[759] | 1 | // This file is a part of Framsticks SDK. http://www.framsticks.com/ |
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[1242] | 2 | // Copyright (C) 1999-2023 Maciej Komosinski and Szymon Ulatowski. |
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[759] | 3 | // See LICENSE.txt for details. |
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| 4 | |
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| 5 | #include "geneprops.h" |
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[1130] | 6 | #include <algorithm> |
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[759] | 7 | |
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| 8 | GeneProps GeneProps::standard_values; |
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| 9 | |
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| 10 | GeneProps::GeneProps() |
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| 11 | { |
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[1248] | 12 | Part_MinMaxDef default_part = Model::getDefPart(); |
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| 13 | Joint default_joint = Model::getDefJoint(); |
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| 14 | |
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[759] | 15 | length = 1.0; |
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| 16 | weight = 1.0; |
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[1248] | 17 | friction = default_part.friction; |
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[759] | 18 | curvedness = 0.0; |
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| 19 | twist = 0.0; |
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| 20 | energy = 1.0; |
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| 21 | |
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[1248] | 22 | // before 2023-05, the four fields below were aggregated and normalized using normalizeBiol4(), but this normalization only worked for f1 and f4 - other genetic encodings do not perform such normalization. If at all, this should be handled by the expdef depending on the goal of the experiment (e.g., to encourage specialization). |
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| 23 | muscle_power = 0.25; // "biological" property, same as findNeuroClass("BendMuscle or RotMuscle")->paraminterface->getDoubleById("power") |
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| 24 | assimilation = default_part.assim; // "biological" property |
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| 25 | stamina = default_joint.stamina; // "biological" property |
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| 26 | ingestion = default_part.ingest; // "biological" property |
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[759] | 27 | |
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[1248] | 28 | muscle_bend_range = 1.0; // same as findNeuroClass("BendMuscle")->paraminterface->getDoubleById("range") |
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[759] | 29 | muscle_reset_range = true; |
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| 30 | |
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[1248] | 31 | cred = default_part.vcolor.x; |
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| 32 | cgreen = default_part.vcolor.y; |
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| 33 | cblue = default_part.vcolor.z; |
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[759] | 34 | } |
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| 35 | |
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| 36 | void GeneProps::normalizeBiol4() |
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| 37 | { |
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| 38 | // make them sum to 1 |
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| 39 | double sum = muscle_power + assimilation + stamina + ingestion; |
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| 40 | if (sum == 0) |
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| 41 | { |
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| 42 | muscle_power = assimilation = stamina = ingestion = 0.25; |
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| 43 | } |
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| 44 | else |
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| 45 | { |
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| 46 | muscle_power /= sum; |
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| 47 | assimilation /= sum; |
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| 48 | stamina /= sum; |
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| 49 | ingestion /= sum; |
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| 50 | } |
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| 51 | } |
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| 52 | |
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[1242] | 53 | int GeneProps::executeModifier_Legacy(char modif) |
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[759] | 54 | { |
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| 55 | switch (modif) |
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| 56 | { |
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| 57 | #ifdef v1f1COMPATIBLE |
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[1242] | 58 | case 'L': length += (3.0 - length) * 0.3; |
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[1130] | 59 | length = std::min(length, Model::getMaxJoint().d.x); break; |
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[759] | 60 | #else |
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[1242] | 61 | case 'L': length += (2.0 - length) * 0.3; //2.0 is currently Model::getMaxJoint().d.x so min() does not limit the range |
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[1130] | 62 | length = std::min(length, Model::getMaxJoint().d.x); break; |
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[759] | 63 | #endif |
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[1242] | 64 | case 'l': length += (0.33 - length) * 0.3; |
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[1130] | 65 | length = std::max(length, Model::getMinJoint().d.x); break; |
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[759] | 66 | |
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[1242] | 67 | case 'W': weight += (2.0 - weight) * 0.3; break; |
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| 68 | case 'w': weight += (0.5 - weight) * 0.3; break; |
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| 69 | case 'F': friction += (4 - friction) * 0.2; break; |
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| 70 | case 'f': friction -= friction * 0.2; break; |
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[759] | 71 | case 'C': curvedness += (2.0 - curvedness) * 0.25; break; |
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| 72 | case 'c': curvedness += (-2.0 - curvedness) * 0.25; break; |
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[1242] | 73 | case 'Q': twist += (M_PI_2 - twist) * 0.3; break; |
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| 74 | case 'q': twist += (-M_PI_2 - twist) * 0.3; break; |
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| 75 | case 'E': energy += (10.0 - energy) * 0.1; break; |
