Baseline
This commit is contained in:
Nguyen Quy Anh
@@ -0,0 +1 @@
|
||||
ColumnLimit: 1000
|
||||
@@ -0,0 +1,9 @@
|
||||
#pragma once
|
||||
#include "vector2d.hpp"
|
||||
|
||||
struct Board {
|
||||
double length, width;
|
||||
Vector2d *borders; // array containing the position of each obstacle
|
||||
int n_borders; // number of obstacles
|
||||
Board(double l, double w, int n, Vector2d *border) : length(l), width(w), n_borders(n), borders(border) {}
|
||||
};
|
||||
+120
@@ -0,0 +1,120 @@
|
||||
#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;
|
||||
}
|
||||
|
||||
// # 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;
|
||||
}
|
||||
|
||||
// # 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++) {
|
||||
|
||||
if (pedestrians + i == p)
|
||||
continue;
|
||||
|
||||
// # Optional: Do not consider far away pedestrians from current pedestrian
|
||||
// # Might get better speed up, remove if not
|
||||
// if ((pedestrians[i].curr_pos - p->curr_pos).norm() > DISTANCE) {
|
||||
// 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;
|
||||
|
||||
// $v_\beta \Delta t$
|
||||
double v_beta_delta_t = 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);
|
||||
|
||||
// $\Arrowvert \vec{r}_{\alpha \beta} - v_\beta \Delta t \vec{e}_\beta \Arrowvert$
|
||||
double r_ab_minus_v_beta_delta_t_e_beta_norm = r_ab_minus_v_beta_delta_t_e_beta.norm();
|
||||
|
||||
// (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((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;
|
||||
|
||||
// (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);
|
||||
|
||||
// (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);
|
||||
}
|
||||
}
|
||||
|
||||
// # Done
|
||||
void compute_repulsive_effects_from_borders(Board &B, Pedestrian *p) {
|
||||
|
||||
Vector2d *borders = B.borders;
|
||||
int n_borders = B.n_borders;
|
||||
|
||||
for (int i = 0; i < n_borders; i++) {
|
||||
|
||||
Vector2d border = borders[i];
|
||||
|
||||
// $\vec{r}_{\alpha B}$
|
||||
Vector2d r_alpha_B = p->curr_pos - border;
|
||||
|
||||
//
|
||||
// $\vec{F}_{\alpha B}(\vec{r}_{\alpha B}) = \frac{U^0_{\alpha B}}{R} e^{- \Arrowvert \vec{r}_{\alpha B} \Arrowvert / R} \frac{\vec{r}_{\alpha B}}{\Arrowvert \vec{r}_{\alpha B} \Arrowvert}$
|
||||
//
|
||||
|
||||
Vector2d F_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));
|
||||
}
|
||||
}
|
||||
+50
@@ -0,0 +1,50 @@
|
||||
#pragma once
|
||||
#include "board.hpp"
|
||||
#include "pedestrian.hpp"
|
||||
#include <cmath>
|
||||
|
||||
// $\tau_{\alpha}$
|
||||
// https://arxiv.org/pdf/cond-mat/9805244, page 8
|
||||
const double tau_alpha = 0.5;
|
||||
|
||||
// $V^0_{\alpha \beta}$
|
||||
// https://arxiv.org/pdf/cond-mat/9805244, page 8
|
||||
const double V0_AB = 2.1;
|
||||
|
||||
// $\sigma$
|
||||
// https://arxiv.org/pdf/cond-mat/9805244, page 8
|
||||
const double SIGMA = 0.3;
|
||||
|
||||
// $U^0_{\alpha B}$
|
||||
