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source: cpp/frams/genetics/fS/fS_oper.cpp @ 1026

Last change on this file since 1026 was 1017, checked in by Maciej Komosinski, 4 years ago
fS: faster collision detection, depends on "geometry" algorithms
File size: 23.0 KB

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1	// This file is a part of Framsticks SDK. http://www.framsticks.com/
2	// Copyright (C) 2019-2020 Maciej Komosinski and Szymon Ulatowski.
3	// See LICENSE.txt for details.
4
5	#include <float.h>
6	#include <assert.h>
7	#include "fS_oper.h"
8	#include "frams/util/rndutil.h"
9
10	#define FIELDSTRUCT GenoOper_fS
11	static ParamEntry genooper_fS_paramtab[] =
12	{
13	{"Genetics: fS", 1, FS_OPCOUNT + 5,},
14	{"fS_mut_add_part", 0, 0, "Add part", "f 0 100 10", FIELD(prob[FS_ADD_PART]), "mutation: probability of adding a part",},
15	{"fS_mut_rem_part", 0, 0, "Remove part", "f 0 100 10", FIELD(prob[FS_REM_PART]), "mutation: probability of deleting a part",},
16	{"fS_mut_mod_part", 0, 0, "Modify part", "f 0 100 10", FIELD(prob[FS_MOD_PART]), "mutation: probability of changing the part type",},
17	{"fS_mut_change_joint", 0, 0, "Change joint", "f 0 100 10", FIELD(prob[FS_CHANGE_JOINT]), "mutation: probability of changing a joint",},
18	{"fS_mut_add_param", 0, 0, "Add param", "f 0 100 10", FIELD(prob[FS_ADD_PARAM]), "mutation: probability of adding a parameter",},
19	{"fS_mut_rem_param", 0, 0, "Remove param", "f 0 100 10", FIELD(prob[FS_REM_PARAM]), "mutation: probability of removing a parameter",},
20	{"fS_mut_mod_param", 0, 0, "Modify param", "f 0 100 10", FIELD(prob[FS_MOD_PARAM]), "mutation: probability of modifying a parameter",},
21	{"fS_mut_mod_mod", 0, 0, "Modify modifier", "f 0 100 10", FIELD(prob[FS_MOD_MOD]), "mutation: probability of modifying a modifier",},
22	{"fS_mut_add_neuro", 0, 0, "Add neuron", "f 0 100 10", FIELD(prob[FS_ADD_NEURO]), "mutation: probability of adding a neuron",},
23	{"fS_mut_rem_neuro", 0, 0, "Remove neuron", "f 0 100 10", FIELD(prob[FS_REM_NEURO]), "mutation: probability of removing a neuron",},
24	{"fS_mut_mod_neuro_conn", 0, 0, "Modify neuron connection", "f 0 100 10", FIELD(prob[FS_MOD_NEURO_CONNECTION]), "mutation: probability of changing a neuron connection",},
25	{"fS_mut_add_neuro_conn", 0, 0, "Add neuron connection", "f 0 100 10", FIELD(prob[FS_ADD_NEURO_CONNECTION]), "mutation: probability of adding a neuron connection",},
26	{"fS_mut_rem_neuro_conn", 0, 0, "Remove neuron connection", "f 0 100 10", FIELD(prob[FS_REM_NEURO_CONNECTION]), "mutation: probability of removing a neuron connection",},
27	{"fS_mut_mod_neuro_params", 0, 0, "Modify neuron params", "f 0 100 10", FIELD(prob[FS_MOD_NEURO_PARAMS]), "mutation: probability of changing a neuron param",},
28	{"fS_circle_section", 0, 0, "Ensure circle section", "d 0 1 1", FIELD(ensureCircleSection), "Ensure that ellipsoids and cylinders have circle cross-section"},
29	{"fS_use_elli", 0, 0, "Use ellipsoids in mutations", "d 0 1 1", FIELD(useElli), "Use ellipsoids in mutations"},
30	{"fS_use_cub", 0, 0, "Use cuboids in mutations", "d 0 1 1", FIELD(useCub), "Use cuboids in mutations"},
