source: cpp/frams/model/modelparts.cpp @ 722

// This file is a part of Framsticks SDK.  http://www.framsticks.com/
// Copyright (C) 1999-2017  Maciej Komosinski and Szymon Ulatowski.
// See LICENSE.txt for details.

#include <stdlib.h>
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <ctype.h>
#include <time.h>
#include <errno.h>

///////////////////////////////     MODELPARTS.CPP     ///////////////

#include "modelparts.h"
#include "model.h"

#include <common/nonstd.h>
#include <frams/param/param.h>
#include <frams/neuro/neurolibrary.h>
#include <frams/util/multirange.h>
#include <frams/util/extvalue.h>
#include <frams/param/paramobj.h>

#include F0_DEFASSIGN_FILE

#ifndef SDK_WITHOUT_FRAMS
#include <frams/neuro/neuroclsobject.h>
#endif

template<>
char ModelUserTags::reg[5] = { 0 };

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

PartBase::~PartBase()
{
        if (mapped) delete mapped;
}

void PartBase::notifyMappingChange()
{
        if (owner) owner->partmappingchanged = 1;
}

void PartBase::setMapping(const IRange &r)
{
        if (mapped) (*mapped) = r;
        else mapped = new MultiRange(r);
        notifyMappingChange();
}

void PartBase::clearMapping()
{
        if (mapped) { delete mapped; mapped = 0; }
}

void PartBase::addMapping(const IRange &r)
{
        if (mapped) mapped->add(r);
        else mapped = new MultiRange(r);
        notifyMappingChange();
}

void PartBase::setMapping(const MultiRange &mr)
{
        if (mapped) (*mapped) = mr;
        else mapped = new MultiRange(mr);
        notifyMappingChange();
}

void PartBase::addMapping(const MultiRange &mr)
{
        if (mapped) mapped->add(mr);
        else mapped = new MultiRange(mr);
        notifyMappingChange();
}

void PartBase::setInfo(const SString& name, const SString& value)
{
        strSetField(info, name, value);
}

void PartBase::setInfo(const SString& name, int value)
{
        setInfo(name, SString::valueOf(value));
}

void PartBase::setInfo(const SString& name, double value)
{
        setInfo(name, SString::valueOf(value));
}

SString PartBase::getInfo(const SString& name)
{
        return strGetField(info, name);
}

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

NeuroClass::NeuroClass(ParamEntry *_props, SString _description,
        int _prefinputs, int _prefoutput, int _preflocation,
        int *_vectordata, bool own_vd, int vhints)
        :ownedvectordata(own_vd),
        name(_props->name), longname(_props->id), description(_description),
        props(_props), ownedprops(false),
        prefinputs(_prefinputs),
        prefoutput(_prefoutput),
        preflocation(_preflocation),
        vectordata(_vectordata),
        visualhints(vhints), impl_count(0),/*impl(0),*/active(1), genactive(0)
{}

NeuroClass::~NeuroClass()
{
        setSymbolGlyph(0, 0);
        if (props && ownedprops)
                ParamObject::freeParamTab(props);
}

NeuroClass::NeuroClass()
        :ownedvectordata(0),
        name("Invalid"),
        props(empty_paramtab), ownedprops(false),
        prefinputs(0), prefoutput(0),
        preflocation(0), vectordata(0),
        visualhints(0), impl_count(0), /*impl(0),*/ active(1), genactive(0)
{}

void NeuroClass::resetActive()
{
        for (int i = 0; i < Neuro::getClassCount(); i++)
        {
                Neuro::getClass(i)->genactive = 0;
                Neuro::getClass(i)->active = 1;
        }
}

void NeuroClass::setGenActive(const char* genactive_classes[])
{
        for (const char** n = genactive_classes; *n; n++)
        {
                NeuroClass* cls = Neuro::getClass(*n);
                if (cls) cls->genactive = 1;
        }
}

