Changeset 1017 for cpp/frams/genetics/fS/fS_general.cpp

Timestamp:

07/20/20 16:37:38 (5 years ago)

Author:

Maciej Komosinski

Message:

fS: faster collision detection, depends on "geometry" algorithms

File:

• cpp/frams/genetics/fS/fS_general.cpp (modified) (15 diffs)

cpp/frams/genetics/fS/fS_general.cpp

@@ -16 +16 @@
 int fS_Genotype::precision = 4;
 bool fS_Genotype::TURN_WITH_ROTATION = false;
+std::map<string, double> Node::minValues;
+std::map<string, double> Node::defaultValues;
+std::map<string, double> Node::maxValues;
 
 void Node::prepareParams()
 {
-        defaultValues = {
-                        {INGESTION, Model::getDefPart().ingest},
-                        {FRICTION,  Model::getDefPart().friction},
-                        {STIFFNESS, Model::getDefJoint().stif},
-                        {ROT_X,     0.0},
-                        {ROT_Y,     0.0},
-                        {ROT_Z,     0.0},
-                        {RX,        0.0},
-                        {RY,        0.0},
-                        {RZ,        0.0},
-                        {SIZE,      1.0},
-                        {SIZE_X,    Model::getDefPart().scale.x},
-                        {SIZE_Y,    Model::getDefPart().scale.y},
-                        {SIZE_Z,    Model::getDefPart().scale.z}
-        };
+        if(minValues.empty())
+        {
+                minValues = {
+                                {INGESTION, Model::getMinPart().ingest},
+                                {FRICTION,  Model::getMinPart().friction},
+                                {ROT_X,     -M_PI},
+                                {ROT_Y,     -M_PI},
+                                {ROT_Z,     -M_PI},
+                                {RX,        -M_PI},
+                                {RY,        -M_PI},
+                                {RZ,        -M_PI},
+                                {SIZE,      0.01},
+                                {SIZE_X,    Model::getMinPart().scale.x},
+                                {SIZE_Y,    Model::getMinPart().scale.y},
+                                {SIZE_Z,    Model::getMinPart().scale.z}
+                };
+        }
+
+        if(maxValues.empty())
+        {
+                maxValues = {
+                                {INGESTION, Model::getMaxPart().ingest},
+                                {FRICTION,  Model::getMaxPart().friction},
+                                {ROT_X,     M_PI},
+                                {ROT_Y,     M_PI},
+                                {ROT_Z,     M_PI},
+                                {RX,        M_PI},
+                                {RY,        M_PI},
+                                {RZ,        M_PI},
+                                {SIZE,      100.0},
+                                {SIZE_X,    Model::getMaxPart().scale.x},
+                                {SIZE_Y,    Model::getMaxPart().scale.y},
+                                {SIZE_Z,    Model::getMaxPart().scale.z}
+                };
+        }
+        if(defaultValues.empty())
+        {
+                defaultValues = {
+                                {INGESTION, Model::getDefPart().ingest},
+                                {FRICTION,  Model::getDefPart().friction},
+                                {ROT_X,     0.0},
+                                {ROT_Y,     0.0},
+                                {ROT_Z,     0.0},
+                                {RX,        0.0},
+                                {RY,        0.0},
+                                {RZ,        0.0},
+                                {SIZE,      1.0},
+                                {SIZE_X,    Model::getDefPart().scale.x},
+                                {SIZE_Y,    Model::getDefPart().scale.y},
+                                {SIZE_Z,    Model::getDefPart().scale.z}
+                };
+        }
 }
 
@@ -58 +98 @@
         fr = _state->fr;
         s = _state->s;
-        stif = _state->stif;
 }
 
@@ -259 +298 @@
         if(paramsEndIndex == -1)
                 throw fS_Exception("Lacking param end sign", restOfGenotype.start);
+
         for (int i = 0; i < int(separators.size()) - 1; i++)
         {
@@ -297 +337 @@
 }
 
