[Quy Anh] «Elliot» Nguyen
569 lines
21 KiB
C++
569 lines
21 KiB
C++
// # This file attempts to use AVX-512 intrinsics to speed up computation.
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// # Predecessor: variant_inlining_7.cpp
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#ifdef __AVX512F__
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#include "../headers/board_reduced.hpp"
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#include "../headers/constants.hpp"
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#include "../headers/pedestrian_reduced.hpp"
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#include "immintrin.h"
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#include "sleef.h"
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#include <algorithm>
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#include <cmath>
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#include <fstream>
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#include <immintrin.h>
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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 BOARD_LENGTH_MINUS_ONE BOARD_LENGTH - 1.0f
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#define BOARD_LENGTH_MINUS_ONE_POINT_FIVE BOARD_LENGTH - 1.5f
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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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// # ADDs: n_iter * n_p * 4 +
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// # n_iter * n_p * ceil(((double) (n_p - 7)) / 8) * (1 / (ceil(((double) (n_p - 7)) / 8))) * 7 * 14 +
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// # n_iter * n_p * ceil(((double) (n_p - 7)) / 8) * (1 - 1 / (ceil(((double) (n_p - 7)) / 8))) * 224 +
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// # n_iter * n_p * (n_p - floor((double) n_p / 8) * 8) * 14 +
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// # n_iter * n_p * board.n_obstacles * 12 +
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// # n_iter * n_p * 7
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// # MULTs: n_iter * n_p * 4 +
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// # n_iter * n_p * ceil(((double) (n_p - 7)) / 8) * (1 / (ceil(((double) (n_p - 7)) / 8))) * 7 * 24 +
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// # n_iter * n_p * ceil(((double) (n_p - 7)) / 8) * (1 - 1 / (ceil(((double) (n_p - 7)) / 8))) * 352 +
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// # n_iter * n_p * (n_p - floor((double) n_p / 8) * 8) * 24 +
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// # n_iter * n_p * board.n_obstacles * 19 +
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// # n_iter * n_p * 17
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// # DIVs: n_iter * n_p * ceil(((double) (n_p - 7)) / 8) * (1 / (ceil(((double) (n_p - 7)) / 8))) * 7 +
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// # n_iter * n_p * ceil(((double) (n_p - 7)) / 8) * (1 - 1 / (ceil(((double) (n_p - 7)) / 8))) * 8 +
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// # n_iter * n_p * (n_p - floor((double) n_p / 8) * 8) +
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// # n_iter * n_p * board.n_obstacles +
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// # n_iter * n_p * 2
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// # SQRTs: n_iter * n_p * ceil(((double) (n_p - 7)) / 8) * (1 / (ceil(((double) (n_p - 7)) / 8))) * 7 * 3 +
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// # n_iter * n_p * ceil(((double) (n_p - 7)) / 8) * (1 - 1 / (ceil(((double) (n_p - 7)) / 8))) * 24 +
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// # n_iter * n_p * (n_p - floor((double) n_p / 8) * 8) * 3 +
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// # n_iter * n_p * board.n_obstacles +
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// # n_iter * n_p * 3
