Crowd Simulation: A Distributed Cognitive Model

8/14/2019 Crowd Simulation: A Distributed Cognitive Model

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Crowd Simulation: A Distributed Cognitive Model Cognitive Modelling (31916)

Crowd Simulation:A Distributed Cognitive Model

Steve Agland (98075207)Cognitive Modelling (31916)

[email protected]

[email protected]

Lecturer: Robert Rist

Abstract

This paper describes a distributed cognitive model designed to simulate a crowd of simplecreatures, which react in certain ways to stimulation from their environment, including other crowd

members. The intended application of this simulation is to generate 3D data for use in automatically

animating these creatures in a computer-generated short film. The creatures follow a set ofbehavioural rules which allow the to look at other objects in the environment (represented by

points in space), move towards objects, move away from objects and avoid running into otherobjects all the while.

Background

This model has been designed to be used to generate lists of 3D


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rules, which specify how they are to respond to stimuli from their environment. These stimuliinclude the influence of other crowd members or independent distractions. Distractions areanimated objects exerting an influence on certain crowd members. The data for these distractions

can be pre-generated usingHoudinis 3D animation tools and saved to files, which are read in asinput to the simulation.

Knowledge Representation

The cognitive model described herein has been implemented in LISP/CLOS using an object-

oriented system.

The World

The knowledge represented is encapsulated in a World object. The world knows three things:

What time it is, i.e., it maintains a frame counter. Time is represented in frames, 25 to a

second, which is PAL video standard. This simplifies synchronisation with the rest ofthe animation. Time starts at frame 1.

The population of the crowd. The crowd is represented by a list of Agents(see below). The distractions. The distractions are represented as a list ofInfluences (see below).

Agents

An agent represents a crowd-member, a Slinky, a creature. Since this is a distributed cognitivemodel, an agent encapsulates almost the entirety of that model. Each agent has a brain, essentially.

The information stored in an agent includes:


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An influence has four components:

A 3D point in space, from whence the effect emanates. A strength, or weight, used to balance or prioritise different influences

An attenuation radius. At this distance from the point, the actual effect of the influence ishalfof the strength. At twice this distance, the actual effect is one quarterof the

strength, and so on. This way, influence effects get exponentially stronger the closer anagent gets to the point. This appears to be optimal for the effect types used here.

An effect type. Four influence types are declared, and each affects agent behaviour in

different ways:o Look at This effect will cause an agent simply to turn is head towards theinfluences point of origin.

o Attract This effect will cause an agent to move towards the point of origin.

o Repel This effect will cause an agent to move away from the point of origin.o Avoid This has a double effect: above a certain actual strength it is equivalent

to repel, otherwise, if the agent is moving, it will try to steer past the point oforigin. This behaviour is described in more detail below.

Knowledge

Simulating knowledge is achieved when each agent senses nearby influences or, rather, receivesfrom the World object a list of influence effects above a certain actual strength threshold.

Mechanism


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Now the agent works on movement. The above procedure of moving an agents head so that it isleaning is an operation relative to the agents foot. This means that moving the foot around is all

that needs to be done, since the head will look after itself. Slinky heads lagging behind their feet isactually quite an amusing and appropriate effect. Therefore, movement operations of the agent as a

whole are only applied to the position of the foot.

The attraction point (if any) and all the repulsion points (if any) are all normalised and added

together (multiplied by their weightings, and 1 for repulsion points) to create a general point thatthe agent would most like to move towards. If there are no attraction or repulsion points then the

agent will not bother with any movement-related processing.

If the agent does have somewhere it wants to go, but there are points that it has been warned to steer

away from, it tries to decide which direction would be the best way to go in order to: (a) avoidhitting any obstructions and (b) reach its destination.

This is done by determining gaps: the obstructions (consisting of a points and a weights) areconverted to a rotation in degrees on the Y (up/down) axis and sorted by this value. This list is

converted into a list of gaps, through which an agent might navigate. A gap has a direction (indegrees, offset from the intended direction), a strength (the combined weight of the two

obstructions on either side), and a width (also in degrees). The agent then chooses the gap which is(a) close to its intended direction (b) wide enough, and (c) not too dangerous, as indicated by thestrengths. The formula for combining these attributes into a gap score is difficult to determine and

the current implementation has some problems with agents sometimes selecting gaps that, to humaneyes, are very bad choices. In fact, it may be found that using repulsion only will be an effective

enough mechanism to obtain collision avoidance.


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Frame Image Commentary1 The agents start out in random positions near the

centre of the world, facing random directions. A

sphere representing the distractions can be seen inthe top-right.

25 The agents are starting to turn their heads.

Currently, the distraction is not exerting anyinfluence over the agents, since its attenuationradius (which cannot be seen in these illustrations)

is too small. The agents are turning, however inresponse to the look atinfluences that each has overthe other.

50 By now the agents have completed their turns andare looking at whomever each agent thinks is mostworth looking at. All three of the smaller agent have

decided to look at the larger one. The large one islooking at the one on his left. You may also noticethat, under the glare of the large agent, the smaller

one has backed away. This is due to the avoidinfluence on the large agents head.


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150 The agents automatically adjust their course, andthe direction of their gaze to follow the distractionas it moves past them. Notice here that the agent at

the rear is responding to the large agents avoidinfluence and is hanging back.

175 The smaller agent, more agile than the rest isbeginning to take a significant lead, while the agent

at the rear lags even further behind, repulsed by thelarge agents avoideffect.

200 A collision is imminent between the large agent and

the one directly next to it.

225 Th t th t b t t llid ith th l


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Acknowledgements

The model described herein is partially based on a distributed behaviour model [1] designed byCraig Reynolds (Reynolds, 1987). Reynolds system was designed to simulate the behaviour offlocks of birds, school fish and other groups of animals that exhibit synchronised group behaviour.

The agents in Reynolds system are called boids, and the model was based more on the flight ofbirds than anything else. It was therefore not appropriate to adopt Reynolds system in its entirety ascreatures in this case only move on a two-dimensional plane and factors such as banking (the

rotation around the axis of movement as a bird or plane changes direction), included in Reynoldsmodel are not necessary here.

Flocks ofboids, or rather the boids themselves exhibit three types of behaviour:

Collision Avoidance: avoid collision with nearby flockmates

Velocity Matching: attempt to match the velocity with nearby flockmates

Flock Centering: attempt to stay close to nearby flockmates

Each frame, for each boid, nearby flockmates are analysed in regards to these three rules, and a

vector generated for each one, respectively:

A vector pointing away from very nearby flockmates

A vector for the average directional velocity of nearby flockmates

A vector towards the midpoint of a set of nearby flockmates

These vectors are combined in such a way to produce an updated velocity for the boid.


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motivations (e.g. "run up this hill, avoiding any obstacles, and kill any goblins I can see once Ireach the top") and the environment ("respond to the distress cries of fellow soldiers or duck anyswinging axes"). A detailed and fascinating article [3] on this system (among other things) by Jody

Duncan can be found in the references.

References

1. Reynolds, C. W., Flocks, Herds, and Schools: A Distributed Behavioral Model, ComputerGraphics, 21(4), July 1987, pp, 25-34

2. Watt, A., 3D Computer Graphics, Addison-Wesley, 1993

3. Duncan, J., Ring Masters, Cinefex, No: 98, pp: 84 904. Rist, R., Cognitive Modelling Lecture Notes: Production Systems, 2002

5. Steele, G. L., Common Lisp the Language, 2nd Edition, Digital Press, 19906. Pitman, K., et. al., [Xanalys] Common Lisp Hyperspec,

http://www.xanalys.com/software_tools/reference/HyperSpec/

7. Side Effects Software, Houdini Reference Manual, Side Effects Software, 1999


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(if (setf n (position chr str))

(cons (subseq str 0 n) (split (subseq str (1+ n)) chr))

(list str)))

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; Joins a list of strings into a single string(defun join (list chr)

(if (> (length list) 0)


(concatenate 'string (first list) (if (stringp chr) chr "") (join (rest list) chr))

(first list))

""))

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; Takes a dotted list ((weight . value)*)

; returns (total_weight . weighted_average_value)

(defun weighted_avg (list)

(setf n (first list))


(progn

(setf r (weighted_avg (rest list)))

(setf x (+ (first r) (first (first list))))

(cons

x

(/

(+ (* (first r) (rest r))

(* (first (first list)) (rest (first list)))) x)))

(first list)))

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; Lazy float parser, return 0 if the

; string is blank or full of junk

(defun tolerant-parse-float (str)

(unless (setf r (parse-float str :junk-allowed t))

(setf r 0))

r)

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

i l i l


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(defmethod vabs ((v1 vector))

(map 'vector 'abs v1))

(defmethod vdistance ((v1 vector) &optional (v2 () vector))

(when (> (length v2) 0)

(setf v1 (v- v1 v2)))(if (> (length v1) 1)

(sqrt (+ (expt (aref v1 0) 2) (expt (vdistance (subseq v1 1)) 2)))

(aref v1 0)))

(defmethod vnormalise ((v1 vector))

(v/ v1 (vdistance v1)))

; Makes sure none of a vectors elements exceeds a certain max abs value

(defun abstrim (val max)

(max (* -1 (abs max)) (min (abs max) val)))

(defmethod vabstrim ((v1 vector) (v2 vector))

(map 'vector 'abstrim v1 v2))

(defmethod vabstrim ((v1 vector) (max real)) ; Uses the length of the vector to trim

(if (> (vdistance v1) max)

(v* (vnormalise v1) max)

v1))

;;;;;;;;;;;;;;;;;;;;;

; Radians and degrees

(defun rad2deg (x) (/ x (/ pi 180)))

(defun deg2rad (x) (* x (/ pi 180)))

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; Exponential decay or attentuation - how the influence dies off

(defun attenuate (s d a)

(* s (expt 2.7182817 (* -0.6931472 (/ d a)))))

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; Takes two points in 3D space. Returns the lookat

; vector to look from the first point to the second.

; A lookat vector is defined as a 3D vector of which

; only the first two components are significant.

; This function will always return 0 for the Z component.


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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; Given a pair of coords, calculates the angle

; around the circle on the plane (in degrees)

; Starts at positive x axis

(defun circular_angle (x y)(setf a (rad2deg

(if (not (= x 0))

(abs (atan (/ y x)))

(/ pi 2))))

(cond

((and (> y 0) (


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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

;; HELIX CROWD SIMULATOR ------- (C) Copyright Steve Agland 2002 ;;

;;

;;-----------------------------------------------------------------;;

;; $Source: /home/cvsroot/helix_crowd/datawriter.lisp,v $

;; $Revision: 1.1 $;; $Author: agi $

;; $Date: 2002/06/04 15:16:58 $

;;-----------------------------------------------------------------;;

;; [email protected] ;;

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; This handy little class just writes tables of numeric

; data to a tab-delimted .chan file generated by for use

; by Houdini (other formats too complicated ot bother with)

(defclass DataWriter ()

((filename :accessor filename:documentation "The path to the file being read in"

:initform ""

:initarg :filename

:type 'string)

(output_stream :accessor output_stream

:documentation "The filestream, which'll be opened when we need it"

:initform ())))

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; Opens the filestream, ready to go; If its already open, leave it open

; return the stream in either case

(defmethod open_stream ((dw DataWriter))

(unless (AND (output_stream dw) (open-stream-p (output_stream dw)))

(setf (output_stream dw) (open (filename dw) :direction :output)))

(output_stream dw))

;;;;;;;;;;;;;;;;;;;;;;;

; Closes the filestream

(defmethod close_stream ((dw DataWriter))

(close (output_stream dw)))


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(defclass World ()

((frame :accessor frame

:documentation "The global timestamp, measured in frames"

:initform 0 ; Empty list

:initarg :frame

:type 'integer)(agents :accessor agents

:documentation "The list of agents"

:initform () ; Empty list

:initarg :agents

:type 'list)

(distractions :accessor distractions

:documentation "The list of distractions (Influences)"

:initform () ; Empty list

:initarg :distractions

:type 'list)

(distractions_in :accessor distractions_in

:documentation "A Datareader for reading in distraction info.":initform ()

:initarg distractions_in

:type 'datareader)))

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; Initializes and populates the world with info read in

; from data files

(defmethod populate ((w World))

(setf (frame w) 0)

(write-line "")(write-string "Populating World with Agents:")

(setf (agents w)

(generate_agents w

(setf adr (make-instance 'DataReader :filename

(concatenate 'string *source_root* "/init/agent_init.chan")))

1))

; Clean up

(close_stream adr)

; Get distraction file ready for reading

(setf (distractions_in w) (make-instance 'DataReader :filename

(concatenate 'string *source_root* "/init/distraction_init.chan")))


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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; Gets all the agents to update the appropriate

; data according to the state of the world at this frame

(defmethod update_agent_frame_data ((w World))

(loop for agent in (agents w)

do (princ ".")(update_frame_data agent)))

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; Gets all the agents to save the appropriate data

; to the appropriate files for the current frame

(defmethod save_agent_frame_data ((w World))

(loop for agent in (agents w)

do (princ ".")

(save_frame_data agent)))

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; Reads in another line of distraction information

; from the file, representing one frame.

