compute_repulsive_effects_from_pedestrians(Pedestrian* P, Pedestrian* p, int N) {
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double delta_t = 0.5; // assuming 0.5 seconds steps
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for (int i = 0; i < N; i++) {
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// TODO: add check for $\vectorarrow{e} * \vectorarrow{f} >= \Arrowvert \vectorarrow{f} \Arrowvert \cos(\phi) $
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// only consider close pedestrians
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if (P + i == p) continue;
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if ((P[i].curr_pos - p->curr_pos).norm() < DISTANCE) {
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//
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// $2b = \sqrt{(\Arrowvert \vectorarrow{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert)^2 - (v_\beta \Delta t)^2}$
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//
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// $\Arrowvert \vectorarrow{r}_{\alpha \beta} \Arrowvert$
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Vector2d r_ab = p->curr_pos - P[i].curr_pos;
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double r_ab_norm = (p->curr_pos - P[i].curr_pos).norm();
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// $\Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert$
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Vector2d e_beta = get_actual_direction(P[i]);
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Vector2d r_ab_something = p->curr_pos - P[i].curr_pos - (e_beta * (P[i].actual_v0 * delta_t));
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double r_ab_something_norm = (p->curr_pos - P[i].curr_pos - (e_beta * (P[i].actual_v0 * delta_t))).norm();
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if (pedestrians + i == p)
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continue;
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// $v_\beta \Delta t$
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double v_beta_delta_t = P[i].actual_v0 * delta_t;
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// # Optional: Do not consider far away pedestrians from current pedestrian
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// # Might get better speed up, remove if not
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// if ((pedestrians[i].curr_pos - p->curr_pos).norm() > DISTANCE) {
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// continue;
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// }
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double b = sqrt((r_ab_norm + r_ab_something_norm) * (r_ab_norm + r_ab_something_norm) - (v_beta_delta_t) * (v_beta_delta_t)) / 2;
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//
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// $\vectorarrow{f}_{\alpha \beta}(\vectorarrow{r}_{\alpha \beta}) = \frac{V^0_{\alpha \beta}}{\sigma}e^{-b / \sigma} \grad_{\vectorarrow{r}_{\alpha \beta}}b$
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//
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// TODO: what is $V^0_{\alpha \beta}$ probably some number?
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//
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//
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// $\grad_{\vectorarrow{r}_{\alpha \beta}} = \frac{(\Arrowvert \vectorarrow{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert) (\frac{\vectorarrow{r}_{\alpha \beta}}{\Arrowvert \vectorarrow{r}_{\alpha \beta} \Arrowvert} + \frac{\vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta}{\Arrowvert \vectorarrow{r}_{\alpha \beta} - v_\beta \Delta t \vectorarrow{e}_\beta \Arrowvert})}{4b}$
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//
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Vector2d delta_r_alpha_beta = ( ( (r_ab / r_ab_norm) + (r_ab_something / r_ab_something_norm) ) * (r_ab_norm + r_ab_something_norm) ) / (4 * b);
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// $\vec{r}_{\alpha\beta}$
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Vector2d r_ab = p->curr_pos - pedestrians[i].curr_pos;
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// $\vectorarrow{f}_{\alpha \beta}$
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Vector2d f_alpha_beta_r_alpha_beta = delta_r_alpha_beta * ((V0_AB / SIGMA) * (exp(-b / SIGMA)));
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p->F_i += f_alpha_beta_r_alpha_beta * w(get_desired_direction(*p), f_alpha_beta_r_alpha_beta * -1);
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}
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}
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}
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// TODO: missing
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void compute_repulsive_effects_from_borders(Sidewalk& S, Pedestrian* p) {
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Vector2d* obstacles = S.obstacles;
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int n_obs = S.n_obstacles;
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for (int i = 0; i < n_obs; i++) {
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Vector2d obstacle = obstacles[i];
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// TODO: find out the variables and parameters
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//
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// $\vectorarrow{F}_{\alpha B}(\vectorarrow{r}_{\alpha B}) = \frac{U^0_{\alpha B}}{R} e^{- \Arrowvert \vectorarrow{r}_{\alpha B} \Arrowvert / R} \frac{\vectorarrow{r}_{\alpha B}}{\Arrowvert \vectorarrow{r}_{\alpha B} \Arrowvert}$
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//
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double e = 2.718;
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// $\vectorarrow{r}_{\alpha B}$
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Vector2d r_ab = p->curr_pos - obstacle;
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// $\Arrowvert \vectorarrow{r}_{\alpha B} \Arrowvert$
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// $\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert$
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double r_ab_norm = r_ab.norm();
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p->F_i += * w(get_desired_direction(*p), * -1);
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// $\vec{e}_{\beta}$
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Vector2d e_beta = pedestrians[i].e;
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// $v_\beta \Delta t$
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double v_beta_delta_t = pedestrians[i].desired_v0 * delta_t;
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// $\vec{r}_{\alpha\beta} - \vec{v}_{\beta}\varDelta_{t}\vec{e}_{\beta}$
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Vector2d r_ab_minus_v_beta_delta_t_e_beta = r_ab - (e_beta * v_beta_delta_t);
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// $\Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert$
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double r_ab_minus_v_beta_delta_t_e_beta_norm = r_ab_minus_v_beta_delta_t_e_beta.norm();
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// (4):
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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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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;
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// (7):
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//
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// $\grad_{\vec{r}_{\alpha \beta}}b = \frac{(\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert + \Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert) (\frac{\vec{r}_{\alpha \beta}}{\Arrowvert \vec{r}_{\alpha \beta} \Arrowvert} + \frac{\vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta}{\Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert})}{4b}$
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//
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//
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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);
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// (5):
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//
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// $\vec{f}_{\alpha \beta}(\vec{r}_{\alpha \beta}) = \frac{V^0_{\alpha \beta}}{\sigma}e^{-b / \sigma} \grad_{\vec{r}_{\alpha \beta}}b$
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//
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//
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Vector2d f_alpha_beta_r_alpha_beta = delta_r_alpha_beta_b * ((V0_AB / SIGMA) * (exp(-b / SIGMA)));
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// (11):
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//
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// $\vec{F}_{\alpha\beta}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{\beta}) = w(\vec{e}_{\alpha}, -\vec{f}_{\alpha\beta})\vec{f}_{\alpha\beta}(\vec{r}_{\alpha} - \vec{r}_{\beta})$
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//
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// Add repulsive effects from other pedestrians to current pedestrian's social force
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p->F_i += f_alpha_beta_r_alpha_beta * w(p->e, f_alpha_beta_r_alpha_beta * -1);
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}
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}
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// # Done
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void compute_repulsive_effects_from_borders(Board &B, Pedestrian *p) {
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Vector2d *borders = B.borders;
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int n_borders = B.n_borders;
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for (int i = 0; i < n_borders; i++) {
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Vector2d border = borders[i];
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// $\vec{r}_{\alpha B}$
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Vector2d r_alpha_B = p->curr_pos - border;
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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 = (r_alpha_B / r_alpha_B.norm()) * (U0_AB / R) * std::exp(-r_alpha_B.norm() / R);
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// (12):
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//
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// $\vec{F}_{\alpha B}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{ B}) = w(\vec{e}_{\alpha}, -\vec{F}_{\alpha B})\vec{F}_{\alpha B}(\vec{r}_{\alpha} - \vec{r}_{ B})$
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//
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p->F_i += F_alpha_B * w(p->e, F_alpha_B * (-1));
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}
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}
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