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

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.h (modified) (14 diffs)

cpp/frams/genetics/fS/fS_general.h ¶

@@ -14 +14 @@
 #include "frams/util/multirange.h"
 
-/** @name Names of genotype modes */
-//@{
-#define MODIFIER_MODE 'M'
-#define PARAM_MODE 'S'
-#define CYCLE_MODE 'J'
-//@}
-
 /** @name Values of constants used in encoding */
 //@{
 #define BRANCH_START '('
 #define BRANCH_END ')'
-#define BRANCH_SEPARATOR ','
+#define BRANCH_SEPARATOR '^'
 #define PARAM_START '{'
 #define PARAM_END '}'
@@ -45 +38 @@
 /** @name Every modifier changes the underlying value by this multiplier */
 const double MODIFIER_MULTIPLIER = 1.1;
-/** @name In mutation parameters will be multiplied by at most this value */
-const double PARAM_MAX_MULTIPLIER = 1.5;
-
 /**
  * Used in finding the proper distance between the parts
@@ -70 +60 @@
 #define INGESTION "i"
 #define FRICTION "f"
+#define STIFFNESS "st"
 #define SIZE "s"
 #define SIZE_X "x"
@@ -80 +71 @@
 #define RY "ry"
 #define RZ "rz"
-#define JOINT_DISTANCE "j"
 //@}
 /** @name Macros and values used in collision detection */
@@ -113 +103 @@
 const char DEFAULT_JOINT = 'a';
 const string JOINTS = "bc";
+const string ALL_JOINTS = "abc";
 const int JOINT_COUNT = JOINTS.length();
-const string MODIFIERS = "IFS";
+const string MODIFIERS = "IFST";
 const char SIZE_MODIFIER = 's';
 const vector<string> PARAMS {INGESTION, FRICTION, ROT_X, ROT_Y, ROT_Z, RX, RY, RZ, SIZE, SIZE_X, SIZE_Y, SIZE_Z,
-                                                          JOINT_DISTANCE};
+                                                         STIFFNESS};
 
 /** @name Default values of node parameters*/
 static const Part defPart = Model::getDefPart();
-const std::map<string, double> defaultParamValues = {
+static const Joint defJoint = Model::getDefJoint();
+const std::map<Part::Shape, double> volumeMultipliers = {
+                {Part::Shape::SHAPE_CUBOID, 8.0},
+                {Part::Shape::SHAPE_CYLINDER, 2.0 * M_PI},
+                {Part::Shape::SHAPE_ELLIPSOID, (4.0 / 3.0) * M_PI},
+};
+const std::map<string, double> defaultValues = {
                 {INGESTION,      defPart.ingest},
                 {FRICTION,       defPart.friction},
+                {STIFFNESS,              defJoint.stif},
                 {ROT_X,          0.0},
                 {ROT_Y,          0.0},
@@ -133 +131 @@
                 {SIZE_X,         1.0},
                 {SIZE_Y,         1.0},
-                {SIZE_Z,         1.0},
-                {JOINT_DISTANCE, 1.0}
+                {SIZE_Z,         1.0}
+};
+
+const std::map<string, double> minValues = {
+                {INGESTION,      0},
+                {FRICTION,       0},
+                {STIFFNESS,      0.0},
+                {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,         0.01},
+                {SIZE_Y,         0.01},
+                {SIZE_Z,         0.01}
+};
+
+const std::map<string, double> maxValues = {
+                {INGESTION,      1.0},
+                {FRICTION,       1.0},
+                {STIFFNESS,      0.0},
+                {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,         100.0},
+                {SIZE_Y,         100.0},
+                {SIZE_Z,         100.0}
 };
 
@@ -252 +281 @@
         double ing = 1.0;      /// Ingestion multiplier
         double s = 1.0;      /// Size multipliers
+        double stif = 1.0;      /// Stiffness multipliers
 
         State(State *_state); /// Derive the state from parent
@@ -301 +331 @@
 private:
         Substring *partDescription = nullptr;
-        bool cycleMode, modifierMode, paramMode; /// Possible modes
         Node *parent;
         Part *part;     /// A part object built from node. Used in building the Model
@@ -309 +338 @@
         vector<Node *> children;    /// Vector of all direct children
         std::map<char, int> modifiers;     /// Vector of all modifiers
-        char joint = DEFAULT_JOINT;           /// Set of all joints
         vector<fS_Neuron *> neurons;    /// Vector of all the neurons
 
-        static double calculateRadiusFromVolume(Part::Shape partType, double volume)
-        {
-                double result;
-                switch (partType)
-                {
-                        case Part::Shape::SHAPE_CUBOID:
-                                result = std::cbrt(volume / 8.0);
-                                break;
-                        case Part::Shape::SHAPE_CYLINDER:
-                                result = std::cbrt(volume / (2.0 * M_PI));
-                                break;
-                        case Part::Shape::SHAPE_ELLIPSOID:
-                                result = std::cbrt(volume / ((4.0 / 3.0) * M_PI));
-                                break;
-                        default:
-                                logMessage("fS", "calculateVolume", LOG_ERROR, "Invalid part type");
-                }
-                return result;
-        }
+        double getDistance();
 
         void cleanUp();
@@ -384 +394 @@
          * @param _state state of the parent
          */
-        void getState(State *_state, const Pt3D &parentSize);
+        void getState(State *_state);
 
         /**
@@ -419 +429 @@
 
 public:
+        char joint = DEFAULT_JOINT;           /// Set of all joints
         Part::Shape partType;  /// The type of the part
         State *state = nullptr; /// The phenotypic state that inherits from ancestors
 
-        Node(Substring &genotype, bool _modifierMode, bool _paramMode, bool _cycleMode, Node *parent);
+        Node(Substring &genotype, Node *parent);
 
         ~Node();
@@ -452 +463 @@
          * @return True if the parameter value was change, false otherwise
          */
-        bool changeSizeParam(string paramKey, double multiplier, bool ensureCircleSection);
+        bool changeSizeParam(string paramKey,  bool ensureCircleSection);
 
         /**
@@ -501 +512 @@
 
         static int precision;
+        static bool TURN_WITH_ROTATION;
 
         /**
@@ -511 +523 @@
 
         void getState();
-
-        /**
-         * Get a random multiplier for parameter mutation
-         * @return Random parameter multiplier
-         */
-        static double randomParamMultiplier();
 
         /**