(defmethod update_distraction_frame_data ((w World))

(setf data (rest (read_line_floats (distractions_in w))))

(setf (distractions w) ())

; Six elements of data for each distraction

(loop for i from 0 to (setf d_count (floor (/ (length data) 6))) do

(setf (distractions w) (cons

(make-instance 'Influence

:atten (nth (+ (* 0 d_count) i) data):strength (nth (+ (* 1 d_count) i) data)

:pos (vector

(nth (+ (* 2 d_count) i) data)

(nth (+ (* 3 d_count) i) data)

(nth (+ (* 4 d_count) i) data))

:effect (nth (+ (* 5 d_count) i) data))

(distractions w)))))

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; Given a point, goes thruogh all the entities in


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:type 'list)))

(defmethod add_influence

((e Entity) (pos vector) (effect integer)

(strength real) (atten real))

(setf (influences e) (append(influences e)

(list (make-instance 'Influence

:pos pos :effect effect :strength strength :atten atten)))))

(defmethod clear_influences ((e Entity))

(setf (influences e) ()))

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; Include the child Entity types

(include "agent.lisp");(include "distraction.lisp") ; Obsolete

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

;; HELIX CROWD SIMULATOR ------- (C) Copyright Steve Agland 2002 ;;

;;

;;-----------------------------------------------------------------;;

;; $Source: /home/cvsroot/helix_crowd/influence.lisp,v $

;; $Revision: 1.3 $

;; $Author: agi $

;; $Date: 2002/06/11 14:56:53 $

;;-----------------------------------------------------------------;;;; [email protected] ;;

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

;;;;;;;;;;;;;;;;;;;;;;

; Define some globals

(defconstant *influence_null* 0)

(defconstant *influence_look_at* 1)

(defconstant *influence_attract* 2)

(defconstant *influence_repel* 3)

(defconstant *influence_avoid* 4)


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(when (>

(setf weight

(attenuate (strength i) (vdistance p (pos i)) (atten i)))

thres)

(vector (effect i) (pos i) weight)))

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; HELIX CROWD SIMULATOR ------- (C) Copyright Steve Agland 2002 ;;

;;

;;-----------------------------------------------------------------;;

;; $Source: /home/cvsroot/helix_crowd/agent.lisp,v $

;; $Revision: 1.5 $

;; $Author: agi $

;; $Date: 2002/06/14 02:34:29 $

;;-----------------------------------------------------------------;;

;; [email protected] ;;

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; An agent is an "intelligent" object that changes its state

; according to environmental factors

; Now for the purposes of this application, the agents are

; slinkies, or essentailly double-headed worms. They have two

; ends each of which has a position and a rotation.

; Each end/position/rotation combo also has a velocity, hend

; the first 8 slots below

(defclass Agent (Entity)

(

; These first 8 slots are for 3D information, storing; the position and rotation of the two ends. The other

; four are "velocity" values - that is, how fast each

; of the previous four attributes is changing, and in

; which direction.

;

; End 1

(pos1 :accessor pos1

:documentation "The position one end of the agent in 3D space"

:initform #(0 0 0) ; Origin

:initarg :pos1

:type 'vector)


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(radius :accessor radius

:documentation "The radius of the coils."

:initform 5

:initarg :radius

:type 'float)

(coil_count :accessor coil_count:documentation "The number of coils."

:initform 40

:initarg :documentation

:type 'float)

(strand_height :accessor strand_height

:documentation "The height of the slinky strand."

:initform 5

:initarg :strand_height

:type 'float)

(stepp :accessor stepp

:documentation "A value between 0 and 1 indicating whether the slinky sits on one foot or

the other, or somewhere slinkin' in between.":initform 0.4

:initarg :stepp ; Corresponds to "step" in houdini :/

:type 'float)

(step_speed :accessor step_speed

:documentation "To do with how stretchy the slinky is as it steps."

:initform 0.3

:initarg :step_speed

:type 'float)

(step_height :accessor step_height

:documentation "Controls the extent of the arc made by the coils as they step."

:initform 1:initarg :step_height

:type 'float)

; Personality data. These are weightings which determine how the

; agent behaves.

(max_vel1 :accessor max_vel1

:documentation "The maximum velocity any pos1 may move. cm/frame"

:initform 0.25

:initarg :max_vel1

:type 'float)

(max_vel2 :accessor max_vel2

:documentation "The maximum velocity any pos2 may move. cm/frame"


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;(defmethod (setf vrot2) ((a Agent) (v vector))

; (print "[vrot2]") (setf (slot-value a 'vrot2) (vabstrim (mod_balanced_lookat_vector v)

(max_rot_vel a))))

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Initializes the physical attributes of the

; agent based on a list of values sent through

; in an expected order.

(defmethod initialise ((a Agent) (data list) (id integer))

; ID

(setf (id a) id)

; Geometirc data

; First three data = pos1 vector

(setf (pos1 a) (make-array 3 :initial-contents (subseq data 0 3)))

; Second three data = pos2 vector(setf (pos2 a) (make-array 3 :initial-contents (subseq data 3 6)))

; First end rotation from face-down to point at the third vector from pos1

(setf (rot1 a)

(lookat_vector3

(pos1 a)

(make-array 3 :initial-contents (subseq data 6 9))))

;(setf (rot1 a) (make-array 3 :initial-contents (subseq data 6 9)))

; Second end always init flat (on ground)

(setf (rot2 a) #(0 0 0))

; Other slinky attributes

(setf (radius a) (nth 9 data))

(setf (coil_count a) (nth 10 data))

(setf (strand_height a) (nth 11 data))

(setf (stepp a) (nth 12 data))

(setf (step_speed a) (nth 13 data))

(setf (step_height a) (nth 14 data))

; Aglility less the bigger you are

(setf (accel1 a) (/ 0.3 (radius a)))

(setf (accel2 a) (/ 0.2 (radius a)))


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(setf look_at_pos (cons (aref effect 2) (aref effect 1)))))

; Attracting/move-to effects

; Note that attacting, repelling and avoiding are all done on

; the XZ plane only... y has no effect

; Note all the positions are converted to RELATIVE positions

((= (aref effect 0) *influence_attract*)(when (> (aref effect 2) (first move_to_pos))

(setf move_to_pos

(cons (aref effect 2) (v- (xz (aref effect 1)) (xz (pos2 a)))))))

; Avoiding/repelling

((= (aref effect 0) *influence_repel*)

(setf move_from_poss

(cons

(cons (aref effect 2) (v- (xz (aref effect 1)) (xz (pos2 a))))

move_from_poss)))

((= (aref effect 0) *influence_avoid*)

(if (> (aref effect 2) 0.7) ; Big? Run away. Small? Steer clear.

; Repelling(setf move_from_poss

(cons


move_from_poss))

; Avoiding

(setf steer_from_poss

(cons


steer_from_poss))))

))

; React to lookat effects

(setf diff (v- (lookat_vector3 (pos1 a) (rest look_at_pos)) (rot1 a)))

(setf (aref diff 1) (mod_balanced_angle (y diff)))

; agility & max_rot_vel

(setf (vrot1 a) (vabstrim

(v+ (vrot1 a)

(vabstrim (v- diff (vrot1 a)) (agility a)))

(max_rot_vel a)))


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(v* (vnormalise (rest move_from_pos)) (first move_from_pos)))))

; Now factor in the steering

; To do !

(unless (or (and (= 0 (x direction)) (= 0 (y direction))) (= 0 (length steer_from_poss)))(setf dir_rot (y (lookat_vector3 #(0 0 0) (vector (x direction) 0 (y direction)))))

(setf obstructions ()) ; A list of (importance . direction_rot) obstructions

(loop for steer_from_pos in steer_from_poss do

(when ; When the difference between the direction of the point and the direction

; is less than 90, only then do we care about it.

(< (abs (setf diff_dir_rot (mod_balanced_angle (-

(y (lookat_vector3 #(0 0 0) (vector (x (rest steer_from_pos)) 0 (y (rest

steer_from_pos)))))

dir_rot)))) 90)

(setf obstructions (cons (cons (first steer_from_pos) diff_dir_rot) obstructions))))

(unless (= 0 (length obstructions))

; Find gaps in the obstructions(setf gaps (obstructions_to_gaps obstructions))

; Now we have to choose which gap is the best to head for.

; We need to consider gap width, the importance of avoiding

; the obstructions on either side, and its vaiation from our

; real goal. God knows what the best formula is here.

(setf diff_dir_rot 0)

(setf max_gap_score 0)

(loop for gap in gaps do

(when (> (setf gap_score (evaluate_gap gap)) max_gap_score)

(setf max_gap_score gap_score)

(setf diff_dir_rot (aref gap 2))))

; Okay now we alter the direction to account for this.

(setf direction (circular_vector (+ dir_rot diff_dir_rot)))

; Correct for planar weirdness :/

(setf direction (vector (* -1 (y direction)) (x direction)))))

; Okay, either there's somewhere we want to go or otherwise we want to stop/stay

(if (and (= 0 (x direction)) (= 0 (y direction)))

; If we're moving/Unless we're stopped, slow down!

(unless (and (= 0 (x (vpos2 a))) (= 0 (z (vpos2 a))))

(setf (vpos2 a) (v+ (vpos2 a)

(vabstrim (v* (vpos2 a) -1) (* 1 (accel2 a)))))) ; Better at stopping than starting


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although bigger ones often win

(* (radius a) 10)) ; Fairly wide range of lookat appeal

(add_influence a

(pos1 a) ; top end

*influence_avoid* ; Avoid me!(+ 5 (* (y (pos1 a)) 0.02)) ; Higher slinkies are more avoidable

(* (radius a) 1))

(add_influence a

(pos2 a) ; bottom end

*influence_avoid* ; Avoid me!

5

(* (radius a) 1)) ; Higher slinkies are more avoidable

)

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

; Used in steering, this function converts; a list of obstructions into a list of "gaps"

; Obstructions are supplied in a form of a vector:

; #(weight width_in_degrees direction_in_degrees) orderd by direction

(defun obstructions_to_gaps (obstructions)

(obstructions_to_gaps_rec ; The (0.1 . 90) is a virtual avoidance point to allow making a gap on

the very left

(cons '(0.2 . -90) (sort obstructions #'< :key #'rest))))

(defun obstructions_to_gaps_rec (obstructions)

(if (> (length obstructions) 1)

(cons

(two_obstructions_to_gap (subseq obstructions 0 2))

(obstructions_to_gaps_rec (rest obstructions)))

(list (two_obstructions_to_gap (list (first obstructions) '(0.2 . 90))))))

(defun two_obstructions_to_gap (obstructions)

(setf a (weighted_avg (subseq obstructions 0 2)))

(vector

(first a)

(- (rest (second obstructions)) (rest (first obstructions)))

(rest a)))

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;


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Appendix B Agent Initialisation Data

ID headx heady headz footx footy footz lookatx lookaty lookatz radius

1 -14.0252 21.2994 -13.8131 -18.6633 0 -11.9455 -10.2301 23.197 -15.3412 2.56496

2 15.3514 11.3919 -13.8772 18.895 0 -17.4046 12.4018 9.91714 -10.9411 2.40767

3 -14.4173 16.4055 13.2458 -14.8458 0 8.26419 -14.1967 16.5158 15.8108 4.07485

4 15.2764 16.0869 14.0385 10.7764 0 11.8592 19.127 18.0122 15.9033 2.71713


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Steve Agland (98075207) 25 of 25 14 Jun 2002

Appendix C Distraction Initialisation Data

Frame radius1 radius2 radius3 weight1 weight2 weight3 tx1 tx2 tx3 ty1 ty2 ty3 tz1 tz2 tz3 effect1 effect2 effect3

1 12.7728 13.2645 10 2.23834 1.41278 3 -17.1 -17.1 -17.1 28.1459 28.1459 28.1459 88.9505 88.9505 88.9505 1 2 3

2 12.7728 13.2645 10 2.23834 1.41278 3 -17.1121 -17.1121 -17.1121 28.1472 28.1472 28.1472 88.9444 88.9444 88.9444 1 2 3

3 12.7728 13.2645 10 2.23834 1.41278 3 -17.1481 -17.1481 -17.1481 28.151 28.151 28.151 88.926 88.926 88.926 1 2 3

4 12.7728 13.2645 10 2.23834 1.41278 3 -17.2077 -17.2077 -17.2077 28.1573 28.1573 28.1573 88.8955 88.8955 88.8955 1 2 3

5 12.7728 13.2645 10 2.23834 1.41278 3 -17.2903 -17.2903 -17.2903 28.1659 28.1659 28.1659 88.8528 88.8528 88.8528 1 2 3

6 12.7728 13.2645 10 2.23834 1.41278 3 -17.3957 -17.3957 -17.3957 28.1768 28.1768 28.1768 88.7981 88.7981 88.7981 1 2 37 12.7728 13.2645 10 2.23834 1.41278 3 -17.5232 -17.5232 -17.5232 28.1899 28.1899 28.1899 88.7313 88.7313 88.7313 1 2 3

8 12.7728 13.2645 10 2.23834 1.41278 3 -17.6726 -17.6726 -17.6726 28.2051 28.2051 28.2051 88.6525 88.6525 88.6525 1 2 3

9 12.7728 13.2645 10 2.23834 1.41278 3 -17.8434 -17.8434 -17.8434 28.2223 28.2223 28.2223 88.5618 88.5618 88.5618 1 2 3

10 12.7728 13.2645 10 2.23834 1.41278 3 -18.0352 -18.0352 -18.0352 28.2414 28.2414 28.2414 88.4592 88.4592 88.4592 1 2 3

11 12.7728 13.2645 10 2.23834 1.41278 3 -18.2475 -18.2475 -18.2475 28.2624 28.2624 28.2624 88.3447 88.3447 88.3447 1 2 3

12 12.7728 13.2645 10 2.23834 1.41278 3 -18.4799 -18.4799 -18.4799 28.2851 28.2851 28.2851 88.2183 88.2183 88.2183 1 2 3