// https://arxiv.org/pdf/cond-mat/9805244, page 8
|
||||
const double U0_AB = 10.0;
|
||||
|
||||
// $R$
|
||||
// https://arxiv.org/pdf/cond-mat/9805244, page 8
|
||||
const double R = 0.2;
|
||||
|
||||
// $c$
|
||||
// https://arxiv.org/pdf/cond-mat/9805244, page 8
|
||||
const double c = 0.5;
|
||||
|
||||
// $\varphi$
|
||||
// https://arxiv.org/pdf/cond-mat/9805244, page 8
|
||||
const double phi = 100.0;
|
||||
|
||||
const double cos_phi = cos(phi);
|
||||
|
||||
// $\varDelta_{t}$
|
||||
// step size = 0.2 seconds
|
||||
// https://arxiv.org/pdf/cond-mat/9805244, page 8
|
||||
const double delta_t = 2;
|
||||
|
||||
// # Optional (forces.cpp: compute_repulsive_effects_from_pedestrians)
|
||||
// const double DISTANCE = 2.0;
|
||||
|
||||
double w(Vector2d e, Vector2d f);
|
||||
|
||||
void compute_acceleration_term(Pedestrian *p);
|
||||
|
||||
void compute_repulsive_effects_from_pedestrians(Pedestrian *P, Pedestrian *p, int N);
|
||||
|
||||
void compute_repulsive_effects_from_borders(Board &B, Pedestrian *p);
|
||||
@@ -1,103 +1,89 @@
|
||||
#include <cfloat>
|
||||
#include <iostream>
|
||||
#include <math.h>
|
||||
#include "board.hpp"
|
||||
#include "forces.hpp"
|
||||
#include "math.h"
|
||||
#include "pedestrian.hpp"
|
||||
#include "vector2d.hpp"
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
using namespace std;
|
||||
|
||||
struct Vector2d {
|
||||
double x, y;
|
||||
Vector2d(double a, double b) : x(a), y(b) {}
|
||||
Vector2d() : x(.0), y(.0) {}
|
||||
Vector2d operator+(Vector2d v) const { return Vector2d(v.x + x, v.y + y); }
|
||||
Vector2d operator-(Vector2d v) const { return Vector2d(x - v.x, y - v.y); }
|
||||
Vector2d operator-(double a) const { return Vector2d(x - a, y - a); }
|
||||
Vector2d operator+(double a) const { return Vector2d(x + a, y + a); }
|
||||
Vector2d operator/(double a) const { return Vector2d(x / a, y / a); }
|
||||
Vector2d operator*(double a) const { return Vector2d(x * a, y * a); }
|
||||
Vector2d operator+=(const Vector2d &v) {
|
||||
*this = *this + v;
|
||||
return *this;
|
||||
}
|
||||
double norm() { return sqrt(x * x + y * y); }
|
||||
double dot(Vector2d v) { return x * v.x + y * v.y; }
|
||||
void reset() {
|
||||
x = 0;
|
||||
y = 0;
|
||||
}
|
||||
};
|
||||
|
||||
// Numer of pedestrians
|
||||
// $n_p$
|
||||
const int n_p = 100;
|
||||
// const int n_p = 100;
|
||||
|
||||
// Number of iterations
|
||||
// $n_{iter}$
|
||||
const int n_iter = 100;
|
||||
// const int n_iter = 100;
|
||||
|
||||
// TODO: Change this
|
||||
// $\tau$
|
||||
const double tau = 0.12345;
|
||||
|
||||
void compute_acceleration_term(Vector2d *F_i) {}
|
||||
void compute_repulsive_effects_from_pedestrians(Vector2d *F_i) {}
|
||||
void compute_repulsive_effects_from_borders(Vector2d *F_i) {}
|
||||
|
||||
// Return an array of doubles
|
||||
double *w(Vector2d e, Vector2d f) {
|
||||
|
||||
// TODO:
|
||||
// $cos(60\degree)$
|
||||
