salijagic
424 lines
15 KiB
C++
424 lines
15 KiB
C++
// # Use symmetrical properties to reduce flop count
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// # Changes: flopcount
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// FLOPCOUNT = n_iter * ( 69 * n_p ** 2 - 32 * n_p + 63 * n_obstacles * n_p )
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// n_iter * [ n_p ** 2 * (12.5 ADD + 23 MULT + 1 DIV + 1 EXP + 2.5 SQRT) + n_p * (- 1.5 ADD + 0.5 SQRT - 2 MULT - 1 EXP + 1 DIV) + n_obstacles * n_p * (12 ADD + 19 MULT + 1 SQRT + 1 DIV + 1 EXP) ]
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// # Predecessor: variant_inlining_7_symmetry_1.cpp
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#include "../headers/board.hpp"
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#include "../headers/constants.hpp"
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#include "../headers/pedestrian_reduced.hpp"
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#include <algorithm>
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#include <cmath>
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#include <fstream>
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#include <iostream>
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#include <math.h>
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#include <random>
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#include <tuple>
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#include <vector>
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#define SEED 42
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#define BOARD_WIDTH 10.0
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#define BOARD_LENGTH 50.0
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#define WALL_EPS 1e-3
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#define BOARD_WIDTH_MINUS_WALL_EPS 9.999
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#ifndef RANDOM_SEED
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#define RANDOM_SEED 0
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#endif
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#ifndef BENCHMARK
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#define BENCHMARK 0
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#endif
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using namespace std;
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Pedestrian *init_pedestrians(int n_p) {
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#if RANDOM_SEED
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random_device rd;
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mt19937 gen(rd());
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#else
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mt19937 gen(SEED);
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#endif
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normal_distribution<double> velocity_gen(v0_mean, v0_std_dev);
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uniform_real_distribution<double> y_gen(0.3, BOARD_WIDTH - 0.3);
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uniform_real_distribution<double> x_gen_left(2.0, BOARD_LENGTH / 2.0);
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uniform_real_distribution<double> x_gen_right(BOARD_LENGTH / 2.0, BOARD_LENGTH - 2.0);
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Pedestrian *P = new Pedestrian[n_p];
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int n_p_half = n_p / 2;
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for (int i = 0; i < n_p_half; i++) {
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double x = x_gen_left(gen);
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double y = y_gen(gen);
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double start_pos_x = x;
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double start_pos_y = y;
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double destination_x = BOARD_LENGTH + 30.0;
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double destination_y = y;
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double init_e_x = destination_x - start_pos_x;
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double init_e_y = destination_y - start_pos_y;
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double init_e_norm = sqrt(init_e_x * init_e_x + init_e_y * init_e_y);
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double init_e_unit_x = init_e_x / init_e_norm;
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double init_e_unit_y = init_e_y / init_e_norm;
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double desired_v0;
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do {
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desired_v0 = velocity_gen(gen);
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} while (desired_v0 <= 0.1);
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double v_max = 1.3 * desired_v0;
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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);
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}
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for (int i = n_p_half; i < n_p; i++) {
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double x = x_gen_right(gen);
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double y = y_gen(gen);
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double start_pos_x = x;
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double start_pos_y = y;
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double destination_x = -30;
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double destination_y = y;
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double init_e_x = destination_x - start_pos_x;
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double init_e_y = destination_y - start_pos_y;
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double init_e_norm = sqrt(init_e_x * init_e_x + init_e_y * init_e_y);