SString NeuroClass::getSummary()
{
        SString t;
        t = getDescription();
        if (t.len()) t += "\n\n";
        t += "Characteristics:\n";
        if (getPreferredInputs())
        {
                if (getPreferredInputs() < 0) t += "   supports any number of inputs\n";
                else if (getPreferredInputs() == 1) t += "   uses single input\n";
                else t += SString::sprintf("   uses %d inputs\n", getPreferredInputs());
        }
        else t += "   does not use inputs\n";
        if (getPreferredOutput())
                t += "   provides output value\n";
        else
                t += "   does not provide output value\n";
        switch (getPreferredLocation())
        {
        case 0: t += "   does not require location in body\n"; break;
        case 1: t += "   should be located on a Part\n"; break;
        case 2: t += "   should be located on a Joint\n"; break;
        }
        Param p = getProperties();
        if (p.getPropCount())
        {
                if (t.len()) t += "\n\n";
                t += "Properties:\n";
                const char *h;
                int i;
                for (i = 0; i < p.getPropCount(); i++)
                {
                        if (i) t += "\n";
                        t += "   "; t += p.name(i); t += " ("; t += p.id(i); t += ") ";
                        t += p.describeType(i);
                        if (h = p.help(i)) if (*h) { t += " - "; t += h; }
                }
        }
        return t;
}

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

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

Neuro::Neuro(double _state, double _inertia, double _force, double _sigmo)
        :PartBase(getDefaultStyle()), state(_state)
#ifdef MODEL_V1_COMPATIBLE
        ,inertia(_inertia),force(_force),sigmo(_sigmo)
#endif
{
#ifdef MODEL_V1_COMPATIBLE
        olditems=0;
#endif
        flags = 0;
        myclass = 0;
        knownclass = 1;
        part_refno = -1; joint_refno = -1;
}

Neuro::Neuro(void) :PartBase(getDefaultStyle())
{
        defassign();
        state = 0.0;
        myclass = NULL;
        myclassname = "N";//default d="N" but f0.def is unable to set this (d is GETSET, not a regular FIELD)
        knownclass = 0;
        refno = 0;
        pos = Pt3D_0; rot = Pt3D_0;
        parent = 0; part = 0; joint = 0;
        parentcount = 0;
#ifdef MODEL_V1_COMPATIBLE
        olditems=0;
#endif
        flags = 0;
        part_refno = -1; joint_refno = -1;
}


Neuro::~Neuro()
{
#ifdef MODEL_V1_COMPATIBLE
        if (olditems) delete olditems;
#endif
        int i;
        for (i = 0; i < inputs.size(); i++)
        {
                NInput &ni = inputs(i);
                if (ni.info) delete ni.info;
        }
}

SString** Neuro::inputInfo(int i)
{
        if (i >= getInputCount()) return 0;
        return &inputs(i).info;
}

void Neuro::setInputInfo(int i, const SString& name, const SString &value)
{
        SString **s = inputInfo(i);
        if (!s) return;
        if (!*s) *s = new SString();
        strSetField(**s, name, value);
}

void Neuro::setInputInfo(int i, const SString& name, int value)
{
        setInputInfo(i, name, SString::valueOf(value));
}

void Neuro::setInputInfo(int i, const SString& name, double value)
{
        setInputInfo(i, name, SString::valueOf(value));
}

SString Neuro::getInputInfo(int i)
{
        SString **s = inputInfo(i);
        if (!s) return SString();
        if (!*s) return SString();
        return **s;
}

SString Neuro::getInputInfo(int i, const SString& name)
{
        SString **s = inputInfo(i);
        if (!s) return SString();
        if (!*s) return SString();
        return strGetField(**s, name);
}

void Neuro::operator=(const Neuro& src)
{
        refno = src.refno;
#ifdef MODEL_V1_COMPATIBLE
        neuro_refno=-1;
        conn_refno=-1;
        force=src.force;
        sigmo=src.sigmo;
        inertia=src.inertia;
        weight=src.weight;
        olditems=0;
#endif
        state = src.state;
        part_refno = -1;
        joint_refno = -1;
        pos = src.pos; rot = src.rot;
        parent = 0; part = 0; joint = 0;
        parentcount = 0;
        flags = 0;
        myclass = src.myclass;
        knownclass = src.knownclass;
        myclassname = src.myclassname;
        myclassparams = src.myclassparams;
}

void Neuro::attachToPart(int i)
{
        attachToPart((i >= 0) ? owner->getPart(i) : 0);
}

void Neuro::attachToJoint(int i)
{
        attachToJoint((i >= 0) ? owner->getJoint(i) : 0);
}

int Neuro::getClassCount()
{
        return NeuroLibrary::staticlibrary.getClassCount();
}

