1 | // This file is a part of Framsticks SDK. http://www.framsticks.com/ |
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2 | // Copyright (C) 1999-2018 Maciej Komosinski and Szymon Ulatowski. |
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3 | // See LICENSE.txt for details. |
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4 | |
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5 | #ifndef _FL_GENERAL_ |
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6 | #define _FL_GENERAL_ |
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7 | |
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8 | #include <frams/util/sstring.h> |
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9 | #include <frams/param/mutableparam.h> |
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10 | #include <frams/param/paramobj.h> |
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11 | #include <vector> |
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12 | #include <list> |
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13 | #include <unordered_map> |
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14 | #include <frams/model/model.h> |
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15 | #include "fL_matheval.h" |
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16 | |
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17 | /// determines to which class fL element belongs |
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18 | enum fLElementType { |
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19 | TERM, ///< word of L-System |
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20 | INFO, ///< fL_Builder object |
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21 | RULE, ///< rule of L-System |
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22 | BRANCH ///< special type of fL word, which represents branch |
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23 | }; |
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24 | |
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25 | /** @name Constants used in fL methods */ |
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26 | //@{ |
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27 | #define FL_PART_PROPS_COUNT 4 ///<Count of part properties |
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28 | #define FL_JOINT_PROPS_COUNT 3 ///<Count of joint properties |
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29 | #define FL_PE_NEURO_DET "d" ///<Id of details type definition in f0_neuro_paramtab |
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30 | #define FL_PE_CONN_WEIGHT "w" ///<Id of weight type definition in f0_neuroconn_paramtab |
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31 | #define FL_PE_CONN_ATTR "attr" ///<Id of attractor of neural connection |
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32 | #define FL_DEFAULT_LENGTH 1.0 ///<Default length of a stick in fL encoding |
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33 | #define FL_MINIMAL_LENGTH 0.0 ///<Minimal length of a stick in fL encoding |
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34 | #define FL_MAXIMAL_LENGTH 2.0 ///<Maximal length of a stick in fL encoding |
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35 | #define FL_MAXITER "100.0" ///<Maximal iteration available in fL |
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36 | #define FL_MAXPARAMS "3" ///<Maximal number of user-parameters |
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37 | //@} |
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38 | |
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39 | extern const char *fL_part_names[]; |
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40 | extern const char *fL_joint_names[]; |
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41 | extern const char *fL_joint_fullnames[FL_JOINT_PROPS_COUNT]; |
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42 | extern const char *fL_part_fullnames[FL_PART_PROPS_COUNT]; |
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43 | |
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44 | #define LSYSTEM_PARAM_TYPE "s" ///< standard type of L-System elements |
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45 | |
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46 | class fL_Builder; |
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47 | |
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48 | /** |
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49 | * Most abstract class of L-System. It requires from inheriting classes to implement |
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50 | * methods processDefinition and toString. |
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51 | */ |
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52 | class fL_Element |
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53 | { |
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54 | public: |
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55 | fLElementType type; ///< type of fL_Element |
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56 | |
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57 | int begin; ///<beginning of the element definition in genotype |
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58 | int end; ///<end of the element definition in genotype |
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59 | |
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60 | |
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61 | fL_Element(fLElementType type) : type(type) { begin = end = 0; } |
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62 | virtual ~fL_Element() { } |
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63 | |
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64 | /** |
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65 | * Performs connecting current element to fL_Builder and parsing of input |
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66 | * with respect of builder. |
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67 | * @param builder fL_Builder object responsible for creating this element |
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68 | * @return 0 if processing went successfully, other values otherwise |
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69 | */ |
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70 | virtual int processDefinition(fL_Builder *builder) = 0; |
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71 | |
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72 | /** |
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73 | * Creates string line for current element. This method is used by Builder |
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74 | * to create string representation of words, rules and informations of L-System. |
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75 | * @return stringified element |
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76 | */ |
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77 | virtual SString toString() = 0; |
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78 | }; |
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79 | |
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80 | /** |
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81 | * Represents word objects of L-System representation. They are used in axiom, |
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82 | * produced sequences and rules. |
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83 | */ |
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84 | class fL_Word : public fL_Element |
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85 | { |
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86 | public: |
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87 | SString name; ///<name of word |
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88 | int npar; ///<number of word parameters |
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89 | MutableParam mut; ///<MutableParam for word parameters |
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90 | ParamEntry *tab; ///<ParamTab used for loading and saving properties of word |
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91 | void *data; ///<pointer to properties of word |
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92 | bool builtin; ///<determines if word is built-in (true) or not (false). |
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93 | PartBase *bodyelementpointer; ///<helper field for built-in words |
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94 | std::vector<MathEvaluation *> parevals; ///<stores MathEvaluation objects with parameter functions |
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95 | double creationiter; ///<this helper field is used during L-System iterations and determines when word was created |
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96 | fL_Word(bool builtin = false, int begin = 0, int end = 0) : |
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97 | fL_Element(fLElementType::TERM), mut("Word", "Properties"), |
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98 | builtin(builtin) |
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99 | { |
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100 | name = ""; |
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101 | npar = 0; |
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102 | tab = NULL; |
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103 | data = NULL; |