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// # EXPs: n_iter * n_p * ceil(((double) (n_p - 7)) / 8) * (1 / (ceil(((double) (n_p - 7)) / 8))) * 7 +
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// # n_iter * n_p * (n_p - floor((double) n_p / 8) * 8) +
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// # n_iter * n_p * board.n_obstacles
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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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double desired_velocity_x = p.e_x * p.desired_v0;
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double desired_velocity_y = p.e_y * p.desired_v0;
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// # 2 ADDs, 2 MULTs
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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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double f_alpha_dt_y = (desired_velocity_y - p.curr_vel_y) * dt_times_tau_alpha_inv;
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__m512d desired_velocity_x_vec = _mm512_set1_pd(desired_velocity_x);
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__m512d desired_velocity_y_vec = _mm512_set1_pd(desired_velocity_y);
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__m512d f_alpha_dt_x_vec = _mm512_set1_pd(f_alpha_dt_x);
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__m512d f_alpha_dt_y_vec = _mm512_set1_pd(f_alpha_dt_y);
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__m512d alpha_curr_pos_x_vec = _mm512_set1_pd(p.curr_pos_x);
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__m512d alpha_curr_pos_y_vec = _mm512_set1_pd(p.curr_pos_y);
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__m512d alpha_e_x_vec = _mm512_set1_pd(p.e_x);
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__m512d alpha_e_y_vec = _mm512_set1_pd(p.e_y);
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int j;
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// # ############################################################################################################################################################################################
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for (j = 0; j < n_p - 7; j += 8) {
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if (j <= i && i <= j + 7) {
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for (int jj = j; jj < j + 8; jj++) {
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if (jj == i) {
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continue;
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}
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// # 2 ADDs
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double r_ab_x = p.curr_pos_x - pedestrians[jj].curr_pos_x;
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double r_ab_y = p.curr_pos_y - pedestrians[jj].curr_pos_y;
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// # 1 SQRT, 2 MULTs, 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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// # 2 ADDs
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double r_ab2_x = r_ab_x - pedestrians[jj].s_b_e_x;
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double r_ab2_y = r_ab_y - pedestrians[jj].s_b_e_y;
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// # 1 SQRT, 2 MULTs, 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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// # 2 ADDs, 1 MULT
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double r_ab_norm_sum = r_ab_norm + r_ab2_norm;
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double two_b_sq = r_ab_norm_sum * r_ab_norm_sum - pedestrians[jj].s_b_sq;
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// # 1 SQRT
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double two_b = sqrt(two_b_sq);