13 12.7728 13.2645 10 2.23834 1.41278 3 -18.7321 -18.7321 -18.7321 28.3095 28.3095 28.3095 88.0803 88.0803 88.0803 1 2 3

14 12.7728 13.2645 10 2.23834 1.41278 3 -19.0036 -19.0036 -19.0036 28.3355 28.3355 28.3355 87.9305 87.9305 87.9305 1 2 3

15 12.7728 13.2645 10 2.23834 1.41278 3 -19.2939 -19.2939 -19.2939 28.363 28.363 28.363 87.769 87.769 87.769 1 2 3

16 12.7728 13.2645 10 2.23834 1.41278 3 -19.6027 -19.6027 -19.6027 28.3919 28.3919 28.3919 87.5959 87.5959 87.5959 1 2 3

17 12.7728 13.2645 10 2.23834 1.41278 3 -19.9295 -19.9295 -19.9295 28.4221 28.4221 28.4221 87.4112 87.4112 87.4112 1 2 3

18 12.7728 13.2645 10 2.23834 1.41278 3 -20.274 -20.274 -20.274 28.4535 28.4535 28.4535 87.215 87.215 87.215 1 2 3

19 12.7728 13.2645 10 2.23834 1.41278 3 -20.6356 -20.6356 -20.6356 28.4861 28.4861 28.4861 87.0072 87.0072 87.0072 1 2 3

20 12.7728 13.2645 10 2.23834 1.41278 3 -21.0139 -21.0139 -21.0139 28.5198 28.5198 28.5198 86.7881 86.7881 86.7881 1 2 3

21 12.7728 13.2645 10 2.23834 1.41278 3 -21.4086 -21.4086 -21.4086 28.5545 28.5545 28.5545 86.5575 86.5575 86.5575 1 2 3

22 12.8148 13.2645 10 2.23834 1.41278 3 -21.8192 -21.8192 -21.8192 28.59 28.59 28.59 86.3155 86.3155 86.3155 1 2 323 12.9394 13.2645 10 2.23834 1.41278 3 -22.2454 -22.2454 -22.2454 28.6264 28.6264 28.6264 86.0623 86.0623 86.0623 1 2 3

24 13.1444 13.2645 10 2.23834 1.41278 3 -22.6865 -22.6865 -22.6865 28.6635 28.6635 28.6635 85.7978 85.7978 85.7978 1 2 3

25 13.428 13.2645 10 2.23834 1.41278 3 -23.1424 -23.1424 -23.1424 28.7012 28.7012 28.7012 85.522 85.522 85.522 1 2 3

26 13.7879 13.2645 10 2.23834 1.41278 3 -23.6124 -23.6124 -23.6124 28.7395 28.7395 28.7395 85.2351 85.2351 85.2351 1 2 3

27 14.2222 13.2645 10 2.23834 1.41278 3 -24.0963 -24.0963 -24.0963 28.7783 28.7783 28.7783 84.9371 84.9371 84.9371 1 2 3

28 14.7287 13.2645 10 2.23834 1.41278 3 -24.5936 -24.5936 -24.5936 28.8174 28.8174 28.8174 84.6279 84.6279 84.6279 1 2 3

29 15.3054 13.2645 10 2.23834 1.41278 3 -25.1038 -25.1038 -25.1038 28.8568 28.8568 28.8568 84.3078 84.3078 84.3078 1 2 3

30 15.9502 13.2645 10 2.23834 1.41278 3 -25.6266 -25.6266 -25.6266 28.8964 28.8964 28.8964 83.9766 83.9766 83.9766 1 2 3

31 16.6612 13.2645 10 2.23834 1.41278 3 -26.1614 -26.1614 -26.1614 28.9362 28.9362 28.9362 83.6345 83.6345 83.6345 1 2 3

32 17.4361 13.2645 10 2.23834 1.41278 3 -26.708 -26.708 -26.708 28.976 28.976 28.976 83.2815 83.2815 83.2815 1 2 3

33 18.2729 13.2645 10 2.23834 1.41278 3 -27.2659 -27.2659 -27.2659 29.0157 29.0157 29.0157 82.9176 82.9176 82.9176 1 2 3

34 19.1697 13.2645 10 2.23834 1.41278 3 -27.8346 -27.8346 -27.8346 29.0553 29.0553 29.0553 82.5429 82.5429 82.5429 1 2 3

35 20.1242 13.2645 10 2.23834 1.41278 3 -28.4137 -28.4137 -28.4137 29.0947 29.0947 29.0947 82.1575 82.1575 82.1575 1 2 3

36 21.1345 13.2645 10 2.23834 1.41278 3 -29.0029 -29.0029 -29.0029 29.1338 29.1338 29.1338 81.7613 81.7613 81.7613 1 2 3

37 22.1984 13.2645 10 2.23834 1.41278 3 -29.6016 -29.6016 -29.6016 29.1724 29.1724 29.1724 81.3544 81.3544 81.3544 1 2 3

38 23.314 13.2645 10 2.23834 1.41278 3 -30.2095 -30.2095 -30.2095 29.2106 29.2106 29.2106 80.937 80.937 80.937 1 2 3

39 24.4791 13.2645 10 2.23834 1.41278 3 -30.8261 -30.8261 -30.8261 29.2483 29.2483 29.2483 80.5089 80.5089 80.5089 1 2 3

40 25.6917 13.2645 10 2.23834 1.41278 3 -31.4511 -31.4511 -31.4511 29.2852 29.2852 29.2852 80.0703 80.0703 80.0703 1 2 3

41 26.9498 13.2645 10 2.23834 1.41278 3 -32.084 -32.084 -32.084 29.3215 29.3215 29.3215 79.6212 79.6212 79.6212 1 2 3

42 28.2512 13.2645 10 2.23834 1.41278 3 -32.7243 -32.7243 -32.7243 29.3569 29.3569 29.3569 79.1617 79.1617 79.1617 1 2 3

43 29.5939 13.2645 10 2.23834 1.41278 3 -33.3717 -33.3717 -33.3717 29.3914 29.3914 29.3914 78.6917 78.6917 78.6917 1 2 3

44 30.9758 13.2645 10 2.23834 1.41278 3 -34.0257 -34.0257 -34.0257 29.4249 29.4249 29.4249 78.2114 78.2114 78.2114 1 2 3

45 32.3948 13.2645 10 2.23834 1.41278 3 -34.686 -34.686 -34.686 29.4573 29.4573 29.4573 77.7208 77.7208 77.7208 1 2 3

46 33.849 13.2645 10 2.23834 1.41278 3 -35.352 -35.352 -35.352 29.4886 29.4886 29.4886 77.2199 77.2199 77.2199 1 2 3

47 35.3362 13.2645 10 2.23834 1.41278 3 -36.0234 -36.0234 -36.0234 29.5186 29.5186 29.5186 76.7088 76.7088 76.7088 1 2 3


26/37



48 36.8544 13.2645 10 2.23834 1.41278 3 -36.6998 -36.6998 -36.6998 29.5472 29.5472 29.5472 76.1876 76.1876 76.1876 1 2 3

49 38.4015 13.2645 10 2.23834 1.41278 3 -37.3806 -37.3806 -37.3806 29.5745 29.5745 29.5745 75.6562 75.6562 75.6562 1 2 3

50 39.9754 13.2645 10 2.23834 1.41278 3 -38.0656 -38.0656 -38.0656 29.6002 29.6002 29.6002 75.1147 75.1147 75.1147 1 2 3

51 41.5741 13.2645 10 2.23834 1.41278 3 -38.7543 -38.7543 -38.7543 29.6243 29.6243 29.6243 74.5631 74.5631 74.5631 1 2 3

52 43.1955 13.2645 10 2.23834 1.41278 3 -39.4462 -39.4462 -39.4462 29.6468 29.6468 29.6468 74.0016 74.0016 74.0016 1 2 3

53 44.8375 13.2645 10 2.23834 1.41278 3 -40.1409 -40.1409 -40.1409 29.6674 29.6674 29.6674 73.4302 73.4302 73.4302 1 2 3

54 46.4982 13.2645 10 2.23834 1.41278 3 -40.8381 -40.8381 -40.8381 29.6862 29.6862 29.6862 72.8488 72.8488 72.8488 1 2 3

55 48.1753 13.2645 10 2.23834 1.41278 3 -41.5372 -41.5372 -41.5372 29.7031 29.7031 29.7031 72.2576 72.2576 72.2576 1 2 3

56 49.8669 13.2645 10 2.23834 1.41278 3 -42.2379 -42.2379 -42.2379 29.718 29.718 29.718 71.6566 71.6566 71.6566 1 2 3

57 51.5709 13.2645 10 2.23834 1.41278 3 -42.9398 -42.9398 -42.9398 29.7307 29.7307 29.7307 71.0458 71.0458 71.0458 1 2 3

58 53.2852 13.2645 10 2.23834 1.41278 3 -43.6424 -43.6424 -43.6424 29.7412 29.7412 29.7412 70.4253 70.4253 70.4253 1 2 3

59 55.0078 13.2645 10 2.23834 1.41278 3 -44.3453 -44.3453 -44.3453 29.7494 29.7494 29.7494 69.7951 69.7951 69.7951 1 2 3

60 56.7366 13.2954 10 2.23834 1.41278 3 -45.0481 -45.0481 -45.0481 29.7553 29.7553 29.7553 69.1553 69.1553 69.1553 1 2 3

61 58.4695 13.387 10 2.23834 1.41278 3 -45.7503 -45.7503 -45.7503 29.7587 29.7587 29.7587 68.5059 68.5059 68.5059 1 2 3

62 60.2044 13.5378 10 2.23834 1.41278 3 -46.4516 -46.4516 -46.4516 29.7596 29.7596 29.7596 67.8469 67.8469 67.8469 1 2 3

63 61.9394 13.7459 10 2.23834 1.41278 3 -47.1515 -47.1515 -47.1515 29.7578 29.7578 29.7578 67.1785 67.1785 67.1785 1 2 3

64 63.6723 14.0097 10 2.23834 1.41278 3 -47.8496 -47.8496 -47.8496 29.7533 29.7533 29.7533 66.5006 66.5006 66.5006 1 2 3

65 65.401 14.3276 10 2.23834 1.41278 3 -48.5454 -48.5454 -48.5454 29.7461 29.7461 29.7461 65.8134 65.8134 65.8134 1 2 3

66 67.1236 14.6979 10 2.23834 1.41278 3 -49.2386 -49.2386 -49.2386 29.7359 29.7359 29.7359 65.1167 65.1167 65.1167 1 2 3

67 68.8379 15.119 10 2.23834 1.41278 3 -49.9288 -49.9288 -49.9288 29.7227 29.7227 29.7227 64.4108 64.4108 64.4108 1 2 3

68 70.5419 15.5891 10 2.23834 1.41278 3 -50.6154 -50.6154 -50.6154 29.7065 29.7065 29.7065 63.6956 63.6956 63.6956 1 2 3

69 72.2335 16.1067 10 2.23834 1.41278 3 -51.2982 -51.2982 -51.2982 29.6872 29.6872 29.6872 62.9712 62.9712 62.9712 1 2 3

70 73.9107 16.67 10 2.23834 1.41278 3 -51.9765 -51.9765 -51.9765 29.6646 29.6646 29.6646 62.2376 62.2376 62.2376 1 2 3

71 75.5713 17.2774 10 2.23834 1.41278 3 -52.6502 -52.6502 -52.6502 29.6387 29.6387 29.6387 61.4949 61.4949 61.4949 1 2 3

72 77.2133 17.9272 10 2.23834 1.41278 3 -53.3186 -53.3186 -53.3186 29.6094 29.6094 29.6094 60.7431 60.7431 60.7431 1 2 3

73 78.8347 18.6178 10 2.23834 1.41278 3 -53.9815 -53.9815 -53.9815 29.5765 29.5765 29.5765 59.9822 59.9822 59.9822 1 2 3

74 80.4334 19.3475 10 2.23834 1.41278 3 -54.6383 -54.6383 -54.6383 29.5402 29.5402 29.5402 59.2124 59.2124 59.2124 1 2 3

75 82.0074 20.1146 10 2.23834 1.41278 3 -55.2887 -55.2887 -55.2887 29.5001 29.5001 29.5001 58.4336 58.4336 58.4336 1 2 3

76 83.5544 20.9175 10 2.23834 1.41278 3 -55.9322 -55.9322 -55.9322 29.4563 29.4563 29.4563 57.646 57.646 57.646 1 2 3

77 85.0726 21.7545 10 2.23834 1.41278 3 -56.5684 -56.5684 -56.5684 29.4087 29.4087 29.4087 56.8494 56.8494 56.8494 1 2 3

78 86.5598 22.6239 10 2.23834 1.41278 3 -57.1969 -57.1969 -57.1969 29.3572 29.3572 29.3572 56.0441 56.0441 56.0441 1 2 3

79 88.014 23.5241 10 2.23834 1.41278 3 -57.8172 -57.8172 -57.8172 29.3016 29.3016 29.3016 55.23 55.23 55.23 1 2 3

80 89.4331 24.4535 10 2.23834 1.41278 3 -58.4291 -58.4291 -58.4291 29.2419 29.2419 29.2419 54.4072 54.4072 54.4072 1 2 3

81 90.815 25.4102 10 2.23834 1.41278 3 -59.0319 -59.0319 -59.0319 29.1781 29.1781 29.1781 53.5757 53.5757 53.5757 1 2 3

