source: cpp/frams/genetics/geneprops.cpp @ 1257

// This file is a part of Framsticks SDK.  http://www.framsticks.com/
// Copyright (C) 1999-2023  Maciej Komosinski and Szymon Ulatowski.
// See LICENSE.txt for details.

#include "geneprops.h"
#include <algorithm>

GeneProps GeneProps::standard_values;

GeneProps::GeneProps()
{
        Part_MinMaxDef default_part = Model::getDefPart();
        Joint default_joint = Model::getDefJoint();

        length = 1.0;
        weight = 1.0;
        friction = default_part.friction;
        curvedness = 0.0;
        twist = 0.0;
        energy = 1.0;

        // before 2023-05, the four fields below were aggregated and normalized using normalizeBiol4(), but this normalization only worked for f1 and f4 - other genetic encodings do not perform such normalization. If at all, this should be handled by the expdef depending on the goal of the experiment (e.g., to encourage specialization).
        muscle_power = 0.25; // "biological" property, same as findNeuroClass("BendMuscle or RotMuscle")->paraminterface->getDoubleById("power")
        assimilation = default_part.assim; // "biological" property
        stamina = default_joint.stamina; // "biological" property
        ingestion = default_part.ingest; // "biological" property

        muscle_bend_range = 1.0; // same as findNeuroClass("BendMuscle")->paraminterface->getDoubleById("range")
        muscle_reset_range = true;

        cred = default_part.vcolor.x;
        cgreen = default_part.vcolor.y;
        cblue = default_part.vcolor.z;
}

void GeneProps::normalizeBiol4()
{
        // make them sum to 1
        double sum = muscle_power + assimilation + stamina + ingestion;
        if (sum == 0)
        {
                muscle_power = assimilation = stamina = ingestion = 0.25;
        }
        else
        {
                muscle_power /= sum;
                assimilation /= sum;
                stamina /= sum;
                ingestion /= sum;
        }
}

int GeneProps::executeModifier_Legacy(char modif)
{
        switch (modif)
        {
#ifdef v1f1COMPATIBLE
        case 'L': length += (3.0 - length) * 0.3;
                length = std::min(length, Model::getMaxJoint().d.x); break;
#else
        case 'L': length += (2.0 - length) * 0.3; //2.0 is currently Model::getMaxJoint().d.x so min() does not limit the range
                length = std::min(length, Model::getMaxJoint().d.x); break;
#endif
        case 'l': length += (0.33 - length) * 0.3;
                length = std::max(length, Model::getMinJoint().d.x); break;

        case 'W': weight += (2.0 - weight) * 0.3; break;
        case 'w': weight += (0.5 - weight) * 0.3; break;
        case 'F': friction += (4 - friction) * 0.2; break;
        case 'f': friction -= friction * 0.2; break;
        case 'C': curvedness += (2.0 - curvedness) * 0.25; break;
        case 'c': curvedness += (-2.0 - curvedness) * 0.25; break;
        case 'Q': twist += (M_PI_2 - twist) * 0.3; break;
        case 'q': twist += (-M_PI_2 - twist) * 0.3; break;
        case 'E': energy += (10.0 - energy) * 0.1; break;
        case 'e': energy -= energy * 0.1;  break;

        case 'A': assimilation += (1 - assimilation) * 0.8; normalizeBiol4(); break;
        case 'a': assimilation -= assimilation * 0.4; normalizeBiol4(); break;
        case 'I': ingestion += (1 - ingestion) * 0.8; normalizeBiol4(); break;
        case 'i': ingestion -= ingestion * 0.4; normalizeBiol4(); break;
        case 'S': stamina += (1 - stamina) * 0.8; normalizeBiol4(); break;
        case 's': stamina -= stamina * 0.4; normalizeBiol4(); break;
        case 'M': muscle_power += (1 - muscle_power) * 0.8; normalizeBiol4(); break;
        case 'm': muscle_power -= muscle_power * 0.4; normalizeBiol4(); break;

        case 'D': cred += (1.0 - cred) * 0.25; break;
        case 'd': cred += (0.0 - cred) * 0.25; break;
        case 'G': cgreen += (1.0 - cgreen) * 0.25; break;
        case 'g': cgreen += (0.0 - cgreen) * 0.25; break;
        case 'B': cblue += (1.0 - cblue) * 0.25; break;
        case 'b': cblue += (0.0 - cblue) * 0.25; break;

        default: return -1;
        }
        return 0;
}

int GeneProps::executeModifier(char modif, GenePropsOps* ops)
{
        if (ops == NULL)
                ops = getStandardOps();

