source: cpp/frams/model/model.cpp @ 180

// This file is a part of the Framsticks GDK.
// Copyright (C) 2002-2014  Maciej Komosinski and Szymon Ulatowski.  See LICENSE.txt for details.
// Refer to http://www.framsticks.com/ for further information.

#include <common/nonstd_math.h>
#include "model.h"
#include <common/framsg.h>
#include <frams/util/multimap.h>
#include <frams/errmgr/errmanager.h>

Model::Model()
{
autobuildmaps=false;
init();
}

void Model::init()
{
partmappingchanged=0;
buildstatus=empty;
modelfromgenotype=0;
startenergy=1.0;
checklevel=1;
#ifdef MODEL_V1_COMPATIBLE
oldneurocount=-1; // == unknown
oldconnections=0;
#endif
map=0;
f0map=0;
f0genoknown=1;
}

void Model::moveElementsFrom(Model &source)
{
int i;
open();
for (i=0;i<source.getPartCount();i++)
        addPart(source.getPart(i));
for (i=0;i<source.getJointCount();i++)
        addJoint(source.getJoint(i));
for (i=0;i<source.getNeuroCount();i++)
        addNeuro(source.getNeuro(i));
source.parts.clear(); source.joints.clear(); source.neurons.clear();
source.clear();
}

void Model::internalCopy(const Model &mod)
{
geno=mod.geno;
f0genoknown=0;
startenergy=mod.startenergy;
if (mod.getStatus()==valid)
        {
        modelfromgenotype=mod.modelfromgenotype;
        {for (int i=0;i<mod.getPartCount();i++)
                addPart(new Part(*mod.getPart(i)));}
        {for (int i=0;i<mod.getJointCount();i++)
                {
                Joint *oldj=mod.getJoint(i);
                Joint *j=new Joint(*oldj);
                addJoint(j);
                j->attachToParts(oldj->part1->refno,oldj->part2->refno);
                }}
        {for (int i=0;i<mod.getNeuroCount();i++)
                {
                Neuro *oldn=mod.getNeuro(i);
                Neuro *n=new Neuro(*oldn);
                addNeuro(n);
                if (oldn->part_refno>=0) n->attachToPart(oldn->part_refno);
                else n->attachToJoint(oldn->joint_refno);
                }}
        for (int i=0;i<mod.getNeuroCount();i++)
                {
                Neuro *oldn=mod.getNeuro(i);
                Neuro *n=getNeuro(i);
                for (int ni=0;ni < oldn->getInputCount();ni++)
                        {
                        double w;
                        Neuro *oldinput=oldn->getInput(ni,w);
                        SString info=n->getInputInfo(ni);
                        n->addInput(getNeuro(oldinput->refno),w,&info);
                        }
                }
        }
}


Model::Model(const Geno &src,bool buildmaps)
        :autobuildmaps(buildmaps)
{init(src);}

void Model::operator=(const Model &mod)
{
clear();
open();
internalCopy(mod);
buildstatus=mod.buildstatus;
}

Model::Model(const Model &mod,bool buildmaps)
        :autobuildmaps(buildmaps)
{
init();
open();
internalCopy(mod);
buildstatus=mod.buildstatus;
}

void Model::init(const Geno &src)
{
init();
modelfromgenotype=1;
geno=src;
build();
}

void Model::resetAllDelta()
{
for (int i=0;i<getJointCount();i++)
        getJoint(i)->resetDelta();
}

void Model::useAllDelta(bool yesno)
{
for (int i=0;i<getJointCount();i++)
        getJoint(i)->useDelta(yesno);
}

Model::~Model()
{
delmodel_list.action((long)this);
clear();
}

void Model::clear()
{
FOREACH(Part*,p,parts)
        delete p;
FOREACH(Joint*,j,joints)
        delete j;
FOREACH(Neuro*,n,neurons)
        delete n;
parts.clear(); joints.clear(); neurons.clear();
delMap();
delF0Map();
init();
geno=Geno();
f0geno=Geno();
}

Part *Model::addPart(Part *p)
{
p->owner=this;
p->refno=parts.size();
parts+=p;
return p;
}

Joint *Model::addJoint(Joint *j)
{
j->owner=this;
j->refno=joints.size();
joints+=j;
return j;
}

