結果
| 問題 |
No.1226 I hate Robot Arms
|
| ユーザー |
 uwi
|
| 提出日時 | 2020-09-11 21:49:51 |
| 言語 | Java (openjdk 23) |
| 結果 |
AC
|
| 実行時間 | 1,874 ms / 2,000 ms |
| コード長 | 6,676 bytes |
| コンパイル時間 | 4,727 ms |
| コンパイル使用メモリ | 89,652 KB |
| 実行使用メモリ | 148,108 KB |
| 最終ジャッジ日時 | 2024-12-31 11:42:29 |
| 合計ジャッジ時間 | 46,429 ms |
|
ジャッジサーバーID （参考情報） |
judge3 / judge1 |
（要ログイン）
| ファイルパターン | 結果 |
|---|---|
| sample | AC * 2 |
| other | AC * 28 |
ソースコード
package contest200911;
import java.io.ByteArrayInputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.PrintWriter;
import java.util.Arrays;
import java.util.InputMismatchException;
public class D {
InputStream is;
PrintWriter out;
String INPUT = "";
void solve()
{
int n = ni();
SegmentTreeMatrix st = new SegmentTreeMatrix(n);
int[] ls = new int[n];
double[] xs = new double[n];
Arrays.fill(ls, 1);
for(int Q = ni(); Q> 0;Q--){
int t = ni();
if(t == 0){
int i = ni();
double x = ni()/180.*Math.PI;
xs[i-1] = x;
double cx = Math.cos(xs[i-1]);
double sx = Math.sin(xs[i-1]);
double[][] M = st.node[st.H+i-1];
M[2][2] = cx; M[2][3] = -sx;
M[3][2] = sx; M[3][3] = cx;
M[0][2] = ls[i-1]*cx; M[0][3] = ls[i-1]*-sx;
M[1][2] = ls[i-1]*sx; M[1][3] = ls[i-1]*cx;
st.update(i-1);
}else if(t == 1){
int i = ni();
int x = ni();
ls[i-1] = x;
double cx = Math.cos(xs[i-1]);
double sx = Math.sin(xs[i-1]);
double[][] M = st.node[st.H+i-1];
M[2][2] = cx; M[2][3] = -sx;
M[3][2] = sx; M[3][3] = cx;
M[0][2] = ls[i-1]*cx; M[0][3] = ls[i-1]*-sx;
M[1][2] = ls[i-1]*sx; M[1][3] = ls[i-1]*cx;
st.update(i-1);
}else{
int i = ni();
double[] res = st.apply(0, i, new double[]{0, 0, 1, 0});
out.printf("%.14f %.14f\n", res[0], res[1]);
}
}
}
//
// (cos x -sin x)
// (sin x cos x)
public static class SegmentTreeMatrix {
public int M, H, N;
public double[][][] node;
public static int mod = 1000000007;
public static long BIG = 8L*mod*mod;
public static int S = 4;
public SegmentTreeMatrix(int n)
{
N = n;
M = Integer.highestOneBit(Math.max(N-1, 1))<<2;
H = M>>>1;
node = new double[M][][];
for(int i = 0;i < N;i++){
node[H+i] = new double[S][S];
for(int j = 0;j < 4;j++){
node[H+i][j][j] = 1;
}
node[H+i][0][2] = 1;
node[H+i][1][3] = 1;
}
for(int i = H-1;i >= 1;i--)propagate(i);
}
private void propagate(int cur)
{
node[cur] = prop2(node[2*cur], node[2*cur+1], node[cur]);
}
private double[][] prop2(double[][] L, double[][] R, double[][] C)
{
if(L != null && R != null){
C = mul(R, L, C);
return C;
}else if(L != null){
return prop1(L, C);
}else if(R != null){
return prop1(R, C);
}else{
return null;
}
}
private double[][] prop1(double[][] L, double[][] C)
{
if(C == null){
// C = L; // read only
C = new double[S][];
for(int i = 0;i < S;i++){
C[i] = Arrays.copyOf(L[i], S);
}
}else{
for(int i = 0;i < S;i++){
C[i] = Arrays.copyOf(L[i], S);
}
}
return C;
}
public void update(int pos) {
for(int i = H+pos>>>1;i >= 1;i>>>=1)propagate(i);
}
public double[] apply(int l, int r, double[] v){
return apply(l, r, 0, H, 1, v);
}
protected double[] apply(int l, int r, int cl, int cr, int cur, double[] v)
{
if(l <= cl && cr <= r){
return mul(node[cur], v);
}else{
int mid = cl+cr>>>1;
if(cl < r && l < mid){
v = apply(l, r, cl, mid, 2*cur, v);
}
if(mid < r && l < cr){
