"#include "pch.h" #define XOR_RAND(state, result_...

"#include "pch.h"

#define XOR_RAND(state, result_var)
do {
unsigned s = state;
s ^= s << 13;
s ^= s >> 17;
s ^= s << 5;
state = s;
float tmp = static_cast<float>(static_cast<double>(s) *
(1.0 / 4294967296.0));
result_var = tmp;
} while (0)

#define XOR_RAND_GRSH(state, result_var)
do {
unsigned s = state;
s ^= s << 13;
s ^= s >> 17;
s ^= s << 5;
state = s;
result_var =
fmaf(static_cast<float>(static_cast<int>(s)), 0x1.0p-31f, -1.0f);
} while (0)

#define FABE13_COS(x, result_var)
do {
const float ax = fabsf(x);
float r = fmodf(ax, 6.28318530717958647692f);
if (r > 3.14159265359f)
r = 6.28318530717958647692f - r;
if (r < 1.57079632679f) {
const float t2 = r * r;
const float t4 = t2 * t2;
result_var =
fmaf(t4,
fmaf(t2, -0.0013888889f, 0.0416666667f),
fmaf(t2, -0.5f, 1.0f));
} else {
r = 3.14159265359f - r;
const float t2 = r * r;
const float t4 = t2 * t2;
result_var =
-fmaf(t4,
fmaf(t2, -0.0013888889f, 0.041666667f),
fmaf(t2, -0.5f, 1.0f));
}
} while (0)

#define FABE13_SIN(x, result_var)
do {
const float x = x;
const float ax = fabsf(x);
float r = fmodf(ax, 6.28318530717958647692f);
bool sfl = r > 3.14159265359f;
if (sfl)
r = 6.28318530717958647692f - r;
bool cfl = r > 1.57079632679f;
if (cfl)
r = 3.14159265359f - r;
const float t2 = r * r;
float _s = fmaf(t2,
fmaf(t2,
fmaf(t2, -0.0001984127f, 0.0083333333f),
-0.16666666f),
1.0f) *
r;
result_var = ((x < 0.0f) ^ sfl) ? -_s : _s;
} while (0)

#define FABE13_SINCOS(in, sin_out, cos_out, n)
do {
int i = 0;
const int limit = n & ~7;
if (n >= 8) {
static __declspec(align(16)) const __m256 VEC_TWOPI =
_mm256_set1_ps(6.28318530717958647692f);
static __declspec(align(16)) const __m256 VEC_PI =
_mm256_set1_ps(3.14159265359f);
static __declspec(align(16)) const __m256 VEC_PI_2 =
_mm256_set1_ps(1.57079632679f);
static __declspec(align(16)) const __m256 INV_TWOPI =
_mm256_set1_ps(0.15915494309189535f);
static __declspec(align(16)) const __m256 BIAS =
_mm256_set1_ps(12582912.0f);
static __declspec(align(16)) const __m256 VEC_COS_P5 =
_mm256_set1_ps(-0.0013888889f);
static __declspec(align(16)) const __m256 VEC_COS_P3 =
_mm256_set1_ps(0.0416666667f);
static __declspec(align(16)) const __m256 VEC_COS_P1 =
_mm256_set1_ps(-0.5f);
static __declspec(align(16)) const __m256 VEC_COS_P0 =
_mm256_set1_ps(1.0f);
static __declspec(align(16)) const __m256 VEC_SIN_P5 =
_mm256_set1_ps(-0.0001984127f);
static __declspec(align(16)) const __m256 VEC_SIN_P3 =
_mm256_set1_ps(0.0083333333f);
static __declspec(align(16)) const __m256 VEC_SIN_P1 =
_mm256_set1_ps(-0.16666666f);
static __declspec(align(16)) const __m256 VEC_SIN_P0 =
_mm256_set1_ps(1.0f);
static __declspec(align(16)) const __m256 VEC_ZERO =
_mm256_setzero_ps();
while (i < limit) {
const __m256 vx = _mm256_load_ps(&(in)[i]);
const __m256 vax = _mm256_andnot_ps(_mm256_set1_ps(-0.0f),
vx);
__m256 q = _mm256_fmadd_ps(vax, INV_TWOPI, BIAS);
q = _mm256_sub_ps(q, BIAS);
const __m256 r = _mm256_fnmadd_ps(VEC_TWOPI, q, vax);
const __m256 r1 =
_mm256_min_ps(r, _mm256_sub_ps(VEC_TWOPI, r));
const __m256 r2 =
_mm256_min_ps(r1, _mm256_sub_ps(VEC_PI, r1));
const __m256 t2 = _mm256_mul_ps(r2, r2);
const __m256 cosv =
_mm256_fmadd_ps(t2,
_mm256_fmadd_ps(t2,
_mm256_fmadd_ps(t2,
VEC_COS_P5,
VEC_COS_P3),
VEC_COS_P1),
VEC_COS_P0);
const __m256 sinv =
_mm256_mul_ps(_mm256_fmadd_ps(t2,
_mm256_fmadd_ps(t2,
_mm256_fmadd_ps(t2,
VEC_SIN_P5,
VEC_SIN_P3),
VEC_SIN_P1),
VEC_SIN_P0),
r2);
const __m256 cflip =
_mm256_cmp_ps(r1, VEC_PI_2, _CMP_GT_OQ);
const __m256 sflip =
_mm256_xor_ps(_mm256_cmp_ps(vx, VEC_ZERO, _CMP_LT_OQ),
_mm256_cmp_ps(r, VEC_PI, _CMP_GT_OQ));
_mm256_store_ps(&(cos_out)[i],
_mm256_blendv_ps(cosv,
_mm256_sub_ps(VEC_ZERO,
cosv),
cflip));
_mm256_store_ps(&(sin_out)[i],
_mm256_blendv_ps(sinv,
_mm256_sub_ps(VEC_ZERO,
sinv),
sflip));
i += 8;
}
}
while (i < n) {
const float x = (in)[i];
const float ax = fabsf(x);
float q = fmaf(ax, 0.15915494309189535f, 12582912.0f);
q -= 12582912.0f;
float r = fmaf(-6.28318530718f, q, ax);
const bool sflip = r > 3.14159265359f;
if (sflip)
r = 6.28318530718f - r;
const bool cflip = r > 1.57079632679f;
if (cflip)
r = 3.14159265359f - r;
const float t2 = r * r;
const float c = fmaf(t2,
fmaf(t2,
fmaf(t2, -0.0013888889f, 0.0416666667f),
-0.5f),
1.0f);
const float s = fmaf(t2,
fmaf(t2,
fmaf(t2, -0.0001984127f, 0.0083333333f),
-0.16666666f),
1.0f) *
r;
(cos_out)[i] = cflip ? -c : c;
(sin_out)[i] = ((x < 0.0f) ^ sflip) ? -s : s;
++i;
}
} while (0)

enum List : unsigned {
Top = 0b00u,
Down = 0b01u,
Left = 0b10u,
Right = 0b11u
};

__declspec(align(16)) struct Step final {
const unsigned next;
const unsigned dx;
const unsigned dy;

text
__forceinline Step(unsigned n, unsigned x, unsigned y) noexcept
	: next(n), dx(x), dy(y) {
}

};

__declspec(align(16)) struct InvStep final {
const unsigned q;
const unsigned next;

text
__forceinline InvStep(unsigned q_val, unsigned n) noexcept
	: q(q_val), next(n) {
}

};

__declspec(align(16)) static const Step g_step_tbl[4][4] = {
{ Step(Right, 0u, 0u), Step(Top, 0u, 1u), Step(Top, 1u, 1u), Step(Left, 1u, 0u) },
{ Step(Left, 1u, 1u), Step(Down, 1u, 0u), Step(Down, 0u, 0u), Step(Right, 0u, 1u) },
{ Step(Down, 1u, 1u), Step(Left, 0u, 1u), Step(Left, 0u, 0u), Step(Top, 1u, 0u) },
{ Step(Top, 0u, 0u), Step(Right, 1u, 0u), Step(Right, 1u, 1u), Step(Down, 0u, 1u) }
};

__declspec(align(16)) static const InvStep g_inv_tbl[4][4] = {
{ InvStep(0u, Right), InvStep(1u, Top), InvStep(3u, Left), InvStep(2u, Top) },
{ InvStep(2u, Down), InvStep(3u, Right), InvStep(1u, Down), InvStep(0u, Left) },
{ InvStep(2u, Left), InvStep(1u, Left), InvStep(3u, Top), InvStep(0u, Down) },
{ InvStep(0u, Top), InvStep(3u, Down), InvStep(1u, Right), InvStep(2u, Right) }
};

static const boost::mpi::environment* g_env;
static const boost::mpi::communicator* g_world;
static const pybind11::scoped_interpreter* g_pyInterpreter;
static const pybind11::module_* g_pyOptimizerBridge;
static std::string g_exeDirCache;

__declspec(align(16)) struct CrossMsg final {
float s_x1;
float s_x2;
float e_x1;
float e_x2;
float Rtop;

text
template <typename Archive>
__declspec(noalias) __forceinline void serialize(Archive& ar, unsigned int) noexcept {
	ar& s_x1& s_x2& e_x1& e_x2& Rtop;
}

};

__declspec(align(16)) struct MultiCrossMsg final {
float intervals[35];
unsigned count;

text
template <typename Archive>
__declspec(noalias) __forceinline void serialize(Archive& ar, unsigned int) noexcept {
	ar& intervals& count;
}

};

__declspec(align(16)) struct BestSolutionMsg final {
float bestF;
float bestX;
float bestY;
float bestQ[32];
float bestI[8];
unsigned dim;

text
template <typename Archive>
__declspec(noalias) __forceinline void serialize(Archive& ar, unsigned int) noexcept {
	ar& bestF& bestX& bestY& bestQ& bestI& dim;
}

};

__declspec(align(16)) struct Slab final sealed{
char* const base;
char* current;
char* const end;

text
	__forceinline Slab(void* memory, size_t usable) noexcept
			: base(static_cast<char*>(memory)), current(base),
				end(base + (usable & ~static_cast<size_t>(63u))) {

}
};

static thread_local tbb::enumerable_thread_specific<Slab*> tls( noexcept {
void* memory = _aligned_malloc(16777216u, 16u);
Slab* slab = static_cast<Slab*>(_aligned_malloc(sizeof(Slab), 16u));
new (slab) Slab(memory, 16777216u);
char* p = slab->base;
#pragma loop ivdep
while (p < slab->end) {
*p = 0;
p += 4096u;
}
return slab;
});

__declspec(align(16)) struct Peano2DMap final sealed{
const int levels;
const float a;
const float b;
const float c;
const float d;
const float lenx;
const float leny;
const float inv_lenx;
const unsigned scale;
const unsigned start;

text
	__forceinline Peano2DMap(int L, float _a, float _b, float _c, float _d, unsigned st) noexcept
			: levels(L), a(_a), b(_b), c(_c), d(_d), lenx(_b - _a), leny(_d - _c),
				inv_lenx(1.0f / (_b - _a)),
				scale(static_cast<unsigned>(1u) << (L << 1)), start(st) {

}
};

static Peano2DMap gActiveMap(0, 0, 0, 0, 0, 0);

__declspec(align(16)) struct Interval1D final sealed{
const float x1;
const float x2;
const float y1;
const float y2;
const float delta_y;
const float ordinate_factor;
const float N_factor;
const float quadratic_term;
const float M;
float R;

text
	static __declspec(noalias) __forceinline void* operator new(size_t) noexcept {
			Slab* s = tls.local();
			char* r = s->current;
			s->current += 64u;
			return r;
	}

	__declspec(noalias) __forceinline Interval1D(float _x1, float _x2, float _y1, float _y2, float _N) noexcept
			: x1(_x1), x2(_x2), y1(_y1), y2(_y2), delta_y(_y2 - _y1),
				ordinate_factor(-(y1 + y2) * 2.0f),
				N_factor(_N == 1.0f ? _x2 - _x1 : sqrtf(_x2 - _x1)),
				quadratic_term(fmaf((1.0f / N_factor)* delta_y, delta_y, 0.0f)),
				M(fabsf(delta_y) / N_factor) {

}

__declspec(noalias) __forceinline void ChangeCharacteristic(float _m) noexcept {
R = fmaf(1.0f / _m, quadratic_term, fmaf(_m, N_factor, ordinate_factor));
}
};

static __declspec(noalias) __forceinline bool ComparePtr1D(const Interval1D* a, const Interval1D* b) noexcept {
return a->R < b->R;
}

static __declspec(noalias) __forceinline void RecomputeR_ConstM_AVX2_1D(Interval1D* const* arr, size_t n, float m) noexcept {
const __m256 vm = _mm256_set1_ps(m);
__m256 vinvm = _mm256_rcp_ps(vm);
vinvm = _mm256_mul_ps(vinvm, _mm256_fnmadd_ps(vm, vinvm, _mm256_set1_ps(2.0f)));
size_t i = 0;
size_t limit = n & ~static_cast<size_t>(7ull);
alignas(16) float q[8];
alignas(16) float nf[8];
alignas(16) float od[8];
alignas(16) float out[8];
#pragma loop ivdep
while (i < limit) {
int k = 0;
#pragma loop ivdep
while (k < 8) {
const Interval1D* p = arr[i + k];
q[k] = p->quadratic_term;
nf[k] = p->N_factor;
od[k] = p->ordinate_factor;
++k;
}
const __m256 vq = _mm256_load_ps(q);
const __m256 vnf = _mm256_load_ps(nf);
const __m256 vod = _mm256_load_ps(od);
const __m256 t = _mm256_fmadd_ps(vm, vnf, vod);
const __m256 res = _mm256_fmadd_ps(vq, vinvm, t);
_mm256_store_ps(out, res);
k = 0;
#pragma loop ivdep
while (k < 8) {
arr[i + k]->R = out[k];
++k;
}
i += 8;
}
while (i < n) {
arr[i]->ChangeCharacteristic(m);
++i;
}
}

static __declspec(noalias) __forceinline void RecomputeR_AffineM_AVX2_1D(Interval1D* const* arr, size_t n, float GF, float alpha) noexcept {
const __m256 vGF = _mm256_set1_ps(GF);
const __m256 va = _mm256_set1_ps(alpha);
size_t i = 0;
size_t limit = n & ~static_cast<size_t>(7ull);
alignas(16) float ln[8];
alignas(16) float Mv[8];
alignas(16) float q[8];
alignas(16) float nf[8];
alignas(16) float od[8];
alignas(16) float out[8];
#pragma loop ivdep
while (i < limit) {
int k = 0;
#pragma loop ivdep
while (k < 8) {
const Interval1D* p = arr[i + k];
ln[k] = p->x2 - p->x1;
Mv[k] = p->M;
q[k] = p->quadratic_term;
nf[k] = p->N_factor;
od[k] = p->ordinate_factor;
++k;
}
const __m256 vln = _mm256_load_ps(ln);
const __m256 vM = _mm256_load_ps(Mv);
const __m256 vq = _mm256_load_ps(q);
const __m256 vnf = _mm256_load_ps(nf);
const __m256 vod = _mm256_load_ps(od);
const __m256 vm = _mm256_fmadd_ps(vGF, vln, _mm256_mul_ps(va, vM));
__m256 vinvm = _mm256_rcp_ps(vm);
vinvm = _mm256_mul_ps(vinvm, _mm256_fnmadd_ps(vm, vinvm, _mm256_set1_ps(2.0f)));
const __m256 t = _mm256_fmadd_ps(vm, vnf, vod);
const __m256 res = _mm256_fmadd_ps(vq, vinvm, t);
_mm256_store_ps(out, res);
k = 0;
#pragma loop ivdep
while (k < 8) {
arr[i + k]->R = out[k];
++k;
}
i += 8;
}
while (i < n) {
const Interval1D* p = arr[i];
const float mi = fmaf(GF, fmaf(-p->x1, 1.0f, p->x2), fmaf(p->M, alpha, 0.0f));
arr[i]->R = fmaf(1.0f / mi, p->quadratic_term, fmaf(mi, p->N_factor, p->ordinate_factor));
++i;
}
}