31	{"fS_use_cyl", 0, 0, "Use cylinders in mutations", "d 0 1 1", FIELD(useCyl), "Use cylinders in mutations"},
32	{"fS_mut_add_part_strong", 0, 0, "Strong add part mutation", "d 0 1 1", FIELD(strongAddPart), "Add part mutation will produce more parametrized parts"},
33	};
34
35	#undef FIELDSTRUCT
36
37	GenoOper_fS::GenoOper_fS()
38	{
39	par.setParamTab(genooper_fS_paramtab);
40	par.select(this);
41	par.setDefault();
42	supported_format = 'S';
43	}
44
45	int GenoOper_fS::checkValidity(const char geno, const char genoname)
46	{
47	try
48	{
49	fS_Genotype genotype(geno);
50	int errorPosition = genotype.checkValidityOfPartSizes();
51	if (errorPosition != 0)
52	{
53	logPrintf("GenoOper_fS", "checkValidity", LOG_WARN, "Invalid part size");
54	return errorPosition;
55	}
56	}
57	catch (fS_Exception &e)
58	{
59	logPrintf("GenoOper_fS", "checkValidity", LOG_WARN, e.what());
60	return 1 + e.errorPosition;
61	}
62	return 0;
63	}
64
65
66	int GenoOper_fS::mutate(char *&geno, float &chg, int &method)
67	{
68	try
69	{
70	fS_Genotype genotype(geno);
71
72	// Calculate available part types
73	vector <Part::Shape> availablePartShapes;
74	if (useElli)
75	availablePartShapes.push_back(Part::Shape::SHAPE_ELLIPSOID);
76	if (useCub)
77	availablePartShapes.push_back(Part::Shape::SHAPE_CUBOID);
78	if (useCyl)
79	availablePartShapes.push_back(Part::Shape::SHAPE_CYLINDER);
80
81	// Select a mutation
82	bool result = false;
83	method = GenoOperators::roulette(prob, FS_OPCOUNT);
84	switch (method)
85	{
86	case FS_ADD_PART:
87	result = addPart(genotype, availablePartShapes);
88	break;
89	case FS_REM_PART:
90	result = removePart(genotype);
91	break;
92	case FS_MOD_PART:
93	result = changePartType(genotype, availablePartShapes);
94	break;
95	case FS_CHANGE_JOINT:
96	result = changeJoint(genotype);
97	break;
98	case FS_ADD_PARAM:
99	result = addParam(genotype);
100	break;
101	case FS_REM_PARAM:
102	result = removeParam(genotype);
103	break;
104	case FS_MOD_PARAM:
105	result = changeParam(genotype);
106	break;
107	case FS_MOD_MOD:
108	result = changeModifier(genotype);
109	break;
110	case FS_ADD_NEURO:
111	result = addNeuro(genotype);
112	break;
113	case FS_REM_NEURO:
114	result = removeNeuro(genotype);
115	break;
116	case FS_MOD_NEURO_CONNECTION:
117	result = changeNeuroConnection(genotype);
118	break;
119	case FS_ADD_NEURO_CONNECTION:
120	result = addNeuroConnection(genotype);
121	break;
122	case FS_REM_NEURO_CONNECTION:
123	result = removeNeuroConnection(genotype);
124	break;
125	case FS_MOD_NEURO_PARAMS:
126	result = changeNeuroParam(genotype);
127	break;
128	}
129
130	if (result)
131	{
132	free(geno);
133	geno = strdup(genotype.getGeno().c_str());
134	return GENOPER_OK;
135	}
136	return GENOPER_OPFAIL;
137	}
138	catch (fS_Exception &e)
139	{
140	logPrintf("GenoOper_fS", "mutate", LOG_WARN, e.what());
141	return GENOPER_OPFAIL;
142	}
143	}
144
145	int GenoOper_fS::crossOver(char &g0, char &g1, float &chg0, float &chg1)
146	{
147	try
148	{
149	assert(PARENT_COUNT == 2); // Cross over works only for 2 parents
150	fS_Genotype *parents[PARENT_COUNT] = {new fS_Genotype(g0), new fS_Genotype(g1)};
