[Quy Anh] «Elliot» Nguyen
121 lines
2.5 KiB
C++
121 lines
2.5 KiB
C++
#pragma once
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#include <cmath>
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#include <new>
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//
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// $\frac{1}{\tau_{\alpha}}$; $\tau_{\alpha} = 0.5s$
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//
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const float tau_alpha_inv = 2.0;
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// $V^0_{\alpha \beta}$
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const float V0_AB = 2.1;
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// $\sigma$
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const float SIGMA = 0.3;
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//
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// $\frac{-1}{2\sigma}$
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//
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const float NEG_TWO_SIGMA_INV = -1.0 / (2 * SIGMA);
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//
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// $\frac{-V^0_{\alpha\beta}}{2\sigma}$
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//
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const float NEG_V0_AB_div_TWO_SIGMA = V0_AB * NEG_TWO_SIGMA_INV;
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// $U^0_{\alpha B}$
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const float U0_AB = 10.0;
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// $R$
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const float R = 0.2;
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//
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// $\frac{-1}{R}$
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//
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const float NEG_R_INV = -1.0 / R;
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//
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// $\frac{-U^0_{\alpha B}}{R}$
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//
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const float NEG_U0_AB_div_R = -U0_AB / R;
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// $-c$
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const float c_neg = -0.5;
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// $\varphi$
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const float phi = 100.0 / 180.0 * M_PI;
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// $cos(\varphi)$
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const float cos_phi = cos(phi);
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//
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// $\frac{1}{cos(\varphi)}$
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//
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const float cos_phi_inv = 1 / cos(phi);
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// $<v^0>$
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const float v0_mean = 1.34;
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// $\sqrt{\theta}$
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const float v0_std_dev = 0.26;
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// $\varDelta_{t}$
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const float delta_t = 2;
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// $\varDelta_{t}^2$
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const float delta_t_sq = delta_t * delta_t;
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// $dt$
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const float dt = 0.02;
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// $-dt$
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const float dt_neg = -dt;
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// $-c \cdot dt$
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const float c_neg_times_dt = c_neg * dt;
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//
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// $\frac{1}{\tau_{\alpha}} \cdot dt$
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//
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const float dt_times_tau_alpha_inv = dt * tau_alpha_inv;
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const float cost_add = 1;
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const float cost_mult = 1;
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const float cost_div = 1;
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// https://acl.inf.ethz.ch/teaching/fastcode/knowledgebase/#:~:text=How%20do%20exp(x)%2C%20sin(x)%2C%20etc.%20count%20in%20the%20flopcount%20of%20an%20algorithm%3F
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const float cost_exp = 30;
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// -O3 maps each sqrt() call to an instruction
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const float cost_sqrt = 1;
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// Numerical tolerance used to avoid division by zero and unstable operations
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// when distances or norms are extremely small.
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const float EPS = 1e-9;
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// Squared numerical tolerance
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const float EPS_SQ = EPS * EPS;
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// Cutoff for pedestrian-pedestrian repulsion
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const float CUTOFF = 12.0;
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const float CUTOFF_SQ = CUTOFF * CUTOFF;
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const float cos_phi_sq = cos_phi * cos_phi;
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const size_t CACHE_BLOCK_SIZE = std::hardware_destructive_interference_size;
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const float c0_scalar = 1.0 / 1;
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const float c1_scalar = 1.0 / 1;
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const float c2_scalar = 1.0 / 2;
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const float c3_scalar = 1.0 / 6;
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const float c4_scalar = 1.0 / 24;
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const float c5_scalar = 1.0 / 120;
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const float c6_scalar = 1.0 / 720;
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const float c7_scalar = 1.0 / 5040;
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const float c8_scalar = 1.0 / 40320;
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const float c9_scalar = 1.0 / 362880;
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const float c10_scalar = 1.0 / 3628800;
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const float c11_scalar = 1.0 / 39916800;
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const float c12_scalar = 1.0 / 479001600;
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const float c13_scalar = 1.0 / 6227020800;
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