82 92.1577 26.3928 10 2.23834 1.41278 3 -59.6253 -59.6253 -59.6253 29.11 29.11 29.11 52.7356 52.7356 52.7356 1 2 3

83 93.459 27.3995 10 2.23834 1.41278 3 -60.2089 -60.2089 -60.2089 29.0376 29.0376 29.0376 51.8869 51.8869 51.8869 1 2 3

84 94.7171 28.4287 10 2.23834 1.41278 3 -60.7823 -60.7823 -60.7823 28.9607 28.9607 28.9607 51.0296 51.0296 51.0296 1 2 3

85 95.9297 29.4786 10 2.23834 1.41278 3 -61.345 -61.345 -61.345 28.8793 28.8793 28.8793 50.1639 50.1639 50.1639 1 2 3

86 97.0948 30.5477 10 2.23834 1.41278 3 -61.8966 -61.8966 -61.8966 28.7933 28.7933 28.7933 49.2897 49.2897 49.2897 1 2 3

87 98.2104 31.6342 10 2.23834 1.41278 3 -62.4366 -62.4366 -62.4366 28.7026 28.7026 28.7026 48.4072 48.4072 48.4072 1 2 3

88 99.2744 32.7366 10 2.23834 1.41278 3 -62.9648 -62.9648 -62.9648 28.6071 28.6071 28.6071 47.5163 47.5163 47.5163 1 2 3

89 100.285 33.8531 10 2.23834 1.41278 3 -63.4806 -63.4806 -63.4806 28.5067 28.5067 28.5067 46.617 46.617 46.617 1 2 3

90 101.239 34.9821 10 2.23834 1.41278 3 -63.9836 -63.9836 -63.9836 28.4014 28.4014 28.4014 45.7095 45.7095 45.7095 1 2 3

91 102.136 36.1219 10 2.23834 1.41278 3 -64.4734 -64.4734 -64.4734 28.2911 28.2911 28.2911 44.7938 44.7938 44.7938 1 2 392 102.973 37.2708 10 2.23834 1.41278 3 -64.9497 -64.9497 -64.9497 28.1756 28.1756 28.1756 43.8699 43.8699 43.8699 1 2 3

93 103.748 38.4272 10 2.23834 1.41278 3 -65.4118 -65.4118 -65.4118 28.0549 28.0549 28.0549 42.9379 42.9379 42.9379 1 2 3

94 104.459 39.5895 10 2.23834 1.41278 3 -65.8595 -65.8595 -65.8595 27.9289 27.9289 27.9289 41.9979 41.9979 41.9979 1 2 3

95 105.103 40.7559 10 2.23834 1.41278 3 -66.2923 -66.2923 -66.2923 27.7976 27.7976 27.7976 41.0497 41.0497 41.0497 1 2 3

96 105.68 41.9248 10 2.23834 1.41278 3 -66.7098 -66.7098 -66.7098 27.6607 27.6607 27.6607 40.0936 40.0936 40.0936 1 2 3

97 106.187 43.0945 10 2.23834 1.41278 3 -67.1116 -67.1116 -67.1116 27.5184 27.5184 27.5184 39.1296 39.1296 39.1296 1 2 3

98 106.621 44.2635 10 2.23834 1.41278 3 -67.4972 -67.4972 -67.4972 27.3703 27.3703 27.3703 38.1576 38.1576 38.1576 1 2 3

99 106.981 45.4299 10 2.23834 1.41278 3 -67.8663 -67.8663 -67.8663 27.2166 27.2166 27.2166 37.1778 37.1778 37.1778 1 2 3


27/37



100 107.264 46.5921 10 2.23834 1.41278 3 -68.2183 -68.2183 -68.2183 27.057 27.057 27.057 36.1902 36.1902 36.1902 1 2 3

101 107.469 47.7485 10 2.23834 1.41278 3 -68.5581 -68.5581 -68.5581 26.8931 26.8931 26.8931 35.1997 35.1997 35.1997 1 2 3

102 107.594 48.8975 10 2.23834 1.41278 3 -68.8907 -68.8907 -68.8907 26.7263 26.7263 26.7263 34.2112 34.2112 34.2112 1 2 3

103 107.636 50.0373 10 2.23834 1.41278 3 -69.2162 -69.2162 -69.2162 26.5567 26.5567 26.5567 33.2248 33.2248 33.2248 1 2 3

104 107.636 51.1662 10 2.23834 1.41278 3 -69.5346 -69.5346 -69.5346 26.3845 26.3845 26.3845 32.2405 32.2405 32.2405 1 2 3

105 107.636 52.2827 10 2.23834 1.41278 3 -69.8459 -69.8459 -69.8459 26.2095 26.2095 26.2095 31.2584 31.2584 31.2584 1 2 3

106 107.636 53.3851 10 2.23834 1.41278 3 -70.1502 -70.1502 -70.1502 26.032 26.032 26.032 30.2785 30.2785 30.2785 1 2 3

107 107.636 54.4717 10 2.23834 1.41278 3 -70.4475 -70.4475 -70.4475 25.8519 25.8519 25.8519 29.3008 29.3008 29.3008 1 2 3

108 107.636 55.5407 10 2.23834 1.41278 3 -70.7378 -70.7378 -70.7378 25.6692 25.6692 25.6692 28.3254 28.3254 28.3254 1 2 3

109 107.636 56.5907 10 2.23834 1.41278 3 -71.0212 -71.0212 -71.0212 25.4841 25.4841 25.4841 27.3524 27.3524 27.3524 1 2 3

110 107.636 57.6198 10 2.23834 1.41278 3 -71.2977 -71.2977 -71.2977 25.2966 25.2966 25.2966 26.3817 26.3817 26.3817 1 2 3

111 107.636 58.6265 10 2.23834 1.41278 3 -71.5673 -71.5673 -71.5673 25.1068 25.1068 25.1068 25.4135 25.4135 25.4135 1 2 3

112 107.636 59.6091 10 2.23834 1.41278 3 -71.8301 -71.8301 -71.8301 24.9146 24.9146 24.9146 24.4478 24.4478 24.4478 1 2 3

113 107.636 60.5659 10 2.23834 1.41278 3 -72.0862 -72.0862 -72.0862 24.7202 24.7202 24.7202 23.4846 23.4846 23.4846 1 2 3

114 107.636 61.4952 10 2.23834 1.41278 3 -72.3354 -72.3354 -72.3354 24.5236 24.5236 24.5236 22.524 22.524 22.524 1 2 3

115 107.636 62.3954 10 2.23834 1.41278 3 -72.5779 -72.5779 -72.5779 24.3249 24.3249 24.3249 21.566 21.566 21.566 1 2 3

116 107.636 63.2649 10 2.23834 1.41278 3 -72.8138 -72.8138 -72.8138 24.124 24.124 24.124 20.6106 20.6106 20.6106 1 2 3

117 107.636 64.1019 10 2.23834 1.41278 3 -73.0429 -73.0429 -73.0429 23.9212 23.9212 23.9212 19.658 19.658 19.658 1 2 3

118 107.636 64.9047 10 2.23834 1.41278 3 -73.2655 -73.2655 -73.2655 23.7163 23.7163 23.7163 18.7081 18.7081 18.7081 1 2 3

119 107.636 65.6719 10 2.23834 1.41278 3 -73.4815 -73.4815 -73.4815 23.5095 23.5095 23.5095 17.761 17.761 17.761 1 2 3

120 107.636 66.4015 10 2.23834 1.41278 3 -73.6909 -73.6909 -73.6909 23.3009 23.3009 23.3009 16.8168 16.8168 16.8168 1 2 3

121 107.636 67.0921 10 2.23834 1.41278 3 -73.8938 -73.8938 -73.8938 23.0904 23.0904 23.0904 15.8755 15.8755 15.8755 1 2 3

122 107.636 67.742 10 2.23834 1.41278 3 -74.0902 -74.0902 -74.0902 22.8781 22.8781 22.8781 14.9371 14.9371 14.9371 1 2 3

123 107.636 68.3493 10 2.23834 1.41278 3 -74.2802 -74.2802 -74.2802 22.6642 22.6642 22.6642 14.0017 14.0017 14.0017 1 2 3

124 107.636 68.9127 10 2.23834 1.41278 3 -74.4637 -74.4637 -74.4637 22.4485 22.4485 22.4485 13.0693 13.0693 13.0693 1 2 3

125 107.636 69.4302 10 2.23834 1.41278 3 -74.6409 -74.6409 -74.6409 22.2313 22.2313 22.2313 12.14 12.14 12.14 1 2 3

126 107.636 69.9004 10 2.23834 1.41278 3 -74.8117 -74.8117 -74.8117 22.0125 22.0125 22.0125 11.2139 11.2139 11.2139 1 2 3

127 107.636 70.3214 10 2.23834 1.41278 3 -74.9762 -74.9762 -74.9762 21.7921 21.7921 21.7921 10.2909 10.2909 10.2909 1 2 3

128 107.636 70.6917 10 2.23834 1.41278 3 -75.1345 -75.1345 -75.1345 21.5704 21.5704 21.5704 9.37111 9.37111 9.37111 1 2 3

129 107.636 71.0096 10 2.23834 1.41278 3 -75.2865 -75.2865 -75.2865 21.3472 21.3472 21.3472 8.45459 8.45459 8.45459 1 2 3

130 107.636 71.2735 10 2.23834 1.41278 3 -75.4323 -75.4323 -75.4323 21.1227 21.1227 21.1227 7.54138 7.54138 7.54138 1 2 3

131 107.636 71.4816 10 2.23834 1.41278 3 -75.5719 -75.5719 -75.5719 20.8968 20.8968 20.8968 6.63152 6.63152 6.63152 1 2 3

132 107.636 71.6323 10 2.23834 1.41278 3 -75.7054 -75.7054 -75.7054 20.6698 20.6698 20.6698 5.72505 5.72505 5.72505 1 2 3

133 107.636 71.7239 10 2.23834 1.41278 3 -75.8328 -75.8328 -75.8328 20.4415 20.4415 20.4415 4.82203 4.82203 4.82203 1 2 3

134 107.636 71.7549 10 2.23834 1.41278 3 -75.9541 -75.9541 -75.9541 20.2121 20.2121 20.2121 3.92251 3.92251 3.92251 1 2 3

135 107.636 71.7549 10 2.23834 1.41278 3 -76.0694 -76.0694 -76.0694 19.9816 19.9816 19.9816 3.02652 3.02652 3.02652 1 2 3

136 107.636 71.7549 10 2.23834 1.41278 3 -76.1787 -76.1787 -76.1787 19.7501 19.7501 19.7501 2.13411 2.13411 2.13411 1 2 3

137 107.636 71.7549 10 2.23834 1.41278 3 -76.282 -76.282 -76.282 19.5177 19.5177 19.5177 1.24534 1.24534 1.24534 1 2 3

138 107.636 71.7549 10 2.23834 1.41278 3 -76.3794 -76.3794 -76.3794 19.2842 19.2842 19.2842 0.360233 0.360233 0.360233 1 2 3

139 107.636 71.7549 10 2.23834 1.41278 3 -76.4709 -76.4709 -76.4709 19.05 19.05 19.05 -0.52115 -0.52115 -0.52115 1 2 3

140 107.636 71.7549 10 2.23834 1.41278 3 -76.5565 -76.5565 -76.5565 18.8149 18.8149 18.8149 -1.39877 -1.39877 -1.39877 1 2 3

141 107.636 71.7549 10 2.23834 1.41278 3 -76.6363 -76.6363 -76.6363 18.579 18.579 18.579 -2.27257 -2.27257 -2.27257 1 2 3

142 107.636 71.7549 10 2.23834 1.41278 3 -76.7103 -76.7103 -76.7103 18.3424 18.3424 18.3424 -3.14252 -3.14252 -3.14252 1 2 3

143 107.636 71.7549 10 2.23834 1.41278 3 -76.7786 -76.7786 -76.7786 18.1052 18.1052 18.1052 -4.00857 -4.00857 -4.00857 1 2 3144 107.636 71.7549 10 2.23834 1.41278 3 -76.8411 -76.8411 -76.8411 17.8673 17.8673 17.8673 -4.87066 -4.87066 -4.87066 1 2 3

145 107.636 71.7549 10 2.23834 1.41278 3 -76.898 -76.898 -76.898 17.6289 17.6289 17.6289 -5.72878 -5.72878 -5.72878 1 2 3

146 107.636 71.7549 10 2.23834 1.41278 3 -76.9492 -76.9492 -76.9492 17.39 17.39 17.39 -6.58284 -6.58284 -6.58284 1 2 3

147 107.636 71.7549 10 2.23834 1.41278 3 -76.9947 -76.9947 -76.9947 17.1506 17.1506 17.1506 -7.43281 -7.43281 -7.43281 1 2 3

148 107.636 71.7549 10 2.23834 1.41278 3 -77.0347 -77.0347 -77.0347 16.9109 16.9109 16.9109 -8.27865 -8.27865 -8.27865 1 2 3

149 107.636 71.7549 10 2.23834 1.41278 3 -77.0691 -77.0691 -77.0691 16.6708 16.6708 16.6708 -9.12031 -9.12031 -9.12031 1 2 3

150 107.636 71.7549 10 2.23834 1.41278 3 -77.0981 -77.0981 -77.0981 16.4304 16.4304 16.4304 -9.95775 -9.95775 -9.95775 1 2 3

151 107.636 71.7549 10 2.23834 1.41278 3 -77.1215 -77.1215 -77.1215 16.1898 16.1898 16.1898 -10.7909 -10.7909 -10.7909 1 2 3