151
152	// Choose random subtrees that have similar size
153	Node *selected[PARENT_COUNT];
154	vector < Node * > allNodes0 = parents[0]->getAllNodes();
155	vector < Node * > allNodes1 = parents[1]->getAllNodes();
156
157	double bestQuotient = DBL_MAX;
158	for (int i = 0; i < crossOverTries; i++)
159	{
160	Node *tmp0 = allNodes0[rndUint(allNodes0.size())];
161	Node *tmp1 = allNodes1[rndUint(allNodes1.size())];
162	// Choose this pair if it is the most similar
163	double quotient = double(tmp0->getNodeCount()) / double(tmp1->getNodeCount());
164	if (quotient < 1.0)
165	quotient = 1.0 / quotient;
166	if (quotient < bestQuotient)
167	{
168	bestQuotient = quotient;
169	selected[0] = tmp0;
170	selected[1] = tmp1;
171	}
172	if (bestQuotient == 1.0)
173	break;
174	}
175
176	// Compute gene percentages in children
177	double subtreeSizes[PARENT_COUNT], restSizes[PARENT_COUNT];
178	for (int i = 0; i < PARENT_COUNT; i++)
179	{
180
181	subtreeSizes[i] = selected[i]->getNodeCount();
182	restSizes[i] = parents[i]->getNodeCount() - subtreeSizes[i];
183	}
184	chg0 = restSizes[0] / (restSizes[0] + subtreeSizes[1]);
185	chg1 = restSizes[1] / (restSizes[1] + subtreeSizes[0]);
186
187	// Rearrange neurons before crossover
188	int subOldStart[PARENT_COUNT] {-1, -1};
189	rearrangeConnectionsBeforeCrossover(parents[0], selected[0], subOldStart[0]);
190	rearrangeConnectionsBeforeCrossover(parents[1], selected[1], subOldStart[1]);
191
192	// Swap the subtress
193	for (int i = 0; i < PARENT_COUNT; i++)
194	{
195	Node *other = selected[1 - i];
196	Node *p = selected[i]->parent;
197	if (p != nullptr)
198	{
199	size_t index = std::distance(p->children.begin(), std::find(p->children.begin(), p->children.end(), selected[i]));
200	p->children[index] = other;
201	} else
202	parents[i]->startNode = other;
203	}
204
205	// Rearrange neurons after crossover
206	rearrangeConnectionsAfterCrossover(parents[0], selected[1], subOldStart[0]);
207	rearrangeConnectionsAfterCrossover(parents[1], selected[0], subOldStart[1]);
208
209	// Clenup, assign children to result strings
210	free(g0);
211	free(g1);
212	g0 = strdup(parents[0]->getGeno().c_str());
213	g1 = strdup(parents[1]->getGeno().c_str());
214
215	delete parents[0];
216	delete parents[1];
217	}
218	catch (fS_Exception &e)
219	{
220	logPrintf("GenoOper_fS", "crossOver", LOG_WARN, e.what());
221	return GENOPER_OPFAIL;
222	}
223	return GENOPER_OK;
224	}
225
226	const char *GenoOper_fS::getSimplest()
227	{
228	return "1.1:C{x=0.80599;y=0.80599;z=0.80599}";
229	}
230
231	uint32_t GenoOper_fS::style(const char *geno, int pos)
232	{
233	char ch = geno[pos];
234	uint32_t style = GENSTYLE_CS(0, GENSTYLE_NONE);
235	if (ch == ELLIPSOID \|\| ch == CUBOID \|\| ch == CYLINDER) // part type
236	{
237	style = GENSTYLE_RGBS(0, 0, 200, GENSTYLE_BOLD);
238	} else if (JOINTS.find(ch) != string::npos) // Joint type
239	{
240	style = GENSTYLE_RGBS(0, 200, 200, GENSTYLE_BOLD);
241	} else if (MODIFIERS.find(ch) != string::npos) // Modifier
242	{
243	style = GENSTYLE_RGBS(0, 200, 0, GENSTYLE_NONE);
244	} else if (isdigit(ch) \|\| strchr(".", ch)) // Numerical value