Neuro *Model::addNeuro(Neuro *n)
{
n->owner=this; 
n->refno=neurons.size();
neurons+=n;
return n;
}

void Model::removeNeuros(SList &nlist)
{
FOREACH(Neuro*,nu,nlist)
        {
        int i=findNeuro(nu);
        if (i>=0) removeNeuro(i);
        }
}

void Model::removePart(int partindex,int removeattachedjoints,int removeattachedneurons)
{
Part *p=getPart(partindex);
if (removeattachedjoints)
        {
        SList jlist;
        findJoints(jlist,p);
        FOREACH(Joint*,j,jlist)
                {
                int i=findJoint(j);
                if (i>=0) removeJoint(i,removeattachedneurons);
                }
        }
if (removeattachedneurons)
        {
        SList nlist;
        findNeuros(nlist,0,p);
        removeNeuros(nlist);
        }
parts-=partindex;
delete p;
}

void Model::removeJoint(int jointindex,int removeattachedneurons)
{
Joint *j=getJoint(jointindex);
if (removeattachedneurons)
        {
        SList nlist;
        findNeuros(nlist,0,0,j);
        removeNeuros(nlist);
        }
joints-=jointindex;
delete j;
}

void Model::removeNeuro(int neuroindex,bool removereferences)
{
Neuro* thisN=getNeuro(neuroindex);

if (removereferences)
        {
        Neuro* n;
// remove all references to thisN
        for (int i=0;n=(Neuro*)neurons(i);i++)
                {
                Neuro *inp;
                for (int j=0;inp=n->getInput(j);j++)
                        if (inp==thisN)
                                {
                                n->removeInput(j);
                                j--;
                                }
                }
        }

neurons-=neuroindex;
delete thisN;
}

MultiMap& Model::getMap()
{
if (!map) map=new MultiMap();
return *map;
}

void Model::delMap()
{
if (map) {delete map; map=0;}
}
void Model::delF0Map()
{
if (f0map) {delete f0map; f0map=0;}
}

void Model::makeGenToGenMap(MultiMap& result,const MultiMap& gen1tomodel,const MultiMap& gen2tomodel)
{
result.clear();
MultiMap m;
m.addReversed(gen2tomodel);
result.addCombined(gen1tomodel,m);
}

void Model::getCurrentToF0Map(MultiMap& result)
{
result.clear();
if (!map) return;
const MultiMap& f0m=getF0Map();
makeGenToGenMap(result,*map,f0m);
}

void Model::rebuild(bool buildm)
{
autobuildmaps=buildm;
clear();
build();
}

void Model::initMap()
{
if (!map) map=new MultiMap();
else map->clear();
}

void Model::initF0Map()
{
if (!f0map) f0map=new MultiMap();
else f0map->clear();
}

void Model::build()
{
f0errorposition=-1;
f0warnposition=-1;
MultiMap *convmap=autobuildmaps ? new MultiMap() : NULL;
f0geno=(geno.getFormat()=='0')? geno : geno.getConverted('0',convmap);
f0genoknown=1;
if (f0geno.isInvalid())
        {
        buildstatus=invalid;
        if (convmap) delete convmap;
        return;
        }
SString f0txt=f0geno.getGene();
buildstatus=building; // was: open();
if (autobuildmaps)
        {
        partmappingchanged=0;
        initMap();
        initF0Map();
        }
int pos=0,lnum=1,lastpos=0;
SString line;
MultiRange frommap;
ErrorHandler err(ErrorHandler::DontBlock);
for (;f0txt.getNextToken(pos,line,'\n');lnum++)
        {
        if (autobuildmaps)
                {
                frommap.clear();
                frommap.add(lastpos,pos-1);
                }
        err.reset();
        if (singleStepBuild(line,autobuildmaps ? (&frommap) : 0)==-1)
                {
                buildstatus=invalid;
                FMprintf("Model","build",FMLV_ERROR,
                         geno.getName().len()?"illegal f0 code at line %d (%s)":"illegal f0 code at line %d",
                         lnum,(const char*)geno.getName());
                f0errorposition=lastpos;
                if (convmap) delete convmap;
                return;
                }
        if (err.getWarningCount())
                {if (f0warnposition<0) f0warnposition=lastpos;}
        lastpos=pos;
        }
err.disable();
close();
if (convmap)
        {
        *f0map=*map;
        if (geno.getFormat()!='0')
                {
                MultiMap tmp;
                tmp.addCombined(*convmap,getMap());
                *map=tmp;
                }
        delete convmap;
        }
}

const MultiMap& Model::getF0Map()
{
if (!f0map)
        {
        f0map=new MultiMap();
        makeGeno(f0geno,f0map);
        f0genoknown=1;
        }
return *f0map;
}

Geno Model::rawGeno()
{
Geno tmpgen;
makeGeno(tmpgen);
return tmpgen;
}

void Model::makeGeno(Geno &g,MultiMap *map,bool handle_defaults)
{
if ((buildstatus!=valid)&&(buildstatus!=building))
        {
        g=Geno(0,0,0,"invalid model");
        return;
        }

SString gen;

