[Quy Anh] «Elliot» Nguyen
66 lines
2.3 KiB
C++
66 lines
2.3 KiB
C++
#pragma once
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#include "constants.hpp"
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#include "vector2d.hpp"
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// Needed for visual simulation, in order to distinguish two groups of pedestrians:
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// - White pedestrians move from left to right
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// - Black pedestrians move from right to left
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enum Color { WHITE, BLACK};
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struct Pedestrian {
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Color color;
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// $\vec{v}_{\alpha}(t)$
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Vector2d curr_vel; // v_alpha (actual, ≤ v_max)
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// $\vec{w}_{\alpha}$
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Vector2d w; // w_alpha (preferred, integrates force)
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// $\vec{r}_\alpha(t)$
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Vector2d curr_pos;
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// $\vec{e}_{\alpha}(t)$
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Vector2d e; // desired direction vector
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// $v_{\alpha}^{max} = 1.3 v^{0}_{\alpha}$
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double v_max;
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// $v_\alpha^0$
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double desired_v0;
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// $\vec{r}^0_\alpha$
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Vector2d destination;
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// $s_\beta^2 = (v_\beta \Delta t)^2$
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double s_b_sq;
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// $s_\beta \vec{e}_\beta$
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Vector2d s_b_e;
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// Default constructor: initializes a pedestrian with color WHITE and all vector/scalar fields set to zero.
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Pedestrian() : color(WHITE), curr_vel(0.0, 0.0), w(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), s_b_sq(0.0), s_b_e(0.0, 0.0) {}
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// Constructs a pedestrian with the given initial state and precomputes the
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// quantities used in the pedestrian-pedestrian repulsion term.
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//
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// The preferred velocity w is initialized to the current velocity c_v. The
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// cached quantities s_b_sq and s_b_e correspond to the predicted step of this
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// pedestrian over $\Delta t$:
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//
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// s_b = ||c_v|| * dt
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// s_b_sq = s_b^2
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// s_b_e = e * s_b
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//
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// These values are used when another pedestrian computes the elliptical
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// interaction term involving this pedestrian.
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//
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// @param clr The display/color category of the pedestrian.
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// @param c_v The initial current velocity.
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// @param c_p The initial current position.
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// @param e The initial desired direction of motion.
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// @param v_max The maximum speed that the pedestrian can reach.
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// @param desired_v0 The desired walking speed.
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// @param d The pedestrian's target destination point.
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//
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Pedestrian(Color clr, Vector2d c_v, Vector2d c_p, Vector2d e, double v_max, double desired_v0, Vector2d d) : color(clr), curr_vel(c_v), w(c_v), curr_pos(c_p), e(e), v_max(v_max), desired_v0(desired_v0), destination(d), s_b_sq(c_v.dot(c_v) * delta_t_sq), s_b_e(e * c_v.norm() * delta_t) {}
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};
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