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// # 5 MULTs, 1 DIV, 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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// # 2 MULTs
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double scalar_mult_r_ab = scalar_mult_common * r_ab2_norm;
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double scalar_mult_r_ab2 = scalar_mult_common * r_ab_norm;
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// # 4 MULTs, 2 ADDs
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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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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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// # 3 MULTs, 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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// # 2 MULTs, 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 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 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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} else {
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__m512d beta_curr_pos_x_vec = _mm512_setr_pd(pedestrians[j].curr_pos_x, pedestrians[j + 1].curr_pos_x, pedestrians[j + 2].curr_pos_x, pedestrians[j + 3].curr_pos_x, pedestrians[j + 4].curr_pos_x, pedestrians[j + 5].curr_pos_x, pedestrians[j + 6].curr_pos_x, pedestrians[j + 7].curr_pos_x);
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__m512d beta_curr_pos_y_vec = _mm512_setr_pd(pedestrians[j].curr_pos_y, pedestrians[j + 1].curr_pos_y, pedestrians[j + 2].curr_pos_y, pedestrians[j + 3].curr_pos_y, pedestrians[j + 4].curr_pos_y, pedestrians[j + 5].curr_pos_y, pedestrians[j + 6].curr_pos_y, pedestrians[j + 7].curr_pos_y);
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// # 16 ADDs
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__m512d r_ab_x_vec = _mm512_sub_pd(alpha_curr_pos_x_vec, beta_curr_pos_x_vec);
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__m512d r_ab_y_vec = _mm512_sub_pd(alpha_curr_pos_y_vec, beta_curr_pos_y_vec);
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// # 8 MULTs
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__m512d r_ab_y_mul_r_ab_y_vec = _mm512_mul_pd(r_ab_y_vec, r_ab_y_vec);
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// # 8 MULTs, 8 ADDs
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__m512d r_ab_norm_sq_vec = _mm512_fmadd_pd(r_ab_x_vec, r_ab_x_vec, r_ab_y_mul_r_ab_y_vec);
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// # 8 SQRTs
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__m512d r_ab_norm_vec = _mm512_sqrt_pd(r_ab_norm_sq_vec);
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__m512d beta_s_b_e_x_vec = _mm512_setr_pd(pedestrians[j].s_b_e_x, pedestrians[j + 1].s_b_e_x, pedestrians[j + 2].s_b_e_x, pedestrians[j + 3].s_b_e_x, pedestrians[j + 4].s_b_e_x, pedestrians[j + 5].s_b_e_x, pedestrians[j + 6].s_b_e_x, pedestrians[j + 7].s_b_e_x);
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// # 8 ADDs
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__m512d r_ab2_x_vec = _mm512_sub_pd(r_ab_x_vec, beta_s_b_e_x_vec);
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__m512d beta_s_b_e_y_vec = _mm512_setr_pd(pedestrians[j].s_b_e_y, pedestrians[j + 1].s_b_e_y, pedestrians[j + 2].s_b_e_y, pedestrians[j + 3].s_b_e_y, pedestrians[j + 4].s_b_e_y, pedestrians[j + 5].s_b_e_y, pedestrians[j + 6].s_b_e_y, pedestrians[j + 7].s_b_e_y);
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// # 8 ADDs
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__m512d r_ab2_y_vec = _mm512_sub_pd(r_ab_y_vec, beta_s_b_e_y_vec);
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// # 8 MULTs
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__m512d r_ab2_y_mul_r_ab2_y_vec = _mm512_mul_pd(r_ab2_y_vec, r_ab2_y_vec);