Param modelparam(f0_model_paramtab);
Param partparam(f0_part_paramtab);
Param jointparam(f0_joint_paramtab);
Param neuroparam(f0_neuro_paramtab);
Param connparam(f0_neuroconn_paramtab);

static Part defaultpart;
static Joint defaultjoint;
static Neuro defaultneuro;
static Model defaultmodel;
static NeuroConn defaultconn;
//static NeuroItem defaultneuroitem;

Part *p;
Joint *j;
Neuro *n;
int i;
int len;
int a,b;
//NeuroItem *ni;

if (startenergy!=defaultmodel.startenergy)
        {
        modelparam.select(this);
        gen+="m:";
        modelparam.save2(gen,handle_defaults ? &defaultmodel : NULL,true,!handle_defaults);
        }

for (i=0;p=(Part*)parts(i);i++)
        {
        partparam.select(p);
        len=gen.len();
        gen+="p:";
        partparam.save2(gen,handle_defaults ? &defaultpart : NULL,true,!handle_defaults);
        if (map)
                map->add(len,gen.len()-1,partToMap(i));
        }
for (i=0;j=(Joint*)joints(i);i++)
        {
        jointparam.select(j);
        len=gen.len();
        jointparam.setParamTab(j->usedelta?f0_joint_paramtab:f0_nodeltajoint_paramtab);
        gen+="j:";
        jointparam.save2(gen,handle_defaults ? &defaultjoint : NULL,true,!handle_defaults);
        if (map)
                map->add(len,gen.len()-1,jointToMap(i));
        }
for (i=0;n=(Neuro*)neurons(i);i++)
        {
        neuroparam.select(n);
        len=gen.len();
        gen+="n:";
        neuroparam.save2(gen,handle_defaults ? &defaultneuro : NULL,true,!handle_defaults);
        if (map)
                map->add(len,gen.len()-1,neuroToMap(i));
        }
for (a=0;a<neurons.size();a++)
        { // inputs
        n=(Neuro*)neurons(a);
//      if ((n->getInputCount()==1)&&(n->getInput(0).refno <= n->refno))
//              continue; // already done with Neuro::conn_refno

        for (b=0;b<n->getInputCount();b++)
                {
                double w;
                NeuroConn nc;
                Neuro* n2=n->getInput(b,w);
//              if (((n2.parentcount==1)&&(n2.parent)&&(n2.parent->refno < n2.refno)) ^ 
//                  (n2.neuro_refno>=0))
//                      printf("!!!! bad Neuro::neuro_refno ?!\n");

//              if ((n2.parentcount==1)&&(n2.parent)&&(n2.parent->refno < n2.refno))
//              if (n2.neuro_refno>=0)
//                      continue; // already done with Neuro::neuro_refno

                nc.n1_refno=n->refno; nc.n2_refno=n2->refno;
                nc.weight=w;
                SString **s=n->inputInfo(b);
                if ((s)&&(*s))
                nc.info=**s;
                connparam.select(&nc);
                len=gen.len();
                gen+="c:";
                connparam.save2(gen,handle_defaults ? &defaultconn : NULL,true,!handle_defaults);
                if (map)
                        map->add(len,gen.len()-1,neuroToMap(n->refno));
                }
        }
g=Geno(gen,'0');
}

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

void Model::open()
{
if (buildstatus==building) return;
buildstatus=building;
modelfromgenotype=0;
partmappingchanged=0;
f0genoknown=0;
delMap();
}

void Model::checkpoint()
{}

void Model::setGeno(const Geno& newgeno)
{
geno=newgeno;
}

void Model::clearMap()
{
Part *p; Joint *j; Neuro *n;
int i;
delMap();
delF0Map();
for (i=0;p=(Part*)parts(i);i++)
        p->clearMapping();
for (i=0;j=(Joint*)joints(i);i++)
        j->clearMapping();
for (i=0;n=(Neuro*)neurons(i);i++)
        n->clearMapping();
}

int Model::close()
{
if (buildstatus!=building)
        FMprintf("Model","close",FMLV_WARN,"unexpected close() - no open()");
if (internalcheck(1)>0)
        {
        buildstatus=valid;

        if (partmappingchanged)
                {
                getMap();
                Part *p; Joint *j; Neuro *n;
                int i;
                for (i=0;p=(Part*)parts(i);i++)
                        if (p->getMapping())
                                map->add(*p->getMapping(),partToMap(i));
                for (i=0;j=(Joint*)joints(i);i++)
                        if (j->getMapping())
                                map->add(*j->getMapping(),jointToMap(i));
                for (i=0;n=(Neuro*)neurons(i);i++)
                        if (n->getMapping())
                                map->add(*n->getMapping(),neuroToMap(i));
                }
        }
else 
        buildstatus=invalid;