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104 | creationiter = 0; |
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105 | this->begin = begin; |
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106 | this->end = end; |
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107 | bodyelementpointer = NULL; |
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108 | } |
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109 | |
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110 | /** |
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111 | * Destroys data ParamObject and MathEvaluation objects. ParamTab for Word |
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112 | * should be deleted separately, because all words with same name share same |
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113 | * pointer to ParamTab. |
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114 | */ |
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115 | ~fL_Word() |
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116 | { |
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117 | if (data) |
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118 | ParamObject::freeObject(data); |
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119 | for (MathEvaluation *ev : parevals) |
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120 | { |
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121 | if (ev) delete ev; |
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122 | } |
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123 | parevals.clear(); |
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124 | } |
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125 | |
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126 | /** |
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127 | * Checks if there is no other word stored in the builder with the same name, |
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128 | * prepares ParamTab for defined word and adds created word definition to the |
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129 | * builder. |
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130 | * @param builder pointer to the builder that process this word definition |
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131 | * @return 0 if word is added, 1 if word is redefined |
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132 | */ |
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133 | int processDefinition(fL_Builder *builder); |
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134 | |
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135 | /** |
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136 | * Operator copies name string, npar value, pointer to ParamTab and pointers |
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137 | * to MathEvaluation objects for parameters. It sets data of this word to |
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138 | * NULL. |
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139 | * @param src source word |
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140 | */ |
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141 | void operator=(const fL_Word& src); |
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142 | |
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143 | /** |
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144 | * Returns 'w:' line defining word in genotype. |
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145 | * @return string representation of word definition |
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146 | */ |
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147 | virtual SString toString(); |
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148 | |
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149 | /** |
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150 | * Returns token version of this word. It is used during converting successor's |
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151 | * list or axiom list into strings. Flag 'keepformulas' should be set to true |
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152 | * if word parameters should be represented as formulas, and set to false if |
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153 | * word parameters should contain the result of evaluation. |
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154 | * @param keepformulas true if parameters should have mathematical formula, false if it should have result of evaluation |
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155 | */ |
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156 | virtual SString stringify(bool keepformulas = true); |
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157 | |
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158 | /** |
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159 | * Saves formulas or evaluations of parameters in ParamObject. |
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160 | * @param keepformulas true if parameters should have mathematical formula, false if it should have result of evaluation |
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161 | * @return 0 if method successfully managed to save data, 1 if an error occured |
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162 | */ |
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163 | int saveEvals(bool keepformulas); |
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164 | |
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165 | /** |
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166 | * Computes distance between two L-System words in genotype. Distance has sense |
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167 | * only when two words have the same name. Otherwise, returned value equals -1. |
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168 | * The distance is computed as Euclidean distance between words arguments. |
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169 | * @param right the second word |
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170 | * @return Euclidean distance between words in genotype or -1 if words have different name |
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171 | */ |
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172 | double distance(fL_Word *right); |
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173 | }; |
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174 | |
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175 | /** |
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176 | * Represents special branching word in L-System genotype. |
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177 | */ |
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178 | class fL_Branch : public fL_Word |
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179 | { |
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180 | public: |
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181 | /// Determines if branching parenthesis is opened or closed |
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182 | enum BranchType { |
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183 | OPEN, |
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184 | CLOSE |
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185 | }; |
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186 | BranchType btype; ///< branch parenthesis type |
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187 | fL_Branch(BranchType branchtype, int begin, int end) : fL_Word(true, begin, end) |
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188 | { |
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189 | type = fLElementType::BRANCH; |
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190 | btype = branchtype; |
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191 | name = stringify(); |
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192 | } |
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193 | SString toString() { return ""; }; |
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194 | SString stringify(bool keepformulas = false) { return btype == BranchType::OPEN ? "[" : "]"; } |
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195 | }; |
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196 | |
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197 | /** |
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198 | * Represents rules in L-System genotype. Every rule has predecessor and successors. |
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199 | * The optional argument is a condition of deploying rule. Every rule is ran |
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200 | * synchronously for every letter of the current genotype. If condition and |
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201 | * predecessor are satisfied, then predecessor is replaced by successors. |
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202 | */ |
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203 | class fL_Rule : public fL_Element |
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204 | { |
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205 | public: |
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206 | SString predecessor; ///<string representation of the predecessor |
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207 | SString condition; ///<string representation of the condition |
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208 | SString successor; ///<string representation of the successor |