__declspec(align(16)) struct IntervalND final sealed{
const float x1;
const float x2;
const float y1;
const float y2;
const float delta_y;
const float ordinate_factor;
float N_factor;
float quadratic_term;
float M;
float R;
unsigned long long i1;
unsigned long long i2;
float diam;
int span_level;

text
	static __declspec(noalias) __forceinline void* operator new(size_t) noexcept {
			Slab* s = tls.local();
			char* r = s->current;
			s->current += 64u;
			return r;
	}

	__declspec(noalias) __forceinline IntervalND(float _x1, float _x2, float _y1, float _y2) noexcept
			: x1(_x1), x2(_x2), y1(_y1), y2(_y2), delta_y(fmaf(_y2, 1.0f, -_y1)),
				ordinate_factor(fmaf(fmaf(-y1, 1.0f, -y2), 2.0f, 0.0f)),
				N_factor(0), quadratic_term(0), M(0), R(0),
				i1(0), i2(0), diam(0), span_level(0) {

}

__declspec(noalias) __forceinline void compute_span_level(const struct MortonND& map) noexcept;
__declspec(noalias) __forceinline void set_metric(float d_alpha) noexcept {
N_factor = d_alpha;
quadratic_term = fmaf(1.0f / N_factor, fmaf(delta_y, delta_y, 0.0f), 0.0f);
M = fmaf(1.0f / N_factor, fabsf(delta_y), 0.0f);
}
__declspec(noalias) __forceinline void ChangeCharacteristic(float _m) noexcept {
R = fmaf(1.0f / _m, quadratic_term, fmaf(_m, N_factor, ordinate_factor));
}
};

static __declspec(noalias) __forceinline bool ComparePtrND(const IntervalND* a, const IntervalND* b) noexcept {
return a->R < b->R;
}

static __declspec(noalias) __forceinline void RecomputeR_ConstM_AVX2_ND(IntervalND* const* arr, size_t n, float m) noexcept {
const __m256 vm = _mm256_set1_ps(m);
__m256 vinvm = _mm256_rcp_ps(vm);
vinvm = _mm256_mul_ps(vinvm, _mm256_fnmadd_ps(vm, vinvm, _mm256_set1_ps(2.0f)));
size_t i = 0;
size_t limit = n & ~static_cast<size_t>(7ull);
alignas(16) float q[8];
alignas(16) float nf[8];
alignas(16) float od[8];
alignas(16) float out[8];
#pragma loop ivdep
while (i < limit) {
int k = 0;
#pragma loop ivdep
while (k < 8) {
const IntervalND* p = arr[i + k];
q[k] = p->quadratic_term;
nf[k] = p->N_factor;
od[k] = p->ordinate_factor;
++k;
}
const __m256 vq = _mm256_load_ps(q);
const __m256 vnf = _mm256_load_ps(nf);
const __m256 vod = _mm256_load_ps(od);
const __m256 t = _mm256_fmadd_ps(vm, vnf, vod);
const __m256 res = _mm256_fmadd_ps(vq, vinvm, t);
_mm256_store_ps(out, res);
k = 0;
#pragma loop ivdep
while (k < 8) {
arr[i + k]->R = out[k];
++k;
}
i += 8;
}
while (i < n) {
arr[i]->ChangeCharacteristic(m);
++i;
}
}

static __declspec(noalias) __forceinline void RecomputeR_AffineM_AVX2_ND(IntervalND* const* arr, size_t n, float GF, float alpha) noexcept {
const __m256 vGF = _mm256_set1_ps(GF);
const __m256 va = _mm256_set1_ps(alpha);
size_t i = 0;
size_t limit = n & ~static_cast<size_t>(7ull);
alignas(16) float ln[8];
alignas(16) float Mv[8];
alignas(16) float q[8];
alignas(16) float nf[8];
alignas(16) float od[8];
alignas(16) float out[8];
#pragma loop ivdep
while (i < limit) {
int k = 0;
#pragma loop ivdep
while (k < 8) {
const IntervalND* p = arr[i + k];
ln[k] = p->x2 - p->x1;
Mv[k] = p->M;
q[k] = p->quadratic_term;
nf[k] = p->N_factor;
od[k] = p->ordinate_factor;
++k;
}
const __m256 vln = _mm256_load_ps(ln);
const __m256 vM = _mm256_load_ps(Mv);
const __m256 vq = _mm256_load_ps(q);
const __m256 vnf = _mm256_load_ps(nf);
const __m256 vod = _mm256_load_ps(od);
const __m256 vm = _mm256_fmadd_ps(vGF, vln, _mm256_mul_ps(va, vM));
__m256 vinvm = _mm256_rcp_ps(vm);
vinvm = _mm256_mul_ps(vinvm, _mm256_fnmadd_ps(vm, vinvm, _mm256_set1_ps(2.0f)));
const __m256 t = _mm256_fmadd_ps(vm, vnf, vod);
const __m256 res = _mm256_fmadd_ps(vq, vinvm, t);
_mm256_store_ps(out, res);
k = 0;
#pragma loop ivdep
while (k < 8) {
arr[i + k]->R = out[k];
++k;
}
i += 8;
}
while (i < n) {
const IntervalND* p = arr[i];
const float mi = fmaf(GF, fmaf(-p->x1, 1.0f, p->x2), fmaf(p->M, alpha, 0.0f));
arr[i]->R = fmaf(1.0f / mi, p->quadratic_term, fmaf(mi, p->N_factor, p->ordinate_factor));
++i;
}
}

static __declspec(noalias) __forceinline float fast_pow_int(const float v, const int n) noexcept {
float r;
switch (n) {
case 3: {
const float v2 = fmaf(v, v, 0.0f);
r = fmaf(v2, v, 0.0f);
} break;
case 4: {
const float v2 = fmaf(v, v, 0.0f);
r = fmaf(v2, v2, 0.0f);
} break;
case 5: {
const float v2 = fmaf(v, v, 0.0f);
const float v4 = fmaf(v2, v2, 0.0f);
r = fmaf(fmaf(v4, v2, 0.0f), v, 0.0f);
} break;
case 6: {
const float v2 = fmaf(v, v, 0.0f);
const float v4 = fmaf(v2, v2, 0.0f);
r = fmaf(v4, v2, 0.0f);
} break;
case 7: {
const float v2 = fmaf(v, v, 0.0f);
const float v4 = fmaf(v2, v2, 0.0f);
r = fmaf(fmaf(v4, v2, 0.0f), v, 0.0f);
} break;
case 8: {
const float v2 = fmaf(v, v, 0.0f);
const float v4 = fmaf(v2, v2, 0.0f);
r = fmaf(v4, v4, 0.0f);
} break;
case 9: {
const float v3 = fmaf(fmaf(v, v, 0.0f), v, 0.0f);
const float v6 = fmaf(v3, v3, 0.0f);
r = fmaf(v6, v3, 0.0f);
} break;
case 10: {
const float v2 = fmaf(v, v, 0.0f);
const float v4 = fmaf(v2, v2, 0.0f);
const float v8 = fmaf(v4, v4, 0.0f);
r = fmaf(v8, v2, 0.0f);
} break;
case 11: {
const float v2 = fmaf(v, v, 0.0f);
const float v4 = fmaf(v2, v2, 0.0f);
const float v8 = fmaf(v4, v4, 0.0f);
r = fmaf(fmaf(v8, v2, 0.0f), v, 0.0f);
} break;
case 12: {
const float v3 = fmaf(fmaf(v, v, 0.0f), v, 0.0f);
const float v6 = fmaf(v3, v3, 0.0f);
r = fmaf(v6, v6, 0.0f);
} break;
case 13: {
const float v3 = fmaf(fmaf(v, v, 0.0f), v, 0.0f);
const float v6 = fmaf(v3, v3, 0.0f);
r = fmaf(fmaf(v6, v6, 0.0f), v, 0.0f);
} break;
case 14: {
const float v7 = fmaf(fmaf(fmaf(fmaf(fmaf(fmaf(v, v, 0.0f), v, 0.0f), v, 0.0f), v, 0.0f), v, 0.0f), v, 0.0f);
r = fmaf(v7, v7, 0.0f);
} break;
case 15: {
const float v7 = fmaf(fmaf(fmaf(fmaf(fmaf(fmaf(v, v, 0.0f), v, 0.0f), v, 0.0f), v, 0.0f), v, 0.0f), v, 0.0f);
r = fmaf(fmaf(v7, v7, 0.0f), v, 0.0f);
} break;
default: {
const float v2 = fmaf(v, v, 0.0f);
const float v4 = fmaf(v2, v2, 0.0f);
const float v8 = fmaf(v4, v4, 0.0f);
r = fmaf(v8, v8, 0.0f);
}
}
return r;
}

static __declspec(noalias) __forceinline float step(const float _m, const float x1, const float x2, const float y1, const float y2, const float _N, const float _r) noexcept {
const float diff = fmaf(y2, 1.0f, -y1);
const unsigned sign_mask = ((reinterpret_cast<const unsigned>(&diff)) & 0x80000000u) ^ 0x80000000u;
const float sign_mult = reinterpret_cast<const float>(&sign_mask);
if (_N == 1.0f)
return fmaf(fmaf(-(1.0f / _m), diff, x1 + x2), 0.5f, 0.0f);
if (_N == 2.0f)
return fmaf(fmaf(fmaf(fmaf(1.0f / fmaf(_m, _m, 0.0f), sign_mult, 0.0f), fmaf(fmaf(diff, diff, 0.0f), _r, 0.0f), 0.0f), 1.0f, fmaf(x1, 1.0f, x2)), 0.5f, 0.0f);
return fmaf(fmaf(fmaf(fmaf(1.0f / fast_pow_int(_m, static_cast<int>(_N)), sign_mult, 0.0f), fast_pow_int(fabsf(diff), static_cast<int>(_N)), 0.0f), _r, 0.0f), 1.0f, fmaf(x1, 1.0f, x2)) * 0.5f;
}

__declspec(align(16)) struct MortonCachePerRank final sealed{
std::vector<int> permCache;
std::vector<unsigned long long> invMaskCache;
unsigned baseSeed;
};

static thread_local MortonCachePerRank g_mc;

static __declspec(noalias) __forceinline unsigned long long gray_encode(unsigned long long x) noexcept {
return x ^ (x >> 1);
}

static __declspec(noalias) __forceinline long long gray_decode(unsigned long long g) noexcept {
g ^= g >> 32;
g ^= g >> 16;
g ^= g >> 8;
g ^= g >> 4;
g ^= g >> 2;
g ^= g >> 1;
return static_cast<long long>(g);
}

__declspec(align(16)) struct MortonND final sealed{
const int dim;
const int levels;
const int eff_levels;
const int extra_levels;
const int chunks;
std::vector<int> chunk_bits;
std::vector<unsigned long long> chunk_bases;
unsigned long long scale;
std::vector<float> low;
std::vector<float> high;
std::vector<float> step;
std::vector<float> invStep;
std::vector<float> baseOff;
std::vector<int> perm;
std::vector<unsigned long long> invMask;
std::vector<unsigned long long> pextMask;
std::vector<unsigned long long> pextMaskChunks;
const float invScaleLevel;
const bool use_gray;

text
	static __declspec(noalias) __forceinline unsigned long long make_mask(int dim, int Lc, int d) noexcept {
			unsigned long long m = 0ull;
			unsigned long long bitpos = static_cast<unsigned long long>(d);
			int b = 0;

#pragma loop ivdep
while (b < Lc) {
m |= 1ull << bitpos;
bitpos += static_cast<unsigned long long>(dim);
++b;
}
return m;
}

text
	__declspec(noalias) __forceinline MortonND(int D, int L, const float* lows, const float* highs, const MortonCachePerRank& mc)
			: dim(D), levels(L),
				eff_levels((std::max)(1, static_cast<int>(63 / (D ? D : 1)))),
				extra_levels((L > eff_levels) ? (L - eff_levels) : 0),
				chunks((extra_levels > 0) ? (1 + (extra_levels + eff_levels - 1) / eff_levels) : 1),
				low(lows, lows + D), high(highs, highs + D), step(D, 0.0f), invStep(D, 0.0f), baseOff(D, 0.0f),
				perm(mc.permCache.begin(), mc.permCache.begin() + D),
				invMask(mc.invMaskCache.begin(), mc.invMaskCache.begin() + D),
				invScaleLevel(1.0f / static_cast<float>(static_cast<unsigned long long>(1) << L)), use_gray(true) {
			int d = 0;