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| 76 | case 'e': energy -= energy * 0.1; break; |
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[759] | 77 | |
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[1242] | 78 | case 'A': assimilation += (1 - assimilation) * 0.8; normalizeBiol4(); break; |
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| 79 | case 'a': assimilation -= assimilation * 0.4; normalizeBiol4(); break; |
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| 80 | case 'I': ingestion += (1 - ingestion) * 0.8; normalizeBiol4(); break; |
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| 81 | case 'i': ingestion -= ingestion * 0.4; normalizeBiol4(); break; |
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| 82 | case 'S': stamina += (1 - stamina) * 0.8; normalizeBiol4(); break; |
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| 83 | case 's': stamina -= stamina * 0.4; normalizeBiol4(); break; |
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| 84 | case 'M': muscle_power += (1 - muscle_power) * 0.8; normalizeBiol4(); break; |
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| 85 | case 'm': muscle_power -= muscle_power * 0.4; normalizeBiol4(); break; |
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[759] | 86 | |
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[1242] | 87 | case 'D': cred += (1.0 - cred) * 0.25; break; |
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| 88 | case 'd': cred += (0.0 - cred) * 0.25; break; |
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| 89 | case 'G': cgreen += (1.0 - cgreen) * 0.25; break; |
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| 90 | case 'g': cgreen += (0.0 - cgreen) * 0.25; break; |
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| 91 | case 'B': cblue += (1.0 - cblue) * 0.25; break; |
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| 92 | case 'b': cblue += (0.0 - cblue) * 0.25; break; |
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[759] | 93 | |
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| 94 | default: return -1; |
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| 95 | } |
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| 96 | return 0; |
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| 97 | } |
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| 98 | |
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[1242] | 99 | int GeneProps::executeModifier(char modif, GenePropsOps* ops) |
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| 100 | { |
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| 101 | if (ops == NULL) |
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| 102 | ops = getStandardOps(); |
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| 103 | |
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| 104 | #define APPLY(name) ops->name->apply(name, modif) |
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| 105 | #define APPLY_AND_MAYBE_NORMALIZEBIOL4(name) {APPLY(name); if (ops->use_normalizebiol4) normalizeBiol4();} |
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| 106 | |
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| 107 | switch (toupper(modif)) |
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| 108 | { |
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| 109 | case 'L': APPLY(length); |
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| 110 | length = std::min(length, Model::getMaxJoint().d.x); break; |
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| 111 | break; |
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| 112 | |
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| 113 | case 'l': APPLY(length); |
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| 114 | length = std::max(length, Model::getMinJoint().d.x); break; |
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| 115 | break; |
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| 116 | |
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| 117 | case 'W': APPLY(weight); break; |
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| 118 | case 'F': APPLY(friction); break; |
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| 119 | case 'C': APPLY(curvedness); break; |
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| 120 | case 'Q': APPLY(twist); break; |
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| 121 | case 'E': APPLY(energy); break; |
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| 122 | |
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| 123 | case 'A': APPLY_AND_MAYBE_NORMALIZEBIOL4(assimilation); break; |
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| 124 | case 'I': APPLY_AND_MAYBE_NORMALIZEBIOL4(ingestion); break; |
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| 125 | case 'S': APPLY_AND_MAYBE_NORMALIZEBIOL4(stamina); break; |
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| 126 | case 'M': APPLY_AND_MAYBE_NORMALIZEBIOL4(muscle_power); break; |
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| 127 | |
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| 128 | case 'D': APPLY(cred); break; |
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| 129 | case 'G': APPLY(cgreen); break; |
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| 130 | case 'B': APPLY(cblue); break; |
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| 131 | |
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| 132 | default: return -1; |
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| 133 | } |
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| 134 | return 0; |
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| 135 | |
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| 136 | #undef APPLY |
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| 137 | #undef APPLY_AND_MAYBE_NORMALIZEBIOL4 |
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| 138 | } |
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| 139 | |
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[1246] | 140 | void GeneProps::propagateAlong(bool use_f1_muscle_reset_range, GenePropsOps* ops) |
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[759] | 141 | { |
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[1242] | 142 | length = 0.5 * length + 0.5 * standard_values.length; |
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[759] | 143 | weight += (standard_values.weight - weight) * 0.5; |
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| 144 | friction = 0.8 * friction + 0.2 * standard_values.friction; |
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| 145 | curvedness = 0.66 * curvedness; |
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| 146 | twist = 0.66 * twist; |
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| 147 | |
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| 148 | assimilation = 0.8 * assimilation + 0.2 * standard_values.assimilation; |
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| 149 | ingestion = 0.8 * ingestion + 0.2 * standard_values.ingestion; |
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| 150 | stamina = 0.8 * stamina + 0.2 * standard_values.stamina; |
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| 151 | muscle_power = 0.8 * muscle_power + 0.2 * standard_values.muscle_power; |