// if (e * f > f.norm() * (0.5)) {
|
||||
// }
|
||||
// return 0;
|
||||
Pedestrian *init_pedestrians(int n_p) {
|
||||
Pedestrian *P = new Pedestrian[n_p];
|
||||
for (int i = 0; i < n_p; i++) {
|
||||
P[i] = Pedestrian();
|
||||
}
|
||||
return P;
|
||||
}
|
||||
|
||||
int main() {
|
||||
Board init_board(int width, int length) {
|
||||
Vector2d obs[] = {Vector2d(2.0, 1.0), Vector2d(4.0, 1.0), Vector2d(6.0, 2.0), Vector2d(6.0, 4.0)};
|
||||
return Board(width, length, 4, obs);
|
||||
}
|
||||
|
||||
// ! DONT TOUCH
|
||||
int main(int argc, const char* argv[]) {
|
||||
|
||||
// $\vec{v}^0_i$
|
||||
// Velocity at iteration $t$ for pedestrian $i$
|
||||
double v[n_iter][n_p];
|
||||
Board B = init_board(10, 15);
|
||||
|
||||
// $\vec{r}^0_i$
|
||||
// Intended destination at iteration $t$ for pedestrian $i$
|
||||
Vector2d r[n_iter][n_p];
|
||||
int n_p = atoi(argv[1]);
|
||||
int n_iter = atoi(argv[2]);
|
||||
|
||||
// $\vec{e}_i$
|
||||
// Desired direction to the next way point at iteration $t$ for pedestrian $i$
|
||||
Vector2d e[n_iter][n_p];
|
||||
|
||||
// $v_i^{max}$
|
||||
// Maximum allowed speed for pedestrian $i$
|
||||
double v_max[n_p];
|
||||
|
||||
// $v_i^{0}$
|
||||
// Desired speed for pedestrian $i$
|
||||
double v_0[n_p];
|
||||
|
||||
// $\vec{F}_i$
|
||||
// Total social force for pedestrian $i$
|
||||
Vector2d F[n_p][n_p];
|
||||
|
||||
// $\vec{r}_0$
|
||||
// Desired destination of pedestrian $n_p$
|
||||
Vector2d r_0[n_p];
|
||||
Pedestrian *pedestrians = init_pedestrians(n_p);
|
||||
|
||||
for (int t = 0; t < n_iter; t++) {
|
||||
|
||||
for (int i = 0; i < n_p; i++) {
|
||||
for (int itr = 0; itr < n_p; itr++) {
|
||||
F[i][itr].reset();
|
||||
}
|
||||
compute_acceleration_term(F[i]);
|
||||
compute_repulsive_effects_from_pedestrians(F[i]);
|
||||
compute_repulsive_effects_from_borders(F[i]);
|
||||
|
||||
// TODO: Update $\vec{w}_i$
|
||||
Pedestrian &p = pedestrians[i];
|
||||
|
||||
// TODO: Update $\vec{v}_i^{t+1}$
|
||||
p.F_i.reset();
|
||||
|
||||
// TODO: pdate $\vec{r}_i^{t+1}$
|
||||
//
|
||||
// $\vec{F}_\alpha(\vec{v}_\alpha, v^0_\alpha \vec{e}_\alpha) \vec{e}_\alpha(t) = \frac{1}{\tau_\alpha}(v^0_\alpha \vec{e}_\alpha - \vec{v}_\alpha)$
|
||||
//
|
||||
compute_acceleration_term(&p);
|
||||
|
||||
//
|
||||
// $\sum_{\beta} \vec{F}_{\alpha\beta}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{\beta})$
|
||||
//
|
||||
compute_repulsive_effects_from_pedestrians(pedestrians, &p, n_p);
|
||||
|
||||
//
|
||||
// $\sum_{B} \vec{F}_{\alpha B}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{B})$
|
||||
//
|
||||
compute_repulsive_effects_from_borders(B, &p);
|
||||
|
||||
//
|
||||
// $\vec{w}_i = \vec{v}_i + \vec{F}_idt$
|
||||
//
|
||||
p.w_alpha = p.curr_vel + p.F_i * delta_t;
|
||||
|
||||
//
|
||||
// $\vec{v}_i^{t+1} = \vec{w}_ig(\frac{v^{max}_i}{\Arrowvert \vec{w}_i \Arrowvert}) $
|
||||
//
|
||||
p.next_vel = p.w_alpha * g(p.v_max, p.w_alpha.norm());