#define APPLY(name) ops->name->apply(name, modif)
#define APPLY_AND_MAYBE_NORMALIZEBIOL4(name) {APPLY(name); if (ops->use_normalizebiol4) normalizeBiol4();}

        switch (toupper(modif))
        {
        case 'L': APPLY(length);
                length = std::min(length, Model::getMaxJoint().d.x); break;
                break;

        case 'l': APPLY(length);
                length = std::max(length, Model::getMinJoint().d.x); break;
                break;

        case 'W': APPLY(weight); break;
        case 'F': APPLY(friction); break;
        case 'C': APPLY(curvedness); break;
        case 'Q': APPLY(twist); break;
        case 'E': APPLY(energy); break;

        case 'A': APPLY_AND_MAYBE_NORMALIZEBIOL4(assimilation); break;
        case 'I': APPLY_AND_MAYBE_NORMALIZEBIOL4(ingestion); break;
        case 'S': APPLY_AND_MAYBE_NORMALIZEBIOL4(stamina); break;
        case 'M': APPLY_AND_MAYBE_NORMALIZEBIOL4(muscle_power); break;

        case 'D': APPLY(cred); break;
        case 'G': APPLY(cgreen); break;
        case 'B': APPLY(cblue); break;

        default: return -1;
        }
        return 0;

#undef APPLY
#undef APPLY_AND_MAYBE_NORMALIZEBIOL4
}

void GeneProps::propagateAlong(bool use_f1_muscle_reset_range, GenePropsOps* ops)
{
        length = 0.5 * length + 0.5 * standard_values.length;
        weight += (standard_values.weight - weight) * 0.5;
        friction = 0.8 * friction + 0.2 * standard_values.friction;
        curvedness = 0.66 * curvedness;
        twist = 0.66 * twist;

        assimilation = 0.8 * assimilation + 0.2 * standard_values.assimilation;
        ingestion = 0.8 * ingestion + 0.2 * standard_values.ingestion;
        stamina = 0.8 * stamina + 0.2 * standard_values.stamina;
        muscle_power = 0.8 * muscle_power + 0.2 * standard_values.muscle_power;

        if (ops == NULL)
                ops = getStandardOps();
        if (ops->use_normalizebiol4) normalizeBiol4();

        if (use_f1_muscle_reset_range)
        {
                if (muscle_reset_range) muscle_bend_range = 1.0; else muscle_reset_range = true;
        }
}

////////////////////////////////////////////////////

void GenePropsOp::apply(double &value, char modif) const
{
        if (isupper(modif))
                value = increase(value);
        else
                value = decrease(value);
}

double GenePropsOp_Old::increase(double value) const
{
        return value + (maxvalue - value) * change;
}

double GenePropsOp_Old::decrease(double value) const
{
        return value + (minvalue - value) * revchange;
}

GenePropsOp_Old::GenePropsOp_Old(double minvalue, double maxvalue, double defvalue, double change, double revchange)
{
        this->minvalue = minvalue;
        this->maxvalue = maxvalue;
        this->defvalue = defvalue;
        this->change = change;
        this->revchange = (revchange < 0) ? change : revchange;
}

GenePropsOp_Exponential::GenePropsOp_Exponential(double minvalue, double maxvalue, double defvalue, double change)
        :GenePropsOp_NormalizedAndScaled(change)
{
        double mid = (maxvalue + minvalue) / 2;
        if (fabs(mid - defvalue) < 0.01)
        {
                linear = true;
                a = (maxvalue - minvalue) / 2;
                b = defvalue;
        }
        else
        {
                linear = false;
                a = -(maxvalue - defvalue) / (minvalue - defvalue);
                b = (minvalue * minvalue - 2 * defvalue * minvalue + defvalue * defvalue) / (minvalue + maxvalue - 2 * defvalue);
                c = (maxvalue * minvalue - defvalue * defvalue) / (minvalue + maxvalue - 2 * defvalue);
                log_a = log(a);
        }
}

double GenePropsOp_Exponential::scale(double value) const
{
        if (linear)
                return a * value + b;
        else
                return pow(a, (value + 1)) * b + c;
}

double GenePropsOp_Exponential::scaleInv(double value) const
{
        if (linear)
                return (value - b) / a;
        else
                return -(log_a - log(value / b - c / b)) / log_a;
}