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// # 8 MULTs, 8 ADDs
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__m512d r_ab2_norm_sq_vec = _mm512_fmadd_pd(r_ab2_x_vec, r_ab2_x_vec, r_ab2_y_mul_r_ab2_y_vec);
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// # 8 SQRTs
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__m512d r_ab2_norm_vec = _mm512_sqrt_pd(r_ab2_norm_sq_vec);
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// # 8 ADDs
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__m512d r_ab_norm_sum_vec = _mm512_add_pd(r_ab_norm_vec, r_ab2_norm_vec);
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__m512d beta_s_b_sq_vec = _mm512_setr_pd(pedestrians[j].s_b_sq, pedestrians[j + 1].s_b_sq, pedestrians[j + 2].s_b_sq, pedestrians[j + 3].s_b_sq, pedestrians[j + 4].s_b_sq, pedestrians[j + 5].s_b_sq, pedestrians[j + 6].s_b_sq, pedestrians[j + 7].s_b_sq);
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// # 8 MULTs, 8 ADDs
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__m512d two_b_sq_vec = _mm512_fmsub_pd(r_ab_norm_sum_vec, r_ab_norm_sum_vec, beta_s_b_sq_vec);
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// # 8 SQRTs
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__m512d two_b_vec = _mm512_sqrt_pd(two_b_sq_vec);
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// # 8 MULTs
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__m512d two_b_mul_r_ab_norm_vec = _mm512_mul_pd(two_b_vec, r_ab_norm_vec);
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// # 8 MULTs
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__m512d denom_vec = _mm512_mul_pd(two_b_mul_r_ab_norm_vec, r_ab2_norm_vec);
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// # 8 DIVs
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__m512d scalar_mult_common_left_vec = _mm512_div_pd(r_ab_norm_sum_vec, denom_vec);
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// # 8 MULTs
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__m512d two_b_mul_NEG_TWO_SIGMA_INV_vec = _mm512_mul_pd(two_b_vec, NEG_TWO_SIGMA_INV_VEC);
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// # 160 MULTs, 112 ADDs
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// objdump -d --demangle /usr/lib/x86_64-linux-gnu/libsleef.so | grep -A 67 "Sleef_expd8_u10@@Base"
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__m512d e_vec = Sleef_expd8_u10(two_b_mul_NEG_TWO_SIGMA_INV_vec);
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// # 16 MULTs
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__m512d scalar_mult_common_right_vec = _mm512_mul_pd(NEG_V0_AB_DIV_TWO_SIGMA_VEC, e_vec);
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__m512d scalar_mult_common_vec = _mm512_mul_pd(scalar_mult_common_left_vec, scalar_mult_common_right_vec);
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// # 16 MULTs
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__m512d scalar_mult_r_ab_vec = _mm512_mul_pd(scalar_mult_common_vec, r_ab2_norm_vec);
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__m512d scalar_mult_r_ab2_vec = _mm512_mul_pd(scalar_mult_common_vec, r_ab_norm_vec);
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// # 16 MULTs
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__m512d r_ab2_x_mul_scalar_mult_r_ab2_vec = _mm512_mul_pd(r_ab2_x_vec, scalar_mult_r_ab2_vec);
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__m512d r_ab2_y_mul_scalar_mult_r_ab2_vec = _mm512_mul_pd(r_ab2_y_vec, scalar_mult_r_ab2_vec);
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// # 16 MULTs, 16 ADDs
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__m512d f_alpha_beta_neg_x_vec = _mm512_fmadd_pd(r_ab_x_vec, scalar_mult_r_ab_vec, r_ab2_x_mul_scalar_mult_r_ab2_vec);
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__m512d f_alpha_beta_neg_y_vec = _mm512_fmadd_pd(r_ab_y_vec, scalar_mult_r_ab_vec, r_ab2_y_mul_scalar_mult_r_ab2_vec);