|
||||
|
||||
//
|
||||
// $\vec{r}_i^{t+1} += \vec{r}^t_i + v^t_idt$
|
||||
//
|
||||
p.curr_pos = p.curr_pos + p.curr_vel * delta_t;
|
||||
}
|
||||
|
||||
for (int i = 0; i < n_p; i++) {
|
||||
pedestrians[i].update();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,85 @@
|
||||
#pragma once
|
||||
#include "vector2d.hpp"
|
||||
#include "random"
|
||||
|
||||
|
||||
struct Pedestrian {
|
||||
|
||||
// TODO: Update initial values
|
||||
Pedestrian() :
|
||||
curr_vel(),
|
||||
curr_pos(),
|
||||
e(),
|
||||
v_max(1.34 * 1.3),
|
||||
desired_v0(1.34),
|
||||
destination(),
|
||||
F_i(),
|
||||
next_pos(),
|
||||
next_vel(),
|
||||
w_alpha()
|
||||
{}
|
||||
|
||||
Pedestrian(
|
||||
Vector2d c_v,
|
||||
Vector2d c_p,
|
||||
Vector2d e,
|
||||
Vector2d d,
|
||||
Vector2d f,
|
||||
Vector2d n_p,
|
||||
Vector2d n_v,
|
||||
Vector2d w_alpha
|
||||
) :
|
||||
curr_vel(c_v),
|
||||
curr_pos(c_p),
|
||||
e(e),
|
||||
v_max(),
|
||||
desired_v0(),
|
||||
destination(d),
|
||||
F_i(f),
|
||||
next_pos(n_p),
|
||||
next_vel(n_v),
|
||||
w_alpha(w_alpha)
|
||||
{}
|
||||
|
||||
// $\vec{v}_{\alpha}(t)$
|
||||
Vector2d curr_vel;
|
||||
|
||||
// $\vec{r}_\alpha(t)$
|
||||
Vector2d curr_pos;
|
||||
|
||||
// $\vec{e}_{\alpha}(t)$
|
||||
Vector2d e;
|
||||
|
||||
// $v_{\alpha}^{max} = 1.3 v^{0}_{\alpha}$
|
||||
double v_max;
|
||||
|
||||
// $v_\alpha^0$
|
||||
double desired_v0;
|
||||
|
||||
// # =============================================================
|
||||
|
||||
// $\vec{r}^0_\alpha$
|
||||
Vector2d destination;
|
||||
|
||||
// social force
|
||||
Vector2d F_i;
|
||||
|
||||
// # =============================================================
|
||||
|
||||
// $\vec{r}_\alpha(t+1)$
|
||||
Vector2d next_pos;
|
||||
|
||||
// $\vec{v}_{\alpha}(t + 1)$
|
||||
Vector2d next_vel;
|
||||
|
||||
// $\vec{w}_{\alpha}$
|
||||
Vector2d w_alpha;
|
||||
|
||||
// # =============================================================
|
||||
|
||||
void update() {
|
||||
curr_pos = next_pos;
|
||||
curr_vel = next_vel;
|
||||
e = (destination - curr_pos) / (destination - curr_pos).norm();
|
||||
}
|
||||
};
|
||||
@@ -0,0 +1,94 @@
|
||||
/* ==================== GNU C and possibly other UNIX compilers ===================== */
|
||||
#ifndef _WIN32
|
||||
|
||||
#if defined(__GNUC__) || defined(__linux__)
|
||||
#define VOLATILE __volatile__
|
||||
#define ASM __asm__
|
||||
#else
|
||||
/* if we're neither compiling with gcc or under linux, we can hope
|
||||
* the following lines work, they probably won't */
|
||||
#define ASM asm
|
||||
#define VOLATILE
|
||||
#endif
|
||||
|
||||
#define myInt64 unsigned long long
|
||||
#define INT32 unsigned int
|
||||
|
||||
/* ======================== WIN32 ======================= */
|
||||
#else
|
||||
|
||||
#define myInt64 signed __int64
|
||||
#define INT32 unsigned __int32
|
||||
|
||||
#endif
|
||||
|
||||
/* This is the RDTSC timer.