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| 152 | |
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[1246] | 153 | if (ops == NULL) |
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| 154 | ops = getStandardOps(); |
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| 155 | if (ops->use_normalizebiol4) normalizeBiol4(); |
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[759] | 156 | |
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| 157 | if (use_f1_muscle_reset_range) |
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| 158 | { |
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| 159 | if (muscle_reset_range) muscle_bend_range = 1.0; else muscle_reset_range = true; |
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| 160 | } |
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| 161 | } |
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[1242] | 162 | |
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| 163 | //////////////////////////////////////////////////// |
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| 164 | |
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| 165 | void GenePropsOp::apply(double &value, char modif) const |
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| 166 | { |
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| 167 | if (isupper(modif)) |
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| 168 | value = increase(value); |
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| 169 | else |
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| 170 | value = decrease(value); |
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| 171 | } |
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| 172 | |
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| 173 | double GenePropsOp_Old::increase(double value) const |
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| 174 | { |
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| 175 | return value + (maxvalue - value) * change; |
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| 176 | } |
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| 177 | |
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| 178 | double GenePropsOp_Old::decrease(double value) const |
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| 179 | { |
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| 180 | return value + (minvalue - value) * revchange; |
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| 181 | } |
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| 182 | |
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| 183 | GenePropsOp_Old::GenePropsOp_Old(double minvalue, double maxvalue, double defvalue, double change, double revchange) |
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| 184 | { |
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| 185 | this->minvalue = minvalue; |
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| 186 | this->maxvalue = maxvalue; |
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| 187 | this->defvalue = defvalue; |
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| 188 | this->change = change; |
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| 189 | this->revchange = (revchange < 0) ? change : revchange; |
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| 190 | } |
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| 191 | |
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| 192 | GenePropsOp_Exponential::GenePropsOp_Exponential(double minvalue, double maxvalue, double defvalue, double change) |
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| 193 | :GenePropsOp_NormalizedAndScaled(change) |
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| 194 | { |
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| 195 | double mid = (maxvalue + minvalue) / 2; |
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| 196 | if (fabs(mid - defvalue) < 0.01) |
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| 197 | { |
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| 198 | linear = true; |
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| 199 | a = (maxvalue - minvalue) / 2; |
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| 200 | b = defvalue; |
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| 201 | } |
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| 202 | else |
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| 203 | { |
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| 204 | linear = false; |
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| 205 | a = -(maxvalue - defvalue) / (minvalue - defvalue); |
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| 206 | b = (minvalue * minvalue - 2 * defvalue * minvalue + defvalue * defvalue) / (minvalue + maxvalue - 2 * defvalue); |
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| 207 | c = (maxvalue * minvalue - defvalue * defvalue) / (minvalue + maxvalue - 2 * defvalue); |
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| 208 | log_a = log(a); |
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| 209 | } |
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| 210 | } |
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| 211 | |
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| 212 | double GenePropsOp_Exponential::scale(double value) const |
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| 213 | { |
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| 214 | if (linear) |
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| 215 | return a * value + b; |
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| 216 | else |
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| 217 | return pow(a, (value + 1)) * b + c; |
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| 218 | } |
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| 219 | |
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| 220 | double GenePropsOp_Exponential::scaleInv(double value) const |
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| 221 | { |
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| 222 | if (linear) |
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| 223 | return (value - b) / a; |
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| 224 | else |
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| 225 | return -(log_a - log(value / b - c / b)) / log_a; |
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| 226 | } |
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| 227 | |
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| 228 | //////////////////////////////////////////////////////////////////// |
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| 229 | |
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| 230 | |
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| 231 | GenePropsOps::~GenePropsOps() |
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| 232 | { |
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| 233 | delete length; |
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| 234 | delete curvedness; |
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| 235 | delete weight; |
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| 236 | delete friction; |
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| 237 | delete muscle_power; |