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double init_e_unit_x = init_e_x / init_e_norm;
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double init_e_unit_y = init_e_y / init_e_norm;
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double desired_v0;
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do {
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desired_v0 = velocity_gen(gen);
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} while (desired_v0 <= 0.1);
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double v_max = 1.3 * desired_v0;
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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);
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}
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return P;
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}
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Board init_board_without_obstacles() { return Board(BOARD_LENGTH, BOARD_WIDTH, 0, nullptr); }
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int run_simulation(Pedestrian *pedestrians, Board &board, int n_p, int n_iter, const char *dump_path) {
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#if BENCHMARK
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(void)dump_path;
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#endif
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#if !BENCHMARK
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const int dump_interval = 1;
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vector<tuple<int, int, double, double, double, double, int>> samples;
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if (dump_path) {
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samples.reserve(static_cast<size_t>(n_iter / dump_interval + 1) * n_p);
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for (int i = 0; i < n_p; i++) {
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Pedestrian &p = pedestrians[i];
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samples.emplace_back(0, i, p.curr_pos_x, p.curr_pos_y, p.e_x, p.e_y, p.color);
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}
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}
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#endif
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// here we have real (simple) symmetry
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std::vector<double> r_ab_x_lut(n_p * n_p, 0.0);
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std::vector<double> r_ab_y_lut(n_p * n_p, 0.0);
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std::vector<double> r_ab_norm_lut(n_p * n_p, 0.0);
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// use NAME[i * n_p + j]
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// FLOPCOUNT = n_iter * ( {0.5 * (n_p * n_p - n_p) * 6 FLOPS} + {n_p * [ (8 FLOPS) + ((n_p - 1) * 66 FLOPS) + (n_obstacles * 63 FLOPS) ]} + {n_p * 29 FLOPS} )
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// FLOPCOUNT = n_iter * ( {3 * n_p ** 2 - 3 * n_p} + {66 * n_p ** 2 - 58 * n_p + 63 * n_obstacles * n_p} + {29 * n_p} )
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// FLOPCOUNT = n_iter * ( 3 * n_p ** 2 - 3 * n_p + 66 * n_p ** 2 - 58 * n_p + 63 * n_obstacles * n_p + 29 * n_p)
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// FLOPCOUNT = n_iter * ( [3 * n_p ** 2 + 66 * n_p ** 2] + [- 3 * n_p - 58 * n_p + 29 * n_p] + [63 * n_obstacles * n_p] )
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// FLOPCOUNT = n_iter * ( 69 * n_p ** 2 - 32 * n_p + 63 * n_obstacles * n_p )
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// n_iter * {0.5 * (n_p * n_p - n_p) * (3 ADD + 1 SQRT + 2 MULT) + n_p * [(4 MULT + 4 ADD) + ((n_p - 1) * (11 ADD + 22 MULT + 1 DIV + 1 EXP + 2 SQRT)) + (n_obstacles * (12 ADD + 19 MULT + 1 SQRT + 1 DIV + 1 EXP))] + n_p * [ 7 ADD + 17 MULT + 3 SQRT + 2 DIV ]}
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// 0.5 * (n_p * n_p - n_p) * (3 ADD + 1 SQRT + 2 MULT)
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// n_p ** 2 * (1.5 ADD + 0.5 SQRT + 1 MULT) + n_p * (- 1.5 ADD - 0.5 SQRT - 1 MULT)
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// n_p * [(4 MULT + 4 ADD) + ((n_p - 1) * (11 ADD + 22 MULT + 1 DIV + 1 EXP + 2 SQRT)) + (n_obstacles * (12 ADD + 19 MULT + 1 SQRT + 1 DIV + 1 EXP))]
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// n_p * [n_p * (11 ADD + 22 MULT + 1 DIV + 1 EXP + 2 SQRT) - 1 * (7 ADD + 18 MULT + 1 DIV + 1 EXP + 2 SQRT) + n_obstacles * (12 ADD + 19 MULT + 1 SQRT + 1 DIV + 1 EXP)]
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// n_p ** 2 * (11 ADD + 22 MULT + 1 DIV + 1 EXP + 2 SQRT) - n_p * (7 ADD + 18 MULT + 1 DIV + 1 EXP + 2 SQRT) + n_obstacles * n_p * (12 ADD + 19 MULT + 1 SQRT + 1 DIV + 1 EXP)
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// n_p * (7 ADD + 17 MULT + 3 SQRT + 2 DIV)
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// n_p ** 2 * (1.5 ADD + 0.5 SQRT + 1 MULT) + n_p * (- 1.5 ADD - 0.5 SQRT - 1 MULT) + n_p ** 2 * (11 ADD + 22 MULT + 1 DIV + 1 EXP + 2 SQRT) - n_p * (7 ADD + 18 MULT + 1 DIV + 1 EXP + 2 SQRT) + n_obstacles * n_p * (12 ADD + 19 MULT + 1 SQRT + 1 DIV + 1 EXP) + n_p * (7 ADD + 17 MULT + 3 SQRT + 2 DIV)
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// n_p ** 2 * (12.5 ADD + 23 MULT + 1 DIV + 1 EXP + 2.5 SQRT) + n_p * (- 1.5 ADD + 0.5 SQRT - 2 MULT - 1 EXP + 1 DIV) + n_obstacles * n_p * (12 ADD + 19 MULT + 1 SQRT + 1 DIV + 1 EXP)
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// n_p ** 2 * (12.5 A + 23 M + 1 D + 1 E + 2.5 S) + n_p * (- 1.5 A + 0.5 S - 2 M - 1 E + 1 D) + n_obstacles * n_p * (12 A + 19 M + 1 S + 1 D + 1 E)
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for (int t = 0; t < n_iter; t++) {
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// get all distances first
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// total iterations = 0.5 * (n_p * n_p - n_p)
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// flops per iter = 6 FLOPS