C d Si l ti A Di t ib t d C iti M d l C iti M d lli (31916)


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152 107.636 71.7549 10 2.23834 1.41278 3 -77.1395 -77.1395 -77.1395 15.9489 15.9489 15.9489 -11.6198 -11.6198 -11.6198 1 2 3

153 107.636 71.7549 10 2.23834 1.41278 3 -77.1521 -77.1521 -77.1521 15.708 15.708 15.708 -12.4443 -12.4443 -12.4443 1 2 3

154 107.636 71.7549 10 2.23834 1.41278 3 -77.1593 -77.1593 -77.1593 15.467 15.467 15.467 -13.2643 -13.2643 -13.2643 1 2 3

155 107.636 71.7549 10 2.23834 1.41278 3 -77.1611 -77.1611 -77.1611 15.2259 15.2259 15.2259 -14.08 -14.08 -14.08 1 2 3

156 107.636 71.7549 10 2.23834 1.41278 3 -77.1577 -77.1577 -77.1577 14.9849 14.9849 14.9849 -14.8911 -14.8911 -14.8911 1 2 3

157 107.636 71.7549 10 2.23834 1.41278 3 -77.149 -77.149 -77.149 14.7439 14.7439 14.7439 -15.6977 -15.6977 -15.6977 1 2 3

158 107.636 71.7549 10 2.23834 1.41278 3 -77.135 -77.135 -77.135 14.5031 14.5031 14.5031 -16.4997 -16.4997 -16.4997 1 2 3

159 107.636 71.7549 10 2.23834 1.41278 3 -77.1158 -77.1158 -77.1158 14.2625 14.2625 14.2625 -17.297 -17.297 -17.297 1 2 3

160 107.636 71.7549 10 2.23834 1.41278 3 -77.0915 -77.0915 -77.0915 14.0221 14.0221 14.0221 -18.0897 -18.0897 -18.0897 1 2 3

161 107.636 71.7549 10 2.23834 1.41278 3 -77.062 -77.062 -77.062 13.782 13.782 13.782 -18.8777 -18.8777 -18.8777 1 2 3

162 107.636 71.7549 10 2.23834 1.41278 3 -77.0274 -77.0274 -77.0274 13.5423 13.5423 13.5423 -19.6608 -19.6608 -19.6608 1 2 3

163 107.636 71.7549 10 2.23834 1.41278 3 -76.9878 -76.9878 -76.9878 13.3029 13.3029 13.3029 -20.4392 -20.4392 -20.4392 1 2 3

164 107.636 71.7549 10 2.23834 1.41278 3 -76.9431 -76.9431 -76.9431 13.064 13.064 13.064 -21.2127 -21.2127 -21.2127 1 2 3

165 107.636 71.7549 10 2.23834 1.41278 3 -76.8934 -76.8934 -76.8934 12.8256 12.8256 12.8256 -21.9812 -21.9812 -21.9812 1 2 3

166 107.636 71.7549 10 2.23834 1.41278 3 -76.8388 -76.8388 -76.8388 12.5877 12.5877 12.5877 -22.7448 -22.7448 -22.7448 1 2 3

167 107.636 71.7549 10 2.23834 1.41278 3 -76.7792 -76.7792 -76.7792 12.3505 12.3505 12.3505 -23.5035 -23.5035 -23.5035 1 2 3

168 107.636 71.7549 10 2.23834 1.41278 3 -76.7148 -76.7148 -76.7148 12.1139 12.1139 12.1139 -24.257 -24.257 -24.257 1 2 3

169 107.636 71.7549 10 2.23834 1.41278 3 -76.6455 -76.6455 -76.6455 11.8781 11.8781 11.8781 -25.0055 -25.0055 -25.0055 1 2 3

170 107.636 71.7549 10 2.23834 1.41278 3 -76.5713 -76.5713 -76.5713 11.643 11.643 11.643 -25.7488 -25.7488 -25.7488 1 2 3

171 107.636 71.7549 10 2.23834 1.41278 3 -76.4924 -76.4924 -76.4924 11.4087 11.4087 11.4087 -26.4869 -26.4869 -26.4869 1 2 3

172 107.636 71.7549 10 2.23834 1.41278 3 -76.4087 -76.4087 -76.4087 11.1753 11.1753 11.1753 -27.2198 -27.2198 -27.2198 1 2 3

173 107.636 71.7549 10 2.23834 1.41278 3 -76.3203 -76.3203 -76.3203 10.9428 10.9428 10.9428 -27.9475 -27.9475 -27.9475 1 2 3

174 107.636 71.7549 10 2.23834 1.41278 3 -76.2272 -76.2272 -76.2272 10.7113 10.7113 10.7113 -28.6698 -28.6698 -28.6698 1 2 3

175 107.636 71.7549 10 2.23834 1.41278 3 -76.1294 -76.1294 -76.1294 10.4808 10.4808 10.4808 -29.3867 -29.3867 -29.3867 1 2 3

176 107.636 71.7549 10 2.23834 1.41278 3 -76.0271 -76.0271 -76.0271 10.2515 10.2515 10.2515 -30.0982 -30.0982 -30.0982 1 2 3

177 107.636 71.7549 10 2.23834 1.41278 3 -75.9201 -75.9201 -75.9201 10.0232 10.0232 10.0232 -30.8043 -30.8043 -30.8043 1 2 3

178 107.636 71.7549 10 2.23834 1.41278 3 -75.8086 -75.8086 -75.8086 9.79615 9.79615 9.79615 -31.5048 -31.5048 -31.5048 1 2 3

179 107.636 71.7549 10 2.23834 1.41278 3 -75.6926 -75.6926 -75.6926 9.57034 9.57034 9.57034 -32.1998 -32.1998 -32.1998 1 2 3

180 107.636 71.7549 10 2.23834 1.41278 3 -75.5721 -75.5721 -75.5721 9.34582 9.34582 9.34582 -32.8892 -32.8892 -32.8892 1 2 3

181 107.636 71.7549 10 2.23834 1.41278 3 -75.4472 -75.4472 -75.4472 9.12265 9.12265 9.12265 -33.5729 -33.5729 -33.5729 1 2 3

182 107.636 71.7549 10 2.23834 1.41278 3 -75.3178 -75.3178 -75.3178 8.90089 8.90089 8.90089 -34.251 -34.251 -34.251 1 2 3

183 107.636 71.7549 10 2.23834 1.41278 3 -75.1841 -75.1841 -75.1841 8.68058 8.68058 8.68058 -34.9233 -34.9233 -34.9233 1 2 3

184 107.636 71.7549 10 2.23834 1.41278 3 -75.046 -75.046 -75.046 8.46177 8.46177 8.46177 -35.5898 -35.5898 -35.5898 1 2 3

185 107.636 71.7549 10 2.23834 1.41278 3 -74.9036 -74.9036 -74.9036 8.24453 8.24453 8.24453 -36.2505 -36.2505 -36.2505 1 2 3

186 107.636 71.7549 10 2.23834 1.41278 3 -74.757 -74.757 -74.757 8.0289 8.0289 8.0289 -36.9053 -36.9053 -36.9053 1 2 3

187 107.636 71.7549 10 2.23834 1.41278 3 -74.6061 -74.6061 -74.6061 7.81494 7.81494 7.81494 -37.5542 -37.5542 -37.5542 1 2 3

188 107.636 71.7549 10 2.23834 1.41278 3 -74.451 -74.451 -74.451 7.6027 7.6027 7.6027 -38.1972 -38.1972 -38.1972 1 2 3

189 107.636 71.7549 10 2.23834 1.41278 3 -74.2917 -74.2917 -74.2917 7.39223 7.39223 7.39223 -38.8341 -38.8341 -38.8341 1 2 3

190 107.636 71.7549 10 2.23834 1.41278 3 -74.1283 -74.1283 -74.1283 7.18358 7.18358 7.18358 -39.465 -39.465 -39.465 1 2 3

191 107.636 71.7549 10 2.23834 1.41278 3 -73.9608 -73.9608 -73.9608 6.97681 6.97681 6.97681 -40.0897 -40.0897 -40.0897 1 2 3

192 107.636 71.7549 10 2.23834 1.41278 3 -73.7893 -73.7893 -73.7893 6.77198 6.77198 6.77198 -40.7083 -40.7083 -40.7083 1 2 3

193 107.636 71.7549 10 2.23834 1.41278 3 -73.6137 -73.6137 -73.6137 6.56912 6.56912 6.56912 -41.3207 -41.3207 -41.3207 1 2 3

194 107.636 71.7549 10 2.23834 1.41278 3 -73.4341 -73.4341 -73.4341 6.36831 6.36831 6.36831 -41.9269 -41.9269 -41.9269 1 2 3

195 107.636 71.7549 10 2.23834 1.41278 3 -73.2506 -73.2506 -73.2506 6.16958 6.16958 6.16958 -42.5268 -42.5268 -42.5268 1 2 3196 107.636 71.7549 10 2.23834 1.41278 3 -73.0631 -73.0631 -73.0631 5.97299 5.97299 5.97299 -43.1204 -43.1204 -43.1204 1 2 3

197 107.636 71.7549 10 2.23834 1.41278 3 -72.8717 -72.8717 -72.8717 5.7786 5.7786 5.7786 -43.7075 -43.7075 -43.7075 1 2 3

198 107.636 71.7549 10 2.23834 1.41278 3 -72.6765 -72.6765 -72.6765 5.58646 5.58646 5.58646 -44.2883 -44.2883 -44.2883 1 2 3

199 107.636 71.7549 10 2.23834 1.41278 3 -72.4774 -72.4774 -72.4774 5.39663 5.39663 5.39663 -44.8625 -44.8625 -44.8625 1 2 3

200 107.636 71.7549 10 2.23834 1.41278 3 -72.2746 -72.2746 -72.2746 5.20914 5.20914 5.20914 -45.4303 -45.4303 -45.4303 1 2 3

201 107.636 71.7549 10 2.23834 1.41278 3 -72.037 -72.037 -72.037 5.03519 5.03519 5.03519 -45.9943 -45.9943 -45.9943 1 2 3

202 107.636 71.7549 10 2.23834 1.41278 3 -71.7346 -71.7346 -71.7346 4.8856 4.8856 4.8856 -46.5571 -46.5571 -46.5571 1 2 3

203 107.636 71.7549 10 2.23834 1.41278 3 -71.3686 -71.3686 -71.3686 4.75993 4.75993 4.75993 -47.1187 -47.1187 -47.1187 1 2 3



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204 107.636 71.7549 10 2.23834 1.41278 3 -70.9402 -70.9402 -70.9402 4.65771 4.65771 4.65771 -47.6791 -47.6791 -47.6791 1 2 3

205 107.636 71.7549 10 2.23834 1.41278 3 -70.4508 -70.4508 -70.4508 4.57848 4.57848 4.57848 -48.238 -48.238 -48.238 1 2 3

206 107.636 71.7549 10 2.23834 1.41278 3 -69.9016 -69.9016 -69.9016 4.52178 4.52178 4.52178 -48.7955 -48.7955 -48.7955 1 2 3

207 107.636 71.7549 10 2.23834 1.41278 3 -69.2938 -69.2938 -69.2938 4.48716 4.48716 4.48716 -49.3514 -49.3514 -49.3514 1 2 3

208 107.636 71.7549 10 2.23834 1.41278 3 -68.6287 -68.6287 -68.6287 4.47415 4.47415 4.47415 -49.9056 -49.9056 -49.9056 1 2 3

209 107.636 71.7549 10 2.23834 1.41278 3 -67.9076 -67.9076 -67.9076 4.48229 4.48229 4.48229 -50.458 -50.458 -50.458 1 2 3

210 107.636 71.7549 10 2.23834 1.41278 3 -67.1317 -67.1317 -67.1317 4.51113 4.51113 4.51113 -51.0086 -51.0086 -51.0086 1 2 3

211 107.636 71.7549 10 2.23834 1.41278 3 -66.3023 -66.3023 -66.3023 4.56021 4.56021 4.56021 -51.5573 -51.5573 -51.5573 1 2 3

212 107.636 71.7549 10 2.23834 1.41278 3 -65.4207 -65.4207 -65.4207 4.62906 4.62906 4.62906 -52.1039 -52.1039 -52.1039 1 2 3

213 107.636 71.7549 10 2.23834 1.41278 3 -64.488 -64.488 -64.488 4.71723 4.71723 4.71723 -52.6484 -52.6484 -52.6484 1 2 3

214 107.636 71.7549 10 2.23834 1.41278 3 -63.5056 -63.5056 -63.5056 4.82426 4.82426 4.82426 -53.1906 -53.1906 -53.1906 1 2 3

215 107.636 71.7549 10 2.23834 1.41278 3 -62.4748 -62.4748 -62.4748 4.94968 4.94968 4.94968 -53.7305 -53.7305 -53.7305 1 2 3

216 107.636 71.7549 10 2.23834 1.41278 3 -61.3967 -61.3967 -61.3967 5.09305 5.09305 5.09305 -54.2681 -54.2681 -54.2681 1 2 3

217 107.636 71.7549 10 2.23834 1.41278 3 -60.2727 -60.2727 -60.2727 5.25389 5.25389 5.25389 -54.8031 -54.8031 -54.8031 1 2 3

218 107.636 71.7549 10 2.23834 1.41278 3 -59.104 -59.104 -59.104 5.43176 5.43176 5.43176 -55.3355 -55.3355 -55.3355 1 2 3

219 107.636 71.7549 10 2.23834 1.41278 3 -57.8918 -57.8918 -57.8918 5.62619 5.62619 5.62619 -55.8653 -55.8653 -55.8653 1 2 3