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209 | |
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210 | fL_Word *objpred; ///<object representation of the predecessor |
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211 | MathEvaluation *condeval; ///<object representation of the condition |
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212 | |
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213 | std::list<fL_Word *> objsucc; ///<objec representation of successors |
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214 | |
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215 | fL_Rule(int begin, int end) : fL_Element(fLElementType::RULE) |
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216 | { |
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217 | predecessor = ""; |
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218 | condition = ""; |
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219 | successor = ""; |
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220 | objpred = NULL; |
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221 | condeval = NULL; |
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222 | this->begin = begin; |
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223 | this->end = end; |
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224 | } |
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225 | |
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226 | ~fL_Rule() |
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227 | { |
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228 | if (objpred) delete objpred; |
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229 | if (condeval) delete condeval; |
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230 | for (fL_Word *word : objsucc) |
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231 | { |
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232 | delete word; |
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233 | } |
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234 | objsucc.clear(); |
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235 | } |
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236 | |
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237 | /** |
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238 | * Loads rule definition from the genotype, checks if word defined in |
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239 | * predecessor does exist, tokenizes successor and condition. |
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240 | * @param builder pointer to the builder that process this word definition |
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241 | * @return 0 if word is added, 1 if an error occured during parsing |
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242 | */ |
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243 | int processDefinition(fL_Builder *builder); |
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244 | |
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245 | SString toString(); |
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246 | |
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247 | /** |
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248 | * Runs rule for a given word, if all conditions and starting rules are satisfied. |
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249 | * Method alters given list of tokens by removing matching word pointed by |
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250 | * pointer and iterator of list and inserting successor sequence into list. |
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251 | * Final iterator value points to the first word after processed word. |
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252 | * @param builder builder containing current genotype |
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253 | * @param in word that is currently processed |
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254 | * @param it iterator of genotype list which determines position of current analysis |
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255 | * @param currtime value representing continuous time value for rule |
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256 | * @return 0 if rule processed current word, 1 if rule is no applicable |
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257 | */ |
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258 | int deploy(fL_Builder *builder, fL_Word *in, std::list<fL_Word *>::iterator &it, double currtime); |
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259 | }; |
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260 | |
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261 | /** |
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262 | * Structure for holding current Turtle state. |
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263 | */ |
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264 | struct fL_State |
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265 | { |
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266 | Pt3D direction; ///<Direction of turtle |
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267 | Part *currpart; ///<Latest created part |
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268 | Neuro *currneuron; ///<Latest created neuron |
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269 | fL_State() : direction(1,0,0), currpart(NULL), currneuron(NULL) |
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270 | { } |
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271 | }; |
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272 | |
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273 | /** |
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274 | * Main class of L-System processing. It holds all information required to perform |
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275 | * steps of development of a creature. It allows to create Timed D0L-Systems with |
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276 | * following limitations: |
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277 | * |
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278 | * - fractions of time affect only parameters of currently produced words, |
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279 | * - integer steps deploy rules in order to develop new elements of body, |
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280 | * - if parameter should use time fraction, then $t variable must be used, |
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281 | * - $t variable always contain values from 0 to 1 that represent current fraction |
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282 | * of step. |
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283 | */ |
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284 | class fL_Builder : public fL_Element |
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285 | { |
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286 | public: |
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287 | SString axiom; ///<starting sequence of genotype |
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288 | double time; ///<time of creature development |
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289 | int numckp; ///<number of checkpoints per growth step - checkpoints are always created after rules deployment in integer steps, numckp determines how many checkpoints should be created within single step (to watch changes of parameters) |
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290 | int maxwords; ///<maximum number of words that can |
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291 | bool using_checkpoints; ///<true if checkpoints should be created, or false |
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292 | bool using_mapping; ///<true if mappings should be created, or false |
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293 | |
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294 | int builtincount; ///<number of built-in words |
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295 | |
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296 | std::list<fL_Word *> genotype; ///<list of current words of genotype |
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297 | std::unordered_map<std::string, fL_Word *> words; ///<map from string to words existing in L-System |
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298 | std::vector<std::string> wordnames; |
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299 | std::vector<fL_Rule *> rules; ///<rules available in system |
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300 | |
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301 | fL_Builder(bool using_mapping = false, bool using_checkpoints = false) : fL_Element(fLElementType::INFO), |
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302 | using_checkpoints(using_checkpoints), using_mapping(using_mapping) |
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303 | { |
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304 | axiom = ""; |
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305 | time = 1.0; |
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306 | numckp = 1; |
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307 | builtincount = 0; |
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308 | maxwords = -1; |
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309 | } |
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310 | ~fL_Builder(); |