245	{
246	style = GENSTYLE_RGBS(200, 0, 0, GENSTYLE_NONE);
247	} else if (strchr("()_;[],=", ch))
248	{
249	style = GENSTYLE_CS(0, GENSTYLE_BOLD); // Important char
250	}
251
252	return style;
253	}
254
255	void GenoOper_fS::rearrangeConnectionsBeforeCrossover(fS_Genotype geno, Node sub, int &subStart)
256	{
257	vector < fS_Neuron * > genoNeurons = geno->getAllNeurons();
258	vector < fS_Neuron * > subNeurons = fS_Genotype::extractNeurons(sub);
259
260	if (!subNeurons.empty())
261	{
262	subStart = fS_Genotype::getNeuronIndex(genoNeurons, subNeurons[0]);
263	fS_Genotype::shiftNeuroConnections(genoNeurons, subStart, subStart + subNeurons.size() - 1, SHIFT::LEFT);
264	}
265	}
266
267	void GenoOper_fS::rearrangeConnectionsAfterCrossover(fS_Genotype geno, Node sub, int subOldStart)
268	{
269	vector < fS_Neuron * > genoNeurons = geno->getAllNeurons();
270	vector < fS_Neuron * > subNeurons = fS_Genotype::extractNeurons(sub);
271
272	// Shift the inputs right
273	if (!subNeurons.empty())
274	{
275	int subStart = fS_Genotype::getNeuronIndex(genoNeurons, subNeurons[0]);
276	int subCount = subNeurons.size();
277	int subEnd = subStart + subCount - 1;
278	for (int i = 0; i < subCount; i++)
279	{
280	auto inputs = subNeurons[i]->inputs;
281	std::map<int, double> newInputs;
282	// TODO figure out how to keep internal connections in subtree
283	// for (auto it = inputs.begin(); it != inputs.end(); ++it)
284	// {
285	// int newIndex = it->first + subStart;
286	// if(subEnd > newIndex && newIndex > subStart)
287	// newInputs[newIndex] = it->second;
288	// }
289	subNeurons[i]->inputs = newInputs;
290	}
291	fS_Genotype::shiftNeuroConnections(genoNeurons, subStart, subEnd, SHIFT::RIGHT);
292	}
293	}
294
295	bool GenoOper_fS::addPart(fS_Genotype &geno, const vector <Part::Shape> &availablePartShapes, bool mutateSize)
296	{
297	geno.getState(false);
298	Node *node = geno.chooseNode();
299	char partType = SHAPE_TO_GENE.at(availablePartShapes[rndUint(availablePartShapes.size())]);
300
301	Substring substring(&partType, 0, 1);
302	Node *newNode = new Node(substring, node, node->genotypeParams);
303	// Add random rotation
304	string rotationParams[] {ROT_X, ROT_Y, ROT_Z};
305	if (strongAddPart)
306	{
307	for (int i = 0; i < 3; i++)
308	newNode->params[rotationParams[i]] = RndGen.Uni(-M_PI / 2, M_PI / 2);
309	} else
310	{
311	string selectedParam = rotationParams[rndUint(3)];
312	newNode->params[selectedParam] = RndGen.Uni(-M_PI / 2, M_PI / 2);
313	}
314	string rParams[] {RX, RY, RZ};
315	if (strongAddPart)
316	{
317	for (int i = 0; i < 3; i++)
318	newNode->params[rParams[i]] = RndGen.Uni(-M_PI / 2, M_PI / 2);
319	} else
320	{
321	string selectedParam = rParams[rndUint(3)];
322	newNode->params[selectedParam] = RndGen.Uni(-M_PI / 2, M_PI / 2);
323	}
324	// Assign part size to default value
325	double volumeMultiplier = pow(node->getParam(SIZE) * node->state->s, 3);
326	double minVolume = Model::getMinPart().volume;
327	double defVolume = Model::getDefPart().volume * volumeMultiplier; // Default value after applying modifiers
328	double maxVolume = Model::getMaxPart().volume;