v = apply(l, r, mid, cr, 2*cur+1, v);
}
return v;
}
}
public static double[] mul(double[][] A, double[] v)
{
int m = A.length;
int n = v.length;
double[] w = new double[m];
for(int i = 0;i < m;i++){
double sum = 0;
for(int k = 0;k < n;k++){
sum += A[i][k] * v[k];
}
w[i] = sum;
}
return w;
}
public static double[][] mul(double[][] A, double[][] B, double[][] C)
{
assert A[0].length == B.length;
int m = A.length;
int n = A[0].length;
int o = B[0].length;
if(C == null){
C = new double[m][o];
}else{
for(int i = 0;i < m;i++){
Arrays.fill(C[i], 0.);
}
}
for(int i = 0;i < m;i++){
for(int k = 0;k < n;k++){
for(int j = 0;j < o;j++){
C[i][j] += A[i][k] * B[k][j];
}
}
}
return C;
}
}
void run() throws Exception
{
is = INPUT.isEmpty() ? System.in : new ByteArrayInputStream(INPUT.getBytes());
out = new PrintWriter(System.out);
long s = System.currentTimeMillis();
solve();
out.flush();
if(!INPUT.isEmpty())tr(System.currentTimeMillis()-s+"ms");
// Thread t = new Thread(null, null, "~", Runtime.getRuntime().maxMemory()){
// @Override
// public void run() {
// long s = System.currentTimeMillis();
// solve();
// out.flush();
// if(!INPUT.isEmpty())tr(System.currentTimeMillis()-s+"ms");
// }
// };
// t.start();
// t.join();
}
public static void main(String[] args) throws Exception { new D().run(); }
private byte[] inbuf = new byte[1024];
public int lenbuf = 0, ptrbuf = 0;
private int readByte()
{
if(lenbuf == -1)throw new InputMismatchException();
if(ptrbuf >= lenbuf){
ptrbuf = 0;
try { lenbuf = is.read(inbuf); } catch (IOException e) { throw new InputMismatchException(); }
if(lenbuf <= 0)return -1;
}
return inbuf[ptrbuf++];
}
private boolean isSpaceChar(int c) { return !(c >= 33 && c <= 126); }
private int skip() { int b; while((b = readByte()) != -1 && isSpaceChar(b)); return b; }
private double nd() { return Double.parseDouble(ns()); }
private char nc() { return (char)skip(); }
private String ns()
{
int b = skip();
StringBuilder sb = new StringBuilder();
while(!(isSpaceChar(b))){ // when nextLine, (isSpaceChar(b) && b != ' ')
sb.appendCodePoint(b);
b = readByte();
}
return sb.toString();
}
private char[] ns(int n)
{
char[] buf = new char[n];
int b = skip(), p = 0;
while(p < n && !(isSpaceChar(b))){
buf[p++] = (char)b;
b = readByte();
}
return n == p ? buf : Arrays.copyOf(buf, p);
}
private int[] na(int n)
{
int[] a = new int[n];
for(int i = 0;i < n;i++)a[i] = ni();
return a;
}
private long[] nal(int n)
{
long[] a = new long[n];
for(int i = 0;i < n;i++)a[i] = nl();
return a;
}
private char[][] nm(int n, int m) {
char[][] map = new char[n][];
for(int i = 0;i < n;i++)map[i] = ns(m);
return map;
}
private int[][] nmi(int n, int m) {
int[][] map = new int[n][];
for(int i = 0;i < n;i++)map[i] = na(m);
return map;
}
private int ni() { return (int)nl(); }
private long nl()
{
long num = 0;
int b;
boolean minus = false;
while((b = readByte()) != -1 && !((b >= '0' && b <= '9') || b == '-'));
if(b == '-'){
minus = true;
b = readByte();
}
while(true){
if(b >= '0' && b <= '9'){
num = num * 10 + (b - '0');
}else{
return minus ? -num : num;
}
b = readByte();
}
}
private static void tr(Object... o) { System.out.println(Arrays.deepToString(o)); }
}