[Quy Anh] «Elliot» Nguyen
367 lines
10 KiB
C++
367 lines
10 KiB
C++
// # Changes: Replaced «double» with «float» in variable declarations
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// # Predecessor: variant_float_baseline.cpp
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#include "../headers/board_reduced_float.hpp"
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#include "../headers/constants_float.hpp"
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#include "../headers/pedestrian_reduced_float.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 10.0f
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#define BOARD_LENGTH 50.0f
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#define WALL_EPS 1e-3f
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#define BOARD_WIDTH_MINUS_WALL_EPS 9.999f
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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<float> velocity_gen(v0_mean, v0_std_dev);
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uniform_real_distribution<float> y_gen(0.3, BOARD_WIDTH - 0.3);
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uniform_real_distribution<float> x_gen_left(2.0, BOARD_LENGTH / 2.0);
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uniform_real_distribution<float> 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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float x = x_gen_left(gen);
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float y = y_gen(gen);
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float start_pos_x = x;
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float start_pos_y = y;
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float destination_x = BOARD_LENGTH + 30.0;
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float destination_y = y;
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float init_e_x = destination_x - start_pos_x;
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float init_e_y = destination_y - start_pos_y;
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float init_e_norm = sqrt(init_e_x * init_e_x + init_e_y * init_e_y);
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float init_e_unit_x = init_e_x / init_e_norm;
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float init_e_unit_y = init_e_y / init_e_norm;
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float 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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float 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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float x = x_gen_right(gen);
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float y = y_gen(gen);
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float start_pos_x = x;
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float start_pos_y = y;
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float destination_x = -30;
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float destination_y = y;
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float init_e_x = destination_x - start_pos_x;
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float init_e_y = destination_y - start_pos_y;
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float init_e_norm = sqrt(init_e_x * init_e_x + init_e_y * init_e_y);
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float init_e_unit_x = init_e_x / init_e_norm;
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float init_e_unit_y = init_e_y / init_e_norm;
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float 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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float 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, float, float, float, float, 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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// # ADDs: n_iter * (
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// # n_p * 4 +
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// # n_p * (n_p - 1) * 14 +
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// # n_p * board.n_obstacles * 10 +
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// # n_p * 7
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// # )
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// # MULTs: n_iter * (
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// # n_p * 4
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// # n_p * (n_p - 1) * 24 +
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// # n_p * board.n_obstacles * 13 +
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// # n_p * 17
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// # )
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// # DIVs: n_iter * (
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// # n_p * (n_p - 1) +
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// # n_p * board.n_obstacles +
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// # n_p * 2
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// # )
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// # SQRTs: n_iter * (
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// # n_p * (n_p - 1) * 3 +
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// # n_p * board.n_obstacles +
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// # n_p * 3
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// # )
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// # EXPs: n_iter * (
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// # n_p * (n_p - 1) +
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// # n_p * board.n_obstacles
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// # )
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for (int t = 0; t < n_iter; t++) {
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for (int i = 0; i < n_p; i++) {
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Pedestrian &p = pedestrians[i];
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// # 2 MULTs
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float desired_velocity_x = p.e_x * p.desired_v0;
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float desired_velocity_y = p.e_y * p.desired_v0;
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// # 2 MULTs, 2 ADDs
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float f_alpha_dt_x = (desired_velocity_x - p.curr_vel_x) * dt_times_tau_alpha_inv;
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float f_alpha_dt_y = (desired_velocity_y - p.curr_vel_y) * dt_times_tau_alpha_inv;
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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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// # 2 ADDs
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float r_ab_x = p.curr_pos_x - pedestrians[j].curr_pos_x;
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float r_ab_y = p.curr_pos_y - pedestrians[j].curr_pos_y;
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// # 1 SQRT, 2 MULTs, 1 ADD
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float r_ab_norm = sqrt(r_ab_x * r_ab_x + r_ab_y * r_ab_y);
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r_ab_norm = r_ab_norm > EPS ? r_ab_norm : EPS;
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// # 2 ADDs
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float r_ab2_x = r_ab_x - pedestrians[j].s_b_e_x;
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float r_ab2_y = r_ab_y - pedestrians[j].s_b_e_y;
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// # 1 SQRT, 2 MULTs, 1 ADD
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float r_ab2_norm = sqrt(r_ab2_x * r_ab2_x + r_ab2_y * r_ab2_y);
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r_ab2_norm = r_ab2_norm > EPS ? r_ab2_norm : EPS;
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// # 1 ADD
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float r_ab_norm_sum = r_ab_norm + r_ab2_norm;
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// # 1 MULT 1 ADD
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float two_b_sq = r_ab_norm_sum * r_ab_norm_sum - pedestrians[j].s_b_sq;
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two_b_sq = two_b_sq > EPS_SQ ? two_b_sq : EPS_SQ;
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// # 1 SQRT
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float two_b = sqrt(two_b_sq);
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// # 5 MULTs, 1 DIV, 1 EXP
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float 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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// # 2 MULTs
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float scalar_mult_r_ab = scalar_mult_common * r_ab2_norm;
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float scalar_mult_r_ab2 = scalar_mult_common * r_ab_norm;