return (buildstatus==valid);
}

int Model::validate()
{
return internalcheck(0);
}

Pt3D Model::whereDelta(const Part& start,const Pt3D& rot, const Pt3D& delta)
{
Orient roto;
roto=rot;
Orient o;
roto.transform(o,start.o);
//o.x=start.o/roto.x;
//o.y=start.o/roto.y;
//o.z=start.o/roto.z;
return o.transform(delta)+start.p;
}

int Model::singleStepBuild(const SString &line,const MultiRange* srcrange)
{
int pos=0; const char*t=(const char*)line;
for (;*t;t++,pos++)
        if (!strchr(" \r\t",*t)) break;
if (*t=='#') return 0;
if (!*t) return 0;
if (!strncmp(t,"p:",2))
        {
        Param partparam(f0_part_paramtab);
        Part *p=new Part();
        partparam.select(p);
        pos+=2;
        partparam.load2(line,pos);
        p->o.rotate(p->rot);
        parts+=p;
        p->owner=this;
        if (srcrange) p->setMapping(*srcrange);
        return getPartCount()-1;
        }
if (!strncmp(t,"m:",2))
        {
        Param modelparam(f0_model_paramtab);
        modelparam.select(this);
        pos+=2;
        modelparam.load2(line,pos);
        return 0;
        }
else if (!strncmp(t,"j:",2))
        {
        Param jointparam(f0_joint_paramtab);
        Joint *j=new Joint();
        jointparam.select(j);
        pos+=2;
        j->owner=this;
        jointparam.load2(line,pos);
        if ((j->p1_refno>=0)&&(j->p1_refno<getPartCount())&&
           (j->p2_refno>=0)&&(j->p2_refno<getPartCount()))
                {
                addJoint(j);
                if ((j->d.x != JOINT_DELTA_MARKER) || (j->d.y != JOINT_DELTA_MARKER) || (j->d.z != JOINT_DELTA_MARKER))
                        {
                        j->useDelta(1);
                        j->resetDeltaMarkers();
                        }
                j->attachToParts(j->p1_refno,j->p2_refno);
                if (srcrange) j->setMapping(*srcrange);
                return j->refno;
                }
        else
                {
                delete j;
                FMprintf("Model","build",FMLV_ERROR,
                         "invalid part reference for joint #%d",getJointCount()-1);
                return -1;
                }
        }
else if (!strncmp(t,"n:",2)) // neuro (or the old neuro object as the special case)
        {
        Param neuroparam(f0_neuro_paramtab);
        Neuro *nu=new Neuro();
        neuroparam.select(nu);
        pos+=2;
        neuroparam.load2(line,pos);
#ifdef MODEL_V1_COMPATIBLE
        if (nu->neuro_refno>=0) // parent specified...
                {
                if (nu->neuro_refno >= getNeuroCount()) // and it's illegal
                        {
                        delete nu;
                        return -1;
                        }
                Neuro *parentNU=getNeuro(nu->neuro_refno);
                parentNU->addInput(nu,nu->weight);
                // default class for parented units: n-n link
                //if (nu->moredata.len()==0) nu->moredata="-";
                }
        else
#endif
                {
                // default class for unparented units: standard neuron
                if (nu->getClassName().len()==0) nu->setClassName("N");
                }
/*
        if (nu->conn_refno>=0) // input specified...
                {
                if (nu->conn_refno >= getNeuroCount()) // and it's illegal
                        {
                        delete nu;
                        return -1;
                        }
                Neuro *inputNU=getNeuro(nu->conn_refno);
                nu->addInput(inputNU,nu->weight);
                }
*/
#ifdef MODEL_V1_COMPATIBLE
        nu->weight=1.0;
#endif
        nu->owner=this;
        // attach to part/joint
        if (nu->part_refno>=0)
                nu->attachToPart(nu->part_refno);
        if (nu->joint_refno>=0)
                nu->attachToJoint(nu->joint_refno);
        if (srcrange) nu->setMapping(*srcrange);
        // todo: check part/joint ref# 
#ifdef MODEL_V1_COMPATIBLE
        if (hasOldNeuroLayout())
                {
                int count=old_getNeuroCount();
                neurons.insert(count,nu);
                oldneurocount=count+1;
                return oldneurocount-1;
                }
        else
#endif
                {
                neurons+=nu;
                return neurons.size()-1;
                }
        }
else if (!strncmp(t,"c:",2)) // add input
        {
        Param ncparam(f0_neuroconn_paramtab);
        NeuroConn c;
        ncparam.select(&c);
        pos+=2;
        ncparam.load2(line,pos);
        if ((c.n1_refno>=0)&&(c.n1_refno<getNeuroCount())&&(c.n2_refno>=0)&&(c.n2_refno<getNeuroCount()))
                {
                Neuro *na=getNeuro(c.n1_refno);
                Neuro *nb=getNeuro(c.n2_refno);
                na->addInput(nb,c.weight,&c.info);
                if (srcrange)
                        na->addMapping(*srcrange);
                return 0;
                }
        FMprintf("Model","build",FMLV_ERROR,
                 "invalid neuron connection #%d <- #%d",c.n1_refno,c.n2_refno);
        return -1;
        }
#ifdef MODEL_V1_COMPATIBLE
else if (!strncmp(t,"ni:",3)) // old neuroitem
        {
        // we always use old layout for "ni:"
        Param neuroitemparam(f0_neuroitem_paramtab);
        Neuro *nu=new Neuro();
        neuroitemparam.select(nu);
        pos+=3;
        neuroitemparam.load2(line,pos);
        // illegal parent?
        if ((nu->neuro_refno<0)||(nu->neuro_refno>=old_getNeuroCount()))
                {
                delete nu;
                return -1;
                }
        Neuro *parentN=getNeuro(nu->neuro_refno);
        // copy part/joint refno from parent, if possible
        if ((nu->part_refno<0)&&(parentN->part_refno>=0))
                nu->part_refno=parentN->part_refno;
        if ((nu->joint_refno<0)&&(parentN->joint_refno>=0))
                nu->joint_refno=parentN->joint_refno;
        nu->owner=this;
        // attach to part/joint
        if (nu->part_refno>=0)
                nu->attachToPart(nu->part_refno);
        if (nu->joint_refno>=0)
                nu->attachToJoint(nu->joint_refno);
        if (srcrange)
                nu->setMapping(*srcrange);
        // special case: old muscles
        // PARENT neuron will be set up to be the CHILD of the current one (!)
        if (nu->isOldEffector())
                {
                nu->neuro_refno=parentN->refno;
                neurons+=nu;
                nu->owner=this;
                nu->addInput(parentN,nu->weight); // (!)
                nu->weight=1.0;
                parentN->invalidateOldItems();
                return 0; // !!! -> ...getItemCount()-1;
                }
        parentN->addInput(nu,nu->weight);
        neurons+=nu;
        parentN->invalidateOldItems();
        if (nu->getClassName().len()==0)
                {
                nu->setClassName("-");
                // for compatibility, "ni" can define a n-n connection
                // referring to non-existent neuron (which will be hopefully defined later)
                // internal check will add the proper input to this unit
                // if conn_refno >=0 and input count==0
                oldconnections=1;
                if (srcrange)
                        parentN->addMapping(*srcrange);
                }
        else
                nu->weight=1.0;
        return 0; // !!! -> ...getItemCount()-1;
        }
#endif
else return -1;
}