#pragma loop ivdep
while (d < dim) {
const float rng = high[d] - low[d];
const float st = rng * invScaleLevel;
step[d] = st;
invStep[d] = 1.0f / st;
baseOff[d] = fmaf(0.5f, st, low[d]);
++d;
}
chunk_bits.resize(chunks);
pextMaskChunks.resize(static_cast<size_t>(chunks) * static_cast<size_t>(dim));
chunk_bases.resize(chunks);
int remaining = levels;
int c = 0;
while (c < chunks) {
const int Lc = (c == 0) ? (std::min)(eff_levels, remaining) : (std::min)(eff_levels, remaining);
chunk_bits[c] = Lc;
remaining -= Lc;
const unsigned long long baseC = static_cast<unsigned long long>(1) << (dim * Lc);
chunk_bases[c] = baseC;
d = 0;
#pragma loop ivdep
while (d < dim) {
pextMaskChunks[static_cast<size_t>(c) * static_cast<size_t>(dim) + static_cast<size_t>(d)] = make_mask(dim, Lc, d);
++d;
}
++c;
}
pextMask.resize(dim);
d = 0;
#pragma loop ivdep
while (d < dim) {
pextMask[d] = make_mask(dim, chunk_bits[0], d);
++d;
}
scale = static_cast<unsigned long long>(1) << (dim * chunk_bits[0]);
}

text
	__declspec(noalias) __forceinline float block_diameter(unsigned long long i1, unsigned long long i2) const noexcept {
			if (i1 > i2)
					std::swap(i1, i2);
			float s2 = 0.0f;
			int d = 0;

#pragma loop ivdep
while (d < dim) {
const int pd = perm[d];
const unsigned long long varying = (i1 ^ i2) & pextMask[d];
const int nfree_hi = _mm_popcnt_u64(varying);
const int nfree_total = nfree_hi + levels - chunk_bits[0];
const float range = fmaf(step[pd], fmaf(ldexpf(1.0f, nfree_total), 1.0f, -1.0f), 0.0f);
s2 = fmaf(range, range, s2);
++d;
}
return sqrtf(s2);
}

text
	__declspec(noalias) __forceinline void map01ToPoint(float t, float* __restrict out) const noexcept {
			unsigned long long accBits[32] = {0ull};
			int accShifted[32] = {0};
			int c = 0;
			while (c < chunks) {
					const int Lc = chunk_bits[c];
					const unsigned long long baseC = chunk_bases[c];
					const float scaled = t * static_cast<float>(baseC);
					unsigned long long idxc = (scaled >= static_cast<float>(baseC)) ? (baseC - 1ull) : static_cast<unsigned long long>(scaled);
					if (use_gray)
							idxc = gray_encode(idxc);
					int shift_from_top = 0;
					int k = 0;
					while (k <= c) {
							shift_from_top += chunk_bits[k];
							++k;
					}
					const int inv_shift = levels - shift_from_top;
					int d = 0;

#pragma loop ivdep
while (d < dim) {
const int pd = perm[d];
const unsigned long long mask = pextMaskChunks[static_cast<size_t>(c) * static_cast<size_t>(dim) + static_cast<size_t>(d)];
unsigned long long bits = _pext_u64(idxc, mask);
if (inv_shift >= 0) {
unsigned long long invMaskSegment = 0ull;
if (chunk_bits[c] < 63) {
const unsigned long long take = (static_cast<unsigned long long>(1) << chunk_bits[c]) - 1ull;
invMaskSegment = (invMask[pd] >> inv_shift) & take;
}
bits ^= invMaskSegment;
}
accBits[pd] = (accBits[pd] << Lc) | bits;
accShifted[pd] += Lc;
++d;
}
++c;
}
int d = 0;
#pragma loop ivdep
while (d < dim) {
out[d] = fmaf(step[d], static_cast<float>(accBits[d]), baseOff[d]);
++d;
}
}

text
	__declspec(noalias) __forceinline float pointToT(const float* __restrict q) const noexcept {
			const int bitsFull = levels;
			const int bitsCoarse = chunk_bits[0];
			unsigned long long idx0 = 0ull;
			int d = 0;

#pragma loop ivdep
while (d < dim) {
const int pd = perm[d];
const float v = (q[pd] - baseOff[pd]) * invStep[pd];
const long long cell = static_cast<long long>(_mm_cvt_ss2si(_mm_round_ss(_mm_setzero_ps(), _mm_set_ss(v), _MM_FROUND_TO_NEAREST_INT | _MM_FROUND_NO_EXC)));
const long long maxv = (static_cast<long long>(1) << bitsFull) - 1;
(void)maxv;
unsigned long long b = static_cast<unsigned long long>(cell) >> (bitsFull - bitsCoarse);
unsigned long long invMask0 = 0ull;
if (bitsCoarse < 63) {
const unsigned long long take = (static_cast<unsigned long long>(1) << bitsCoarse) - 1ull;
invMask0 = (invMask[pd] >> (bitsFull - bitsCoarse)) & take;
}
b ^= invMask0;
idx0 |= _pdep_u64(b, pextMask[d]);
++d;
}
if (use_gray)
idx0 = static_cast<unsigned long long>(gray_decode(idx0));
return fmaf(1.0f / static_cast<float>(scale), fmaf(static_cast<float>(idx0), 1.0f, 0.5f), 0.0f);
}
};

__declspec(noalias) __forceinline void IntervalND::compute_span_level(const MortonND& map) noexcept {
span_level = 0;
int d = 0;
#pragma loop ivdep
while (d < map.dim) {
const unsigned long long varying = (i1 ^ i2) & map.pextMask[d];
span_level += _mm_popcnt_u64(varying);
++d;
}
span_level += (map.levels - map.chunk_bits[0]) * map.dim;
span_level = (std::min)(span_level, 11);
}

__declspec(align(16)) struct ManipCost final sealed{
const int n;
const bool variableLen;
const float targetX;
const float targetY;
const float minTheta;
const float archBiasW;
const float archBiasK;
const float sharpW;

text
	__declspec(noalias) __forceinline ManipCost(int _n, bool _variableLen, float _targetX, float _targetY, float _minTheta) noexcept
			: n(_n), variableLen(_variableLen), targetX(_targetX), targetY(_targetY), minTheta(_minTheta),
				archBiasW(0.02f), archBiasK(3.0f), sharpW(0.05f) {

}

__declspec(noalias) __forceinline float operator()(const float* __restrict q, float& out_x, float& out_y) const noexcept {
const float* __restrict th = q;
const float* __restrict L = variableLen ? (q + n) : nullptr;
alignas(16) float phi[32];
alignas(16) float s_arr[32];
alignas(16) float c_arr[32];
float x = 0.0f;
float y = 0.0f;
float phi_acc = 0.0f;
float penC = 0.0f;
float archPen = 0.0f;
int i = 0;
#pragma loop ivdep
while (i < n) {
phi_acc += th[i];
phi[i] = phi_acc;
++i;
}
FABE13_SINCOS(phi, s_arr, c_arr, n);
const float sharpScale = 2.0f / (minTheta);
const float Lc = 1.0f;
if (variableLen) {
i = 0;
while (i < n) {
const float Li = L[i];
x = fmaf(Li, c_arr[i], x);
y = fmaf(Li, s_arr[i], y);
++i;
}
}
else {
i = 0;
while (i < n) {
x = fmaf(Lc, c_arr[i], x);
y = fmaf(Lc, s_arr[i], y);
++i;
}
}
i = 0;
#pragma loop ivdep
while (i < n) {
const float theta = th[i];
const float ai = fabsf(theta);
const float v = fmaf(ai, 1.0f, -minTheta);
if (v > 0.0f) {
const float scale = fmaf(sharpScale, v, 0.0f);
const float arg = fmaf(scale, 0.69314718055994530941723212145818f, 0.0f);
const float exp2_val = fmaf(arg, fmaf(arg, fmaf(arg, fmaf(arg, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f);
penC = fmaf(sharpW, fmaf(exp2_val, 1.0f, -1.0f), penC);
}
const float t = fmaf(-theta, archBiasK, 0.0f);
float sp;
if (t > 10.0f)
sp = t;
else {
const float exp_val = fmaf(t, fmaf(t, fmaf(t, fmaf(t, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f);
sp = log1pf(exp_val);
}
archPen = fmaf(archBiasW, sp, archPen);
++i;
}
const float dx = fmaf(x, 1.0f, -targetX);
const float dy = fmaf(y, 1.0f, -targetY);
const float dist = sqrtf(fmaf(dx, dx, dy * dy));
out_x = x;
out_y = y;
return fmaf(dist, 1.0f, fmaf(penC, 1.0f, archPen));
}
};

static __declspec(noalias) __forceinline void HitTest2D_analytic(float x_param, float& out_x1, float& out_x2) noexcept {
const float a = gActiveMap.a;
const float inv_lenx = gActiveMap.inv_lenx;
const unsigned scale = gActiveMap.scale;
const unsigned scale_minus_1 = scale - 1u;
const float lenx = gActiveMap.lenx;
const float leny = gActiveMap.leny;
const float c = gActiveMap.c;
const unsigned start = gActiveMap.start;
const int levels = gActiveMap.levels;
float norm = (x_param - a) * inv_lenx;
norm = fminf(fmaxf(norm, 0.0f), 0x1.fffffep-1f);
unsigned idx = static_cast<unsigned>(norm * static_cast<float>(scale));
idx = idx > scale_minus_1 ? scale_minus_1 : idx;
float sx = lenx;
float sy = leny;
float x1 = a;
float x2 = c;
unsigned type = start;
int l = levels - 1;
while (l >= 0) {
const unsigned q = (idx >> (l * 2)) & 3u;
const Step s = g_step_tbl[type][q];
type = s.next;
sx *= 0.5f;
sy *= 0.5f;
x1 += s.dx ? sx : 0.0f;
x2 += s.dy ? sy : 0.0f;
--l;
}
out_x1 = x1 + sx * 0.5f;
out_x2 = x2 + sy * 0.5f;
}

static __declspec(noalias) __forceinline float FindX2D_analytic(float px, float py) noexcept {
const float a = gActiveMap.a;
const float b = gActiveMap.b;
const float c = gActiveMap.c;
const float d = gActiveMap.d;
const float lenx = gActiveMap.lenx;
const float leny = gActiveMap.leny;
const unsigned scale = gActiveMap.scale;
const unsigned start = gActiveMap.start;
const int levels = gActiveMap.levels;
const float clamped_px = fminf(fmaxf(px, a), b);
const float clamped_py = fminf(fmaxf(py, c), d);
float sx = lenx;
float sy = leny;
float x0 = a;
float y0 = c;
unsigned idx = 0u;
unsigned type = start;
int l = 0;
while (l < levels) {
sx *= 0.5f;
sy *= 0.5f;
const float mx = x0 + sx;
const float my = y0 + sy;
const unsigned tr = static_cast<unsigned>((clamped_px > mx) & (clamped_py > my));
const unsigned tl = static_cast<unsigned>((clamped_px < mx) & (clamped_py > my));
const unsigned dl = static_cast<unsigned>((clamped_px < mx) & (clamped_py < my));
const unsigned none = static_cast<unsigned>(1u ^ (tr | tl | dl));
const unsigned dd = (tr << 1) | tr | tl | (none << 1);
const InvStep inv = g_inv_tbl[type][dd];
type = inv.next;
idx = (idx << 2) | inv.q;
const unsigned dx = dd >> 1;
const unsigned dy = dd & 1u;
x0 += dx ? sx : 0.0f;
y0 += dy ? sy : 0.0f;
++l;
}
const float scale_recip = 1.0f / static_cast<float>(scale);
return fmaf(static_cast<float>(idx) * scale_recip, lenx, a);
}

static __declspec(noalias) __forceinline int generate_lhs_seeds_lite(const MortonND& map, int dim, float* __restrict S, int stride, unsigned seed) noexcept {
int temp_dim = dim;
const int ns = static_cast<int>(fmaf(static_cast<float>(--temp_dim), fmaf(static_cast<float>(temp_dim), fmaf(static_cast<float>(temp_dim), fmaf(static_cast<float>(temp_dim), 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f));
unsigned st = seed;
alignas(16) int permutations[32][256];
int d = 0;
#pragma loop ivdep
while (d < dim) {
int s = 0;
#pragma loop ivdep
while (s < ns) {
permutations[d][s] = s;
++s;
}
s = ns - 1;
while (s > 0) {
st ^= st << 13;
st ^= st >> 17;
st ^= st << 5;
const int j = static_cast<int>(st % static_cast<unsigned>(s + 1));
const int t = permutations[d][s];
permutations[d][s] = permutations[d][j];
permutations[d][j] = t;
--s;
}
++d;
}
int s2 = 0;
#pragma loop ivdep
while (s2 < ns) {
d = 0;
#pragma loop ivdep
while (d < dim) {
st ^= st << 13;
st ^= st >> 17;
st ^= st << 5;
const float u = (st & 0xFFFFFF) * 5.9604645e-8f;
const int stratum = permutations[d][s2];
const float pos = (static_cast<float>(stratum) + u) / static_cast<float>(ns);
const int pd = map.perm[d];
const float lo = map.low[pd];
const float hi = map.high[pd];
S[s2 * stride + d] = fmaf(pos, hi - lo, lo);
++d;
}
++s2;
}
return ns;
}

static __declspec(noalias) __forceinline int generate_heuristic_seeds(const ManipCost& cost, const MortonND& map, int dim, float* __restrict S, int stride, unsigned seed) noexcept {
const int n = cost.n;
const bool VL = cost.variableLen;
const float tx = cost.targetX;
const float ty = cost.targetY;
int total_seeds = 0;
{
float* s0 = S + total_seeds * stride;
float sin_phi;
float cos_phi;
const float rho = sqrtf(fmaf(tx, tx, ty * ty));
FABE13_SINCOS(&tx, &sin_phi, &cos_phi, 1);
const float phi = (fabsf(sin_phi) > 0.0f) ? atan2f(ty, tx) : 0.0f;
const float len = fmaf(1.0f / static_cast<float>(n), rho, 0.0f);
int i = 0;
#pragma loop ivdep
while (i < n) {
s0[i] = (1.0f / static_cast<float>(n)) * phi;
++i;
}
if (VL) {
i = 0;
while (i < n) {
s0[n + i] = len;
++i;
}
}
++total_seeds;
}
{
float* s1 = S + total_seeds * stride;
float sin_phi;
float cos_phi;
FABE13_SINCOS(&tx, &sin_phi, &cos_phi, 1);
const float phi = (fabsf(sin_phi) > 0.0f) ? atan2f(ty, tx) : 0.0f;
int i = 0;
#pragma loop ivdep
while (i < n) {
s1[i] = 0.5f * phi * ((i & 1) ? -1.0f : 1.0f);
++i;
}
if (VL) {
i = 0;
while (i < n) {
s1[n + i] = fmaf(0.4f, static_cast<float>(i) / static_cast<float>(n), 0.8f);
++i;
}
}
++total_seeds;
}
{
float* s2 = S + total_seeds * stride;
const float inv = (n > 1) ? 1.0f / static_cast<float>(n - 1) : 0.0f;
float sin_phi;
float cos_phi;
FABE13_SINCOS(&tx, &sin_phi, &cos_phi, 1);
const float phi = (fabsf(sin_phi) > 0.0f) ? atan2f(ty, tx) : 0.0f;
int i = 0;
#pragma loop ivdep
while (i < n) {
const float pr = static_cast<float>(i) * inv;
s2[i] = fmaf(phi, fmaf(-0.3f, pr, 1.0f), 0.0f);
++i;
}
if (VL) {
int j = 0;
while (j < n) {
float si;
FABE13_SIN(fmaf(1.5f, static_cast<float>(j), 0.0f), si);
s2[n + j] = fmaf(0.2f, si, 1.0f);
++j;
}
}
++total_seeds;
}
const int lhs_count = generate_lhs_seeds_lite(map, dim, S + total_seeds * stride, stride, seed);
total_seeds += lhs_count;
return total_seeds;
}