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// # 8 MULTs
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__m512d rgt_vec = _mm512_mul_pd(alpha_e_y_vec, f_alpha_beta_neg_y_vec);
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// # 8 MULTs, 8 ADDs
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__m512d lft_add_rgt_vec = _mm512_fmadd_pd(alpha_e_x_vec, f_alpha_beta_neg_x_vec, rgt_vec);
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// # 8 MULTs
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__m512d a_vec = _mm512_mul_pd(lft_add_rgt_vec, cos_phi_inv_vec);
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// # 8 MULTs
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__m512d f_alpha_beta_neg_y_sq_vec = _mm512_mul_pd(f_alpha_beta_neg_y_vec, f_alpha_beta_neg_y_vec);
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// # 8 MULTs, 8 ADDs
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__m512d b_sq_vec = _mm512_fmadd_pd(f_alpha_beta_neg_x_vec, f_alpha_beta_neg_x_vec, f_alpha_beta_neg_y_sq_vec);
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__m512d w_val_vec = dt_neg_vec;
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__mmask8 a_ge_zero_mask = _mm512_cmp_pd_mask(a_vec, ZERO_VEC, _CMP_GE_OQ);
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// # 8 MULTs
|
|
__m512d a_sq_vec = _mm512_mul_pd(a_vec, a_vec);
|
|
|
|
__mmask8 a_sq_gt_b_sq_mask = _mm512_cmp_pd_mask(a_sq_vec, b_sq_vec, _CMP_GT_OQ);
|
|
__mmask8 cond_mask = _kand_mask8(a_ge_zero_mask, a_sq_gt_b_sq_mask);
|
|
w_val_vec = _mm512_mask_mov_pd(w_val_vec, cond_mask, c_neg_times_dt_vec);
|
|
|
|
// # 16 MULTs
|
|
__m512d x_term_vec = _mm512_mul_pd(f_alpha_beta_neg_x_vec, w_val_vec);
|
|
__m512d y_term_vec = _mm512_mul_pd(f_alpha_beta_neg_y_vec, w_val_vec);
|
|
|
|
// # 16 ADDs
|
|
f_alpha_dt_x += _mm512_reduce_add_pd(x_term_vec);
|
|
f_alpha_dt_y += _mm512_reduce_add_pd(y_term_vec);
|
|
}
|
|
}
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|
|
|
// # ############################################################################################################################################################################################
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|
|
|
for (; j < n_p; j++) {
|
|
|
|
if (j == i) {
|
|
continue;
|
|
}
|
|
|
|
// # 2 ADDs
|
|
double r_ab_x = p.curr_pos_x - pedestrians[j].curr_pos_x;
|
|
double r_ab_y = p.curr_pos_y - pedestrians[j].curr_pos_y;
|
|
|
|
// # 1 SQRT, 2 MULTs, 1 ADD
|
|
double r_ab_norm = sqrt(r_ab_x * r_ab_x + r_ab_y * r_ab_y);
|
|
|
|
// # 2 ADDs
|
|
double r_ab2_x = r_ab_x - pedestrians[j].s_b_e_x;
|
|
double r_ab2_y = r_ab_y - pedestrians[j].s_b_e_y;
|
|
|
|
// # 1 SQRT, 2 MULTs, 1 ADD
|
|
double r_ab2_norm = sqrt(r_ab2_x * r_ab2_x + r_ab2_y * r_ab2_y);
|
|
|
|
// # 1 ADD
|
|
double r_ab_norm_sum = r_ab_norm + r_ab2_norm;
|
|
|
|
// # 1 MULT, 1 ADD
|
|
double two_b_sq = r_ab_norm_sum * r_ab_norm_sum - pedestrians[j].s_b_sq;
|
|
|
|
// # 1 SQRT
|
|
double two_b = sqrt(two_b_sq);
|
|
|
|
// # 5 MULTs, 1 DIV, 1 EXP
|
|
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));
|
|
|
|
// # 2 MULTs
|
|
double scalar_mult_r_ab = scalar_mult_common * r_ab2_norm;
|
|
double scalar_mult_r_ab2 = scalar_mult_common * r_ab_norm;
|
|
|
|
// # 4 MULTs, 2 ADDs
|
|
double f_alpha_beta_neg_x = r_ab_x * scalar_mult_r_ab + r_ab2_x * scalar_mult_r_ab2;
|
|
double f_alpha_beta_neg_y = r_ab_y * scalar_mult_r_ab + r_ab2_y * scalar_mult_r_ab2;
|
|
|
|
double w_val;
|
|
|
|
// # 3 MULTs, 1 ADD
|
|
double a = (p.e_x * f_alpha_beta_neg_x + p.e_y * f_alpha_beta_neg_y) * cos_phi_inv;
|
|
|
|
// # 2 MULTs, 1 ADD
|
|
double b_sq = f_alpha_beta_neg_x * f_alpha_beta_neg_x + f_alpha_beta_neg_y * f_alpha_beta_neg_y;
|
|
|
|
w_val = dt_neg;
|
|
// # 1 MULT
|
|
if (a >= 0 && (a * a > b_sq)) {
|
|
w_val = c_neg_times_dt;
|
|
}
|
|
|
|
// # 2 MULTs, 2 ADDs
|
|
f_alpha_dt_x = f_alpha_dt_x + f_alpha_beta_neg_x * w_val;
|
|