329	double volume = std::min(maxVolume, std::max(minVolume, defVolume));
330	double relativeVolume = volume / volumeMultiplier; // Volume without applying modifiers
331
332	double newRadius = std::cbrt(relativeVolume / volumeMultipliers.at(newNode->partType));
333	newNode->params[SIZE_X] = newRadius;
334	newNode->params[SIZE_Y] = newRadius;
335	newNode->params[SIZE_Z] = newRadius;
336	node->children.push_back(newNode);
337
338	if (mutateSize)
339	{
340	geno.getState(false);
341	mutateSizeParam(newNode, SIZE_X, true);
342	mutateSizeParam(newNode, SIZE_Y, true);
343	mutateSizeParam(newNode, SIZE_Z, true);
344	}
345	return true;
346	}
347
348	bool GenoOper_fS::removePart(fS_Genotype &geno)
349	{
350	Node randomNode, selectedChild;
351	// Choose a parent with children
352	// It may be difficult to choose a eligible node, so the number of tries should be high
353	for (int i = 0; i < 10 * mutationTries; i++)
354	{
355	randomNode = geno.chooseNode();
356	int childCount = randomNode->children.size();
357	if (childCount > 0)
358	{
359	int selectedIndex = rndUint(childCount);
360	selectedChild = randomNode->children[selectedIndex];
361	if (selectedChild->children.empty() && selectedChild->neurons.empty())
362	{
363	// Remove the selected child
364	swap(randomNode->children[selectedIndex], randomNode->children[childCount - 1]);
365	randomNode->children.pop_back();
366	randomNode->children.shrink_to_fit();
367	delete selectedChild;
368	return true;
369	}
370	}
371	}
372	return false;
373	}
374
375	bool GenoOper_fS::changePartType(fS_Genotype &geno, const vector <Part::Shape> &availablePartShapes)
376	{
377	int availShapesLen = availablePartShapes.size();
378	for (int i = 0; i < mutationTries; i++)
379	{
380	Node *randomNode = geno.chooseNode();
381	int index = rndUint(availShapesLen);
382	if (availablePartShapes[index] == randomNode->partType)
383	index = (index + 1 + rndUint(availShapesLen - 1)) % availShapesLen;
384	Part::Shape newType = availablePartShapes[index];
385
386	#ifdef _DEBUG
387	if(newType == randomNode->partType)
388	throw fS_Exception("Internal error: invalid part type chosen in mutation.", 1);
389	#endif
390
391	geno.getState(false);
392	double sizeMultiplier = randomNode->getParam(SIZE) * randomNode->state->s;
393	double relativeVolume = randomNode->calculateVolume() / pow(sizeMultiplier, 3.0);
394
395	if (!ensureCircleSection \|\| newType == Part::Shape::SHAPE_CUBOID \|\| (randomNode->partType == Part::Shape::SHAPE_ELLIPSOID && newType == Part::Shape::SHAPE_CYLINDER))
396	{
397	double radiusQuotient = std::cbrt(volumeMultipliers.at(randomNode->partType) / volumeMultipliers.at(newType));
398	randomNode->params[SIZE_X] = randomNode->getParam(SIZE_X) * radiusQuotient;
399	randomNode->params[SIZE_Y] = randomNode->getParam(SIZE_Y) * radiusQuotient;
400	randomNode->params[SIZE_Z] = randomNode->getParam(SIZE_Z) * radiusQuotient;
401	} else if (randomNode->partType == Part::Shape::SHAPE_CUBOID && newType == Part::Shape::SHAPE_CYLINDER)
402	{
403	double newRadius = 0.5 * (randomNode->getParam(SIZE_X) + randomNode->getParam(SIZE_Y));
