Changeset 969 for cpp/frams/genetics/fS/fS_general.cpp

Timestamp:

06/30/20 00:32:56 (5 years ago)

Author:

Maciej Komosinski

Message:

fS: preserved volume during shape-type changes

File:

• cpp/frams/genetics/fS/fS_general.cpp (modified) (24 diffs)

cpp/frams/genetics/fS/fS_general.cpp

@@ -10 +10 @@
 #include "frams/util/rndutil.h"
 #include "frams/neuro/neurolibrary.h"
-
+#include "../genooperators.h"
 
 int fS_Genotype::precision = 4;
-
-
-double round2(double var)
-{
-        double value = (int) (var * 100 + .5);
-        return (double) value / 100;
-}
+bool fS_Genotype::TURN_WITH_ROTATION = false;
+
 
 double fS_stod(const string&  str, int start, size_t* size)
@@ -30 +25 @@
         {
                 throw fS_Exception("Invalid numeric value", start);
+        }
+        catch(const std::out_of_range& ex)
+        {
+                throw fS_Exception("Invalid numeric value; out of range", start);
         }
 }
@@ -39 +38 @@
         fr = _state->fr;
         s = _state->s;
+        stif = _state->stif;
 }
 
@@ -55 +55 @@
 {
         Orient rotmatrix = Orient_1;
-        rotmatrix.rotate(Pt3D(
-                        Convert::toRadians(rotation.x),
-                        Convert::toRadians(rotation.y),
-                        Convert::toRadians(rotation.z)
-        ));
+        rotmatrix.rotate(rotation);
         vector = rotmatrix.transform(vector);
 }
@@ -115 +111 @@
 }
 
-Node::Node(Substring &restOfGeno, bool _modifierMode, bool _paramMode, bool _cycleMode, Node *_parent)
+Node::Node(Substring &restOfGeno, Node *_parent)
 {
         parent = _parent;
-        modifierMode = _modifierMode;
-        paramMode = _paramMode;
-        cycleMode = _cycleMode;
         partDescription = new Substring(restOfGeno);
 
@@ -293 +286 @@
                 return item->second;
         else
-                return defaultParamValues.at(key);
+                return defaultValues.at(key);
 }
 
@@ -415 +408 @@
 }
 
-double getDistance(Pt3D radiiParent, Pt3D radii, Pt3D vector, Pt3D rotationParent, Pt3D rotation)
-{
+double Node::getDistance()
+{
+        Pt3D size = calculateSize();
+        Pt3D parentSize = parent->calculateSize();      // Here we are sure that parent is not nullptr
         int parentSphereCount, sphereCount;
         double parentSphereRadius, sphereRadius;
-        Pt3D *centersParent = findSphereCenters(parentSphereCount, parentSphereRadius, radiiParent, rotationParent);
-        Pt3D *centers = findSphereCenters(sphereCount, sphereRadius, radii, rotation);
+        Pt3D *centersParent = findSphereCenters(parentSphereCount, parentSphereRadius, parentSize, parent->getRotation());
+        Pt3D *centers = findSphereCenters(sphereCount, sphereRadius, size, getRotation());
 
         double distanceThreshold = sphereRadius + parentSphereRadius;
         double minDistance = 0.0;
-        double maxDistance = 2 * (max3(radiiParent) + max3(radii));
+        double maxDistance = 2 * (max3(parentSize) + max3(size));
         double currentDistance = avg(maxDistance, minDistance);
         int result = -1;
+        int iterationNo = 0;
         while (result != ADJACENT)
         {
-                Pt3D currentVector = vector * currentDistance;
+                iterationNo++;
+                Pt3D currentVector = state->v * currentDistance;
                 result = isCollision(centersParent, centers, parentSphereCount, sphereCount, currentVector, distanceThreshold);
+
                 if (result == DISJOINT)
                 {
@@ -440 +438 @@
                         currentDistance = avg(maxDistance, currentDistance);
                 }
+
+                if(maxDistance <= 0 || iterationNo > 1000)
+                        throw fS_Exception("Computing of distances between parts failed", 0);
                 if (currentDistance > maxDistance)
+                {
                         throw fS_Exception("Internal error; then maximal distance between parts exceeded.", 0);
+                }
                 if (currentDistance < minDistance)
                         throw fS_Exception("Internal error; the minimal distance between parts exceeded.", 0);
@@ -449 +452 @@
         delete[] centersParent;
         delete[] centers;
-        return round2(currentDistance);
-}
-
-void Node::getState(State *_state, const Pt3D &parentSize)
+        return currentDistance;
+}
+
+void Node::getState(State *_state)
 {
         if (state != nullptr)
@@ -473 +476 @@
                 else if (mod == MODIFIERS[2])
                         state->s *= multiplier;
-        }
-
-        Pt3D size = calculateSize();
+                else if (mod == MODIFIERS[3])
+                        state->stif *= multiplier;
+        }
+
         if (parent != nullptr)
         {
@@ -481 +485 @@
                 state->rotate(getVectorRotation());
 