f_alpha_dt_y = f_alpha_dt_y + f_alpha_beta_neg_y * w_val;
|
|
}
|
|
|
|
// # ############################################################################################################################################################################################
|
|
|
|
for (int k = 0; k < board.n_obstacles; k++) {
|
|
|
|
// # 2 ADDs
|
|
double v1_x = p.curr_pos_x - board.obstacles[k].start_x;
|
|
double v1_y = p.curr_pos_y - board.obstacles[k].start_y;
|
|
|
|
// # 3 MULTs, 1 ADD
|
|
double projection = (v1_x * board.obstacles[k].obstacle_v_x + v1_y * board.obstacles[k].obstacle_v_y) * board.obstacles[k].length_sq_inv;
|
|
|
|
if (projection < 0.0)
|
|
projection = 0.0;
|
|
else if (projection > 1.0)
|
|
projection = 1.0;
|
|
|
|
// # 2 MULTs, 4 ADDs
|
|
double r_aB_x = p.curr_pos_x - (board.obstacles[k].start_x + board.obstacles[k].obstacle_v_x * projection);
|
|
double r_aB_y = p.curr_pos_y - (board.obstacles[k].start_y + board.obstacles[k].obstacle_v_y * projection);
|
|
|
|
// # 1 SQRT, 2 MULTs, 1 ADD
|
|
double r_aB_norm = sqrt(r_aB_x * r_aB_x + r_aB_y * r_aB_y);
|
|
|
|
// # 2 MULTs, 1 EXP, 1 DIV
|
|
double scalar_mult = (NEG_U0_AB_div_R * exp(r_aB_norm * NEG_R_INV)) / r_aB_norm;
|
|
|
|
// # 2 MULTs
|
|
double f_alpha_B_neg_x = r_aB_x * scalar_mult;
|
|
double f_alpha_B_neg_y = r_aB_y * scalar_mult;
|
|
|
|
double w_val;
|
|
|
|
// # 3 MULTs, 1 ADD
|
|
double a = (p.e_x * f_alpha_B_neg_x + p.e_y * f_alpha_B_neg_y) * cos_phi_inv;
|
|
|
|
// # 2 MULTs, 1 ADD
|
|
double b_sq = f_alpha_B_neg_x * f_alpha_B_neg_x + f_alpha_B_neg_y * f_alpha_B_neg_y;
|
|
|
|
w_val = dt_neg;
|
|
|
|
// # 1 MULT
|
|
if (a >= 0 && (a * a > b_sq)) {
|
|
w_val = c_neg_times_dt;
|
|
}
|
|
|
|
// # 2 MULTs
|
|
double f_alpha_B_dt_x = f_alpha_B_neg_x * w_val;
|
|
double f_alpha_B_dt_y = f_alpha_B_neg_y * w_val;
|
|
|
|
// # 2 ADDs
|
|
f_alpha_dt_x += f_alpha_B_dt_x;
|
|
f_alpha_dt_y += f_alpha_B_dt_y;
|
|
}
|
|
|
|
// # 2 ADDs
|
|
p.w_x += f_alpha_dt_x;
|
|
p.w_y += f_alpha_dt_y;
|
|
}
|
|
|
|
// # ############################################################################################################################################################################################
|
|
|
|
for (int i = 0; i < n_p; i++) {
|
|
Pedestrian &p = pedestrians[i];
|
|
|
|
// # 1 SQRT, 2 MULTs, 1 ADD
|
|
double w_norm = sqrt(p.w_x * p.w_x + p.w_y * p.w_y);
|
|
|
|
// # 1 DIV
|
|
double correction_factor = min(1.0, p.v_max / w_norm);
|
|
|
|
// # 2 MULTs
|
|
p.curr_vel_x = p.w_x * correction_factor;
|
|
p.curr_vel_y = p.w_y * correction_factor;
|
|
|
|
// # 2 MULTs, 2 ADDs
|
|
p.curr_pos_x = p.curr_pos_x + p.curr_vel_x * dt;
|
|
p.curr_pos_y = p.curr_pos_y + p.curr_vel_y * dt;
|
|
|
|
if (p.color == 0 && p.curr_pos_x > BOARD_LENGTH_MINUS_ONE_POINT_FIVE) {
|
|
p.curr_pos_x = 1.0;
|
|
p.destination_y = p.curr_pos_y;
|
|
p.w_x = p.desired_v0;
|
|
p.w_y = 0.0;
|
|
p.curr_vel_x = p.w_x;
|
|
p.curr_vel_y = p.w_y;
|
|
}
|
|
if (p.color == 1 && p.curr_pos_x < 1.5) {
|
|
p.curr_pos_x = BOARD_LENGTH_MINUS_ONE;
|
|
p.destination_y = p.curr_pos_y;
|
|
p.w_x = -p.desired_v0;
|
|
p.w_y = 0.0;
|
|
p.curr_vel_x = p.w_x;
|
|
p.curr_vel_y = p.w_y;
|
|
}
|
|
|
|
p.curr_pos_y = clamp(p.curr_pos_y, WALL_EPS, BOARD_WIDTH_MINUS_WALL_EPS);
|
|
|
|
// # 2 ADDs
|
|
double e_x = p.destination_x - p.curr_pos_x;
|
|
double e_y = p.destination_y - p.curr_pos_y;
|
|
|
|
// # 1 DIV, 1 SQRT, 2 MULTs, 1 ADD
|
|
double e_norm_inv = 1.0 / sqrt(e_x * e_x + e_y * e_y);
|
|
|
|
// # 2 MULTs
|
|
p.e_x = e_x * e_norm_inv;
|
|
p.e_y = e_y * e_norm_inv;
|
|
|
|
// # 2 MULTs, 1 ADD
|
|
double velocity_norm_sq = p.curr_vel_x * p.curr_vel_x + p.curr_vel_y * p.curr_vel_y;
|
|
|
|
// # 1 SQRT
|
|
double velocity_norm = sqrt(velocity_norm_sq);
|
|
|
|
// # 5 MULTs
|
|
p.s_b_sq = velocity_norm_sq * delta_t_sq;
|
|
p.s_b_e_x = p.e_x * (velocity_norm * delta_t);
|
|
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;
|
|
}
|
|
|
|
#endif
|