////////////////////////////////////////////////////////////////////


GenePropsOps::~GenePropsOps()
{
        delete length;
        delete curvedness;
        delete weight;
        delete friction;
        delete muscle_power;
        delete assimilation;
        delete stamina;
        delete ingestion;
        delete twist;
        delete energy;
        delete cred;
        delete cgreen;
        delete cblue;
}

GenePropsOps_Old::GenePropsOps_Old()
{
        use_normalizebiol4 = true;

        length = new GenePropsOp_Old(0.33, 2.0, GeneProps::standard_values.length, 0.3);
        weight = new GenePropsOp_Old(0.5, 2.0, GeneProps::standard_values.weight, 0.3);
        friction = new GenePropsOp_Old(0, 4.0, GeneProps::standard_values.friction, 0.2);
        curvedness = new GenePropsOp_Old(-2, 2, GeneProps::standard_values.curvedness, 0.25);
        twist = new GenePropsOp_Old(-M_PI_2, M_PI_2, GeneProps::standard_values.twist, 0.3);
        energy = new GenePropsOp_Old(0, 10, GeneProps::standard_values.energy, 0.1);

        assimilation = new GenePropsOp_Old(0, 1, GeneProps::standard_values.assimilation, 0.8, 0.4);
        ingestion = new GenePropsOp_Old(0, 1, GeneProps::standard_values.ingestion, 0.8, 0.4);
        stamina = new GenePropsOp_Old(0, 1, GeneProps::standard_values.stamina, 0.8, 0.4);
        muscle_power = new GenePropsOp_Old(0, 1, GeneProps::standard_values.muscle_power, 0.8, 0.4);

        cred = new GenePropsOp_Old(0, 1, GeneProps::standard_values.cred, 0.25);
        cgreen = new GenePropsOp_Old(0, 1, GeneProps::standard_values.cgreen, 0.25);
        cblue = new GenePropsOp_Old(0, 1, GeneProps::standard_values.cblue, 0.25);
}

GenePropsOps_New05::GenePropsOps_New05()
{
        use_normalizebiol4 = false;
        auto fields = { length,curvedness,weight,friction,muscle_power,assimilation,stamina,ingestion,twist,energy,cred,cgreen,cblue };
        for (auto f : fields)
        {
                auto f_gpo = dynamic_cast<GenePropsOp_Old*>(f);
                if (f_gpo)
                        f_gpo->change = f_gpo->revchange = 0.5;
        }
}

GenePropsOps_Exponential::GenePropsOps_Exponential()
{
        length = new GenePropsOp_Exponential(0.33, 2.0, GeneProps::standard_values.length);
        weight = new GenePropsOp_Exponential(0.5, 2.0, GeneProps::standard_values.weight);
        friction = new GenePropsOp_Exponential(0, 4.0, GeneProps::standard_values.friction);
        curvedness = new GenePropsOp_Exponential(-2, 2, GeneProps::standard_values.curvedness);
        twist = new GenePropsOp_Exponential(-M_PI_2, M_PI_2, GeneProps::standard_values.twist);
        energy = new GenePropsOp_Exponential(0, 10, GeneProps::standard_values.energy);

        assimilation = new GenePropsOp_Exponential(0, 1, GeneProps::standard_values.assimilation);
        ingestion = new GenePropsOp_Exponential(0, 1, GeneProps::standard_values.ingestion);
        stamina = new GenePropsOp_Exponential(0, 1, GeneProps::standard_values.stamina);
        muscle_power = new GenePropsOp_Exponential(0, 1, GeneProps::standard_values.muscle_power);

        cred = new GenePropsOp_Exponential(0, 1, GeneProps::standard_values.cred);
        cgreen = new GenePropsOp_Exponential(0, 1, GeneProps::standard_values.cgreen);
        cblue = new GenePropsOp_Exponential(0, 1, GeneProps::standard_values.cblue);
}


GenePropsOps* GeneProps::standard_ops = NULL;
GenePropsOps* GeneProps::getStandardOps()
{
        if (!standard_ops)
                standard_ops = new GenePropsOps_New05();
        return standard_ops;
}