220 107.636 71.7549 10 2.23834 1.41278 3 -56.6375 -56.6375 -56.6375 5.83671 5.83671 5.83671 -56.3922 -56.3922 -56.3922 1 2 3

221 107.636 71.7549 10 2.23834 1.41278 3 -55.3423 -55.3423 -55.3423 6.06289 6.06289 6.06289 -56.9163 -56.9163 -56.9163 1 2 3

222 107.636 71.7549 10 2.23834 1.41278 3 -54.0074 -54.0074 -54.0074 6.30424 6.30424 6.30424 -57.4375 -57.4375 -57.4375 1 2 3

223 107.636 71.7549 10 2.23834 1.41278 3 -52.6341 -52.6341 -52.6341 6.56032 6.56032 6.56032 -57.9555 -57.9555 -57.9555 1 2 3

224 107.636 71.7549 10 2.23834 1.41278 3 -51.2237 -51.2237 -51.2237 6.83066 6.83066 6.83066 -58.4705 -58.4705 -58.4705 1 2 3

225 107.636 71.7549 10 2.23834 1.41278 3 -49.7774 -49.7774 -49.7774 7.11481 7.11481 7.11481 -58.9822 -58.9822 -58.9822 1 2 3

226 107.636 71.7549 10 2.23834 1.41278 3 -48.2966 -48.2966 -48.2966 7.4123 7.4123 7.4123 -59.4905 -59.4905 -59.4905 1 2 3

227 107.636 71.7549 10 2.23834 1.41278 3 -46.7823 -46.7823 -46.7823 7.72269 7.72269 7.72269 -59.9954 -59.9954 -59.9954 1 2 3

228 107.636 71.7549 10 2.23834 1.41278 3 -45.236 -45.236 -45.236 8.04549 8.04549 8.04549 -60.4968 -60.4968 -60.4968 1 2 3

229 107.636 71.7549 10 2.23834 1.41278 3 -43.6588 -43.6588 -43.6588 8.38027 8.38027 8.38027 -60.9946 -60.9946 -60.9946 1 2 3

230 107.636 71.7549 10 2.23834 1.41278 3 -42.052 -42.052 -42.052 8.72655 8.72655 8.72655 -61.4887 -61.4887 -61.4887 1 2 3

231 107.636 71.7549 10 2.23834 1.41278 3 -40.417 -40.417 -40.417 9.08389 9.08389 9.08389 -61.979 -61.979 -61.979 1 2 3

232 107.636 71.7549 10 2.23834 1.41278 3 -38.7549 -38.7549 -38.7549 9.45181 9.45181 9.45181 -62.4654 -62.4654 -62.4654 1 2 3

233 107.636 71.7549 10 2.23834 1.41278 3 -37.0669 -37.0669 -37.0669 9.82987 9.82987 9.82987 -62.9479 -62.9479 -62.9479 1 2 3

234 107.636 71.7549 10 2.23834 1.41278 3 -35.3545 -35.3545 -35.3545 10.2176 10.2176 10.2176 -63.4262 -63.4262 -63.4262 1 2 3

235 107.636 71.7549 10 2.23834 1.41278 3 -33.6188 -33.6188 -33.6188 10.6145 10.6145 10.6145 -63.9004 -63.9004 -63.9004 1 2 3

236 107.636 71.7549 10 2.23834 1.41278 3 -31.8611 -31.8611 -31.8611 11.0202 11.0202 11.0202 -64.3703 -64.3703 -64.3703 1 2 3

237 107.636 71.7549 10 2.23834 1.41278 3 -30.0826 -30.0826 -30.0826 11.4342 11.4342 11.4342 -64.8359 -64.8359 -64.8359 1 2 3

238 107.636 71.7549 10 2.23834 1.41278 3 -28.2845 -28.2845 -28.2845 11.856 11.856 11.856 -65.2971 -65.2971 -65.2971 1 2 3

239 107.636 71.7549 10 2.23834 1.41278 3 -26.4683 -26.4683 -26.4683 12.2852 12.2852 12.2852 -65.7537 -65.7537 -65.7537 1 2 3

240 107.636 71.7549 10 2.23834 1.41278 3 -24.6352 -24.6352 -24.6352 12.7213 12.7213 12.7213 -66.2056 -66.2056 -66.2056 1 2 3

241 107.636 71.7549 10 2.23834 1.41278 3 -22.7863 -22.7863 -22.7863 13.1639 13.1639 13.1639 -66.6529 -66.6529 -66.6529 1 2 3

242 107.636 71.7549 10 2.23834 1.41278 3 -20.9229 -20.9229 -20.9229 13.6125 13.6125 13.6125 -67.0953 -67.0953 -67.0953 1 2 3

243 107.636 71.7549 10 2.23834 1.41278 3 -19.0464 -19.0464 -19.0464 14.0666 14.0666 14.0666 -67.5329 -67.5329 -67.5329 1 2 3

244 107.636 71.7549 10 2.23834 1.41278 3 -17.1579 -17.1579 -17.1579 14.5257 14.5257 14.5257 -67.9654 -67.9654 -67.9654 1 2 3

245 107.636 71.7549 10 2.23834 1.41278 3 -15.2587 -15.2587 -15.2587 14.9895 14.9895 14.9895 -68.3929 -68.3929 -68.3929 1 2 3

246 107.636 71.7549 10 2.23834 1.41278 3 -13.3502 -13.3502 -13.3502 15.4575 15.4575 15.4575 -68.8151 -68.8151 -68.8151 1 2 3

247 107.636 71.7549 10 2.23834 1.41278 3 -11.4334 -11.4334 -11.4334 15.9292 15.9292 15.9292 -69.2321 -69.2321 -69.2321 1 2 3248 107.636 71.7549 10 2.23834 1.41278 3 -9.50983 -9.50983 -9.50983 16.4041 16.4041 16.4041 -69.6437 -69.6437 -69.6437 1 2 3

249 107.636 71.7549 10 2.23834 1.41278 3 -7.58058 -7.58058 -7.58058 16.8817 16.8817 16.8817 -70.0499 -70.0499 -70.0499 1 2 3

250 107.636 71.7549 10 2.23834 1.41278 3 -5.64696 -5.64696 -5.64696 17.3617 17.3617 17.3617 -70.4505 -70.4505 -70.4505 1 2 3

251 107.636 71.7549 10 2.23834 1.41278 3 -3.71023 -3.71023 -3.71023 17.8436 17.8436 17.8436 -70.8455 -70.8455 -70.8455 1 2 3

252 107.636 71.7549 10 2.23834 1.41278 3 -1.77164 -1.77164 -1.77164 18.3269 18.3269 18.3269 -71.2347 -71.2347 -71.2347 1 2 3

253 107.636 71.7549 10 2.23834 1.41278 3 0.16754 0.16754 0.16754 18.8111 18.8111 18.8111 -71.6181 -71.6181 -71.6181 1 2 3

254 107.636 71.7549 10 2.23834 1.41278 3 2.10606 2.10606 2.10606 19.2958 19.2958 19.2958 -71.9956 -71.9956 -71.9956 1 2 3

255 107.636 71.7549 10 2.23834 1.41278 3 4.04264 4.04264 4.04264 19.7805 19.7805 19.7805 -72.367 -72.367 -72.367 1 2 3



30/37



256 107.636 71.7549 10 2.23834 1.41278 3 5.97605 5.97605 5.97605 20.2648 20.2648 20.2648 -72.7324 -72.7324 -72.7324 1 2 3

257 107.636 71.7549 10 2.23834 1.41278 3 7.90501 7.90501 7.90501 20.7482 20.7482 20.7482 -73.0915 -73.0915 -73.0915 1 2 3

258 107.636 71.7549 10 2.23834 1.41278 3 9.82826 9.82826 9.82826 21.2302 21.2302 21.2302 -73.4444 -73.4444 -73.4444 1 2 3

259 107.636 71.7549 10 2.23834 1.41278 3 11.7445 11.7445 11.7445 21.7105 21.7105 21.7105 -73.7909 -73.7909 -73.7909 1 2 3

260 107.636 71.7549 10 2.23834 1.41278 3 13.6526 13.6526 13.6526 22.1884 22.1884 22.1884 -74.1309 -74.1309 -74.1309 1 2 3

261 107.636 71.7549 10 2.23834 1.41278 3 15.5512 15.5512 15.5512 22.6636 22.6636 22.6636 -74.4643 -74.4643 -74.4643 1 2 3

262 107.636 71.7549 10 2.23834 1.41278 3 17.439 17.439 17.439 23.1357 23.1357 23.1357 -74.7911 -74.7911 -74.7911 1 2 3

263 107.636 71.7549 10 2.23834 1.41278 3 19.3149 19.3149 19.3149 23.6041 23.6041 23.6041 -75.1111 -75.1111 -75.1111 1 2 3

264 107.636 71.7549 10 2.23834 1.41278 3 21.1774 21.1774 21.1774 24.0684 24.0684 24.0684 -75.4243 -75.4243 -75.4243 1 2 3

265 107.636 71.7549 10 2.23834 1.41278 3 23.0254 23.0254 23.0254 24.5281 24.5281 24.5281 -75.7305 -75.7305 -75.7305 1 2 3

266 107.636 71.7549 10 2.23834 1.41278 3 24.8577 24.8577 24.8577 24.9828 24.9828 24.9828 -76.0297 -76.0297 -76.0297 1 2 3

267 107.636 71.7549 10 2.23834 1.41278 3 26.6729 26.6729 26.6729 25.432 25.432 25.432 -76.3218 -76.3218 -76.3218 1 2 3

268 107.636 71.7549 10 2.23834 1.41278 3 28.4698 28.4698 28.4698 25.8752 25.8752 25.8752 -76.6066 -76.6066 -76.6066 1 2 3

269 107.636 71.7549 10 2.23834 1.41278 3 30.2471 30.2471 30.2471 26.3121 26.3121 26.3121 -76.8842 -76.8842 -76.8842 1 2 3

270 107.636 71.7549 10 2.23834 1.41278 3 32.0036 32.0036 32.0036 26.7421 26.7421 26.7421 -77.1543 -77.1543 -77.1543 1 2 3

271 107.636 71.7549 10 2.23834 1.41278 3 33.738 33.738 33.738 27.1647 27.1647 27.1647 -77.417 -77.417 -77.417 1 2 3

272 107.636 71.7549 10 2.23834 1.41278 3 35.4491 35.4491 35.4491 27.5796 27.5796 27.5796 -77.6721 -77.6721 -77.6721 1 2 3

273 107.636 71.7549 10 2.23834 1.41278 3 37.1355 37.1355 37.1355 27.9863 27.9863 27.9863 -77.9194 -77.9194 -77.9194 1 2 3

274 107.636 71.7549 10 2.23834 1.41278 3 38.7961 38.7961 38.7961 28.3842 28.3842 28.3842 -78.1591 -78.1591 -78.1591 1 2 3

275 107.636 71.7549 10 2.23834 1.41278 3 40.4296 40.4296 40.4296 28.773 28.773 28.773 -78.3908 -78.3908 -78.3908 1 2 3

276 107.636 71.7549 10 2.23834 1.41278 3 42.0347 42.0347 42.0347 29.1521 29.1521 29.1521 -78.6146 -78.6146 -78.6146 1 2 3

277 107.636 71.7549 10 2.23834 1.41278 3 43.6101 43.6101 43.6101 29.5212 29.5212 29.5212 -78.8304 -78.8304 -78.8304 1 2 3

278 107.636 71.7549 10 2.23834 1.41278 3 45.1547 45.1547 45.1547 29.8797 29.8797 29.8797 -79.038 -79.038 -79.038 1 2 3

279 107.636 71.7549 10 2.23834 1.41278 3 46.667 46.667 46.667 30.2273 30.2273 30.2273 -79.2374 -79.2374 -79.2374 1 2 3

280 107.636 71.7549 10 2.23834 1.41278 3 48.146 48.146 48.146 30.5634 30.5634 30.5634 -79.4284 -79.4284 -79.4284 1 2 3

281 107.636 71.7549 10 2.23834 1.41278 3 49.5902 49.5902 49.5902 30.8875 30.8875 30.8875 -79.611 -79.611 -79.611 1 2 3

282 107.636 71.7549 10 2.23834 1.41278 3 50.9985 50.9985 50.9985 31.1993 31.1993 31.1993 -79.7852 -79.7852 -79.7852 1 2 3

283 107.636 71.7549 10 2.23834 1.41278 3 52.3696 52.3696 52.3696 31.4983 31.4983 31.4983 -79.9507 -79.9507 -79.9507 1 2 3

284 107.636 71.7549 10 2.23834 1.41278 3 53.7023 53.7023 53.7023 31.7839 31.7839 31.7839 -80.1075 -80.1075 -80.1075 1 2 3

285 107.636 71.7549 10 2.23834 1.41278 3 54.9952 54.9952 54.9952 32.0558 32.0558 32.0558 -80.2555 -80.2555 -80.2555 1 2 3

286 107.636 71.7549 10 2.23834 1.41278 3 56.2471 56.2471 56.2471 32.3135 32.3135 32.3135 -80.3947 -80.3947 -80.3947 1 2 3

287 107.636 71.7549 10 2.23834 1.41278 3 57.4568 57.4568 57.4568 32.5566 32.5566 32.5566 -80.5249 -80.5249 -80.5249 1 2 3

288 107.636 71.7549 10 2.23834 1.41278 3 58.623 58.623 58.623 32.7845 32.7845 32.7845 -80.646 -80.646 -80.646 1 2 3