#ifdef MODEL_V1_COMPATIBLE
int Model::addOldConnectionsInputs()
{
if (!oldconnections) return 1;
Neuro* n;
for (int i=0;i<neurons.size();i++)
        {
        n=(Neuro*)neurons(i);
        if (n->conn_refno>=0)
                if (n->isNNConnection())
                        if (n->conn_refno < old_getNeuroCount())
                                { // good reference
                                Neuro* parent=n->parent; // nn connection has exactly one parent
                                int inp=parent->findInput(n);
                                Neuro* target=getNeuro(n->conn_refno);
                                parent->setInput(inp,target,n->weight);
                                removeNeuro(i,0); // no need to remove references
                                i--;
                                }
                        else
                                {
                                FMprintf("Model","internalCheck",FMLV_ERROR,
                                         "illegal N-N connection #%d (reference to #%d) (%s)",
                                         i,n->conn_refno,(const char*)geno.getName());
                                return 0;
                                }
        }
oldconnections=0;
return 1;
}
#endif

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

/** change the sequence of neuro units 
    and fix references in "-" objects (n-n connections)  */
void Model::moveNeuro(int oldpos,int newpos)
{
if (oldpos==newpos) return; // nop!
Neuro *n=getNeuro(oldpos);
neurons-=oldpos;
neurons.insert(newpos,n);
 // conn_refno could be broken -> fix it
#ifdef MODEL_V1_COMPATIBLE
for (int i=0;i<neurons.size();i++)
        {
        Neuro *n2=getNeuro(i);
        if (n2->isNNConnection())
                if (n2->conn_refno == oldpos) n2->conn_refno=newpos;
                else
                { if (n2->conn_refno > oldpos) n2->conn_refno--;
                  if (n2->conn_refno >= newpos) n2->conn_refno++; }
        }
invalidateOldNeuroCount();
#endif
}

#ifdef MODEL_V1_COMPATIBLE
/** move all old neurons (class "N") to the front of the neurons list.
    @return number of old neurons
  */
int Model::reorderToOldLayout()
{
Neuro *n;
int neurocount=0;
for (int i=0;i<neurons.size();i++)
        {
        n=(Neuro*)neurons(i);
        if (n->isOldNeuron())
                {
                moveNeuro(i,neurocount);
                neurocount++;
                i=neurocount-1;
                }
        }
return neurocount;
}
#endif
////////////

void Model::updateNeuroRefno()
{
for (int i=0;i<neurons.size();i++)
        {
        Neuro* n=(Neuro*)neurons(i);
        n->refno=i;
        }
}