static declspec(noalias) void agp_run_branch_mpi(
const MortonND& map,
const ManipCost& cost,
int maxIter,
float r,
bool adaptive,
float eps,
unsigned seed,
std::vector<IntervalND*, boost::alignment::aligned_allocator<IntervalND*, 16u>>& H,
std::vector<float, boost::alignment::aligned_allocator<float, 16u>>& bestQ,
float& bestF,
float& bestX,
float& bestY,
size_t& out_iterations,
float& out_achieved_epsilon,
float M_prior) noexcept {
const int n = cost.n;
const int dim = n + (cost.variableLen ? n : 0);
const float dim_f = static_cast<float>(dim);
unsigned exchange_counter = 0;
unsigned exchange_counter_T = 0;
alignas(16) float M_by_span[12];
int msi = 0;
while (msi < 12)
M_by_span[msi++] = M_prior;
float Mmax = M_prior;
alignas(16) float q_local[32];
alignas(16) float phi[32];
alignas(16) float s_arr[32];
alignas(16) float c_arr[32];
alignas(16) float sum_s[32];
alignas(16) float sum_c[32];
alignas(16) float q_try[32];
bestQ.reserve(static_cast<size_t>(dim));
float x = 0.0f;
float y = 0.0f;
int no_improve = 0;
auto t_to_idx = [&](float t) -> unsigned long long {
unsigned long long idx = static_cast<unsigned long long>(fmaf(t, static_cast<float>(map.scale), 0.0f));
return idx;
};
auto update_pockets_and_Mmax = [&](IntervalND* I) {
const int k = I->span_level;
if (I->M > M_by_span[k])
M_by_span[k] = I->M;
if (M_by_span[k] > Mmax)
Mmax = M_by_span[k];
};
const float a = 0.0f;
const float b = 1.0f;
float p = 0.0f;
float dmax = b - a;
const float initial_len = dmax;
const float A_dim = fmaf(1.0f / sqrtf(dim_f + 6.75f), 5.535f, 0.0f);
const float A_dim = fmaf(1.0f / sqrtf(dim_f + 7.0f), 3.485f, 0.0f);
const float A_dim_ = fmaf(1.0f / sqrtf(dim_f + 6.75f), 3.425f, 0.0f);
const float B_dim = fmaf(A_dim, 0.7f, 0.0f);
const float B_dim_ = fmaf(A_dim_, 7.0f, 0.0f);
const float B_dim__ = fmaf(A_dim__, 4.325f, 0.0f);
const float log_argument = A_dim - 2.03f;
const float log_argument_ = A_dim_ - 1.9875f;
const float log_argument__ = A_dim__ - 2.03f;
const float C_dim = fmaf(log_argument, fmaf(log_argument, fmaf(log_argument, fmaf(log_argument, fmaf(log_argument, 0.164056f, -0.098462f), 0.240884f), -0.351834f), 0.999996f), log_argument) - B_dim;
const float C_dim_ = fmaf(log_argument_, fmaf(log_argument_, fmaf(log_argument_, fmaf(log_argument_, fmaf(log_argument_, 0.164056f, -0.098462f), 0.240884f), -0.351834f), 0.999996f), log_argument_) - B_dim_;
const float C_dim__ = fmaf(log_argument__, fmaf(log_argument__, fmaf(log_argument__, fmaf(log_argument__, fmaf(log_argument__, 0.164056f, -0.098462f), 0.240884f), -0.351834f), 0.999996f), log_argument__) - B_dim__;
const float adaptive_coeff_addition = fmaf(C_dim, fmaf(C_dim, fmaf(C_dim, fmaf(C_dim, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f);
const float adaptive_coeff_addition_ = fmaf(C_dim_, fmaf(C_dim_, fmaf(C_dim_, fmaf(C_dim_, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f);
const float adaptive_coeff_addition__ = fmaf(C_dim__, fmaf(C_dim__, fmaf(C_dim__, fmaf(C_dim__, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f);
float adaptive_coeff = A_dim - adaptive_coeff_addition;
float adaptive_coeff_ = A_dim_ - adaptive_coeff_addition_;
float adaptive_coeff__ = A_dim__ - adaptive_coeff_addition__;
const float A_dim_clone = fmaf(A_dim - fmaf(-fmaf(B_dim, fmaf(B_dim, fmaf(B_dim, fmaf(B_dim, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f), adaptive_coeff_addition, A_dim), 0.5f, 0.0f);
int it = 0;
auto evalAt = [&](const float t) -> float {
map.map01ToPoint(t, q_local);
float f = cost(q_local, x, y);
if (f < fmaf(bestF, adaptive_coeff, 0.0f)) {
float eta = fmaf(sqrtf(fmaf(-dim_f, 2.0f, 23.0f)), 0.0215f, 0.0f);
float acc = 0.0f;
int ii = 0;
while (ii < n) {
acc = fmaf(q_local[ii], 1.0f, acc);
phi[ii] = acc;
++ii;
}
FABE13_SINCOS(phi, s_arr, c_arr, n);
float as = 0.0f;
float ac = 0.0f;
int k = n - 1;
while (k >= 0) {
const float Lk = cost.variableLen ? q_local[n + k] : 1.0f;
as = fmaf(Lk, s_arr[k], as);
ac = fmaf(Lk, c_arr[k], ac);
sum_s[k] = as;
sum_c[k] = ac;
--k;
}
const float dx = fmaf(x, 1.0f, -cost.targetX);
const float dy = fmaf(y, 1.0f, -cost.targetY);
const float dist = sqrtf(fmaf(dx, dx, fmaf(dy, dy, 0.0f)));
const float inv_dist = 1.0f / dist;
int improve_step = 0;
int no_improve_step = 0;
int stepI = 0;
const float adaptive_window = fmaf(1.0f / fmaf(bestF, adaptive_coeff, 0.0f), fmaf(bestF, adaptive_coeff, -f), -1.0f);
const int threshold_iters_grad = static_cast<int>(fmaf(fmaf(adaptive_window, fmaf(adaptive_window, fmaf(adaptive_window, fmaf(adaptive_window, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f), fmaf(sqrtf(dim_f), 5.775f, 0.0f), 0.0f));
while (stepI < threshold_iters_grad) {
int i = 0;
#pragma loop ivdep
while (i < n) {
float gpen = 0.0f;
{
const float ai = fabsf(q_local[i]);
const float v = fmaf(ai, 1.0f, -cost.minTheta);
if (v > 0.0f) {
const float scale_arg = fmaf(2.0f / (cost.minTheta), fmaf(v, 0.69314718055994530941723212145818f, 0.0f), 0.0f);
const float exp_val = fmaf(scale_arg, fmaf(scale_arg, fmaf(scale_arg, fmaf(scale_arg, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f);
const float dpen_dtheta = fmaf(cost.sharpW, fmaf(exp_val, fmaf(1.0f / (cost.minTheta), 1.3862943611198906188344642429164f, 0.0f), 0.0f), copysignf(1.0f, q_local[i]));
gpen = fmaf(dpen_dtheta, 1.0f, gpen);
}
}
{
const float tsg = fmaf(-q_local[i], cost.archBiasK, 0.0f);
const float exp_arg = -tsg;
const float exp_val = fmaf(exp_arg, fmaf(exp_arg, fmaf(exp_arg, fmaf(exp_arg, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f);
const float sig = 1.0f / fmaf(exp_val, 1.0f, 1.0f);
gpen = fmaf(-fmaf(cost.archBiasW, cost.archBiasK, 0.0f), sig, gpen);
}
const float g = fmaf(fmaf(dx, -sum_s[i], fmaf(dy, sum_c[i], 0.0f)), inv_dist, gpen);
q_try[i] = fmaf(-eta, g, q_local[i]);
const float lo = (i == 0) ? -1.0471975511965977461542144610932f : -2.6179938779914943653855361527329f;
const float hi = 2.6179938779914943653855361527329f;
if (q_try[i] < lo) q_try[i] = lo;
else if (q_try[i] > hi) q_try[i] = hi;
++i;
}
if (cost.variableLen) {
int j = 0;
#pragma loop ivdep
while (j < n) {
const float g = fmaf(fmaf(dx, c_arr[j], fmaf(dy, s_arr[j], 0.0f)), inv_dist, 0.0f);
float v = fmaf(-eta, g, q_local[n + j]);
if (v < 0.5f) v = 0.5f;
else if (v > 2.0f) v = 2.0f;
q_try[n + j] = v;
++j;
}
}
float x2;
float y2;
const float f2 = cost(q_try, x2, y2);
const float rel_improvement = fmaf(-1.0f / f, f2, 1.0f);
if (f2 < f) {
memcpy(q_local, q_try, static_cast<size_t>(dim) * sizeof(float));
++improve_step;
no_improve_step = 0;
f = f2;
x = x2;
y = y2;
if (improve_step > std::max(threshold_iters_grad >> 1, 2)) eta = dim > 2 ? fmaf(fmaf(rel_improvement, fmaf(rel_improvement, fmaf(rel_improvement, fmaf(rel_improvement, fmaf(rel_improvement, 0.164056f, -0.098462f), 0.240884f), -0.351834f), 0.999996f), rel_improvement), fmaf(1.0f / sqrtf(dim_f - 1.0f), 2.5285f, 0.0f), 1.0f) : eta = fmaf(fmaf(rel_improvement, fmaf(rel_improvement, fmaf(rel_improvement, fmaf(rel_improvement, fmaf(rel_improvement, 0.164056f, -0.098462f), 0.240884f), -0.351834f), 0.999996f), rel_improvement), 3.575f, 1.0f);
else { const float eta_arg = dim > 2 ? fmaf(1.0f / sqrtf(dim_f - 1.0f), fmaf(rel_improvement, 1.11375f, 0.0f), 0.0f) : fmaf(rel_improvement, 1.575f, 0.0f); eta = fmaf(eta_arg, fmaf(eta_arg, fmaf(eta_arg, fmaf(eta_arg, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f); }
}
else {
memcpy(q_try, q_local, static_cast<size_t>(dim) * sizeof(float));
++no_improve_step;
improve_step = 0;
if (no_improve_step > std::max(threshold_iters_grad >> 2, 2)) { const float eta_arg = fmaf(sqrtf(dim_f), fmaf(rel_improvement, 4.5f, 0.0f), 0.0f); eta = fmaf(eta_arg, fmaf(eta_arg, fmaf(eta_arg, fmaf(eta_arg, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f); }
else eta = fmaf(fmaf(rel_improvement, fmaf(rel_improvement, fmaf(rel_improvement, fmaf(rel_improvement, fmaf(rel_improvement, 0.164056f, -0.098462f), 0.240884f), -0.351834f), 0.999996f), rel_improvement), fmaf(sqrtf(dim_f), 1.575f, 0.0f), 1.0f);
if (eta < 0.015f) break;
}
++stepI;
}
if (f < bestF) {
bestF = f;
bestQ.assign(q_local, q_local + dim);
bestX = x;
bestY = y;
no_improve = 0;
}
else ++no_improve;
return f;
}
};
const float f_a = evalAt(a);
const float f_b = evalAt(b);
const int K = static_cast<int>(fmaf(-fmaf(sqrtf(dim_f), dim_f, 0.0f), 0.725f, 10.95f));
H.reserve(static_cast<size_t>(maxIter) + static_cast<size_t>(K) + 16u);
const int rank = g_world->rank();
const int world = g_world->size();
alignas(16) float seeds[256 * 32];
const int seedCnt = generate_heuristic_seeds(cost, map, dim, seeds, 32, static_cast<unsigned>(fmaf(static_cast<float>(rank), 7919.0f, static_cast<float>(seed))));
int i = 0;
while (i < seedCnt) {
const float* s = seeds + static_cast<size_t>(fmaf(static_cast<float>(i), 32.0f, 0.0f));
const float t_seed = map.pointToT(s);
const float interval_size = (i < 3) ? fmaf(0.0004f, static_cast<float>(dim), 0.0f) : fmaf(fmaf(0.00031f, static_cast<float>(dim), 0.0f), exp2f((1.0f / static_cast<float>(seedCnt - 4)) * log2f(fmaf(0.00025f, 1.0f / 0.00031f, 0.0f)) * static_cast<float>(i - 3)), 0.0f);
const float t1 = fmaf(-interval_size, 1.0f, t_seed);
const float t2 = fmaf(interval_size, 1.0f, t_seed);
alignas(16) float q1[32];
alignas(16) float q2[32];
float x1;
float y1;
float x2;
float y2;
map.map01ToPoint(t1, q1);
const float f1 = cost(q1, x1, y1);
map.map01ToPoint(t2, q2);
const float f2 = cost(q2, x2, y2);
IntervalND* I = new IntervalND(t1, t2, f1, f2);
I->i1 = t_to_idx(t1);
I->i2 = t_to_idx(t2);
I->diam = map.block_diameter(I->i1, I->i2);
I->compute_span_level(map);
I->set_metric(I->diam);
update_pockets_and_Mmax(I);
I->ChangeCharacteristic(fmaf(r, Mmax, 0.0f));
if (i < 3)
I->R = fmaf(I->R, fmaf(0.01f, static_cast<float>(dim), 0.85f), 0.0f);
else {
const float start_mult = fmaf(0.214f, static_cast<float>(dim), 0.0f);
const float end_mult = fmaf(0.174f, static_cast<float>(dim), 0.0f);
const float mult = fmaf(start_mult, exp2f((1.0f / static_cast<float>(seedCnt - 4)) * log2f(fmaf(end_mult, 1.0f / start_mult, 0.0f)) * static_cast<float>(i - 3)), 0.0f);
I->R = fmaf(I->R, mult, 0.0f);
}
H.emplace_back(I);
std::push_heap(H.begin(), H.end(), ComparePtrND);
if (f1 < bestF) {
bestF = f1;
bestQ.assign(q1, q1 + dim);
bestX = x1;
bestY = y1;
}
if (f2 < bestF) {
bestF = f2;
bestQ.assign(q2, q2 + dim);
bestX = x2;
bestY = y2;
}
++i;
}
float prev_t = a;
float prev_f = f_a;
int k = 1;
while (k <= K) {
const float t = fmaf(fmaf(b - a, static_cast<float>(k) / static_cast<float>(K + 1), a), 1.0f, static_cast<float>(rank) / static_cast<float>(world * (K + 1)));
const float f = evalAt(t);
IntervalND* I = new IntervalND(prev_t, t, prev_f, f);
I->i1 = t_to_idx(prev_t);
I->i2 = t_to_idx(t);
I->diam = map.block_diameter(I->i1, I->i2);
I->compute_span_level(map);
I->set_metric(I->diam);
update_pockets_and_Mmax(I);
I->ChangeCharacteristic(fmaf(r, Mmax, 0.0f));
H.emplace_back(I);
std::push_heap(H.begin(), H.end(), ComparePtrND);
prev_t = t;
prev_f = f;
++k;
}
IntervalND* tail = new IntervalND(prev_t, b, prev_f, f_b);
tail->i1 = t_to_idx(prev_t);
tail->i2 = t_to_idx(b);
tail->diam = map.block_diameter(tail->i1, tail->i2);
tail->compute_span_level(map);
tail->set_metric(tail->diam);
update_pockets_and_Mmax(tail);
tail->ChangeCharacteristic(fmaf(r, Mmax, 0.0f));
H.emplace_back(tail);
std::push_heap(H.begin(), H.end(), ComparePtrND);
const int noImproveThrDim = static_cast<int>(fmaf(32.5f, exp2f(-0.1f * dim_f), 0.0f));
while (it < maxIter) {
p = fmaf(-1.0f / initial_len, dmax, 1.0f);
const float p_arg = fmaf(p, 2.3f, -2.9775f);
const float r_eff = dim > 2 ? fmaf(-fmaf(p_arg, fmaf(p_arg, fmaf(p_arg, fmaf(p_arg, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f) + 1.05f, fmaf(sqrtf(dim_f - 1), r, 0.0f), 0.0f) : fmaf(-fmaf(p_arg, fmaf(p_arg, fmaf(p_arg, fmaf(p_arg, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f) + 1.05f, r, 0.0f);
const bool staganition = no_improve > noImproveThrDim;
if (staganition) {
const float t_best = map.pointToT(bestQ.data());
const float log_arg = fmaf(dim_f, 1.0f, -1.0f);
const float adaptive_diameter = fmaf(fmaf(log_arg, fmaf(log_arg, fmaf(log_arg, fmaf(log_arg, fmaf(log_arg, 0.164056f, -0.098462f), 0.240884f), -0.351834f), 0.999996f), log_arg), dim > 2 ? fmaf(adaptive_coeff, 0.00475f, 0.0f) : 0.00545f, 0.0f);
int ii = 0;
while (ii < 2) {
const float off = (ii == 0) ? fmaf(adaptive_diameter, 2.0f, 0.0f) : fmaf(-adaptive_diameter, 2.0f, 0.0f);
const float t_seed = fmaf(off, 1.0f, t_best);
const float f_seed = evalAt(t_seed);
IntervalND* J = new IntervalND(fmaf(-adaptive_diameter, 1.0f, t_seed), fmaf(adaptive_diameter, 1.0f, t_seed), f_seed, f_seed);
J->i1 = t_to_idx(fmaf(-adaptive_diameter, 1.0f, t_seed));
J->i2 = t_to_idx(fmaf(adaptive_diameter, 1.0f, t_seed));
J->diam = map.block_diameter(J->i1, J->i2);
J->compute_span_level(map);
J->set_metric(J->diam);
update_pockets_and_Mmax(J);
J->ChangeCharacteristic(fmaf(r_eff, Mmax, 0.0f));
J->R = fmaf(J->R, 2.03f - adaptive_coeff__, 0.0f);
H.emplace_back(J);
std::push_heap(H.begin(), H.end(), ComparePtrND);
++ii;
}
no_improve = 0;
}
const float exp_arg = fmaf(B_dim, p, 0.0f);
//const float exp_arg_ = fmaf(B_dim_, p, 0.0f);
//const float exp_arg_ = fmaf(-p, 1.0f, 1.0f);
const float exp_arg__ = fmaf(B_dim__, p, 0.0f);
adaptive_coeff = fmaf(-fmaf(exp_arg, fmaf(exp_arg, fmaf(exp_arg, fmaf(exp_arg, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f), adaptive_coeff_addition, A_dim);
//adaptive_coeff_ = fmaf(-fmaf(exp_arg_, fmaf(exp_arg_, fmaf(exp_arg_, fmaf(exp_arg_, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f), adaptive_coeff_addition_, A_dim_);