289 107.636 71.7549 10 2.23834 1.41278 3 59.7444 59.7444 59.7444 32.9967 32.9967 32.9967 -80.7579 -80.7579 -80.7579 1 2 3

290 107.636 71.7549 10 2.23834 1.41278 3 60.8198 60.8198 60.8198 33.193 33.193 33.193 -80.8606 -80.8606 -80.8606 1 2 3

291 107.636 71.7549 10 2.23834 1.41278 3 61.8479 61.8479 61.8479 33.3727 33.3727 33.3727 -80.954 -80.954 -80.954 1 2 3

292 107.636 71.7549 10 2.23834 1.41278 3 62.8274 62.8274 62.8274 33.5355 33.5355 33.5355 -81.0379 -81.0379 -81.0379 1 2 3

293 107.636 71.7549 10 2.23834 1.41278 3 63.7572 63.7572 63.7572 33.6808 33.6808 33.6808 -81.1123 -81.1123 -81.1123 1 2 3

294 107.636 71.7549 10 2.23834 1.41278 3 64.6358 64.6358 64.6358 33.8083 33.8083 33.8083 -81.1771 -81.1771 -81.1771 1 2 3

295 107.636 71.7549 10 2.23834 1.41278 3 65.4622 65.4622 65.4622 33.9174 33.9174 33.9174 -81.2322 -81.2322 -81.2322 1 2 3

296 107.636 71.7549 10 2.23834 1.41278 3 66.235 66.235 66.235 34.0077 34.0077 34.0077 -81.2774 -81.2774 -81.2774 1 2 3

297 107.636 71.7549 10 2.23834 1.41278 3 66.9529 66.9529 66.9529 34.0787 34.0787 34.0787 -81.3128 -81.3128 -81.3128 1 2 3

298 107.636 71.7549 10 2.23834 1.41278 3 67.6147 67.6147 67.6147 34.13 34.13 34.13 -81.3382 -81.3382 -81.3382 1 2 3

299 107.636 71.7549 10 2.23834 1.41278 3 68.2192 68.2192 68.2192 34.1611 34.1611 34.1611 -81.3535 -81.3535 -81.3535 1 2 3300 107.636 71.7549 10 2.23834 1.41278 3 68.765 68.765 68.765 34.1716 34.1716 34.1716 -81.3586 -81.3586 -81.3586 1 2 3



31/37



Appendix D Sample Raw Output: Agent 1Frame headpx headpy headpz headrx headry headrz footpx footpy footpz footrx footry footrz radius

1 -14.06 21.246 -13.72 114.54 -69.18 0 -18.66 0 -11.95 0 0 0 2.565

2 -14.13 21.139 -13.52 113.84 -71.42 0 -18.66 0 -11.95 0 0 0 2.565

3 -14.23 20.979 -13.22 112.8 -74.77 0 -18.66 0 -11.95 0 0 0 2.565

4 -14.37 20.764 -12.83 111.41 -79.24 0 -18.66 0 -11.95 0 0 0 2.565

5 -14.55 20.495 -12.34 109.8 -84.45 0 -18.66 0 -11.95 0 0 0 2.565

6 -14.75 20.171 -11.76 108.19 -89.67 0 -18.66 0 -11.95 0 0 0 2.565

7 -14.98 19.81 -11.1 106.59 -94.89 0 -18.66 0 -11.95 0 0 0 2.565

8 -15.21 19.446 -10.45 105 -100.1 0 -18.66 0 -11.95 0 0 0 2.565

9 -15.44 19.079 -9.804 103.43 -105.3 0 -18.66 0 -11.95 0 0 0 2.565

10 -15.66 18.708 -9.156 101.89 -110.6 0 -18.66 0 -11.95 0 0 0 2.565

11 -15.88 18.332 -8.509 100.37 -115.8 0 -18.66 0 -11.95 0 0 0 2.565

12 -16.1 17.951 -7.865 98.898 -121.1 0 -18.66 0 -11.95 0 0 0 2.565

13 -16.31 17.561 -7.225 97.478 -126.3 0 -18.66 0 -11.95 0 0 0 2.565

14 -16.52 17.161 -6.588 96.132 -131.6 0 -18.66 0 -11.95 0 0 0 2.565

15 -16.72 16.747 -5.958 94.893 -136.9 0 -18.66 0 -11.95 0 0 0 2.565

16 -16.91 16.311 -5.339 93.811 -142.3 0 -18.66 0 -11.95 0 0 0 2.565

17 -17.06 15.834 -4.743 92.984 -147.7 0 -18.66 0 -11.95 0 0 0 2.565

18 -17.16 15.314 -4.238 92.607 -153.1 0 -18.66 0 -11.95 0 0 0 2.565

19 -17.22 14.846 -3.832 93.022 -158.6 0 -18.66 0 -11.95 0 0 0 2.565

20 -17.26 14.444 -3.518 94.502 -163.8 0 -18.66 0 -11.95 0 0 0 2.565

21 -17.28 14.114 -3.295 97.066 -168.6 0 -18.66 0 -11.95 0 0 0 2.565

22 -17.27 13.858 -3.159 100.54 -172.7 0 -18.66 0 -11.95 0 0 0 2.565

23 -17.25 13.681 -3.108 104.74 -175.9 0 -18.66 0 -11.95 0 0 0 2.565

24 -17.21 13.583 -3.142 109.51 -178 0 -18.66 0 -11.95 0 0 0 2.565

25 -17.16 13.568 -3.257 114.66 -179.1 0 -18.66 0 -11.95 0 0 0 2.565

26 -17.09 13.637 -3.453 119.95 -179 0 -18.66 0 -11.95 0 0 0 2.565

27 -17.03 13.794 -3.726 125.05 -177.7 0 -18.66 0 -11.95 0 0 0 2.565

28 -16.96 14.044 -4.069 129.5 -175.5 0 -18.66 0 -11.95 0 0 0 2.565

29 -16.94 14.4 -4.427 132.9 -172.7 0 -18.66 0 -11.95 0 0 0 2.565

30 -16.94 14.673 -4.703 135.14 -169.8 0 -18.66 0 -11.95 0 0 0 2.565

31 -16.95 14.858 -4.902 136.22 -166.9 0 -18.66 0 -11.95 0 0 0 2.565

32 -16.95 14.955 -5.025 136.16 -164.4 0 -18.66 0 -11.95 0 0 0 2.565

33 -16.96 14.962 -5.072 135.02 -162.3 0 -18.66 0 -11.95 0 0 0 2.565

34 -16.98 14.88 -5.045 132.91 -160.9 0 -18.66 0 -11.95 0 0 0 2.565

35 -16.99 14.706 -4.944 130.16 -160.4 0 -18.68 0 -12.02 0 0 0 2.565

36 -17 14.435 -4.779 127.86 -161 0 -18.71 0 -12.17 0 0 0 2.565

37 -17.02 14.052 -4.647 126.63 -162.1 0 -18.77 0 -12.4 0 0 0 2.565

38 -17.06 13.74 -4.608 126.56 -163.4 0 -18.83 0 -12.71 0 0 0 2.565

39 -17.1 13.499 -4.66 127.65 -164.7 0 -18.92 0 -13.09 0 0 0 2.565

40 -17.16 13.328 -4.805 129.91 -166.1 0 -19.02 0 -13.54 0 0 0 2.565

41 -17.24 13.223 -5.046 133.35 -167.5 0 -19.14 0 -14.08 0 0 0 2.565

42 -17.34 13.18 -5.383 137.94 -169 0 -19.26 0 -14.65 0 0 0 2.565



32/37

g g g( )


43 -17.46 13.194 -5.82 143.2 -170.5 0 -19.39 0 -15.22 0 0 0 2.565

44 -17.6 13.264 -6.357 148.52 -171.7 0 -19.51 0 -15.79 0 0 0 2.565

45 -17.76 13.388 -6.996 153.93 -172.4 0 -19.63 0 -16.36 0 0 0 2.565

46 -17.95 13.566 -7.733 158.2 -172.9 0 -19.74 0 -16.86 0 0 0 2.565

47 -18.13 13.771 -8.464 161.3 -173.2 0 -19.83 0 -17.28 0 0 0 2.565

48 -18.3 14.004 -9.187 163.24 -173.4 0 -19.9 0 -17.62 0 0 0 2.565

49 -18.46 14.289 -9.895 164.02 -173.5 0 -19.96 0 -17.89 0 0 0 2.565

50 -18.6 14.547 -10.49 163.62 -173.6 0 -20 0 -18.08 0 0 0 2.565

51 -18.72 14.769 -10.98 162.07 -173.5 0 -20.02 0 -18.19 0 0 0 2.565

52 -18.82 14.955 -11.35 159.34 -173.4 0 -20.03 0 -18.23 0 0 0 2.56553 -18.91 15.107 -11.62 155.45 -173.2 0 -20.03 0 -18.23 0 0 0 2.565

54 -18.97 15.228 -11.78 150.38 -173 0 -20.03 0 -18.23 0 0 0 2.565

55 -19.02 15.318 -11.82 144.93 -172.7 0 -20.03 0 -18.23 0 0 0 2.565

56 -19.05 15.38 -11.75 139.48 -172.5 0 -20.03 0 -18.23 0 0 0 2.565

57 -19.06 15.413 -11.57 134.02 -172.3 0 -20.03 0 -18.23 0 0 0 2.565

58 -19.11 15.557 -11.38 128.59 -172.7 0 -20.03 0 -18.23 0 0 0 2.565

59 -19.19 15.813 -11.19 123.24 -173.8 0 -20.03 0 -18.23 0 0 0 2.565

60 -19.31 16.179 -11 118.06 -175.6 0 -20.03 0 -18.23 0 0 0 2.565

61 -19.47 16.656 -10.8 113.11 -177.9 0 -20.03 0 -18.23 0 0 0 2.565

62 -19.67 17.244 -10.61 108.46 179.28 0 -20.03 0 -18.23 0 0 0 2.565

63 -19.91 17.94 -10.43 104.18 175.89 0 -20.03 0 -18.23 0 0 0 2.565

64 -20.16 18.663 -10.28 100.37 171.99 0 -20.03 0 -18.23 0 0 0 2.565

65 -20.42 19.389 -10.16 97.175 167.56 0 -20.03 0 -18.23 0 0 0 2.565

66 -20.68 20.117 -10.08 94.895 162.6 0 -20.03 0 -18.23 0 0 0 2.56567 -20.96 20.844 -10.03 93.758 157.89 0 -20.03 0 -18.23 0 0 0 2.565

68 -21.25 21.568 -10.02 93.331 154.11 0 -20.03 0 -18.23 0 0 0 2.565

69 -21.55 22.286 -10.05 93.344 151.41 0 -20.03 0 -18.23 0 0 0 2.565

70 -21.88 22.99 -10.13 93.629 149.85 0 -20.03 0 -18.23 0 0 0 2.565

71 -22.23 23.668 -10.28 94.046 149.46 0 -20.03 0 -18.23 0 0 0 2.565

72 -22.63 24.296 -10.52 94.45 150.23 0 -20.03 0 -18.23 0 0 0 2.565

73 -23.03 24.821 -10.81 94.639 152.15 0 -20.03 0 -18.23 0 0 0 2.565

74 -23.42 25.232 -11.11 94.094 154.99 0 -20.03 0 -18.23 0 0 0 2.565

75 -23.76 25.533 -11.4 93.381 156.67 0 -20.03 0 -18.23 0 0 0 2.565

76 -24.06 25.728 -11.66 92.766 157.18 0 -20.03 0 -18.23 0 0 0 2.565

77 -24.31 25.822 -11.9 92.385 156.54 0 -20.06 0 -18.16 0 0 0 2.565

78 -24.51 25.819 -12.09 92.429 154.82 0 -20.13 0 -18.02 0 0 0 2.565

79 -24.66 25.723 -12.23 92.655 153.67 0 -20.24 0 -17.81 0 0 0 2.565

80 -24.76 25.54 -12.31 92.697 153.12 0 -20.38 0 -17.53 0 0 0 2.565

81 -24.83 25.277 -12.31 92.805 152.52 0 -20.56 0 -17.19 0 0 0 2.565

82 -24.86 24.945 -12.22 92.974 151.85 0 -20.77 0 -16.77 0 0 0 2.565

83 -24.89 24.557 -12.03 93.2 151.13 0 -21.03 0 -16.29 0 0 0 2.565

84 -24.91 24.13 -11.73 93.473 150.35 0 -21.31 0 -15.78 0 0 0 2.565

85 -24.95 23.681 -11.31 93.783 149.52 0 -21.58 0 -15.26 0 0 0 2.565

86 -25.03 23.229 -10.79 94.12 148.63 0 -21.87 0 -14.75 0 0 0 2.565

87 -25.16 22.792 -10.16 94.469 147.71 0 -22.16 0 -14.24 0 0 0 2.565



33/37

g g g


88 -25.33 22.422 -9.493 94.82 146.75 0 -22.45 0 -13.73 0 0 0 2.565

89 -25.55 22.122 -8.808 95.124 145.79 0 -22.74 0 -13.23 0 0 0 2.565

90 -25.83 21.894 -8.116 95.378 144.82 0 -23.04 0 -12.73 0 0 0 2.565

91 -26.16 21.737 -7.429 95.576 143.86 0 -23.35 0 -12.23 0 0 0 2.565

92 -26.55 21.645 -6.76 95.717 142.91 0 -23.66 0 -11.73 0 0 0 2.565

93 -27 21.613 -6.119 95.802 141.98 0 -23.98 0 -11.24 0 0 0 2.565

94 -27.49 21.632 -5.517 95.83 141.07 0 -24.3 0 -10.75 0 0 0 2.565

95 -28.04 21.69 -4.962 95.808 140.2 0 -24.62 0 -10.27 0 0 0 2.565

96 -28.63 21.768 -4.459 95.742 139.36 0 -24.96 0 -9.788 0 0 0 2.565

97 -29.26 21.844 -4.009 95.648 138.56 0 -25.3 0 -9.312 0 0 0 2.56598 -29.92 21.881 -3.606 95.545 137.8 0 -25.64 0 -8.839 0 0 0 2.565