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// FLOPCOUNT = 0.5 * (n_p * n_p - n_p) * 6 FLOPS
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// 0.5 * (n_p * n_p - n_p) * (3 ADD + 1 SQRT + 2 MULT)
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for (int i = 0; i < n_p; i++) {
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for (int j = i + 1; j < n_p; j++) {
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// 1 FLOP = 1 ADD
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double dx = pedestrians[i].curr_pos_x - pedestrians[j].curr_pos_x;
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// 1 FLOP = 1 ADD
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double dy = pedestrians[i].curr_pos_y - pedestrians[j].curr_pos_y;
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// 4 FLOPS = 1 SQRT + 2 MULT + 1 ADD
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double norm = sqrt(dx * dx + dy * dy);
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r_ab_x_lut[i * n_p + j] = dx;
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r_ab_y_lut[i * n_p + j] = dy;
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r_ab_norm_lut[i * n_p + j] = norm;
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}
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}
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// FLOPCOUNT = n_p * [ (8 FLOPS) + ((n_p - 1) * 66 FLOPS) + (n_obstacles * 63 FLOPS) ]
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// n_p * [(4 MULT + 4 ADD) + ((n_p - 1) * (11 ADD + 22 MULT + 1 DIV + 1 EXP + 2 SQRT)) + (n_obstacles * (12 ADD + 19 MULT + 1 SQRT + 1 DIV + 1 EXP))]
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for (int i = 0; i < n_p; i++) {
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Pedestrian &p = pedestrians[i];
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// 1 FLOP = 1 MULT
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double desired_velocity_x = p.e_x * p.desired_v0;
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// 1 FLOP = 1 MULT
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double desired_velocity_y = p.e_y * p.desired_v0;
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// 2 FLOPS = 1 ADD + 1 MULT
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double f_alpha_dt_x = (desired_velocity_x - p.curr_vel_x) * dt_times_tau_alpha_inv;
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// 2 FLOPS = 1 ADD + 1 MULT
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double f_alpha_dt_y = (desired_velocity_y - p.curr_vel_y) * dt_times_tau_alpha_inv;
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// force between pedestrians
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// FLOPS = ((n_p - 1) * 66 FLOPS)
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for (int j = 0; j < n_p; j++) {
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if (i == j)
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continue;
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// symmetry
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//double r_ab_x = p.curr_pos_x - pedestrians[j].curr_pos_x;
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//double r_ab_y = p.curr_pos_y - pedestrians[j].curr_pos_y;
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//double r_ab_norm = sqrt(r_ab_x * r_ab_x + r_ab_y * r_ab_y);
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double r_ab_x, r_ab_y, r_ab_norm;
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if (i < j) {
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r_ab_x = r_ab_x_lut[i * n_p + j];
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r_ab_y = r_ab_y_lut[i * n_p + j];
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r_ab_norm = r_ab_norm_lut[i * n_p + j];
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} else {
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// other direction
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r_ab_x = -1 * r_ab_x_lut[j * n_p + i];
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r_ab_y = -1 * r_ab_y_lut[j * n_p + i];
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r_ab_norm = r_ab_norm_lut[j * n_p + i];
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}
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// ----
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// 1 FLOP = 1 ADD
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double r_ab2_x = r_ab_x - pedestrians[j].s_b_e_x;
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// 1 FLOP = 1 ADD
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double r_ab2_y = r_ab_y - pedestrians[j].s_b_e_y;
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// 4 FLOPS = 1 SQRT + 2 MULT + 1 ADD
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double r_ab2_norm = sqrt(r_ab2_x * r_ab2_x + r_ab2_y * r_ab2_y);
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// 1 FLOP = 1 ADD
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double r_ab_norm_sum = r_ab_norm + r_ab2_norm;
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// 2 FLOPS = 1 MULT + 1 ADD
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double two_b_sq = r_ab_norm_sum * r_ab_norm_sum - pedestrians[j].s_b_sq;
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// 1 FLOP = 1 SQRT
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double two_b = sqrt(two_b_sq);
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// 36 FLOPS = 1 DIV + 5 MULTS + 1 EXP
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double 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));
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// 1 FLOP = 1 MULT
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double scalar_mult_r_ab = scalar_mult_common * r_ab2_norm;
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// 1 FLOP = 1 MULT
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double scalar_mult_r_ab2 = scalar_mult_common * r_ab_norm;
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// 3 FLOPS = 2 MULT + 1 ADD