|
||||
* RDTSC is an instruction on several Intel and compatible CPUs that Reads the
|
||||
* Time Stamp Counter. The Intel manuals contain more information.
|
||||
*/
|
||||
|
||||
|
||||
#define COUNTER_LO(a) ((a).int32.lo)
|
||||
#define COUNTER_HI(a) ((a).int32.hi)
|
||||
#define COUNTER_VAL(a) ((a).int64)
|
||||
|
||||
#define COUNTER(a) \
|
||||
((unsigned long long)COUNTER_VAL(a))
|
||||
|
||||
#define COUNTER_DIFF(a,b) \
|
||||
(COUNTER(a)-COUNTER(b))
|
||||
|
||||
/* ==================== GNU C and possibly other UNIX compilers ===================== */
|
||||
#ifndef _WIN32
|
||||
|
||||
typedef union
|
||||
{ myInt64 int64;
|
||||
struct {INT32 lo, hi;} int32;
|
||||
} tsc_counter;
|
||||
|
||||
#define RDTSC(cpu_c) \
|
||||
ASM VOLATILE ("rdtsc" : "=a" ((cpu_c).int32.lo), "=d"((cpu_c).int32.hi))
|
||||
#define CPUID() \
|
||||
ASM VOLATILE ("cpuid" : : "a" (0) : "bx", "cx", "dx" )
|
||||
|
||||
/* ======================== WIN32 ======================= */
|
||||
#else
|
||||
|
||||
typedef union
|
||||
{ myInt64 int64;
|
||||
struct {INT32 lo, hi;} int32;
|
||||
} tsc_counter;
|
||||
|
||||
#define RDTSC(cpu_c) \
|
||||
{ __asm rdtsc \
|
||||
__asm mov (cpu_c).int32.lo,eax \
|
||||
__asm mov (cpu_c).int32.hi,edx \
|
||||
}
|
||||
|
||||
#define CPUID() \
|
||||
{ \
|
||||
__asm mov eax, 0 \
|
||||
__asm cpuid \
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
static void init_tsc() {
|
||||
; // no need to initialize anything for x86
|
||||
}
|
||||
|
||||
static myInt64 start_tsc(void) {
|
||||
tsc_counter start;
|
||||
CPUID();
|
||||
RDTSC(start);
|
||||
return COUNTER_VAL(start);
|
||||
}
|
||||
|
||||
static myInt64 stop_tsc(myInt64 start) {
|
||||
tsc_counter end;
|
||||
RDTSC(end);
|
||||
CPUID();
|
||||
return COUNTER_VAL(end) - start;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,24 @@
|
||||
#pragma once
|
||||
#include <math.h>
|
||||
|
||||
struct Vector2d {
|
||||
double x, y;
|
||||
Vector2d(double a, double b) : x(a), y(b) {}
|
||||
Vector2d() : x(.0), y(.0) {}
|
||||
Vector2d operator+(Vector2d v) const { return Vector2d(v.x + x, v.y + y); }
|
||||
Vector2d operator-(Vector2d v) const { return Vector2d(x - v.x, y - v.y); }
|
||||
Vector2d operator-(double a) const { return Vector2d(x - a, y - a); }
|
||||
Vector2d operator+(double a) const { return Vector2d(x + a, y + a); }
|
||||
Vector2d operator/(double a) const { return Vector2d(x / a, y / a); }
|
||||
Vector2d operator*(double a) const { return Vector2d(x * a, y * a); }
|
||||
Vector2d operator+=(const Vector2d &v) {
|
||||
*this = *this + v;
|
||||
return *this;
|
||||
}
|
||||
double norm() { return sqrt(x * x + y * y); }
|
||||
double dot(Vector2d v) { return x * v.x + y * v.y; }
|
||||
void reset() {
|
||||
x = 0;
|
||||
y = 0;
|
||||
}
|
||||
};
|
||||
Reference in New Issue
Block a user