source: cpp/frams/genetics/f4/f4_general.h @ 651

// This file is a part of Framsticks SDK.  http://www.framsticks.com/
// Copyright (C) 1999-2015  Maciej Komosinski and Szymon Ulatowski.
// See LICENSE.txt for details.

// Copyright (C) 1999,2000  Adam Rotaru-Varga (adam_rotaru@yahoo.com), GNU LGPL

#ifndef _F4_GENERAL_H_
#define _F4_GENERAL_H_

//#include "f4_orientmat.h"
#include <frams/util/3d.h>
#include <frams/util/sstring.h>
#include <frams/util/multirange.h>

#ifdef DMALLOC
#include <dmalloc.h>
#endif


class f4_Props
{
public:
        // fill with default values
        f4_Props();
        // must sum to 1
        void normalizeBiol4();
        void executeModifier(char modif);
        void adjust();

        double len;      // length (dlug)
        double curv;     // curvedness (skr)
        double mass;
        double friction;
        double ruch;
        double assim;
        double odpor;
        double ingest;  // ingestion (wchl)
        double twist;
        double energ;
};

extern f4_Props stdProps;


// rolling (one-time)
void rolling_dec(double * v);
void rolling_inc(double * v);


class f4_node;   // later
class f4_Cell;   // later
class f4_Cells;  // later


// cell types
#define T_UNDIFF4 40
#define T_STICK4  41
#define T_NEURON4 42

int scanrec(const char * s, unsigned int slen, char stopchar);


class f4_CellLink;
#define MAXINPUTS 100

// an abstract cell type, extension of part/stick -- for developmental encoding
class f4_Cell
{
public:
        class repeat_ptr
        {
        public:
                repeat_ptr() : node(NULL), count(-1) { };
                repeat_ptr(f4_node * a, int b) : node(a), count(b) { };
                inline void null() { node = NULL; count = -1; };
                inline bool isNull() const { return ((node == NULL) || (count <= 0)); };
                inline void dec() { count--; };
                f4_node *  node;  // ptr to repetition code
                char       count; // repetition counter
        };

        class repeat_stack  // a stack of repet_ptr's
        {
        public:
                repeat_stack() { top = 0; };
                inline void null() { top = 0; };
                inline void push(repeat_ptr A) { if (top >= stackSize) return; ptr[top] = A; top++; };
                inline void pop() { if (top > 0) top--; };
                inline repeat_ptr * first() { return &(ptr[top - (top > 0)]); };
                static const int stackSize = 4;  // max 4 nested levels
                repeat_ptr ptr[stackSize];
                short int top;  // top of the stack
        };

        f4_Cell(int nname,
                f4_Cell * ndad, int nangle, f4_Props newP);
        f4_Cell(f4_Cells * nO, int nname, f4_node * ngeno, f4_node * ngcur,
                f4_Cell * ndad, int nangle, f4_Props newP);
        ~f4_Cell();

        int onestep();  // execute one simulation step (till a division)

        int   addlink(f4_Cell * nfrom, double nw, int nt);
        void  adjustRec();

        int        name;     // name (number)
        int        type;     // type
        f4_Cell *  dadlink;
        f4_Cells * org; // uplink to organism

        f4_node *  genot;         // genotype
        f4_node *  gcur;        // current genotype execution pointer
        int        active;      // whether development is still active
        repeat_stack repeat;
        int        recProcessedFlag;  // used during recursive traverse
        // remember the genotype codes affecting this cell so far
        MultiRange genoRange;

        f4_Props     P;             // properties
        int          anglepos;      // number of position within dad's children (,)
        int          childcount;    // number of children
        int          commacount;    // number of postitions at lastend (>=childcount)
        double       rolling;       // rolling angle ('R') (around x)
        double       xrot;
        double       zrot;          // horizontal rotation angle due to
        // branching (around z)
        //Pt3D         firstend;      // coord.s of first end (connects to parent)
        //Pt3D         lastend;       // last end
        //f4_OrientMat OM;
        double       mz;            // freedom in z
        int          p2_refno;   // number of last end part object, used in f0
        int          joint_refno;   // number of the joint object, used in f0
        int          neuro_refno;   // number of the neuro object, used in f0

        int          ctrl;  // neuron type
        double       state;
        double       inertia;
        double       force;
        double       sigmo;
        f4_CellLink* links[MAXINPUTS];
        int          nolink;
};


// an input link to a neuron
class f4_CellLink
{
public:
        f4_CellLink(f4_Cell * nfrom, double nw, int nt);
        f4_Cell *    from;
        // type: 0: input, 1 '*', 2 'G', 3 'T', 4 'S'
        int          t;
        double       w;
};


// a collection of cells, like Organism, for developmental encoding
#define MAX4CELLS 100
class f4_Cells
{
public:
        f4_Cells(f4_node * genome, int nrepair);
        f4_Cells(SString &genome, int nrepair);
        ~f4_Cells();
        void addCell(f4_Cell * newcell);
        void toF1Geno(SString &out);       // output to f1 format, approximation
        int  onestep();       // simulate all parts for one step
        int  simulate();      // simulate development, return error (0 for ok)
        // for error reporting / genotype fixing
        int  geterror() { return error; };
        int  geterrorpos() { return errorpos; };
        void setError(int nerrpos);
        void setRepairRemove(int nerrpos, f4_node * rem);
        int  setRepairInsert(int nerrpos, f4_node * parent, f4_node * insert);
        void repairGeno(f4_node * geno, int whichchild);

        // the cells
        f4_Cell * C[MAX4CELLS];
        int       nc;

private:
        // for error reporting / genotype fixing
        int repair;
        int error;
        int errorpos;
        f4_node * repair_remove;
        f4_node * repair_parent;
        f4_node * repair_insert;
        void toF1GenoRec(int curc, SString &out);
        f4_Cell * tmpcel;               // needed by toF1Geno
        f4_node * f4rootnode;          // used by constructor
};


/**
 * Class to organize a f4 genotype in a tree structure.
 */
class f4_node
{
public:
        char      name; // one-letter 'name'
        f4_node * parent;       // parent link, or NULL
        f4_node * child;        // child, or NULL
        f4_node * child2;       // second child, or NULL
        int       pos;        // original position in string
        int       i1;           // internal int  parameter1
        int       l1;           // internal long parameter1
        double    f1;           // internal double parameter1

        f4_node();
        f4_node(char nname, f4_node * nparent, int npos);
        ~f4_node();
        int       addChild(f4_node * nchi);
        int       removeChild(f4_node * nchi);
        int       childCount(); // return no of children, 0, 1, or 2
        int       count();      // return no of nodes (recursive)
        f4_node * ordNode(int n);       // returns the nth subnode (0-)
        f4_node * randomNode(); // returns a random subnode
        f4_node * randomNodeWithSize(int min, int max); // returns a random subnode with given size
        void      sprintAdj(char *& buf);       // print recursively
        f4_node * duplicate();         // create duplicate copy. recursive.
        void      destroy();    // release memory. recursive.
private:
        void     sprint(SString & out); // print recursively
};

// convert f4 geno string to tree structure (internal)
f4_node * f4_processtree(const char * geno);
int f4_processrec(const char * genot, unsigned pos0, f4_node * parent);


#endif