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double f_alpha_beta_neg_x = r_ab_x * scalar_mult_r_ab + r_ab2_x * scalar_mult_r_ab2;
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// 3 FLOPS = 2 MULT + 1 ADD
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double f_alpha_beta_neg_y = r_ab_y * scalar_mult_r_ab + r_ab2_y * scalar_mult_r_ab2;
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double w_val;
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// 4 FLOPS = 3 MULT + 1 ADD
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double a = (p.e_x * f_alpha_beta_neg_x + p.e_y * f_alpha_beta_neg_y) * cos_phi_inv;
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// 3 FLOPS = 2 MULT + 1 ADD
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double b_sq = f_alpha_beta_neg_x * f_alpha_beta_neg_x + f_alpha_beta_neg_y * f_alpha_beta_neg_y;
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w_val = dt_neg;
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// 1 FLOP = 1 MULT
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if (a >= 0 && (a * a > b_sq)) {
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w_val = c_neg_times_dt;
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}
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// 2 FLOPS = 1 ADD + 1 MULT
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f_alpha_dt_x = f_alpha_dt_x + f_alpha_beta_neg_x * w_val;
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// 2 FLOPS = 1 ADD + 1 MULT
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f_alpha_dt_y = f_alpha_dt_y + f_alpha_beta_neg_y * w_val;
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}
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// force between pedestrian and obstacles
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// FLOPS = n_obstacles * 63 FLOPS
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for (int k = 0; k < board.n_obstacles; k++) {
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// 1 FLOP = 1 ADD
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double v1_x = p.curr_pos_x - board.obstacles[k].start.x;
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// 1 FLOP = 1 ADD
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double v1_y = p.curr_pos_y - board.obstacles[k].start.y;
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// 4 FLOPS = 3 MULT + 1 ADD
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double projection = (v1_x * board.obstacles[k].obstacle_v.x + v1_y * board.obstacles[k].obstacle_v.y) * board.obstacles[k].length_sq_inv;
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if (projection < 0.0)
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projection = 0.0;
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else if (projection > 1.0)
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projection = 1.0;
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// 3 FLOPS = 1 MULT + 2 ADD
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double r_aB_x = p.curr_pos_x - (board.obstacles[k].start.x + board.obstacles[k].obstacle_v.x * projection);
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// 3 FLOPS = 1 MULT + 2 ADD
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double r_aB_y = p.curr_pos_y - (board.obstacles[k].start.y + board.obstacles[k].obstacle_v.y * projection);
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// 4 FLOPS = 1 SQRT + 2 MULT + 1 ADD
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double r_aB_norm = sqrt(r_aB_x * r_aB_x + r_aB_y * r_aB_y);
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// 33 FLOPS = 2 MULT + 1 DIV + 1 EXP
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double scalar_mult = (NEG_U0_AB_div_R * exp(r_aB_norm * NEG_R_INV)) / r_aB_norm;
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// 1 FLOP = 1 MULT
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double f_alpha_B_neg_x = r_aB_x * scalar_mult;
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// 1 FLOP = 1 MULT
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double f_alpha_B_neg_y = r_aB_y * scalar_mult;
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double w_val;
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// 4 FLOPS = 3 MULTS + 1 ADD
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double a = (p.e_x * f_alpha_B_neg_x + p.e_y * f_alpha_B_neg_y) * cos_phi_inv;
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// 3 FLOPS = 2 MULT + 1 ADD
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double b_sq = f_alpha_B_neg_x * f_alpha_B_neg_x + f_alpha_B_neg_y * f_alpha_B_neg_y;
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w_val = dt_neg;
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// 1 FLOP = 1 MULT
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if (a >= 0 && (a * a > b_sq)) {
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w_val = c_neg_times_dt;
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}
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// 1 FLOP = 1 MULT
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double f_alpha_B_dt_x = f_alpha_B_neg_x * w_val;
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// 1 FLOP = 1 MULT
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double f_alpha_B_dt_y = f_alpha_B_neg_y * w_val;
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// 1 FLOP = 1 ADD
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f_alpha_dt_x += f_alpha_B_dt_x;
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// 1 FLOP = 1 ADD
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f_alpha_dt_y += f_alpha_B_dt_y;
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}
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// 1 FLOP = 1 ADD
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p.w_x += f_alpha_dt_x;
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// 1 FLOP = 1 ADD
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p.w_y += f_alpha_dt_y;
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}
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// update the positions etc.