404	randomNode->params[SIZE_X] = 0.5 * relativeVolume / (M_PI * newRadius * newRadius);
405	randomNode->params[SIZE_Y] = newRadius;
406	randomNode->params[SIZE_Z] = newRadius;
407	} else if (newType == Part::Shape::SHAPE_ELLIPSOID)
408	{
409	double newRelativeRadius = cbrt(relativeVolume / volumeMultipliers.at(newType));
410	randomNode->params[SIZE_X] = newRelativeRadius;
411	randomNode->params[SIZE_Y] = newRelativeRadius;
412	randomNode->params[SIZE_Z] = newRelativeRadius;
413	} else
414	{
415	throw fS_Exception("Invalid part type", 1);
416	}
417	randomNode->partType = newType;
418	return true;
419	}
420	return false;
421	}
422
423	bool GenoOper_fS::changeJoint(fS_Genotype &geno)
424	{
425	if (geno.startNode->children.empty())
426	return false;
427
428	Node *randomNode = geno.chooseNode(1); // First part does not have joints
429	int jointLen = ALL_JOINTS.length();
430	int index = rndUint(jointLen);
431	if (ALL_JOINTS[index] == randomNode->joint)
432	index = (index + 1 + rndUint(jointLen - 1)) % jointLen;
433
434	randomNode->joint = ALL_JOINTS[index];
435	return true;
436	}
437
438	bool GenoOper_fS::addParam(fS_Genotype &geno)
439	{
440	Node *randomNode = geno.chooseNode();
441	int paramCount = randomNode->params.size();
442	if (paramCount == int(PARAMS.size()))
443	return false;
444	string key = PARAMS[rndUint(PARAMS.size())];
445	if (randomNode->params.count(key) > 0)
446	return false;
447	// Do not allow invalid changes in part size
448	bool isRadiusOfBase = key == SIZE_Y \|\| key == SIZE_Z;
449	bool isRadius = isRadiusOfBase \|\| key == SIZE_X;
450	if (ensureCircleSection && isRadius)
451	{
452	if (randomNode->partType == Part::Shape::SHAPE_ELLIPSOID)
453	return false;
454	if (randomNode->partType == Part::Shape::SHAPE_CYLINDER && isRadiusOfBase)
455	return false;
456	}
457	// Add modified default value for param
458	randomNode->params[key] = randomNode->defaultValues.at(key);
459	geno.getState(false);
460	return mutateParamValue(randomNode, key);
461	}
462
463	bool GenoOper_fS::removeParam(fS_Genotype &geno)
464	{
465	// Choose a node with params
466	for (int i = 0; i < mutationTries; i++)
467	{
468	Node *randomNode = geno.chooseNode();
469	int paramCount = randomNode->params.size();
470	if (paramCount >= 1)
471	{
472	auto it = randomNode->params.begin();
473	advance(it, rndUint(paramCount));
474	string key = it->first;
475	double value = it->second;
476
477	randomNode->params.erase(key);
478	if(geno.checkValidityOfPartSizes() == 0)
479	return true;
480	else
481	{
482	randomNode->params[key] = value;
483	}
484	}
485	}
486	return false;
487	}
488
489
490	bool GenoOper_fS::mutateParamValue(Node *node, string key)
491	{
492	// Do not allow invalid changes in part size
493	if (std::find(SIZE_PARAMS.begin(), SIZE_PARAMS.end(), key) == SIZE_PARAMS.end())
494	{
495	node->params[key] = GenoOperators::mutateCreep('f', node->getParam(key), Node::minValues.at(key), Node::maxValues.at(key), true);
496	return true;
497	} else
498	return mutateSizeParam(node, key, ensureCircleSection);
499	}
500
501	bool GenoOper_fS::changeParam(fS_Genotype &geno)
502	{
503	geno.getState(false);