#define VALIDMINMAX(var,template,field) \
if (var -> field < getMin ## template () . field) \
        { var->field= getMin ## template () . field; \
        FMprintf("Model","internalCheck",FMLV_WARN,# field " too small in " # template "#%d (adjusted)",i);} \
else if (var -> field > getMax ## template () . field) \
        { var->field= getMax ## template ()  . field; \
        FMprintf("Model","internalCheck",FMLV_WARN,# field " too big in " # template "#%d (adjusted)",i);}

#define LINKFLAG 0x8000000

void Model::updateRefno()
{
int i;
for (i=0;i<getPartCount();i++) getPart(i)->refno=i;
for (i=0;i<getJointCount();i++) getJoint(i)->refno=i;
for (i=0;i<getNeuroCount();i++) getNeuro(i)->refno=i;
}

int Model::internalcheck(int final)
{
Part *p;
Joint *j;
Neuro *n;
int i,k;
int ret=1;
if ((parts.size()==0)&&(neurons.size()==0)) return 0;
if (parts.size()==0)
        size=Pt3D_0;
else
        {
Pt3D bbmin=((Part*)parts(0))->p, bbmax=bbmin;
for (i=0;i<parts.size();i++)
        {
        p=(Part*)parts(i);
        p->owner=this;
        p->refno=i;
        if (p->shape==0)
                {
                if (checklevel>0)
                        p->mass=0.0;
                }
//      VALIDMINMAX(p,part,mass);
        VALIDMINMAX(p,Part,size);
        VALIDMINMAX(p,Part,density);
        VALIDMINMAX(p,Part,friction);
        VALIDMINMAX(p,Part,ingest);
        VALIDMINMAX(p,Part,assim);
        p->flags&=~LINKFLAG; // for delta joint cycle detection
        if (p->p.x-p->size < bbmin.x) bbmin.x=p->p.x-p->size;
        if (p->p.y-p->size < bbmin.y) bbmin.y=p->p.y-p->size;
        if (p->p.z-p->size < bbmin.z) bbmin.z=p->p.z-p->size;
        if (p->p.x+p->size > bbmax.x) bbmax.x=p->p.x+p->size;
        if (p->p.y+p->size > bbmax.y) bbmax.y=p->p.y+p->size;
        if (p->p.z+p->size > bbmax.z) bbmax.z=p->p.z+p->size;
        }
size=bbmax-bbmin;
for (i=0;i<joints.size();i++)
        {
        j=(Joint*)joints(i);
        VALIDMINMAX(j,Joint,stamina);
        VALIDMINMAX(j,Joint,stif);
        VALIDMINMAX(j,Joint,rotstif);
        j->refno=i;
        j->owner=this;
        if (j->part1 && j->part2 && (j->part1 != j->part2))
                {
                j->p1_refno=j->part1->refno;
                j->p2_refno=j->part2->refno;
                if (checklevel>0)
                        {
                        if (j->part1->shape==0)
                                j->part1->mass+=1.0;
                        if (j->part2->shape==0)
                                j->part2->mass+=1.0;
                        }
                if ((j->usedelta)&&((j->d.x!=JOINT_DELTA_MARKER)||(j->d.y!=JOINT_DELTA_MARKER)||(j->d.z!=JOINT_DELTA_MARKER)))
                        { // delta positioning -> calc. orient.
                        if (j->part2->flags & LINKFLAG)
                                {
                                ret=0;
                                FMprintf("Model","internalCheck",FMLV_ERROR,
                                         "delta joint cycle detected at joint#%d (%s)",
                                         i,(const char*)geno.getName());
                                }
                        j->resetDeltaMarkers();
                        j->o=j->rot;
                        j->part1->o.transform(j->part2->o,j->o);
//                      j->part2->o.x=j->part1->o/j->o.x;
//                      j->part2->o.y=j->part1->o/j->o.y;
//                      j->part2->o.z=j->part1->o/j->o.z;
                        j->part2->p=j->part2->o.transform(j->d)+j->part1->p;
                        j->part2->flags|=LINKFLAG; j->part1->flags|=LINKFLAG; // for delta joint cycle detection
                        }
                else
                        { // abs.positioning -> calc. delta
                        if (final)
                        {
                        // calc orient delta
//                      Orient tmpo(j->part2->o);
//                      tmpo*=j->part1->o;
                        Orient tmpo;
                        j->part1->o.revTransform(tmpo,j->part2->o);
                        tmpo.getAngles(j->rot);
                        j->o=j->rot;
                        // calc position delta
                        Pt3D tmpp(j->part2->p);
                        tmpp-=j->part1->p;
                        j->d=j->part2->o.revTransform(tmpp);
                        }
                        }
                if (final)
                        {
                        if (j->shape!=Joint::SHAPE_SOLID)
                                {
                        if (j->d()>getMaxJoint().d.x)
                        {
                        ret=0;
                        FMprintf("Model","internalCheck",FMLV_ERROR,"delta too big in joint #%d (%s)",
                                 i,(const char*)geno.getName());
                        }
                        else if (j->d()<getMinJoint().d.x)
                        {
                        ret=0;
                        FMprintf("Model","internalCheck",FMLV_ERROR,"delta too small in joint #%d (%s)",
                                 i,(const char*)geno.getName());
                        }
                                }
                        }
                }
        else
                {
                FMprintf("Model","internalCheck",FMLV_ERROR,"illegal part references in joint #%d (%s)",
                         i,(const char*)geno.getName());
                ret=0;
                }
        }
        }
#ifdef MODEL_V1_COMPATIBLE
if (!addOldConnectionsInputs())
        return 0;
#endif