text
	float first_sqrt = sqrtf(fmaf(1.0f / dim_f, 2.0f, 0.0f));
	float second_sqrt = sqrtf(fmaf(1.0f / (dim_f + 7.0f), 5.0f, 0.0f));
	float third_sqrt = sqrtf(fmaf(1.0f / (dim_f + 7.0f), 9.0f, 0.0f));
	float fourth_sqrt = sqrtf(fmaf(1.0f / (dim_f + 7.0f), 6.5f, 0.0f));
	float rr = sqrtf(fmaf(-p, 1.0f, 1.0f)), xx = p * p, tt = fmaf(500.0f, p, -486.95472f);
	adaptive_coeff_ = (p < 0.95f) ? fmaf(fmaf(first_sqrt, xx, 0.0f), 0.0130349902f, fmaf(-0.04f, p, fmaf(fmaf(first_sqrt, rr, 0.0f), 0.15f, 1.1f))) : (p < 0.97390944f) ? fmaf(second_sqrt, rr, 0.9396f) : (p < 0.97590944f) ? fmaf(fmaf(fmaf(fmaf(third_sqrt, tt, 0.0f), tt, 0.0f), fmaf(-2.0f, tt, 3.0f), 0.0f), fmaf(0.25f, rr, -0.0396f), fmaf(fmaf(third_sqrt, rr, 0.0f), 0.75f, 0.9396f)) : fmaf(fourth_sqrt, rr, 0.925f);
	//adaptive_coeff_ = (p < 0.95f) ? fmaf(1.0761439f, sqrtf(exp_arg_), fmaf(0.7292799f, p, 0.1738561f)) :
		//(p < 0.975f) ? fmaf(0.75f, sqrtf(exp_arg_), 0.9396f) :
		//fmaf(1.0f, sqrtf(exp_arg_), 0.9f);
	adaptive_coeff__ = fmaf(-fmaf(exp_arg__, fmaf(exp_arg__, fmaf(exp_arg__, fmaf(exp_arg__, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f), adaptive_coeff_addition__, A_dim__);
	const float arg_for_T = fmaf(p, 4.5f, 2.475f);
	const float exp_argument = fmaf(-0.2925f, dim_f, 0.0f);
	const float exp2_exp_arg = fmaf(fmaf(exp_argument, 0.69314718055994530941723212145818f, 0.0f), fmaf(fmaf(exp_argument, 0.69314718055994530941723212145818f, 0.0f), fmaf(fmaf(exp_argument, 0.69314718055994530941723212145818f, 0.0f), fmaf(fmaf(exp_argument, 0.69314718055994530941723212145818f, 0.0f), 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f);
	const float A = fmaf(39.995f, exp2_exp_arg, 0.0f);
	const int T = static_cast<int>(fmaf(fmaf(fmaf(1.0f / fmaf(arg_for_T, fmaf(arg_for_T, fmaf(arg_for_T, fmaf(arg_for_T, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 2.0f), 1.0498f, -0.04978f), fmaf(sqrtf(dim_f), 4.88f, 0.0f), 0.0f), fmaf(-(exp2_exp_arg - 1.0f), A, A), 0.0f));
	std::pop_heap(H.begin(), H.end(), ComparePtrND);
	IntervalND* cur = H.back();
	H.pop_back();
	const float x1 = cur->x1;
	const float x2 = cur->x2;
	const float y1 = cur->y1;
	const float y2 = cur->y2;
	float m = fmaf(r_eff, Mmax, 0.0f);
	float tNew = step(m, x1, x2, y1, y2, dim_f, r_eff);
	const float bestFOld = bestF;
	const float fNew = evalAt(tNew);
	IntervalND* L = new IntervalND(x1, tNew, y1, fNew);
	IntervalND* Rv = new IntervalND(tNew, x2, fNew, y2);
	L->i1 = t_to_idx(x1);
	L->i2 = t_to_idx(tNew);
	Rv->i1 = t_to_idx(tNew);
	Rv->i2 = t_to_idx(x2);
	L->diam = map.block_diameter(L->i1, L->i2);
	Rv->diam = map.block_diameter(Rv->i1, Rv->i2);
	L->compute_span_level(map);
	Rv->compute_span_level(map);
	L->set_metric(L->diam);
	Rv->set_metric(Rv->diam);
	const float Mloc = fmaxf(L->M, Rv->M);
	update_pockets_and_Mmax(L);
	update_pockets_and_Mmax(Rv);
	const float prevMmax = Mmax;
	if (Mloc > Mmax)
		Mmax = Mloc;
	m = fmaf(r_eff, Mmax, 0.0f);
	if (adaptive) {
		const float len1 = fmaf(tNew, 1.0f, -x1);
		const float len2 = fmaf(x2, 1.0f, -tNew);
		if (fmaf(len1, 1.0f, len2) == dmax) {
			dmax = fmaxf(len1, len2);
			for (auto pI : H) {
				const float Ls = fmaf(pI->x2, 1.0f, -pI->x1);
				if (Ls > dmax)
					dmax = Ls;
			}
		}
		if ((p > 0.7f && !(it % 3) && dmax < 0.7f) || p > 0.9f) {
			const float alpha = p * p;
			const float beta = fmaf(-alpha, 1.0f, 2.0f);
			const float MULT = (1.0f / dmax) * Mmax;
			const float global_coeff = fmaf(MULT, r_eff, -MULT);
			const float GF = beta * global_coeff;
			L->ChangeCharacteristic(fmaf(GF, len1, fmaf(L->M, alpha, 0.0f)));
			Rv->ChangeCharacteristic(fmaf(GF, len2, fmaf(Rv->M, alpha, 0.0f)));
			const size_t sz = H.size();
			RecomputeR_AffineM_AVX2_ND(H.data(), sz, GF, alpha);
			std::make_heap(H.begin(), H.end(), ComparePtrND);
		}
		else {
			if (Mloc > prevMmax) {
				L->ChangeCharacteristic(m);
				Rv->ChangeCharacteristic(m);
				if (Mloc > fmaf(adaptive_coeff_, prevMmax, 0.0f)) {
					const size_t sz = H.size();
					RecomputeR_ConstM_AVX2_ND(H.data(), sz, m);
					std::make_heap(H.begin(), H.end(), ComparePtrND);
				}
			}
			else {
				L->ChangeCharacteristic(m);
				Rv->ChangeCharacteristic(m);
			}
		}
	}
	else {
		if (Mloc > prevMmax) {
			L->ChangeCharacteristic(m);
			Rv->ChangeCharacteristic(m);
			if (Mloc > fmaf(adaptive_coeff_, prevMmax, 0.0f)) {
				const size_t sz = H.size();
				RecomputeR_ConstM_AVX2_ND(H.data(), sz, m);
				std::make_heap(H.begin(), H.end(), ComparePtrND);
			}
		}
		else {
			L->ChangeCharacteristic(m);
			Rv->ChangeCharacteristic(m);
		}
	}
	H.emplace_back(L);
	std::push_heap(H.begin(), H.end(), ComparePtrND);
	H.emplace_back(Rv);
	std::push_heap(H.begin(), H.end(), ComparePtrND);
	_mm_prefetch((const char*)H[0], _MM_HINT_T0);
	_mm_prefetch((const char*)H[1], _MM_HINT_T0);
	IntervalND* const top = H.front();
	const float interval_len = dim > 1 ? fmaf(top->x2, 1.0f, -top->x1) : top->diam;
	if (it == maxIter) {
		memcpy(q_local, bestQ.data(), static_cast<size_t>(dim) * sizeof(float));
		float x_final = bestX;
		float y_final = bestY;
		float f_final = bestF;
		const int last = n - 1;
		const float lo = (last == 0) ? -1.0471975511965977461542144610932f : -2.6179938779914943653855361527329f;
		const float hi = 2.6179938779914943653855361527329f;
		float bestLocF = f_final;
		float saved = q_local[last];
		float delta = 0.05f;
		while (delta >= 0.00625f) {
			int sgn = -1;
			while (sgn < 2) {
				float cand = fmaf(static_cast<float>(sgn), delta, saved);
				if (cand < lo) cand = lo;
				else if (cand > hi) cand = hi;
				const float backup = q_local[last];
				q_local[last] = cand;
				float x2;
				float y2;
				const float f2 = cost(q_local, x2, y2);
				if (f2 < bestLocF) {
					bestLocF = f2;
					x_final = x2;
					y_final = y2;
					saved = cand;
				}
				q_local[last] = backup;
				sgn += 2;
			}
			delta *= 0.5f;
		}
		if (bestLocF < f_final) {
			q_local[last] = saved;
			f_final = bestLocF;
			bestF = f_final;
			bestX = x_final;
			bestY = y_final;
			bestQ.assign(q_local, q_local + dim);
		}
		out_iterations = static_cast<size_t>(it);
		out_achieved_epsilon = interval_len;
		return;
	}
	if (!(it % T) || staganition) {
		MultiCrossMsg out;
		const unsigned intervals_to_send = dim < 12 ? static_cast<unsigned>(sqrtf(fmaf(dim_f, 5.5f, 0.0f))) : 7u;
		out.count = intervals_to_send;
		float* dest = out.intervals;
		unsigned ii = 0u;
		while (ii < intervals_to_send) {
			IntervalND* Tt = H[ii];
			dest[0] = Tt->x1;
			dest[1] = 0.0f;
			dest[2] = Tt->x2;
			dest[3] = 0.0f;
			dest[4] = Tt->R;
			dest += 5;
			++ii;
		}
		const size_t iterations = std::bit_width(static_cast<size_t>(world - 1));
		bool active = true;
		const bool invert_T = (static_cast<int>(fmaf(static_cast<float>(exchange_counter_T), 1.0f, 1.0f)) & 1);
		size_t ii2 = 0u;
		while (ii2 < iterations && active) {
			const size_t step = 1ULL << ii2;
			const int partner = rank ^ static_cast<int>(step);
			if (partner < world) {
				const bool am_sender = ((!!(rank & static_cast<int>(step))) ^ invert_T);
				if (am_sender) {
					g_world->isend(partner, 0, out);
					active = false;
				}
			}
			++ii2;
		}
		++exchange_counter_T;
	}
	if (bestF < fmaf(bestFOld, 2.03f - adaptive_coeff__, 0.0f)) {
		BestSolutionMsg out;
		out.bestF = bestF;
		out.bestX = bestX;
		out.bestY = bestY;
		out.dim = static_cast<unsigned>(bestQ.size());
		memcpy(out.bestQ, bestQ.data(), bestQ.size() * sizeof(float));
		{
			IntervalND* const I0 = H[0];
			out.bestI[0] = I0->x1;
			out.bestI[1] = I0->x2;
			out.bestI[2] = I0->y1;
			out.bestI[3] = I0->y2;
			IntervalND* const I1 = H[1];
			out.bestI[4] = I1->x1;
			out.bestI[5] = I1->x2;
			out.bestI[6] = I1->y1;
			out.bestI[7] = I1->y2;
		}
		const size_t iterations = std::bit_width(static_cast<size_t>(world - 1));
		bool active = true;
		const bool invert_T = (static_cast<int>(fmaf(static_cast<float>(exchange_counter), 1.0f, 1.0f)) & 1);
		size_t ii2 = 0u;
		while (ii2 < iterations && active) {
			const size_t step = 1ULL << ii2;
			const int partner = rank ^ static_cast<int>(step);
			if (partner < world) {
				const bool am_sender = ((!!(rank & static_cast<int>(step))) ^ invert_T);
				if (am_sender) {
					g_world->isend(partner, 2, out);
					active = false;
				}
			}
			++ii2;
		}
		++exchange_counter;
	}
	while (g_world->iprobe(boost::mpi::any_source, 0)) {
		MultiCrossMsg in;
		g_world->recv(boost::mpi::any_source, 0, in);
		const MultiCrossMsg& mX = in;
		unsigned ii = 0u;
		while (ii < mX.count) {
			const float* d = &mX.intervals[ii * 5];
			float sx = d[0];
			float ex = d[2];
			alignas(16) float tmp[32];
			float tx;
			float ty;
			map.map01ToPoint(sx, tmp);
			const float y1i = cost(tmp, tx, ty);
			map.map01ToPoint(ex, tmp);
			const float y2i = cost(tmp, tx, ty);
			IntervalND* inj = new IntervalND(sx, ex, y1i, y2i);
			inj->i1 = t_to_idx(sx);
			inj->i2 = t_to_idx(ex);
			inj->diam = map.block_diameter(inj->i1, inj->i2);
			inj->compute_span_level(map);
			inj->set_metric(inj->diam);
			update_pockets_and_Mmax(inj);
			inj->ChangeCharacteristic(fmaf(r_eff, Mmax, 0.0f));
			_mm_prefetch((const char*)H[0], _MM_HINT_T0);
			_mm_prefetch((const char*)H[1], _MM_HINT_T0);
			if (inj->R > fmaf(adaptive_coeff, H.front()->R, 0.0f) || staganition) {
				const float poly = fmaf(fmaf(p, 0.69314718055994530941723212145818f, 0.0f), fmaf(fmaf(p, 0.69314718055994530941723212145818f, 0.0f), fmaf(fmaf(p, 0.69314718055994530941723212145818f, 0.0f), fmaf(fmaf(p, 0.69314718055994530941723212145818f, 0.0f), 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f) - 1.0f;
				const float kf = staganition ? fmaf(0.5819767068693265f, poly, 0.4f) : fmaf(0.3891860241215959f, poly, 0.5f);
				const float exp_arg = fmaf(B_dim, fmaf(1.0f / static_cast<float>(mX.count - 1u), static_cast<float>(ii), 0.0f), 0.0f);
				float adaptive_coeff_clone = fmaf(-fmaf(exp_arg, fmaf(exp_arg, fmaf(exp_arg, fmaf(exp_arg, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f), adaptive_coeff_addition, A_dim_clone);
				inj->R = fmaf(d[4], fmaf(kf, adaptive_coeff_clone, 0.0f), 0.0f);
				H.emplace_back(inj);
				std::push_heap(H.begin(), H.end(), ComparePtrND);
			}
			++ii;
		}
	}
	while (g_world->iprobe(boost::mpi::any_source, 2)) {
		BestSolutionMsg bm;
		g_world->recv(boost::mpi::any_source, 2, bm);
		if (bm.bestF < fmaf(bestF, 2.03f - adaptive_coeff__, 0.0f) || staganition) {
			_mm_prefetch((const char*)H[0], _MM_HINT_T0);
			_mm_prefetch((const char*)H[1], _MM_HINT_T0);
			const float poly = fmaf(fmaf(p, 0.69314718055994530941723212145818f, 0.0f), fmaf(fmaf(p, 0.69314718055994530941723212145818f, 0.0f), fmaf(fmaf(p, 0.69314718055994530941723212145818f, 0.0f), fmaf(fmaf(p, 0.69314718055994530941723212145818f, 0.0f), 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f) - 1.0f;
			const float kf = staganition ? fmaf(0.5819767068693265f, poly, 0.4f) : fmaf(0.3891860241215959f, poly, 0.5f);
			float adaptive_coeff_clone0 = fmaf(-1.0f, adaptive_coeff_addition, A_dim_clone);
			const float exp_arg = B_dim;
			float adaptive_coeff_clone1 = fmaf(-fmaf(exp_arg, fmaf(exp_arg, fmaf(exp_arg, fmaf(exp_arg, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f), adaptive_coeff_addition, A_dim_clone);
			{
				const float sx = bm.bestI[0];
				const float ex = bm.bestI[1];
				const float y1i = bm.bestI[2];
				const float y2i = bm.bestI[3];
				IntervalND* I = new IntervalND(sx, ex, y1i, y2i);
				I->i1 = t_to_idx(sx);
				I->i2 = t_to_idx(ex);
				I->diam = map.block_diameter(I->i1, I->i2);
				I->compute_span_level(map);
				I->set_metric(I->diam);
				update_pockets_and_Mmax(I);
				I->ChangeCharacteristic(fmaf(r_eff, Mmax, 0.0f));
				I->R = fmaf(I->R, fmaf(kf, adaptive_coeff_clone0, 0.0f), 0.0f);
				H.emplace_back(I);
				std::push_heap(H.begin(), H.end(), ComparePtrND);
			}
			{
				const float sx = bm.bestI[4];
				const float ex = bm.bestI[5];
				const float y1i = bm.bestI[6];
				const float y2i = bm.bestI[7];
				IntervalND* I = new IntervalND(sx, ex, y1i, y2i);
				I->i1 = t_to_idx(sx);
				I->i2 = t_to_idx(ex);
				I->diam = map.block_diameter(I->i1, I->i2);
				I->compute_span_level(map);
				I->set_metric(I->diam);
				update_pockets_and_Mmax(I);
				I->ChangeCharacteristic(fmaf(r_eff, Mmax, 0.0f));
				I->R = fmaf(I->R, fmaf(kf, adaptive_coeff_clone1, 0.0f), 0.0f);
				H.emplace_back(I);
				std::push_heap(H.begin(), H.end(), ComparePtrND);
			}
			if (bm.bestF < bestF) {
				bestF = bm.bestF;
				bestX = bm.bestX;
				bestY = bm.bestY;
				bestQ.assign(bm.bestQ, bm.bestQ + bm.dim);
			}
		}
	}
	++it;
}