504	for (int i = 0; i < mutationTries; i++)
505	{
506	Node *randomNode = geno.chooseNode();
507	int paramCount = randomNode->params.size();
508	if (paramCount >= 1)
509	{
510	auto it = randomNode->params.begin();
511	advance(it, rndUint(paramCount));
512	return mutateParamValue(randomNode, it->first);
513	}
514	}
515	return false;
516	}
517
518	bool GenoOper_fS::changeModifier(fS_Genotype &geno)
519	{
520	Node *randomNode = geno.chooseNode();
521	char randomModifier = MODIFIERS[rndUint(MODIFIERS.length())];
522	int oldValue = randomNode->modifiers[randomModifier];
523
524	randomNode->modifiers[randomModifier] += rndUint(2) == 0 ? 1 : -1;
525
526	bool isSizeMod = tolower(randomModifier) == SIZE_MODIFIER;
527	if (isSizeMod && geno.checkValidityOfPartSizes() != 0)
528	{
529	randomNode->modifiers[randomModifier] = oldValue;
530	return false;
531	}
532	return true;
533	}
534
535	bool GenoOper_fS::addNeuro(fS_Genotype &geno)
536	{
537	Node *randomNode = geno.chooseNode();
538	fS_Neuron *newNeuron;
539	NeuroClass *rndclass = GenoOperators::getRandomNeuroClass(Model::SHAPETYPE_SOLIDS);
540	if (rndclass->preflocation == NeuroClass::PREFER_JOINT && randomNode == geno.startNode)
541	return false;
542
543	const char *name = rndclass->getName().c_str();
544	newNeuron = new fS_Neuron(name, randomNode->partDescription->start, strlen(name));
545	int effectiveInputCount = rndclass->prefinputs > -1 ? rndclass->prefinputs : 1;
546	if (effectiveInputCount > 0)
547	{
548	// Create as many connections for the neuron as possible (at most prefinputs)
549	vector < fS_Neuron * > allNeurons = geno.getAllNeurons();
550	vector<int> neuronsWithOutput;
551	for (int i = 0; i < int(allNeurons.size()); i++)
552	{
553	if (allNeurons[i]->getClass()->prefoutput > 0)
554	neuronsWithOutput.push_back(i);
555	}
556	int size = neuronsWithOutput.size();
557	if (size > 0)
558	{
559	for (int i = 0; i < effectiveInputCount; i++)
560	{
561	int selectedNeuron = neuronsWithOutput[rndUint(size)];
562	newNeuron->inputs[selectedNeuron] = DEFAULT_NEURO_CONNECTION_WEIGHT;
563	}
564	}
565	}
566
567	randomNode->neurons.push_back(newNeuron);
568
569	geno.rearrangeNeuronConnections(newNeuron, SHIFT::RIGHT);
570	return true;
571	}
572
573	bool GenoOper_fS::removeNeuro(fS_Genotype &geno)
574	{
575	Node *randomNode = geno.chooseNode();
576	for (int i = 0; i < mutationTries; i++)
577	{
578	randomNode = geno.chooseNode();
579	if (!randomNode->neurons.empty())
580	{
581	// Remove the selected neuron
582	int size = randomNode->neurons.size();
583	fS_Neuron *it = randomNode->neurons[rndUint(size)];
584	geno.rearrangeNeuronConnections(it, SHIFT::LEFT); // Important to rearrange the neurons before deleting
585	swap(it, randomNode->neurons.back());
586	randomNode->neurons.pop_back();
587	randomNode->neurons.shrink_to_fit();
588	delete it;
589	return true;
590	}
591	}
592	return false;
593	}
594
595	bool GenoOper_fS::changeNeuroConnection(fS_Genotype &geno)
596	{
597	vector < fS_Neuron * > neurons = geno.getAllNeurons();
598	if (neurons.empty())
599	return false;
600
601	int size = neurons.size();
602	for (int i = 0; i < mutationTries; i++)