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// FLOPCOUNT = n_p * 29 FLOPS
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// n_p * [ 7 ADD + 17 MULT + 3 SQRT + 2 DIV ]
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for (int i = 0; i < n_p; i++) {
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Pedestrian &p = pedestrians[i];
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// 4 FLOPS = 1 SQRT + 2 MULT + 1 ADD
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double w_norm = sqrt(p.w_x * p.w_x + p.w_y * p.w_y);
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// TODO: check correctness of this
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// 1 FLOP = 1 DIV
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double correction_factor = min(1.0, p.v_max / w_norm);
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// 1 FLOP = 1 MULT
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p.curr_vel_x = p.w_x * correction_factor;
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// 1 FLOP = 1 MULT
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p.curr_vel_y = p.w_y * correction_factor;
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// 2 FLOPS = 1 ADD + 1 MULT
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p.curr_pos_x = p.curr_pos_x + p.curr_vel_x * dt;
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// 2 FLOPS = 1 ADD + 1 MULT
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p.curr_pos_y = p.curr_pos_y + p.curr_vel_y * dt;
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if (p.color == 0 && p.curr_pos_x > (BOARD_LENGTH - 1.5)) {
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p.curr_pos_x = 1.0;
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p.destination_y = p.curr_pos_y;
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p.w_x = p.desired_v0;
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p.w_y = 0.0;
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p.curr_vel_x = p.w_x;
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p.curr_vel_y = p.w_y;
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}
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if (p.color == 1 && p.curr_pos_x < 1.5) {
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p.curr_pos_x = BOARD_LENGTH - 1.0;
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p.destination_y = p.curr_pos_y;
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p.w_x = -p.desired_v0;
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p.w_y = 0.0;
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|
p.curr_vel_x = p.w_x;
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|
p.curr_vel_y = p.w_y;
|
|
}
|
|
|
|
p.curr_pos_y = clamp(p.curr_pos_y, WALL_EPS, BOARD_WIDTH_MINUS_WALL_EPS);
|
|
|
|
// 1 FLOP = 1 ADD
|
|
double e_x = p.destination_x - p.curr_pos_x;
|
|
// 1 FLOP = 1 ADD
|
|
double e_y = p.destination_y - p.curr_pos_y;
|
|
|
|
// 5 FLOPS = 1 DIV + 1 SQRT + 2 MULT + 1 ADD
|
|
double e_norm_inv = 1.0 / sqrt(e_x * e_x + e_y * e_y);
|
|
|
|
// 1 FLOP = 1 MULT
|
|
p.e_x = e_x * e_norm_inv;
|
|
// 1 FLOP = 1 MULT
|
|
p.e_y = e_y * e_norm_inv;
|
|
|
|
// 3 FLOPS = 2 MULT + 1 ADD
|
|
double velocity_norm_sq = p.curr_vel_x * p.curr_vel_x + p.curr_vel_y * p.curr_vel_y;
|
|
|
|
// 1 FLOP = 1 SQRT
|
|
double velocity_norm = sqrt(velocity_norm_sq);
|
|
|
|
// 1 FLOP = 1 MULT
|
|
p.s_b_sq = velocity_norm_sq * delta_t_sq;
|
|
|
|
// 2 FLOPS = 2 MULT
|
|
p.s_b_e_x = p.e_x * (velocity_norm * delta_t);
|
|
// 2 FLOP = 2 MULT
|
|
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;
|
|
}
|