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8....51..
..1...8..
.4.2...9.
....3...2
1234 6789
6...1....
.8...9.5.
..2...4..
..76....1

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// gist名指定用

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// Original: https://www.kevinbeason.com/smallpt/
#include <math.h>
#include <stdlib.h>
#include <stdio.h>
typedef struct { double x, y, z; } Vec;    // position, also color (r,g,b)
Vec vadd(Vec a, Vec b) { return (Vec){a.x+b.x, a.y+b.y, a.z+b.z}; }
Vec vsub(Vec a, Vec b) { return (Vec){a.x-b.x, a.y-b.y, a.z-b.z}; }
Vec vscale(Vec a, double b) { return (Vec){a.x*b, a.y*b, a.z*b}; }
Vec vmult(Vec a, Vec b) { return (Vec){a.x*b.x, a.y*b.y, a.z*b.z}; }
double vdot(Vec a, Vec b) { return a.x*b.x+a.y*b.y+a.z*b.z; }

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#include "getopt.h"

#include <stdbool.h>
#include <stddef.h>  // NULL
#include <stdio.h>
#include <string.h>

int optind, optopt;
int opterr = 1;
char *optarg;

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// Ref. https://craftinginterpreters.com/

#include <assert.h>
#include <inttypes.h>  // PRIx64
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>  // malloc
#include <stdint.h>
#include <string.h>

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const WIDTH = 600, HEIGHT = 600
const DIV = 64
const TWO_PI = 2 * Math.PI

const MIN_TIME = 60
const MAX_TIME = 300
const TRANSITION_RATIO = 1.0 / 100

function randi(min, max) {
    return Math.floor(random(min, max + 1))

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# fmt: off

# https://gymnasium.farama.org/tutorials/training_agents/reinforce_invpend_gym_v26/
# https://gymnasium.farama.org/environments/mujoco/inverted_double_pendulum/

"""
Training using REINFORCE for Mujoco
===================================

.. image:: /_static/img/tutorials/reinforce_invpend_gym_v26_fig1.gif

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#include <mach-o/compact_unwind_encoding.h>
#include <mach-o/fixup-chains.h>
#include <mach-o/ldsyms.h>
#include <mach-o/loader.h>
#include <mach-o/nlist.h>
#include <stdio.h>
#include <string.h>

#define ARRAYSIZE(a)  (sizeof(a) / sizeof(a[0]))
#define ALIGN(x, a)   (((x) + (a) - 1) & ~((a) - 1))

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LC_REQ_DYLD = 0x80000000

LC_SEGMENT =          0x01
LC_SYMTAB =           0x02
LC_SYMSEG =           0x03
LC_THREAD =           0x04
LC_UNIXTHREAD =       0x05
LC_LOADFVMLIB =       0x06
LC_IDFVMLIB =         0x07
LC_IDENT =            0x08