-                double distance = getDistance(parentSize, size, state->v, getRotation(), getRotation());
+                double distance = getDistance();
                 state->addVector(distance);
         }
         for (int i = 0; i < int(children.size()); i++)
-                children[i]->getState(state, size);
+                children[i]->getState(state);
 }
 
@@ -493 +497 @@
         for (int i = 0; i < int(branches.size()); i++)
         {
-                children.push_back(new Node(branches[i], modifierMode, paramMode, cycleMode, this));
+                children.push_back(new Node(branches[i], this));
         }
 }
@@ -593 +597 @@
 Pt3D Node::getVectorRotation()
 {
-        double rx = getParam(ROT_X);
-        double ry = getParam(ROT_Y);
-        double rz = getParam(ROT_Z);
-        return Pt3D(rx, ry, rz);
+        return Pt3D(getParam(ROT_X), getParam(ROT_Y), getParam(ROT_Z));
 }
 
 Pt3D Node::getRotation()
 {
-        double rx = getParam(RX);
-        double ry = getParam(RY);
-        double rz = getParam(RZ);
-        return Pt3D(rx, ry, rz);
+        Pt3D rotation = Pt3D(getParam(RX), getParam(RY), getParam(RZ));
+        if(fS_Genotype::TURN_WITH_ROTATION)
+                rotation += getVectorRotation();
+        return rotation;
 }
 
@@ -614 +615 @@
                 addJointsToModel(model, parent);
 
-
         for (int i = 0; i < int(neurons.size()); i++)
         {
@@ -639 +639 @@
 {
         part = new Part(partType);
-        part->p = Pt3D(round2(state->location.x),
-                                   round2(state->location.y),
-                                   round2(state->location.z));
-
-        part->friction = round2(getParam(FRICTION) * state->fr);
-        part->ingest = round2(getParam(INGESTION) * state->ing);
+        part->p = Pt3D(state->location.x,
+                                   state->location.y,
+                                   state->location.z);
+
+        part->friction = getParam(FRICTION) * state->fr;
+        part->ingest = getParam(INGESTION) * state->ing;
         Pt3D size = calculateSize();
-        part->scale.x = round2(size.x);
-        part->scale.y = round2(size.y);
-        part->scale.z = round2(size.z);
+        part->scale.x = size.x;
+        part->scale.y = size.y;
+        part->scale.z = size.z;
         part->setRot(getRotation());
 }
@@ -655 +655 @@
 {
         Joint *j = new Joint();
+        j->stif = getParam(STIFFNESS) * state->stif;
+        j->rotstif = j->stif;
+
         j->attachToParts(parent->part, part);
         switch (joint)
@@ -698 +701 @@
                         if (i != 0)
                                 result += NEURON_SEPARATOR;
-                        if (n->getClassName() != "N")
-                        {
-                                result += n->getDetails();
-                                if (!n->inputs.empty())
-                                        result += NEURON_INTERNAL_SEPARATOR;
-                        }
+
+                        result += n->getDetails();
+                        if (!n->inputs.empty())
+                                result += NEURON_INTERNAL_SEPARATOR;
+
                         for (auto it = n->inputs.begin(); it != n->inputs.end(); ++it)
                         {
@@ -714 +716 @@
                                         result += SString::valueOf(it->second);
                                 }
-
                         }
                 }
@@ -754 +755 @@
 