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| 238 | delete assimilation; |
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| 239 | delete stamina; |
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| 240 | delete ingestion; |
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| 241 | delete twist; |
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| 242 | delete energy; |
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| 243 | delete cred; |
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| 244 | delete cgreen; |
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| 245 | delete cblue; |
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| 246 | } |
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| 247 | |
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| 248 | GenePropsOps_Old::GenePropsOps_Old() |
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| 249 | { |
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| 250 | use_normalizebiol4 = true; |
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| 251 | |
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| 252 | length = new GenePropsOp_Old(0.33, 2.0, GeneProps::standard_values.length, 0.3); |
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| 253 | weight = new GenePropsOp_Old(0.5, 2.0, GeneProps::standard_values.weight, 0.3); |
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| 254 | friction = new GenePropsOp_Old(0, 4.0, GeneProps::standard_values.friction, 0.2); |
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| 255 | curvedness = new GenePropsOp_Old(-2, 2, GeneProps::standard_values.curvedness, 0.25); |
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| 256 | twist = new GenePropsOp_Old(-M_PI_2, M_PI_2, GeneProps::standard_values.twist, 0.3); |
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| 257 | energy = new GenePropsOp_Old(0, 10, GeneProps::standard_values.energy, 0.1); |
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| 258 | |
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| 259 | assimilation = new GenePropsOp_Old(0, 1, GeneProps::standard_values.assimilation, 0.8, 0.4); |
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| 260 | ingestion = new GenePropsOp_Old(0, 1, GeneProps::standard_values.ingestion, 0.8, 0.4); |
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| 261 | stamina = new GenePropsOp_Old(0, 1, GeneProps::standard_values.stamina, 0.8, 0.4); |
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| 262 | muscle_power = new GenePropsOp_Old(0, 1, GeneProps::standard_values.muscle_power, 0.8, 0.4); |
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| 263 | |
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| 264 | cred = new GenePropsOp_Old(0, 1, GeneProps::standard_values.cred, 0.25); |
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| 265 | cgreen = new GenePropsOp_Old(0, 1, GeneProps::standard_values.cgreen, 0.25); |
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| 266 | cblue = new GenePropsOp_Old(0, 1, GeneProps::standard_values.cblue, 0.25); |
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| 267 | } |
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| 268 | |
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| 269 | GenePropsOps_New05::GenePropsOps_New05() |
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| 270 | { |
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| 271 | use_normalizebiol4 = false; |
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| 272 | auto fields = { length,curvedness,weight,friction,muscle_power,assimilation,stamina,ingestion,twist,energy,cred,cgreen,cblue }; |
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[1246] | 273 | for (auto f : fields) |
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[1242] | 274 | { |
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[1246] | 275 | auto f_gpo = dynamic_cast<GenePropsOp_Old*>(f); |
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| 276 | if (f_gpo) |
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| 277 | f_gpo->change = f_gpo->revchange = 0.5; |
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[1242] | 278 | } |
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| 279 | } |
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| 280 | |
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| 281 | GenePropsOps_Exponential::GenePropsOps_Exponential() |
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| 282 | { |
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| 283 | length = new GenePropsOp_Exponential(0.33, 2.0, GeneProps::standard_values.length); |
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| 284 | weight = new GenePropsOp_Exponential(0.5, 2.0, GeneProps::standard_values.weight); |
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| 285 | friction = new GenePropsOp_Exponential(0, 4.0, GeneProps::standard_values.friction); |
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| 286 | curvedness = new GenePropsOp_Exponential(-2, 2, GeneProps::standard_values.curvedness); |
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| 287 | twist = new GenePropsOp_Exponential(-M_PI_2, M_PI_2, GeneProps::standard_values.twist); |
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| 288 | energy = new GenePropsOp_Exponential(0, 10, GeneProps::standard_values.energy); |
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| 289 | |
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| 290 | assimilation = new GenePropsOp_Exponential(0, 1, GeneProps::standard_values.assimilation); |
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| 291 | ingestion = new GenePropsOp_Exponential(0, 1, GeneProps::standard_values.ingestion); |
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| 292 | stamina = new GenePropsOp_Exponential(0, 1, GeneProps::standard_values.stamina); |
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| 293 | muscle_power = new GenePropsOp_Exponential(0, 1, GeneProps::standard_values.muscle_power); |
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| 294 | |
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| 295 | cred = new GenePropsOp_Exponential(0, 1, GeneProps::standard_values.cred); |
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| 296 | cgreen = new GenePropsOp_Exponential(0, 1, GeneProps::standard_values.cgreen); |
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| 297 | cblue = new GenePropsOp_Exponential(0, 1, GeneProps::standard_values.cblue); |
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| 298 | } |
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| 299 | |
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| 300 | |
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| 301 | GenePropsOps* GeneProps::standard_ops = NULL; |
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| 302 | GenePropsOps* GeneProps::getStandardOps() |
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| 303 | { |
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| 304 | if (!standard_ops) |
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| 305 | standard_ops = new GenePropsOps_New05(); |
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| 306 | return standard_ops; |
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| 307 | } |
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