-double Node::getParam(string key)
+double Node::getParam(const string &key)
 {
         auto item = params.find(key);
         if (item != params.end())
                 return item->second;
-        else
-                return defaultValues.at(key);
-}
-
-
-void Node::getState(State *_state)
+        return defaultValues.at(key);
+}
+
+double Node::getParam(const string &key, double defaultValue)
+{
+        auto item = params.find(key);
+        if (item != params.end())
+                return item->second;
+        return defaultValue;
+}
+
+
+void Node::getState(State *_state, bool calculateLocation)
 {
         if (state != nullptr)
@@ -328 +375 @@
                 else if (mod == MODIFIERS[2])
                         state->s *= multiplier;
-                else if (mod == MODIFIERS[3])
-                        state->stif *= multiplier;
-        }
-
-        if (parent != nullptr)
+        }
+
+        if (parent != nullptr && calculateLocation)
         {
                 // Rotate
@@ -341 +386 @@
         }
         for (int i = 0; i < int(children.size()); i++)
-                children[i]->getState(state);
+                children[i]->getState(state, calculateLocation);
 }
 
@@ -388 +433 @@
 }
 
-Pt3D Node::calculateSize()
+void Node::calculateSize(Pt3D &scale)
 {
         double sizeMultiplier = getParam(SIZE) * state->s;
-        double sx = getParam(SIZE_X) * sizeMultiplier;
-        double sy = getParam(SIZE_Y) * sizeMultiplier;
-        double sz = getParam(SIZE_Z) * sizeMultiplier;
-        return Pt3D(sx, sy, sz);
+        scale.x = getParam(SIZE_X) * sizeMultiplier;
+        scale.y = getParam(SIZE_Y) * sizeMultiplier;
+        scale.z = getParam(SIZE_Z) * sizeMultiplier;
 }
 
@@ -400 +444 @@
 {
         double result;
-        Pt3D size = calculateSize();
+        Pt3D size;
+        calculateSize(size);
         double radiiProduct = size.x * size.y * size.z;
         switch (partType)
@@ -421 +466 @@
 bool Node::isPartSizeValid()
 {
-        Pt3D size = calculateSize();
+        Pt3D size;
+        calculateSize(size);
         double volume = calculateVolume();
         Part_MinMaxDef minP = Model::getMinPart();
@@ -449 +495 @@
 Pt3D Node::getVectorRotation()
 {
-        return Pt3D(getParam(ROT_X), getParam(ROT_Y), getParam(ROT_Z));
+        return Pt3D(getParam(ROT_X, 0.0), getParam(ROT_Y, 0.0), getParam(ROT_Z, 0.0));
 }
 
 Pt3D Node::getRotation()
 {
-        Pt3D rotation = Pt3D(getParam(RX), getParam(RY), getParam(RZ));
+        Pt3D rotation = Pt3D(getParam(RX, 0.0), getParam(RY, 0.0), getParam(RZ, 0.0));
         if(fS_Genotype::TURN_WITH_ROTATION)
                 rotation += getVectorRotation();
@@ -492 +538 @@
 {
         part = new Part(partType);
-        part->p = Pt3D(state->location.x,
-                                   state->location.y,
-                                   state->location.z);
+        part->p = Pt3D(state->location);
 
         part->friction = getParam(FRICTION) * state->fr;
         part->ingest = getParam(INGESTION) * state->ing;
-        Pt3D size = calculateSize();
-        part->scale.x = size.x;
-        part->scale.y = size.y;
-        part->scale.z = size.z;
+        calculateSize(part->scale);
         part->setRot(getRotation());
 }
@@ -508 +549 @@
 {
         Joint *j = new Joint();
-        j->stif = getParam(STIFFNESS) * state->stif;
-        j->rotstif = j->stif;
-
         j->attachToParts(parent->part, part);
         switch (joint)
@@ -650 +688 @@
 }
 
-void fS_Genotype::getState()
+void fS_Genotype::getState(bool calculateLocation)
 {
         State *initialState = new State(Pt3D(0), Pt3D(1, 0, 0));
-        startNode->getState(initialState);
+        startNode->getState(initialState, calculateLocation);
 }
 
@@ -662 +700 @@
         model.open(using_checkpoints);
 
-        getState();
+        getState(true);
         startNode->buildModel(model, nullptr);
         buildNeuroConnections(model);
@@ -808 +846 @@
 int fS_Genotype::checkValidityOfPartSizes()
 {
-        getState();
+        getState(false);
         vector<Node*> nodes = getAllNodes();
         for (int i = 0; i < int(nodes.size()); i++)