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// # 4 MULTs, 2 ADDs
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float f_alpha_beta_neg_x = r_ab_x * scalar_mult_r_ab + r_ab2_x * scalar_mult_r_ab2;
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float f_alpha_beta_neg_y = r_ab_y * scalar_mult_r_ab + r_ab2_y * scalar_mult_r_ab2;
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float w_val;
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// # 6 MULTs, 2 ADDs
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float f_norm_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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float rhs = f_norm_sq * cos_phi_sq;
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float e_dot_f = p.e_x * f_alpha_beta_neg_x + p.e_y * f_alpha_beta_neg_y;
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float e_dot_f_sq = e_dot_f * e_dot_f;
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if (e_dot_f >= 0.0 || e_dot_f_sq <= rhs)
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w_val = dt_neg;
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else
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w_val = c_neg_times_dt;
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// # 2 MULTs, 2 ADDs
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f_alpha_dt_x = f_alpha_dt_x + f_alpha_beta_neg_x * w_val;
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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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for (int k = 0; k < board.n_obstacles; k++) {
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// # 2 ADDs
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float v1_x = p.curr_pos_x - board.obstacles[k].start_x;
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float v1_y = p.curr_pos_y - board.obstacles[k].start_y;
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float v2_x = board.obstacles[k].obstacle_v_x;
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float v2_y = board.obstacles[k].obstacle_v_y;
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// # 3 MULTs, 1 ADD
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float projection = (v1_x * v2_x + v1_y * v2_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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// # 4 ADDs, 2 MULTs
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float r_aB_x = p.curr_pos_x - (board.obstacles[k].start_x + board.obstacles[k].obstacle_v_x * projection);
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float r_aB_y = p.curr_pos_y - (board.obstacles[k].start_y + board.obstacles[k].obstacle_v_y * projection);
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// # 1 SQRT, 2 MULTs, 1 ADD
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float r_aB_norm = sqrt(r_aB_x * r_aB_x + r_aB_y * r_aB_y);
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r_aB_norm = r_aB_norm > EPS ? r_aB_norm : EPS;
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// # 4 MULTs, 1 EXP, 1 DIV
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float scalar_mult = (NEG_U0_AB_div_R * exp(r_aB_norm * NEG_R_INV)) / r_aB_norm;
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float f_alpha_B_neg_x = r_aB_x * scalar_mult;
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float f_alpha_B_neg_y = r_aB_y * scalar_mult;
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float w_val;
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float e_dot_f = (f_alpha_B_neg_y == 0) ? 0 : (f_alpha_B_neg_y < 0 ? -p.e_y : p.e_y);
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if (e_dot_f >= cos_phi)
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w_val = dt_neg;
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else
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w_val = c_neg_times_dt;
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// # 2 MULTS
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float f_alpha_B_dt_x = f_alpha_B_neg_x * w_val;
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float f_alpha_B_dt_y = f_alpha_B_neg_y * w_val;
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// # 2 ADDs
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f_alpha_dt_x += f_alpha_B_dt_x;
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f_alpha_dt_y += f_alpha_B_dt_y;
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}
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// # 2 ADDs
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p.w_x += f_alpha_dt_x;
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p.w_y += f_alpha_dt_y;
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}
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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 SQRT, 2 MULTs, 1 ADD
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float w_norm = sqrt(p.w_x * p.w_x + p.w_y * p.w_y);
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float w_norm2 = w_norm > EPS ? w_norm : EPS;
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// # 1 DIV
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float correction_factor = min(1.0f, p.v_max / w_norm2);
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// # 2 MULTs
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p.curr_vel_x = p.w_x * correction_factor;
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p.curr_vel_y = p.w_y * correction_factor;
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// # 2 MULTs, 2 ADDs
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p.curr_pos_x = p.curr_pos_x + p.curr_vel_x * dt;
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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;
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}
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p.curr_pos_y = clamp(p.curr_pos_y, WALL_EPS, BOARD_WIDTH_MINUS_WALL_EPS);
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// # 2 ADDs
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float e_x = p.destination_x - p.curr_pos_x;
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float e_y = p.destination_y - p.curr_pos_y;
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// # 1 SQRT, 2 MULTs, 1 ADD
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float e_norm = sqrt(e_x * e_x + e_y * e_y);
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float e_norm2 = e_norm > EPS ? e_norm : EPS;
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// # 1 DIV
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float e_norm_inv = 1.0 / e_norm2;
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// # 2 MULTs
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p.e_x = e_x * e_norm_inv;
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p.e_y = e_y * e_norm_inv;
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// # 2 MULTs, 1 ADD
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float velocity_norm_sq = p.curr_vel_x * p.curr_vel_x + p.curr_vel_y * p.curr_vel_y;
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// # 1 SQRT
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float velocity_norm = sqrt(velocity_norm_sq);
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// # 5 MULTs
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p.s_b_sq = velocity_norm_sq * delta_t_sq;
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p.s_b_e_x = p.e_x * (velocity_norm * delta_t);
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p.s_b_e_y = p.e_y * (velocity_norm * delta_t);
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#if !BENCHMARK
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if (dump_path && (t % dump_interval == 0)) {
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samples.emplace_back(t + 1, 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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#endif
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}
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}
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#if !BENCHMARK
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if (dump_path) {
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ofstream out(dump_path);
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out << "time,id,x,y,p.e.x,p.e.y,color\n";
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for (auto &[t, id, x, y, e_x, e_y, c] : samples) {
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out << t << ',' << id << ',' << x << ',' << y << ',' << e_x << ',' << e_y << ',' << c << '\n';
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}
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}
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#endif
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return 0;
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}
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