603	{
604	fS_Neuron *selectedNeuron = neurons[rndUint(size)];
605	if (!selectedNeuron->inputs.empty())
606	{
607	int inputCount = selectedNeuron->inputs.size();
608	auto it = selectedNeuron->inputs.begin();
609	advance(it, rndUint(inputCount));
610
611	it->second = GenoOperators::getMutatedNeuronConnectionWeight(it->second);
612	return true;
613	}
614	}
615	return false;
616	}
617
618	bool GenoOper_fS::addNeuroConnection(fS_Genotype &geno)
619	{
620	vector < fS_Neuron * > neurons = geno.getAllNeurons();
621	if (neurons.empty())
622	return false;
623
624	int size = neurons.size();
625	fS_Neuron *selectedNeuron;
626	for (int i = 0; i < mutationTries; i++)
627	{
628	selectedNeuron = neurons[rndUint(size)];
629	if (selectedNeuron->acceptsInputs())
630	break;
631	}
632	if (!selectedNeuron->acceptsInputs())
633	return false;
634
635	for (int i = 0; i < mutationTries; i++)
636	{
637	int index = rndUint(size);
638	if (selectedNeuron->inputs.count(index) == 0 && neurons[index]->getClass()->getPreferredOutput() > 0)
639	{
640
641	selectedNeuron->inputs[index] = DEFAULT_NEURO_CONNECTION_WEIGHT;
642	return true;
643	}
644	}
645	return false;
646	}
647
648	bool GenoOper_fS::removeNeuroConnection(fS_Genotype &geno)
649	{
650	vector < fS_Neuron * > neurons = geno.getAllNeurons();
651	if (neurons.empty())
652	return false;
653
654	int size = neurons.size();
655	for (int i = 0; i < mutationTries; i++)
656	{
657	fS_Neuron *selectedNeuron = neurons[rndUint(size)];
658	if (!selectedNeuron->inputs.empty())
659	{
660	int inputCount = selectedNeuron->inputs.size();
661	auto it = selectedNeuron->inputs.begin();
662	advance(it, rndUint(inputCount));
663	selectedNeuron->inputs.erase(it->first);
664	return true;
665	}
666	}
667	return false;
668	}
669
670	bool GenoOper_fS::changeNeuroParam(fS_Genotype &geno)
671	{
672	vector < fS_Neuron * > neurons = geno.getAllNeurons();
673	if (neurons.empty())
674	return false;
675
676	fS_Neuron *neu = neurons[rndUint(neurons.size())];
677	return GenoOperators::mutateRandomNeuroClassProperty(neu);
678	}
679
680	bool GenoOper_fS::mutateSizeParam(Node *node, string key, bool ensureCircleSection)
681	{
682	double oldValue = node->getParam(key);
683	double volume = node->calculateVolume();
684	double valueAtMinVolume, valueAtMaxVolume;
685	if(key == SIZE)
686	{
687	valueAtMinVolume = oldValue * std::cbrt(Model::getMinPart().volume / volume);
688	valueAtMaxVolume = oldValue * std::cbrt(Model::getMaxPart().volume / volume);
689	}
690	else
691	{
692	valueAtMinVolume = oldValue * Model::getMinPart().volume / volume;
693	valueAtMaxVolume = oldValue * Model::getMaxPart().volume / volume;
694	}
695
696	double min = std::max(Node::minValues.at(key), valueAtMinVolume);
697	double max = std::min(Node::maxValues.at(key), valueAtMaxVolume);
698
699	node->params[key] = GenoOperators::mutateCreep('f', node->getParam(key), min, max, true);
700
701	if (!ensureCircleSection \|\| node->isPartSizeValid())
702	return true;
703	else
704	{
705	node->params[key] = oldValue;
706	return false;
707	}
708	}

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