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311 | |
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312 | /** |
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313 | * Helper function for trimming leading and trailing spaces from sequence. |
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314 | * @param data input string |
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315 | * @return string with trimmed spaces |
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316 | */ |
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317 | static std::string trimSpaces(const std::string& data); |
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318 | |
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319 | /** |
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320 | * Processes single line of input sequence and load line properties with use |
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321 | * of proper ParamTab. |
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322 | * @param type which type of line is this |
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323 | * @param line line to be processed |
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324 | * @param obj variable storing pointer to created L-System element |
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325 | * @param linenumber for error messages |
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326 | * @param begin index of first character of line |
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327 | * @param end index of last character of line |
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328 | * @return 0 if processing ended successfully, 1-based position of error otherwise |
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329 | */ |
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330 | int processLine(fLElementType type, const SString &line, fL_Element *&obj, int linenumber, int begin, int end); |
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331 | |
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332 | /** |
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333 | * Parses input genotype with words, information and rules. First of all, |
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334 | * model-specific words defined in addModelWords method are added to words map. |
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335 | * Every genotype should start with words definitions. They cannot collide |
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336 | * with model words and with each other. Secondly, information line, containing |
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337 | * axiom and number of iteration must be processed. In the end, all rules |
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338 | * have to be processed by builder. After determining line type and creating |
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339 | * fL_Element specialized object, the builder runs object's processDefinition |
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340 | * method to generate all important objects and register element in builder |
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341 | * structures. |
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342 | * @param genotype input genotype |
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343 | * @return 0 if processing finished successfully, 1-based position of error if it occured |
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344 | */ |
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345 | int parseGenotype(const SString &genotype); |
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346 | |
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347 | /** |
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348 | * Prepares structures and tokenizes axiom. |
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349 | * @param builder this method should receive pointer to itself |
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350 | * @return 0 if processing went successfully, 1 otherwise |
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351 | */ |
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352 | int processDefinition(fL_Builder *builder); |
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353 | |
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354 | /** |
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355 | * Adds words used for Framsticks body and brain development. |
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356 | */ |
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357 | void addModelWords(); |
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358 | |
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359 | /** |
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360 | * Helper method that tokenizes string sequence by closing parenthesis |
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361 | * with respect to parenthesis nesting. |
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362 | * @param pos index of character, from which next token needs to be extracted. Method replaces this parameter with next starting position, or -1 if there was an error during parsing, like parenthesis mismatch |
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363 | * @param src original sequence |
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364 | * @param token reference to variable holding new token |
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365 | * @return true if new token is found, false if there is no more tokens or when there was parenthesis mismatch (if pos == -1, then it is parenthesis mismatch) |
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366 | */ |
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367 | bool getNextObject(int &pos, const SString &src, SString &token); |
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368 | |
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369 | /** |
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370 | * Creates fL_Word object for a given token. |
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371 | * @param worddef string representing single word object in sequence |
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372 | * @param word a reference to a pointer of created word by this method |
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373 | * @param numparams number of parameters for a given sequence (usually number of rule predecessor's arguments) |
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374 | * @param begin the begin of word definition in genotype |
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375 | * @param end the end of word definition in genotype |
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376 | * @return 0 if conversion went successfully, 1 when there is a problem with parsing |
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377 | */ |
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378 | int createWord(const SString &worddef, fL_Word *&word, int numparams, int begin, int end); |
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379 | |
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380 | /** |
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381 | * Helper function that converts input sequence into list of L-System words. |
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382 | * @param sequence input sequence of stringified word objects |
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383 | * @param result reference to list holding generated words |
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384 | * @param numparams number of parameters that can be used for words stored in result list |
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385 | * @return 0 if tokenizing finished successfully, 1 otherwise |
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386 | */ |
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387 | int tokenize(const SString &sequence, std::list<fL_Word *> &result, int numparams, int begin, int end); |
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388 | |
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389 | /** |
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390 | * Uses rules to process current genotype and make next iteration step for |
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391 | * L-System development. |
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392 | * @param currtime current time of genotype processing |
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393 | * @return always 0 |
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394 | */ |
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395 | int iterate(double currtime); |
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396 | |
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397 | /** |
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398 | * Alters only parameters that depend on time. Should be used if only fraction |
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399 | * of iteration has changed, not integer part. |
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400 | * @param currtime current time of processing |
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401 | * @return always 0 |
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402 | */ |
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403 | int alterTimedProperties(double currtime); |
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404 | |