updateNeuroRefno(); // valid refno is important for n-n connections check (later)

for (i=0;i<neurons.size();i++)
        {
        n=(Neuro*)neurons(i);
        VALIDMINMAX(n,Neuro,state);
#ifdef MODEL_V1_COMPATIBLE
        VALIDMINMAX(n,Neuro,inertia);
        VALIDMINMAX(n,Neuro,force);
        VALIDMINMAX(n,Neuro,sigmo);
        n->conn_refno=-1;
        n->weight=1.0;
        n->neuro_refno=-1;
#endif
        n->part_refno=(n->part)?n->part->refno:-1;
        n->joint_refno=(n->joint)?n->joint->refno:-1;
        }

if (parts.size()&&(checklevel>0))
        {
        for (i=0;i<parts.size();i++)
                {
                p=(Part*)parts(i);
                if (p->shape==0)
                        if (p->mass<=0.001)
                                p->mass=1.0;
                p->flags&=~LINKFLAG;
                }
        getPart(0)->flags|=LINKFLAG;
        int change=1;
        while(change)
                {
                change=0;
                for (i=0;i<joints.size();i++)
                        {
                        j=(Joint*)joints(i);
                        if (j->part1->flags&LINKFLAG)
                                {
                                if (!(j->part2->flags&LINKFLAG))
                                        {
                                        change=1;
                                        j->part2->flags|=LINKFLAG;
                                        }
                                }
                        else
                        if (j->part2->flags&LINKFLAG)
                                {
                                if (!(j->part1->flags&LINKFLAG))
                                        {
                                        change=1;
                                        j->part1->flags|=LINKFLAG;
                                        }
                                }
                        }
                }
        for (i=0;i<parts.size();i++)
                {
                p=(Part*)parts(i);
                if (!(p->flags&LINKFLAG))
                        {
                        FMprintf("Model","internalCheck",FMLV_ERROR,"not all parts connected (eg.#0-#%d) (%s)",
                                 i,(const char*)geno.getName());
                        ret=0;
                        break;
                        }
                }
        }

for (i=0;i<joints.size();i++)
        {
        j=(Joint*)joints(i);
        if (j->p1_refno==j->p2_refno)
                {
                FMprintf("Model","internalCheck",FMLV_ERROR,"illegal self connection, joint #%d (%s)",
                         i,(const char*)geno.getName());
                ret=0;
                break;
                }
        for (k=i+1;k<joints.size();k++)
                {
                Joint* j2=(Joint*)joints(k);
                if (((j->p1_refno==j2->p1_refno)&&(j->p2_refno==j2->p2_refno))
                    || ((j->p1_refno==j2->p2_refno)&&(j->p2_refno==j2->p1_refno)))
                        {
                        FMprintf("Model","internalCheck",FMLV_ERROR,"illegal duplicate joints #%d and #%d (%s)",
                                 i,k,(const char*)geno.getName());
                        ret=0;
                        break;
                        }
                }
        }
return ret;
}