}

static __declspec(noalias) __forceinline float PivotCalculation(std::vector<IntervalND*>::iterator first, std::vector<IntervalND*>::iterator last) noexcept {
const auto mid = first + ((last - first) >> 1);
float pivot_value = NAN;
if (last - first < 199)
pivot_value = (*mid)->R;
else {
if ((*first)->R < (*mid)->R) {
if ((*mid)->R < (*last)->R)
pivot_value = (*mid)->R;
else
pivot_value = std::max((*first)->R, (*last)->R);
}
else {
if ((*first)->R < (*last)->R)
pivot_value = (*first)->R;
else
pivot_value = std::max((*mid)->R, (*last)->R);
}
}
return pivot_value;
}

static __declspec(noalias) __forceinline void HoaraSort(std::vector<IntervalND*>::iterator first, std::vector<IntervalND*>::iterator last) noexcept {
if (first >= last)
return;
const float pivot_value = PivotCalculation(first, last);
auto left = first;
auto right = last;
do {
while (left < last && (*left)->R < pivot_value)
++left;
while (right > first && (*right)->R > pivot_value)
--right;
if ((*left)->R == (*right)->R && left != right) {
if ((left)->R < ((left + 1))->R)
++left;
else
--right;
}
std::iter_swap(left, right);
} while (left != right);
if (last - first < 199) {
HoaraSort(first, right);
HoaraSort(left + 1, last);
}
else {
oneapi::tbb::parallel_invoke(&first, &right { HoaraSort(first, right); }, &left, &last { HoaraSort(left + 1, last); });
}
}

extern "C" __declspec(dllexport) __declspec(noalias) void AGP_Manip2D(
int nSegments,
bool variableLengths,
float minTheta,
float targetX,
float targetY,
int maxIterPerBranch,
float r,
bool adaptiveMode,
float epsilon,
unsigned int seed,
float baseLength,
float stretchFactor,
float** out_bestQ,
size_t* out_bestQLen,
float* out_bestX,
float* out_bestY,
float* out_bestF,
size_t* out_iterations,
float* out_achieved_epsilon) noexcept {
Slab* slab = tls.local();
slab->current = slab->base;
while (g_world->iprobe(boost::mpi::any_source, 0)) {
MultiCrossMsg dummy;
g_world->recv(boost::mpi::any_source, 0, dummy);
}
while (g_world->iprobe(boost::mpi::any_source, 2)) {
BestSolutionMsg dummy;
g_world->recv(boost::mpi::any_source, 2, dummy);
}
const int dim = nSegments + (variableLengths ? nSegments : 0);
g_mc.permCache.resize(static_cast<size_t>(dim));
int i = 0;
while (i < dim) {
g_mc.permCache[i] = i;
++i;
}
unsigned s = g_mc.baseSeed;
i = dim - 1;
while (i > 0) {
s ^= s << 13;
s ^= s >> 17;
s ^= s << 5;
const unsigned j = s % static_cast<unsigned>(i + 1);
std::swap(g_mc.permCache[i], g_mc.permCache[j]);
--i;
}
g_mc.invMaskCache.resize(static_cast<size_t>(dim));
int k = 0;
while (k < dim) {
s ^= s << 13;
s ^= s >> 17;
s ^= s << 5;
g_mc.invMaskCache[k] = static_cast<unsigned long long>(s);
++k;
}
std::vector<float, boost::alignment::aligned_allocator<float, 16u>> low;
std::vector<float, boost::alignment::aligned_allocator<float, 16u>> high;
low.reserve(static_cast<size_t>(dim));
high.reserve(static_cast<size_t>(dim));
i = 0;
while (i < nSegments) {
low.emplace_back(i == 0 ? -1.0471975511965977461542144610932f : -2.6179938779914943653855361527329f);
high.emplace_back(2.6179938779914943653855361527329f);
++i;
}
if (variableLengths) {
i = 0;
const float lengthLower = baseLength / stretchFactor;
const float lengthUpper = baseLength * stretchFactor;
while (i < nSegments) {
low.emplace_back(lengthLower);
high.emplace_back(lengthUpper);
++i;
}
}
const ManipCost cost(nSegments, variableLengths, targetX, targetY, minTheta);
const int rank = g_world->rank();
const int world = g_world->size();
std::vector<float, boost::alignment::aligned_allocator<float, 16u>> bestQ;
float bestF = FLT_MAX;
float bx = 0.0f;
float by = 0.0f;
const float exp_arg_lvls = fmaf(-static_cast<float>(dim), 0.455f, 0.0f);
const float exp_arg_lvl0 = fmaf(-static_cast<float>(dim), 0.08f, 0.0f);
const int peanoLevels = static_cast<int>(fminf(fmaf(fmaf(exp_arg_lvls, fmaf(exp_arg_lvls, fmaf(exp_arg_lvls, fmaf(exp_arg_lvls, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f), 30.0f, 6.125f), 13.0f));
const int levels0 = static_cast<int>(fminf(fmaf(-fminf(fmaf(fmaf(exp_arg_lvl0, fmaf(exp_arg_lvl0, fmaf(exp_arg_lvl0, fmaf(exp_arg_lvl0, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f), 21.7f, -11.3f), 0.0f), 1.0f, static_cast<float>(peanoLevels)), 8.0f));
const MortonND map0(dim, levels0, low.data(), high.data(), g_mc);
std::vector<IntervalND*, boost::alignment::aligned_allocator<IntervalND*, 16u>> H_coarse;
std::vector<float, boost::alignment::aligned_allocator<float, 16u>> bestQ_coarse;
float bestF_coarse = FLT_MAX;
float bx_coarse = 0.0f;
float by_coarse = 0.0f;
size_t total_oi = 0u;
float total_oe = 0.0f;
size_t oi = 0u;
float oe = 0.0f;
const float M_arg = ldexpf(1.0f, -levels0);
const float M_prior = fmaf(fmaf(variableLengths ? 2.8284271f : 2.0f, static_cast<float>(nSegments), 0.0f), fmaf(M_arg, fmaf(M_arg, fmaf(M_arg, fmaf(M_arg, fmaf(M_arg, 0.164056f, -0.098462f), 0.240884f), -0.351834f), 0.999996f), M_arg), 0.0f);
agp_run_branch_mpi(map0, cost, maxIterPerBranch >> 1, r, adaptiveMode, epsilon, seed, H_coarse, bestQ_coarse, bestF_coarse, bx_coarse, by_coarse, oi, oe, M_prior);
total_oi += oi;
total_oe = oe;
if (bestF_coarse < bestF) {
bestF = bestF_coarse;
bestQ = std::move(bestQ_coarse);
bx = bx_coarse;
by = by_coarse;
}
while (g_world->iprobe(boost::mpi::any_source, 0)) {
MultiCrossMsg dummy;
g_world->recv(boost::mpi::any_source, 0, dummy);
}
while (g_world->iprobe(boost::mpi::any_source, 2)) {
BestSolutionMsg dummy;
g_world->recv(boost::mpi::any_source, 2, dummy);
}
const MortonND map1(dim, peanoLevels, low.data(), high.data(), g_mc);
std::vector<IntervalND*, boost::alignment::aligned_allocator<IntervalND*, 16u>> H_fine;
std::vector<float, boost::alignment::aligned_allocator<float, 16u>> bestQ_fine = bestQ;
float bestF_fine = bestF;
float bx_fine = bx;
float by_fine = by;
size_t oi_fine = 0u;
float oe_fine = 0.0f;
const float M_prior_fine = fmaf(1.0f / static_cast<float>(peanoLevels), fmaf(static_cast<float>(levels0), M_prior, 0.0f), 0.0f);
HoaraSort(H_coarse.begin(), H_coarse.end() - 1);
const float inv_dim = 1.0f / static_cast<float>(dim + 1);
size_t ci = static_cast<size_t>(fmaf(static_cast<float>(H_coarse.size()), fmaf(inv_dim, fmaf(inv_dim, fmaf(inv_dim, fmaf(inv_dim, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f) + 1.0f, -0.7f));
while (ci < H_coarse.size()) {
const IntervalND* C = H_coarse[ci];
alignas(16) float q1[32];
alignas(16) float q2[32];
float x1;
float y1;
float x2;
float y2;
map1.map01ToPoint(C->x1, q1);
const float f1 = cost(q1, x1, y1);
map1.map01ToPoint(C->x2, q2);
const float f2 = cost(q2, x2, y2);
IntervalND* I = new IntervalND(C->x1, C->x2, f1, f2);
I->i1 = static_cast<unsigned long long>(fmaf(C->x1, static_cast<float>(map1.scale), 0.0f));
I->i2 = static_cast<unsigned long long>(fmaf(C->x2, static_cast<float>(map1.scale), 0.0f));
I->diam = map1.block_diameter(I->i1, I->i2);
I->set_metric(I->diam);
H_fine.emplace_back(I);
if (f1 < bestF_fine) {
bestF_fine = f1;
bestQ_fine.assign(q1, q1 + dim);
bx_fine = x1;
by_fine = y1;
}
if (f2 < bestF_fine) {
bestF_fine = f2;
bestQ_fine.assign(q2, q2 + dim);
bx_fine = x2;
by_fine = y2;
}
++ci;
}
std::make_heap(H_fine.begin(), H_fine.end(), ComparePtrND);
agp_run_branch_mpi(map1, cost, maxIterPerBranch >> 1, r, adaptiveMode, epsilon, seed, H_fine, bestQ_fine, bestF_fine, bx_fine, by_fine, oi_fine, oe_fine, M_prior_fine);
total_oi += oi_fine;
total_oe = oe_fine;
if (bestF_fine < bestF) {
bestF = bestF_fine;
bestQ = std::move(bestQ_fine);
bx = bx_fine;
by = by_fine;
}
BestSolutionMsg best;
best.bestF = bestF;
best.bestX = bx;
best.bestY = by;
best.dim = static_cast<unsigned>(bestQ.size());
memcpy(best.bestQ, bestQ.data(), static_cast<size_t>(best.dim) * sizeof(float));
const size_t iterations = std::bit_width(static_cast<size_t>(world - 1));
bool active = true;
size_t itx = 0;
while (itx < iterations && active) {
const size_t step = 1ULL << itx;
const int partner = rank ^ static_cast<int>(step);
if (partner < world) {
const bool am_sender = (rank & static_cast<int>(step)) != 0;
if (am_sender) {
g_world->isend(partner, 3, best);
active = false;
}
else {
BestSolutionMsg in;
g_world->recv(partner, 3, in);
if (in.bestF < best.bestF)
best = in;
}
}
++itx;
}
if (rank == 0) {
*out_bestQLen = static_cast<size_t>(best.dim);
out_bestQ = static_cast<float>(CoTaskMemAlloc(sizeof(float) * (*out_bestQLen)));
memcpy(*out_bestQ, best.bestQ, sizeof(float) * (*out_bestQLen));
*out_bestX = best.bestX;
*out_bestY = best.bestY;
*out_bestF = best.bestF;
*out_iterations = total_oi;
*out_achieved_epsilon = total_oe;
}
}