99 -30.61 21.836 -3.229 95.471 137.07 0 -25.99 0 -8.372 0 0 0 2.565

100 -31.26 21.683 -2.839 95.473 136.34 0 -26.35 0 -7.909 0 0 0 2.565

101 -31.83 21.459 -2.43 95.586 135.57 0 -26.71 0 -7.451 0 0 0 2.565

102 -32.28 21.248 -2.034 95.772 134.67 0 -27.08 0 -6.998 0 0 0 2.565

103 -32.66 21.12 -1.679 95.936 133.67 0 -27.46 0 -6.551 0 0 0 2.565

104 -33.12 21.007 -1.335 95.998 132.61 0 -27.84 0 -6.109 0 0 0 2.565

105 -33.59 20.881 -0.995 96.048 131.59 0 -28.23 0 -5.674 0 0 0 2.565

106 -34.08 20.757 -0.664 96.111 130.55 0 -28.63 0 -5.244 0 0 0 2.565

107 -34.56 20.633 -0.343 96.171 129.48 0 -29.07 0 -4.852 0 0 0 2.565

108 -35.09 20.509 -0.059 96.227 128.4 0 -29.53 0 -4.499 0 0 0 2.565

109 -35.64 20.386 0.187 96.282 127.34 0 -30.02 0 -4.182 0 0 0 2.565

110 -36.21 20.263 0.3974 96.333 126.3 0 -30.53 0 -3.899 0 0 0 2.565

111 -36.8 20.141 0.5737 96.381 125.28 0 -31.06 0 -3.649 0 0 0 2.565112 -37.4 20.02 0.7181 96.425 124.27 0 -31.6 0 -3.427 0 0 0 2.565

113 -38.01 19.9 0.8332 96.463 123.28 0 -32.16 0 -3.231 0 0 0 2.565

114 -38.63 19.78 0.9217 96.497 122.29 0 -32.71 0 -3.057 0 0 0 2.565

115 -39.26 19.662 0.9864 96.526 121.31 0 -33.28 0 -2.903 0 0 0 2.565

116 -39.89 19.544 1.03 96.549 120.32 0 -33.85 0 -2.766 0 0 0 2.565

117 -40.53 19.427 1.0552 96.566 119.33 0 -34.42 0 -2.642 0 0 0 2.565

118 -41.16 19.311 1.0643 96.578 118.33 0 -34.99 0 -2.529 0 0 0 2.565

119 -41.8 19.195 1.0595 96.584 117.32 0 -35.57 0 -2.424 0 0 0 2.565

120 -42.44 19.079 1.043 96.584 116.29 0 -36.14 0 -2.325 0 0 0 2.565

121 -43.07 18.965 1.0165 96.579 115.24 0 -36.72 0 -2.208 0 0 0 2.565

122 -43.71 18.849 1.0005 96.567 114.17 0 -37.29 0 -2.075 0 0 0 2.565

123 -44.34 18.734 0.9916 96.551 113.04 0 -37.85 0 -1.931 0 0 0 2.565

124 -44.97 18.619 0.9867 96.53 111.85 0 -38.42 0 -1.777 0 0 0 2.565

125 -45.6 18.505 0.9829 96.502 110.6 0 -38.98 0 -1.616 0 0 0 2.565

126 -46.22 18.392 0.9778 96.465 109.3 0 -39.54 0 -1.451 0 0 0 2.565

127 -46.84 18.279 0.9691 96.42 107.95 0 -40.1 0 -1.284 0 0 0 2.565

128 -47.46 18.168 0.955 96.363 106.54 0 -40.66 0 -1.117 0 0 0 2.565

129 -48.08 18.059 0.9336 96.295 105.08 0 -41.22 0 -0.948 0 0 0 2.565

130 -48.69 17.951 0.9049 96.214 103.58 0 -41.78 0 -0.78 0 0 0 2.565

131 -49.3 17.845 0.8687 96.118 102.03 0 -42.34 0 -0.611 0 0 0 2.565

132 -49.9 17.74 0.8244 96.006 100.42 0 -42.9 0 -0.443 0 0 0 2.565



34/37


133 -50.5 17.639 0.7717 95.877 98.764 0 -43.46 0 -0.276 0 0 0 2.565

134 -51.09 17.539 0.7103 95.73 97.056 0 -44.02 0 -0.119 0 0 0 2.565

135 -51.68 17.442 0.6328 95.562 95.298 0 -44.59 0 0.0263 0 0 0 2.565

136 -52.27 17.347 0.5387 95.374 93.507 0 -45.16 0 0.1594 0 0 0 2.565

137 -52.85 17.254 0.4277 95.164 91.686 0 -45.73 0 0.2794 0 0 0 2.565

138 -53.43 17.165 0.2997 94.93 89.836 0 -46.31 0 0.3857 0 0 0 2.565

139 -54 17.078 0.1544 94.674 87.96 0 -46.89 0 0.4776 0 0 0 2.565

140 -54.57 16.993 -0.008 94.394 86.061 0 -47.47 0 0.5546 0 0 0 2.565

141 -55.12 16.911 -0.188 94.089 84.142 0 -48.05 0 0.616 0 0 0 2.565

142 -55.68 16.832 -0.384 93.758 82.205 0 -48.63 0 0.6614 0 0 0 2.565143 -56.22 16.756 -0.598 93.402 80.255 0 -49.21 0 0.6903 0 0 0 2.565

144 -56.76 16.683 -0.828 93.02 78.293 0 -49.8 0 0.7023 0 0 0 2.565

145 -57.29 16.612 -1.075 92.613 76.324 0 -50.38 0 0.6969 0 0 0 2.565

146 -57.8 16.545 -1.337 92.181 74.351 0 -50.97 0 0.6739 0 0 0 2.565

147 -58.31 16.48 -1.614 91.723 72.376 0 -51.55 0 0.633 0 0 0 2.565

148 -58.81 16.418 -1.907 91.242 70.405 0 -52.13 0 0.574 0 0 0 2.565

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150 -59.79 16.303 -2.535 90.211 66.481 0 -53.29 0 0.4011 0 0 0 2.565

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152 -60.71 16.198 -3.217 89.096 62.606 0 -54.43 0 0.1544 0 0 0 2.565

153 -61.16 16.15 -3.577 88.511 60.694 0 -55 0 0.0035 0 0 0 2.565

154 -61.6 16.104 -3.949 87.91 58.803 0 -55.56 0 -0.166 0 0 0 2.565

155 -62.03 16.06 -4.332 87.293 56.934 0 -56.11 0 -0.353 0 0 0 2.565

156 -62.44 16.019 -4.726 86.664 55.092 0 -56.66 0 -0.558 0 0 0 2.565

157 -62.85 15.981 -5.131 86.023 53.276 0 -57.2 0 -0.781 0 0 0 2.565

158 -63.24 15.944 -5.545 85.373 51.489 0 -57.73 0 -1.021 0 0 0 2.565

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160 -64 15.878 -6.403 84.051 48.01 0 -58.78 0 -1.552 0 0 0 2.565

161 -64.36 15.847 -6.844 83.383 46.319 0 -59.28 0 -1.842 0 0 0 2.565

162 -64.71 15.819 -7.294 82.711 44.662 0 -59.78 0 -2.148 0 0 0 2.565

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164 -65.38 15.766 -8.218 81.364 41.454 0 -60.75 0 -2.805 0 0 0 2.565

165 -65.7 15.743 -8.691 80.691 39.903 0 -61.22 0 -3.155 0 0 0 2.565

166 -66.01 15.72 -9.171 80.02 38.388 0 -61.68 0 -3.519 0 0 0 2.565

167 -66.31 15.7 -9.658 79.352 36.908 0 -62.12 0 -3.896 0 0 0 2.565

168 -66.6 15.68 -10.15 78.688 35.465 0 -62.56 0 -4.286 0 0 0 2.565

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170 -67.15 15.644 -11.15 77.374 32.683 0 -63.39 0 -5.103 0 0 0 2.565

171 -67.41 15.627 -11.66 76.726 31.344 0 -63.8 0 -5.528 0 0 0 2.565

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174 -68.14 15.583 -13.23 74.82 27.527 0 -64.93 0 -6.865 0 0 0 2.565

175 -68.36 15.57 -13.76 74.199 26.319 0 -65.29 0 -7.33 0 0 0 2.565

176 -68.57 15.557 -14.29 73.585 25.142 0 -65.63 0 -7.804 0 0 0 2.565

177 -68.77 15.545 -14.83 72.979 23.994 0 -65.96 0 -8.285 0 0 0 2.565



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178 -68.97 15.533 -15.37 72.38 22.876 0 -66.28 0 -8.774 0 0 0 2.565

179 -69.15 15.522 -15.91 71.79 21.786 0 -66.59 0 -9.271 0 0 0 2.565

180 -69.33 15.511 -16.46 71.206 20.723 0 -66.89 0 -9.774 0 0 0 2.565

181 -69.49 15.5 -17.02 70.631 19.686 0 -67.17 0 -10.28 0 0 0 2.565

182 -69.65 15.49 -17.57 70.063 18.675 0 -67.45 0 -10.8 0 0 0 2.565

183 -69.8 15.48 -18.13 69.502 17.688 0 -67.71 0 -11.32 0 0 0 2.565

184 -69.94 15.469 -18.69 68.949 16.724 0 -67.97 0 -11.85 0 0 0 2.565

185 -70.07 15.459 -19.25 68.403 15.783 0 -68.21 0 -12.38 0 0 0 2.565

186 -70.2 15.449 -19.82 67.864 14.863 0 -68.44 0 -12.92 0 0 0 2.565

187 -70.31 15.439 -20.38 67.332 13.964 0 -68.67 0 -13.46 0 0 0 2.565188 -70.42 15.429 -20.95 66.806 13.084 0 -68.88 0 -14 0 0 0 2.565

189 -70.52 15.419 -21.52 66.287 12.223 0 -69.08 0 -14.55 0 0 0 2.565

190 -70.61 15.409 -22.09 65.774 11.381 0 -69.27 0 -15.1 0 0 0 2.565

191 -70.69 15.399 -22.67 65.268 10.555 0 -69.45 0 -15.66 0 0 0 2.565

192 -70.77 15.388 -23.24 64.767 9.746 0 -69.63 0 -16.22 0 0 0 2.565

193 -70.83 15.377 -23.82 64.272 8.952 0 -69.79 0 -16.78 0 0 0 2.565

194 -70.89 15.366 -24.4 63.782 8.1727 0 -69.94 0 -17.34 0 0 0 2.565

195 -70.95 15.355 -24.97 63.298 7.4076 0 -70.09 0 -17.91 0 0 0 2.565

196 -70.99 15.343 -25.55 62.818 6.6553 0 -70.23 0 -18.48 0 0 0 2.565

197 -71.03 15.331 -26.13 62.344 5.9155 0 -70.35 0 -19.05 0 0 0 2.565

198 -71.06 15.319 -26.71 61.874 5.1876 0 -70.47 0 -19.62 0 0 0 2.565

199 -71.08 15.306 -27.29 61.409 4.4704 0 -70.58 0 -20.2 0 0 0 2.565

200 -71.1 15.293 -27.88 60.947 3.7639 0 -70.68 0 -20.77 0 0 0 2.565

201 -71.1 15.28 -28.46 60.518 2.9687 0 -70.78 0 -21.35 0 0 0 2.565

202 -71.07 15.268 -29.04 60.148 2.0186 0 -70.86 0 -21.93 0 0 0 2.565

203 -71.02 15.257 -29.62 59.838 0.9456 0 -70.94 0 -22.51 0 0 0 2.565

204 -70.94 15.249 -30.2 59.587 -0.247 0 -71.01 0 -23.09 0 0 0 2.565

205 -70.84 15.243 -30.78 59.398 -1.556 0 -71.07 0 -23.67 0 0 0 2.565

206 -70.71 15.24 -31.36 59.273 -2.977 0 -71.12 0 -24.25 0 0 0 2.565

207 -70.56 15.241 -31.93 59.215 -4.503 0 -71.15 0 -24.84 0 0 0 2.565

208 -70.38 15.247 -32.49 59.225 -6.128 0 -71.18 0 -25.42 0 0 0 2.565

209 -70.18 15.258 -33.05 59.305 -7.844 0 -71.19 0 -26.01 0 0 0 2.565

210 -69.96 15.275 -33.6 59.458 -9.644 0 -71.2 0 -26.59 0 0 0 2.565

211 -69.72 15.298 -34.14 59.685 -11.52 0 -71.18 0 -27.18 0 0 0 2.565

212 -69.45 15.328 -34.67 59.985 -13.45 0 -71.16 0 -27.76 0 0 0 2.565

213 -69.17 15.366 -35.19 60.359 -15.44 0 -71.12 0 -28.34 0 0 0 2.565

214 -68.86 15.412 -35.7 60.806

Documents

Crowd Simulation: A Distributed Cognitive Model