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405 | /** |
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406 | * Developes L-System from given genotype and builds Framsticks Model from it. |
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407 | * When using_checkpoints is enabled, method generates checkpoint for each |
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408 | * step defined in timestamp. |
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409 | * @param neededtime reference to a time value after stopping development (usually it will be equal to time specified in the time field, unless the number of allowed words will be exceeded earlier) |
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410 | * @return final model from a fL genotype |
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411 | */ |
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412 | Model* developModel(double &neededtime); |
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413 | |
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414 | /** |
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415 | * Creates new checkpoint for a given model based on current state of genotype. |
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416 | * @param model reference to model |
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417 | * @return 0 if developing went successfully, 1 otherwise |
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418 | */ |
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419 | int buildModelFromSequence(Model *model); |
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420 | |
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421 | /** |
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422 | * Returns stringified product of L-System development. |
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423 | * @return stringified words of developed L-System |
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424 | */ |
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425 | SString getStringifiedProducts(); |
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426 | |
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427 | /** |
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428 | * Returns genotype stored by objects in fL_Builder. |
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429 | * @return genotype converted from L-System objects |
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430 | */ |
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431 | SString toString(); |
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432 | |
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433 | /** |
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434 | * Alters part properties according to informations stored in stickword. |
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435 | * Method takes current values of part's properties computed from previous |
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436 | * calls of the alterPartProperties and computes mean according to upcoming |
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437 | * values of properties. |
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438 | * @param part analysed part |
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439 | * @param stickword the L-System word that affects current part |
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440 | * @param alterationcount the number of times of part modifications - used to compute mean of every word properties |
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441 | * @return always 0 |
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442 | */ |
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443 | int alterPartProperties(Part *part, fL_Word *stickword, double &alterationcount); |
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444 | |
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445 | /** |
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446 | * Finds input neuron that is nearest to attractor or connection definition. |
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447 | * When attractor object is given, then the word with name matching attractor and |
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448 | * with nearest values of parameters is chosen as the point, from which input |
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449 | * neuron is looked for. The searching goes both sides. |
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450 | * @param currneu object storing informations about connection word iterator and current neuron |
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451 | * @param attractor pointer to an attractor definition presented in connection word |
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452 | * @return pointer to the input neuron, or NULL if no neuron could be found |
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453 | */ |
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454 | Neuro* findInputNeuron(std::pair<std::list<fL_Word *>::iterator, Neuro *> currneu, fL_Word *attractor); |
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455 | |
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456 | /** |
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457 | * Removes joints, parts and neurons with its connections from current model, without |
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458 | * removing checkpoint data. |
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459 | * @param m model to clear |
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460 | */ |
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461 | void clearModelElements(Model *m); |
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462 | |
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463 | /** |
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464 | * Converts parameters defined in built-in words into desired |
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465 | * range with use of sigmoid function, which ensures staying |
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466 | * within min and max value. |
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467 | * @param input the value from evaluation of parameter |
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468 | * @param min minimal value of property |
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469 | * @param max maximal value of property |
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470 | * @return value of body element property |
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471 | */ |
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472 | double sigmoidTransform(double input, double min, double max); |
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473 | |
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474 | /** |
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475 | * Counts words defined in the genotype. |
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476 | * @return number of defined words |
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477 | */ |
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478 | int countDefinedWords(); |
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479 | |
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480 | /** |
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481 | * Counts number of sticks in a given sequence |
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482 | * @return number of sticks in sequence |
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483 | */ |
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484 | int countSticksInSequence(std::list<fL_Word *> *sequence); |
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485 | |
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486 | /** |
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487 | * Counts all definitions of words, all words in axiom and rule successors in a genotype. |
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488 | * Used for computing change between original genotype and mutation. |
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489 | * @return number of words in definitions, axiom and rule successors |
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490 | */ |
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491 | int countWordsInLSystem(); |
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492 | |
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493 | /** |
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494 | * Sorts rules and removes rules that will not be used. The "sorting" is |
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495 | * done in such way that all rules with conditions are first, and rules |
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496 | * without conditions go to the end. If there are more than one rule |
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497 | * for the same word with no condition or same condition, than the |
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498 | * second one is removed. |
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499 | */ |
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500 | void removeRedundantRules(); |
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501 | }; |
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502 | |
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503 | #endif // _FL_GENERAL_ |
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