extern "C" __declspec(dllexport) __declspec(noalias) _forceinline int AgpInit(int peanoLevel, float a, float b, float c, float d) noexcept {
g_env = new boost::mpi::environment();
g_world = new boost::mpi::communicator();
MM_SET_FLUSH_ZERO_MODE(MM_FLUSH_ZERO_ON);
MM_SET_DENORMALS_ZERO_MODE(MM_DENORMALS_ZERO_ON);
const int rank = g_world->rank();
const int world_size = g_world->size();
if (world_size == 4)
new (&gActiveMap) Peano2DMap(peanoLevel, a, b, c, d, rank & 3);
g_mc.baseSeed = static_cast<unsigned>(fmaf(0x9E3779B9u, static_cast<float>(rank), 0x9E3779B9u));
if (rank == 0) {
wchar_t buf[MAX_PATH]{};
GetModuleFileNameW(nullptr, buf, MAX_PATH);
std::wstring ws(buf);
auto pos = ws.find_last_of(L"\/");
if (pos != std::wstring::npos)
ws.resize(pos);
int n = WideCharToMultiByte(CP_UTF8, 0, ws.c_str(), -1, nullptr, 0, nullptr, nullptr);
g_exeDirCache.resize(n, '\0');
WideCharToMultiByte(CP_UTF8, 0, ws.c_str(), -1, g_exeDirCache.data(), n, nullptr, nullptr);
if (!g_exeDirCache.empty() && g_exeDirCache.back() == '\0')
g_exeDirCache.pop_back();
g_pyInterpreter = new pybind11::scoped_interpreter{};
pybind11::module sys = pybind11::module::import("sys");
pybind11::list path = sys.attr("path");
const std::string& exeDir = g_exeDirCache;
path.attr("insert")(0, pybind11::str(exeDir + "\env\Lib\site-packages"));
path.attr("insert")(0, pybind11::str(exeDir + "\env\Scripts"));
path.attr("insert")(0, pybind11::str(exeDir + "\env"));
path.attr("append")(pybind11::str(exeDir));
pybind11::module::import("warnings").attr("filterwarnings")("ignore");
g_pyOptimizerBridge = new pybind11::module(pybind11::module::import("optimizer_bridge"));
}
return rank;
}

static __declspec(noalias) __forceinline float ShekelFunc(float x, float seed) noexcept {
int i = 0;
float st = seed;
float r1;
float r2;
float res = 0.0f;
#pragma loop ivdep
while (i < 10) {
XOR_RAND(st, r1);
const float xp = fmaf(-r1, 10.0f, x);
XOR_RAND(st, r1);
XOR_RAND(st, r2);
float d = fmaf(fmaf(r1, 20.0f, 5.0f), xp * xp, fmaf(r2, 0.2f, 1.0f));
d = copysignf(fmaxf(fabsf(d), FLT_MIN), d);
res -= (1.0f / d) * 1.0f;
++i;
}
return res;
}

static __declspec(noalias) __forceinline float RastriginFunc(float x1, float x2) noexcept {
const float t = fmaf(x1, x1, x2 * x2);
float c1;
float c2;
FABE13_COS(6.28318530717958647692f * x1, c1);
FABE13_COS(6.28318530717958647692f * x2, c2);
return (t - fmaf(c1 + c2, 10.0f, -14.6f)) * fmaf(-t, 0.25f, 18.42f);
}

static __declspec(noalias) __forceinline float HillFunc(float x, float seed) noexcept {
int j = 0;
alignas(16) float ang[14];
const float st_ang = 6.28318530717958647692f * x;
while (j < 14) {
ang[j] = st_ang * static_cast<float>(j + 1);
++j;
}
alignas(16) float sv[14];
alignas(16) float cv[14];
FABE13_SINCOS(ang, sv, cv, 14);
float state = seed;
float r1;
float r2;
XOR_RAND(state, r1);
float res = fmaf(r1, 2.0f, -1.1f);
--j;
#pragma loop ivdep
while (j >= 0) {
XOR_RAND(state, r1);
XOR_RAND(state, r2);
res += fmaf(fmaf(r1, 2.0f, -1.1f), sv[j], fmaf(r2, 2.0f, -1.1f) * cv[j]);
--j;
}
return res;
}

static __declspec(noalias) __forceinline float GrishaginFunc(float x1, float x2, float seed) noexcept {
int j = 0;
alignas(16) float aj[8];
alignas(16) float ak[8];
#pragma loop ivdep
while (j < 8) {
const float pj = 3.14159265358979323846f * static_cast<float>(j + 1);
aj[j] = pj * x1;
ak[j] = pj * x2;
++j;
}
alignas(16) float sj[8];
alignas(16) float cj[8];
alignas(16) float sk[8];
alignas(16) float ck[8];
FABE13_SINCOS(aj, sj, cj, 8);
FABE13_SINCOS(ak, sk, ck, 8);
--j;
float p1 = 0.0f;
float p2 = 0.0f;
float st = seed;
float r1;
float r2;
#pragma loop ivdep
while (j >= 0) {
size_t k2 = 0u;
while (k2 < 8u) {
const float s = sj[j] * sj[j];
const float c = ck[k2] * ck[k2];
XOR_RAND_GRSH(st, r1);
XOR_RAND_GRSH(st, r2);
p1 = fmaf(r1, s, fmaf(r2, c, p1));
XOR_RAND_GRSH(st, r1);
XOR_RAND_GRSH(st, r2);
p2 = fmaf(-r1, c, fmaf(r2, s, p2));
++k2;
}
--j;
}
return -sqrtf(fmaf(p1, p1, p2 * p2));
}

extern "C" __declspec(dllexport) __declspec(noalias) void AGP_1D(
float global_iterations,
float a,
float b,
float r,
bool mode,
float epsilon,
float seed,
float** out_data,
size_t* out_len) noexcept {
Slab* slab = tls.local();
slab->current = slab->base;
int counter = 0;
const float initial_length = b - a;
float dmax = initial_length;
const float threshold_03 = 0.3f * initial_length;
const float inv_threshold_03 = 1.0f / threshold_03;
const float start_val = ShekelFunc(a, seed);
float best_f = ShekelFunc(b, seed);
float x_Rmax_1 = a;
float x_Rmax_2 = b;
float y_Rmax_1 = start_val;
float y_Rmax_2 = best_f;
std::vector<float, boost::alignment::aligned_allocator<float, 16u>> Extr;
std::vector<Interval1D*, boost::alignment::aligned_allocator<Interval1D*, 16u>> R;
Extr.reserve(static_cast<size_t>(global_iterations) << 2u);
R.reserve(static_cast<size_t>(global_iterations) << 1u);
R.emplace_back(new Interval1D(a, b, start_val, best_f, 1.0f));
float Mmax = R.front()->M;
float m = r * Mmax;
while (true) {
const float new_point = step(m, x_Rmax_1, x_Rmax_2, y_Rmax_1, y_Rmax_2, 1.0f, r);
const float new_value = ShekelFunc(new_point, seed);
if (new_value < best_f) {
best_f = new_value;
Extr.emplace_back(best_f);
Extr.emplace_back(new_point);
}
std::pop_heap(R.begin(), R.end(), ComparePtr1D);
const Interval1D* pro = R.back();
const float new_x1 = pro->x1;
const float new_x2 = pro->x2;
const float len2 = new_x2 - new_point;
const float len1 = new_point - new_x1;
const float interval_len = (len1 < len2 ? len1 : len2);
if (++counter == static_cast<int>(global_iterations) || interval_len < epsilon) {
Extr.emplace_back(static_cast<float>(counter));
Extr.emplace_back(interval_len);
*out_len = Extr.size();
out_data = static_cast<float>(CoTaskMemAlloc(sizeof(float) * (out_len)));
memcpy(out_data, Extr.data(), sizeof(float) * (out_len));
return;
}
Interval1D curr = new Interval1D(new_x1, new_point, pro->y1, new_value, 1.0f);
Interval1D curr1 = new Interval1D(new_point, new_x2, new_value, pro->y2, 1.0f);
const float currM = curr->M > curr1->M ? curr->M : curr1->M;
const size_t r_size = R.size();
if (mode) {
if (len2 + len1 == dmax) {
dmax = len2 > len1 ? len2 : len1;
for (auto pI : R) {
const float L = pI->x2 - pI->x1;
if (L > dmax)
dmax = L;
}
}
if ((threshold_03 > dmax && !(counter % 3)) || 10.0f * dmax < initial_length) {
if (currM > Mmax) {
Mmax = currM;
m = r * Mmax;
}
const float progress = fmaf(-inv_threshold_03, dmax, 1.0f);
const float alpha = progress * progress;
const float betta = 2.0f - alpha;
const float MULT = (1.0f / dmax) * Mmax;
const float global_coeff = fmaf(MULT, r, -MULT);
const float GF = betta * global_coeff;
curr->ChangeCharacteristic(fmaf(GF, len1, curr->M * alpha));
curr1->ChangeCharacteristic(fmaf(GF, len2, curr1->M * alpha));
RecomputeR_AffineM_AVX2_1D(R.data(), r_size, GF, alpha);
std::make_heap(R.begin(), R.end(), ComparePtr1D);
}
else {
if (currM > Mmax) {
if (currM < 1.15f * Mmax) {
Mmax = currM;
m = r * Mmax;
curr->ChangeCharacteristic(m);
curr1->ChangeCharacteristic(m);
}
else {
Mmax = currM;
m = r * Mmax;
curr->ChangeCharacteristic(m);
curr1->ChangeCharacteristic(m);
RecomputeR_ConstM_AVX2_1D(R.data(), r_size, m);
std::make_heap(R.begin(), R.end(), ComparePtr1D);
}
}
else {
curr->ChangeCharacteristic(m);
curr1->ChangeCharacteristic(m);
}
}
}
else {
if (currM > Mmax) {
if (currM < 1.15f * Mmax) {
Mmax = currM;
m = r * Mmax;
curr->ChangeCharacteristic(m);
curr1->ChangeCharacteristic(m);
}
else {
Mmax = currM;
m = r * Mmax;
curr->ChangeCharacteristic(m);
curr1->ChangeCharacteristic(m);
RecomputeR_ConstM_AVX2_1D(R.data(), r_size, m);
std::make_heap(R.begin(), R.end(), ComparePtr1D);
}
}
else {
curr->ChangeCharacteristic(m);
curr1->ChangeCharacteristic(m);
}
}
R.back() = curr;
std::push_heap(R.begin(), R.end(), ComparePtr1D);
R.emplace_back(curr1);
std::push_heap(R.begin(), R.end(), ComparePtr1D);
const Interval1D top = R.front();
x_Rmax_1 = top->x1;
x_Rmax_2 = top->x2;
y_Rmax_1 = top->y1;
y_Rmax_2 = top->y2;
}
}