 
-bool Node::changeSizeParam(string paramKey, double multiplier, bool ensureCircleSection)
-{
-        double oldValue = getParam(paramKey);
-        params[paramKey] = oldValue * multiplier;
+bool Node::changeSizeParam(string key, bool ensureCircleSection)
+{
+        double oldValue = getParam(key);
+        params[key] = GenoOperators::mutateCreep('f', params[key], minValues.at(key), maxValues.at(key), true);
         if (!ensureCircleSection || isPartSizeValid())
                 return true;
         else
         {
-                params[paramKey] = oldValue;
+                params[key] = oldValue;
                 return false;
         }
@@ -786 +787 @@
         {
                 string geno = genotype.c_str();
-                // M - modifier mode, S - standard mode
-                size_t modeSeparatorIndex = geno.find(':');
-                if (modeSeparatorIndex == string::npos)
-                        throw fS_Exception("No mode separator", 0);
-
-                string modeStr = geno.substr(0, modeSeparatorIndex).c_str();
-                bool modifierMode = modeStr.find(MODIFIER_MODE) != string::npos;
-                bool paramMode = modeStr.find(PARAM_MODE) != string::npos;
-                bool cycleMode = modeStr.find(CYCLE_MODE) != string::npos;
-
-                int actualGenoStart = modeSeparatorIndex + 1;
-                Substring substring(geno.c_str(), actualGenoStart, geno.length() - actualGenoStart);
-                startNode = new Node(substring, modifierMode, paramMode, cycleMode, nullptr);
+                Substring substring(geno.c_str(), 0, geno.length());
+                startNode = new Node(substring, nullptr);
                 validateNeuroInputs();
         }
@@ -816 +806 @@
 {
         State *initialState = new State(Pt3D(0), Pt3D(1, 0, 0));
-        startNode->getState(initialState, Pt3D(1.0));
-}
-
-double fS_Genotype::randomParamMultiplier()
-{
-        double multiplier = 1 + fabs(RndGen.GaussStd());
-        if (multiplier > PARAM_MAX_MULTIPLIER)
-                multiplier = PARAM_MAX_MULTIPLIER;
-        if (rndUint(2) == 0)
-                multiplier = 1.0 / multiplier;
-        return multiplier;
+        startNode->getState(initialState);
 }
 
@@ -833 +813 @@
         getState();
         startNode->buildModel(model, nullptr);
-
         buildNeuroConnections(model);
-
-        // Additional joints
-        vector<Node*> allNodes = getAllNodes();
-        for (int i = 0; i < int(allNodes.size()); i++)
-        {
-                Node *node = allNodes[i];
-                if (node->params.find(JOINT_DISTANCE) != node->params.end())
-                {
-                        Node *otherNode = getNearestNode(allNodes, node);
-                        if (otherNode != nullptr)
-                        {
-                                // If other node is close enough, add a joint
-                                double distance = node->state->location.distanceTo(otherNode->state->location);
-                                if (distance < node->params[JOINT_DISTANCE])
-                                {
-                                        Joint *joint = new Joint();
-                                        joint->attachToParts(node->part, otherNode->part);
-
-                                        joint->shape = Joint::Shape::SHAPE_FIXED;
-                                        model.addJoint(joint);
-                                }
-                        }
-                }
-        }
 }
 
@@ -905 +860 @@
         SString geno;
         geno.memoryHint(100);     // Provide a small buffer from the start to improve performance
-
-        if (startNode->modifierMode)
-                geno += MODIFIER_MODE;
-        if (startNode->paramMode)
-                geno += PARAM_MODE;
-        if (startNode->cycleMode)
-                geno += CYCLE_MODE;
-
-        geno += ':';
         startNode->getGeno(geno);
         return geno;
@@ -1010 +956 @@
                 if (!nodes[i]->isPartSizeValid())
                 {
-                        return nodes[i]->partDescription->start;
+                        return 1 + nodes[i]->partDescription->start;
                 }
         }