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

int Model::getErrorPosition(bool includingwarnings)
{
return includingwarnings?
        ((f0errorposition>=0) ? f0errorposition : f0warnposition)
        :
        f0errorposition;
}

const Geno& Model::getGeno() const
{
return geno;
}

const Geno Model::getF0Geno()
{
if (buildstatus==building)
        FMprintf("Model","getGeno",FMLV_WARN,"model was not completed - missing close()");
if (buildstatus!=valid)
        return Geno("",'0',"","invalid");
if (!f0genoknown)
        {
        if (autobuildmaps)
                {
                initF0Map();
                makeGeno(f0geno,f0map);
                }
        else
                {
                delF0Map();
                makeGeno(f0geno);
                }
        f0genoknown=1;
        }
return f0geno;
}

int Model::getPartCount() const
{
return parts.size();
}

Part* Model::getPart(int i) const
{
return ((Part*)parts(i));
}

int Model::getJointCount() const
{
return joints.size();
}

Joint* Model::getJoint(int i) const
{
return ((Joint*)joints(i));
}

int Model::findJoints(SList& result,const Part* part)
{
Joint *j;
int n0=result.size();
if (part)
   for(int i=0;j=(Joint*)joints(i);i++)
     if ((j->part1 == part) || (j->part2 == part)) result+=(void*)j;
return result.size()-n0;
}

int Model::findNeuro(Neuro* n)
{return neurons.find(n);}

int Model::findPart(Part* p)
{return parts.find(p);}

int Model::findJoint(Joint* j)
{return joints.find(j);}

int Model::findJoint(Part *p1, Part *p2)
{
Joint* j;
for(int i=0;j=getJoint(i);i++)
        if ((j->part1==p1)&&(j->part2==p2)) return i;
return -1;
}


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

#ifdef MODEL_V1_COMPATIBLE
void Model::calcOldNeuroCount()
{
if (oldneurocount>=0) return;
oldneurocount=reorderToOldLayout();
}

int Model::old_getNeuroCount()
{ calcOldNeuroCount();
 return oldneurocount;}

Neuro* Model::old_getNeuro(int i) 
{calcOldNeuroCount();
return (i<oldneurocount)? (Neuro*)getNeuro(i) : (Neuro*)0;
}

int Model::old_findNeuro(Neuro* n)
{calcOldNeuroCount();
return findNeuro(n);}

Neuro *Model::old_addNewNeuro()
{
int count=old_getNeuroCount();
Neuro *nu=addNewNeuro();
nu->setClassName("N");
moveNeuro(nu->refno,oldneurocount);
oldneurocount=count+1;
return (Neuro*)nu;
}
#endif

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

int Model::getNeuroCount() const
{return neurons.size();}

Neuro* Model::getNeuro(int i) const
{return (Neuro*)neurons(i);}

int Model::getConnectionCount() const
{
int n=0;
for(int i=0;i<getNeuroCount();i++)
        n+=getNeuro(i)->getInputCount();
return n;
}

int Model::findNeuros(SList& result,
                          const char* classname,const Part* part,const Joint* joint)
{
Neuro *nu;
SString cn(classname);
int n0=result.size();
for(int i=0;nu=(Neuro*)neurons(i);i++)
        {
        if (part)
                if (nu->part != part) continue;
        if (joint)
                if (nu->joint != joint) continue;
        if (classname)
                if (nu->getClassName() != cn) continue;
        result+=(void*)nu;
        }
return result.size()-n0;
}

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

void Model::disturb(double amount)
{
int i;
if (amount<=0) return;
for(i=0;i<parts.size();i++)
        {
        Part *p=getPart(i);
        p->p.x+=(rnd01-0.5)*amount;
        p->p.y+=(rnd01-0.5)*amount;
        p->p.z+=(rnd01-0.5)*amount;
        }
for(i=0;i<joints.size();i++)
        {
        Joint *j=getJoint(i);
        Pt3D tmpp(j->part2->p);
        tmpp-=j->part1->p;
        j->d=j->part2->o.revTransform(tmpp);
        }
}

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

class MinPart: public Part {public: MinPart() {Param par(f0_part_paramtab,this);par.setMin();}};
class MaxPart: public Part {public: MaxPart() {Param par(f0_part_paramtab,this);par.setMax();}};
class MinJoint: public Joint {public: MinJoint() {Param par(f0_joint_paramtab,this);par.setMin();}};
class MaxJoint: public Joint {public: MaxJoint() {Param par(f0_joint_paramtab,this);par.setMax();}};
class MinNeuro: public Neuro {public: MinNeuro() {Param par(f0_neuro_paramtab,this);par.setMin();}};
class MaxNeuro: public Neuro {public: MaxNeuro() {Param par(f0_neuro_paramtab,this);par.setMax();}};

Part& Model::getMinPart() {static MinPart part; return part;}
Part& Model::getMaxPart() {static MaxPart part; return part;}
Part& Model::getDefPart() {static Part part; return part;}
Joint& Model::getMinJoint() {static MinJoint joint; return joint;}
Joint& Model::getMaxJoint() {static MaxJoint joint; return joint;}
Joint& Model::getDefJoint() {static Joint joint; return joint;}
Neuro& Model::getMinNeuro() {static MinNeuro neuro; return neuro;}
Neuro& Model::getMaxNeuro() {static MaxNeuro neuro; return neuro;}
Neuro& Model::getDefNeuro() {static Neuro neuro; return neuro;}