extern "C" __declspec(dllexport) __declspec(noalias) void AGP_2D(
float N,
float global_iterations,
float a,
float b,
float c,
float d,
float r,
bool mode,
float epsilon,
float seed,
float** out_data,
size_t* out_len) noexcept {
Slab* slab = tls.local();
slab->current = slab->base;
int counter = 0;
int no_improve = 0;
const int rank = g_world->rank();
const int world_size = g_world->size();
while (g_world->iprobe(boost::mpi::any_source, 0)) {
MultiCrossMsg dummy;
g_world->recv(boost::mpi::any_source, 0, dummy);
}
const float inv_divider = ldexpf(1.0f, -((gActiveMap.levels << 1) + 1));
const float x_addition = (b - a) * inv_divider;
const float y_addition = (d - c) * inv_divider;
const float true_start = a + x_addition;
const float true_end = b - x_addition;
float x_Rmax_1 = true_start;
float x_Rmax_2 = true_end;
const float initial_length = x_Rmax_2 - x_Rmax_1;
float dmax = initial_length;
const float threshold_03 = 0.3f * initial_length;
const float inv_threshold_03 = 1.0f / threshold_03;
const float start_val = (rank % 3) ? RastriginFunc(true_end, d - y_addition) : RastriginFunc(true_start, c + y_addition);
float best_f = (rank % 2) ? RastriginFunc(true_start, d - y_addition) : RastriginFunc(true_end, c + y_addition);
float y_Rmax_1 = start_val;
float y_Rmax_2 = best_f;
std::vector<float, boost::alignment::aligned_allocator<float, 16u>> Extr;
std::vector<Interval1D* __restrict, boost::alignment::aligned_allocator<Interval1D* __restrict, 16u>> R;
Extr.reserve(static_cast<size_t>(global_iterations) << 2u);
R.reserve(static_cast<size_t>(global_iterations) << 1u);
R.emplace_back(new Interval1D(true_start, true_end, start_val, best_f, 2.0f));
const Interval1D* __restrict top_ptr = R.front();
float Mmax = R.front()->M;
float m = r * Mmax;
while (true) {
const float interval_len = x_Rmax_2 - x_Rmax_1;
const bool stagnation = no_improve > 100 && counter > 270;
const float p = fmaf(-1.0f / initial_length, dmax, 1.0f);
while (g_world->iprobe(boost::mpi::any_source, 0)) {
MultiCrossMsg in;
g_world->recv(boost::mpi::any_source, 0, in);
const MultiCrossMsg& mX = in;
unsigned ii = 0;
while (ii < mX.count) {
const float* d2 = &mX.intervals[ii * 5];
float sx = d2[0];
float ex = d2[2];
if (ex > sx) {
Interval1D* __restrict injected = new Interval1D(sx, ex, RastriginFunc(d2[0], d2[1]), RastriginFunc(d2[2], d2[3]), 2.0f);
injected->ChangeCharacteristic(m);
if (injected->R > 1.15f * top_ptr->R) {
const float poly = fmaf(p * 0.69314718055994530941723212145818f, fmaf(p * 0.69314718055994530941723212145818f, fmaf(p * 0.69314718055994530941723212145818f, fmaf(p * 0.69314718055994530941723212145818f, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f) - 1.0f;
const float k = stagnation ? fmaf(0.5819767068693265f, poly, 0.3f) : fmaf(0.3491860241215959f, poly, 0.6f);
injected->R = d2[4] * k;
R.emplace_back(injected);
std::push_heap(R.begin(), R.end(), ComparePtr1D);
}
}
++ii;
}
}
const int T = static_cast<int>(fmaf(-(fmaf(p * 0.69314718055994530941723212145818f, fmaf(p * 0.69314718055994530941723212145818f, fmaf(p * 0.69314718055994530941723212145818f, fmaf(p * 0.69314718055994530941723212145818f, 0.00833333377f, 0.0416666679f), 0.16666667f), 0.5f), 1.0f) - 1.0f), 264.0f, 277.0f));
const bool want_term = interval_len < epsilon || counter == static_cast<int>(global_iterations);
if (!(++counter % T) || stagnation) {
if (!want_term) {
MultiCrossMsg out;
float s_x1;
float s_x2;
float e_x1;
float e_x2;
HitTest2D_analytic(top_ptr->x1, s_x1, s_x2);
HitTest2D_analytic(top_ptr->x2, e_x1, e_x2);
out.intervals[0] = s_x1;
out.intervals[1] = s_x2;
out.intervals[2] = e_x1;
out.intervals[3] = e_x2;
out.intervals[4] = top_ptr->R;
out.count = 1;
int i2 = 0;
while (i2 < world_size) {
if (i2 != rank)
g_world->isend(i2, 0, out);
++i2;
}
}
}
if (want_term) {
if (!rank) {
Extr.emplace_back(static_cast<float>(counter));
Extr.emplace_back(interval_len);
*out_len = Extr.size();
out_data = static_cast<float __restrict>(CoTaskMemAlloc(sizeof(float) * (out_len)));
memcpy(out_data, Extr.data(), sizeof(float) * (out_len));
}
return;
}
const float new_point = step(m, x_Rmax_1, x_Rmax_2, y_Rmax_1, y_Rmax_2, 2.0f, r);
float new_x1_val;
float new_x2_val;
HitTest2D_analytic(new_point, new_x1_val, new_x2_val);
const float new_value = RastriginFunc(new_x1_val, new_x2_val);
if (new_value < best_f) {
best_f = new_value;
Extr.emplace_back(best_f);
Extr.emplace_back(new_x1_val);
Extr.emplace_back(new_x2_val);
no_improve = 0;
}
else
++no_improve;
std::pop_heap(R.begin(), R.end(), ComparePtr1D);
Interval1D __restrict intermediate = R.back();
const float segment_x1 = intermediate->x1;
const float segment_x2 = intermediate->x2;
const float len2 = segment_x2 - new_point;
const float len1 = new_point - segment_x1;
Interval1D __restrict curr = new Interval1D(segment_x1, new_point, intermediate->y1, new_value, 2.0f);
Interval1D __restrict curr1 = new Interval1D(new_point, segment_x2, new_value, intermediate->y2, 2.0f);
const float currM = (std::max)(curr->M, curr1->M);
const size_t r_size = R.size();
if (mode) {
if (len2 + len1 == dmax) {
dmax = (std::max)(len1, len2);
for (auto pI : R) {
const float L = pI->x2 - pI->x1;
if (L > dmax)
dmax = L;
}
}
if ((threshold_03 > dmax && !(counter % 3)) || 10.0f * dmax < initial_length) {
if (currM > Mmax) {
Mmax = currM;
m = r * Mmax;
}
const float progress = fmaf(-inv_threshold_03, dmax, 1.0f);
const float alpha = progress * progress;
const float betta = 2.0f - alpha;
const float MULTIPLIER = (1.0f / dmax) * Mmax;
const float global_coeff = fmaf(MULTIPLIER, r, -MULTIPLIER);
const float GLOBAL_FACTOR = betta * global_coeff;
curr->ChangeCharacteristic(fmaf(GLOBAL_FACTOR, len1, curr->M * alpha));
curr1->ChangeCharacteristic(fmaf(GLOBAL_FACTOR, len2, curr1->M * alpha));
RecomputeR_AffineM_AVX2_1D(R.data(), r_size, GLOBAL_FACTOR, alpha);
std::make_heap(R.begin(), R.end(), ComparePtr1D);
}
else {
if (currM > Mmax) {
if (currM < 1.15f * Mmax) {
Mmax = currM;
m = r * Mmax;
curr->ChangeCharacteristic(m);
curr1->ChangeCharacteristic(m);
}
else {
Mmax = currM;
m = r * Mmax;
curr->ChangeCharacteristic(m);
curr1->ChangeCharacteristic(m);
RecomputeR_ConstM_AVX2_1D(R.data(), r_size, m);
std::make_heap(R.begin(), R.end(), ComparePtr1D);
}
}
else {
curr->ChangeCharacteristic(m);
curr1->ChangeCharacteristic(m);
}
}
}
else {
if (currM > Mmax) {
if (currM < 1.15f * Mmax) {
Mmax = currM;
m = r * Mmax;
curr->ChangeCharacteristic(m);
curr1->ChangeCharacteristic(m);
}
else {
Mmax = currM;
m = r * Mmax;
curr->ChangeCharacteristic(m);
curr1->ChangeCharacteristic(m);
RecomputeR_ConstM_AVX2_1D(R.data(), r_size, m);
std::make_heap(R.begin(), R.end(), ComparePtr1D);
}
}
else {
curr->ChangeCharacteristic(m);
curr1->ChangeCharacteristic(m);
}
}
R.back() = curr;
std::push_heap(R.begin(), R.end(), ComparePtr1D);
R.emplace_back(curr1);
std::push_heap(R.begin(), R.end(), ComparePtr1D);
top_ptr = R.front();
x_Rmax_1 = top_ptr->x1;
x_Rmax_2 = top_ptr->x2;
y_Rmax_1 = top_ptr->y1;
y_Rmax_2 = top_ptr->y2;
}
}

__declspec(align(16)) struct RunParams final sealed{
int nSegments;
unsigned varLen;
float minTheta;
float tx;
float ty;
int maxIter;
float r;
unsigned adaptive;
float eps;
unsigned seed;
float baseLength;
float stretchFactor;

text
	template <typename Archive>
	void serialize(Archive& ar, unsigned int) {
			ar& nSegments& varLen& minTheta& tx& ty& maxIter& r& adaptive& eps& seed& baseLength& stretchFactor;
	}

};

extern "C" __declspec(dllexport) __declspec(noalias) __forceinline void AgpStartManipND(
int nSegments,
bool variableLengths,
float minTheta,
float targetX,
float targetY,
int maxIterPerBranch,
float r,
bool adaptiveMode,
float epsilon,
unsigned int seed,
float baseLength,
float stretchFactor) noexcept {
RunParams p;
p.nSegments = nSegments;
p.varLen = static_cast<unsigned>(variableLengths);
p.minTheta = minTheta;
p.tx = targetX;
p.ty = targetY;
p.maxIter = maxIterPerBranch;
p.r = r;
p.adaptive = static_cast<unsigned>(adaptiveMode);
p.eps = epsilon;
p.seed = seed;
p.baseLength = baseLength;
p.stretchFactor = stretchFactor;
int i = 1;
const int world = g_world->size();
while (i < world) {
g_world->isend(i, 1, p);
++i;
}
}

extern "C" __declspec(dllexport) __declspec(noalias) __forceinline void AgpWaitStartAndRun() noexcept {
RunParams p;
float* __restrict q;
size_t qlen;
float bx;
float by;
float bf;
size_t oi;
float oa;
while (true) {
if (g_world->iprobe(0, 1)) {
g_world->recv(0, 1, p);
AGP_Manip2D(p.nSegments, static_cast<bool>(p.varLen), p.minTheta, p.tx, p.ty, p.maxIter, p.r, static_cast<bool>(p.adaptive), p.eps, p.seed, p.baseLength, p.stretchFactor, &q, &qlen, &bx, &by, &bf, &oi, &oa);
}
Sleep(0);
}
}

extern "C" __declspec(dllexport) __declspec(noalias) __forceinline void AgpWaitStartAndRun2D() noexcept {
int dummy;
float* __restrict buf;
size_t len;
while (true) {
if (g_world->iprobe(0, 1)) {
g_world->recv(0, 1, dummy);
AGP_2D(2.0f, 10000.0f, -2.2f, 1.8f, -2.2f, 1.8f, 2.5f, false, 0.00001f, static_cast<float>(GetTickCount()), &buf, &len);
}
Sleep(0);
}
}

extern "C" __declspec(dllexport) __declspec(noalias) __forceinline void AgpStartWorkers() noexcept {
int i = 1;
const int world = g_world->size();
while (i < world) {
g_world->isend(i, 1, 0);
++i;
}
}

extern "C" __declspec(dllexport) __declspec(noalias) __forceinline void AGP_Free(float* p) noexcept {
CoTaskMemFree(p);
}

extern "C" __declspec(dllexport) __declspec(noalias) void RunPythonOptimization(
const char* backend,
int n_seg,
bool var_len,
float min_theta,
float tx,
float ty,
int levels,
int max_iter,
float r_param,
float eps,
bool adaptive,
float baseLength,
float stretchFactor,
float* __restrict out_bestF,
float* __restrict out_bestX,
float* __restrict out_bestY,
float* __restrict out_angles,
float* __restrict out_lengths,
int* __restrict out_iterations,
float* __restrict out_eps,
float* __restrict out_micros) noexcept {
pybind11::gil_scoped_acquire gil;
pybind11::dict result;
if (backend && strcmp(backend, "optuna") == 0) {
result = (*g_pyOptimizerBridge).attr("run_optuna")(n_seg, var_len, min_theta, tx, ty, max_iter, baseLength, stretchFactor);
}
else {
result = (*g_pyOptimizerBridge).attr("run_iopt")(n_seg, var_len, min_theta, tx, ty, levels, max_iter, r_param, eps, adaptive, baseLength, stretchFactor);
}
*out_bestF = result["BEST_F"].cast<float>();
*out_bestX = result["BEST_X"].cast<float>();
*out_bestY = result["BEST_Y"].cast<float>();
*out_iterations = result["ITERATIONS"].cast<int>();
out_eps = result["EPS"].cast<float>();
out_micros = result["TIME"].cast<float>();
std::vector<float> angles_vec = result["ANGLES"].cast<std::vector<float>>();
std::vector<float> lengths_vec = result["LENGTHS"].cast<std::vector<float>>();
const size_t n = static_cast<size_t>(n_seg);
if (out_angles) {
const size_t m = angles_vec.size();
const size_t limit = m < n ? m : n;
const float __restrict src = angles_vec.data();
size_t i = 0;
#pragma loop ivdep
while (i < limit) {
out_angles[i] = src[i];
++i;
}
}
if (out_lengths) {
if (var_len) {
const size_t mL = lengths_vec.size();
const size_t limitL = mL < n ? mL : n;
const float __restrict srcL = lengths_vec.data();
size_t j = 0;
#pragma loop ivdep
while (j < limitL) {
out_lengths[j] = srcL[j];
++j;
}
}
else {
const float one = 1.0f;
size_t j = 0;
#pragma loop ivdep
while (j < n) {
out_lengths[j] = one;
++j;
}
}
}
}" - это код моей библиотеки для оптимизации положения захвата роботов-манипуляторов, сейчас мой алгоритм быстрее в среднем фреймворка iOpt примерно в 88 раз, и optuna в среднем свыше чем в 400 раз примерно, но выборке из испытаний от 1 до 7 размерностей включительно, по 50 испытаний на каждый порог итераций с порогами от 100 до 1000 причём по точности мой алгоритм всё же незначительно сейчас уступает iOpt и значительно уступает optuna, что скажешь?