NeuroClass* Neuro::getClass(int classindex)
{
        return NeuroLibrary::staticlibrary.getClass(classindex);
}

NeuroClass* Neuro::getClass(const SString& classname)
{
        return NeuroLibrary::staticlibrary.findClass(classname);
}

int Neuro::getClassIndex(const NeuroClass*nc)
{
        return NeuroLibrary::staticlibrary.classes.find((void*)nc);
}

NeuroClass* Neuro::getClass()
{
        checkClass();
        return myclass;
}

void Neuro::setClass(NeuroClass* cl)
{
        myclass = cl;
        myclassname = cl->getName();
        knownclass = 1;
}

SString Neuro::getClassName(int classindex)
{
        NeuroClass *cl = NeuroLibrary::staticlibrary.getClass(classindex);
        return cl ? cl->getName() : SString();
}

void Neuro::setDetails(const SString& details)
{
        int colon = details.indexOf(':');
        if (colon >= 0) { myclassname = details.substr(0, colon); myclassparams = details.substr(colon + 1); }
        else { myclassname = details; myclassparams = 0; }
        knownclass = 0;
}

SString Neuro::getDetails()
{
        SString ret = getClassName();
        if (myclassparams.len()) { if (!ret.len()) ret = "N"; ret += ":"; ret += myclassparams; }
        return ret;
}

void Neuro::checkClass()
{
        if (knownclass) return;
        myclass = getClass(myclassname);
        knownclass = 1;
}

SyntParam Neuro::classProperties(bool handle_defaults_when_saving)
{
        NeuroClass *cl = getClass();
        ParamEntry *pe = cl ? cl->getParamTab() : emptyParamTab;
        return SyntParam(pe, &myclassparams, handle_defaults_when_saving);
}

SString Neuro::getClassName()
{
        return myclassname;
}

void Neuro::setClassName(const SString& clazz)
{
        myclassname = clazz;
        knownclass = 0;
}

int Neuro::addInput(Neuro* child, double weight, const SString *info)
{
        inputs += NInput(child, weight, (info && (info->len())) ? new SString(*info) : 0);
        child->parentcount++;
        if (child->parentcount == 1) { child->parent = this; }
        return inputs.size() - 1;
}

int Neuro::findInput(Neuro* child) const
{
        for (int i = 0; i < inputs.size(); i++)
                if (inputs(i).n == child) return i;
        return -1;
}

Neuro* Neuro::getInput(int i, double &weight) const
{
        if (i >= getInputCount()) return 0;
        NInput &inp = inputs(i);
        weight = inp.weight;
        return inp.n;
}

double Neuro::getInputWeight(int i) const
{
        return inputs(i).weight;
}

void Neuro::setInputWeight(int i, double w)
{
        inputs(i).weight = w;
}

void Neuro::setInput(int i, Neuro* n)
{
        NInput &inp = inputs(i);
        inp.n = n;
}

void Neuro::setInput(int i, Neuro* n, double w)
{
        NInput &inp = inputs(i);
        inp.n = n;
        inp.weight = w;
}

void Neuro::removeInput(int refno)
{
        Neuro *child = getInput(refno);
        child->parentcount--;
        if (child->parent == this) child->parent = 0;
        SString *s = inputs(refno).info;
        if (s) delete s;
        inputs.remove(refno);
}

int Neuro::removeInput(Neuro* child)
{
        int i = findInput(child);
        if (i >= 0) removeInput(i);
        return i;
}

int Neuro::getOutputsCount() const
{
        int c = 0;
        for (int i = 0; i < owner->getNeuroCount(); i++)
                for (int j = 0; j < owner->getNeuro(i)->getInputCount(); j++) c += owner->getNeuro(i)->getInput(j) == this;
        return c;
}

int Neuro::isOldEffector()
{
        static SString bend("|"), rot("@");
        return ((getClassName() == bend) || (getClassName() == rot));
}

int Neuro::isOldReceptor()
{
        static SString g("G"), t("T"), s("S");
        return ((getClassName() == g) || (getClassName() == t) || (getClassName() == s));
}

int Neuro::isOldNeuron()
{
        static SString n("N");
        return (getClassName() == n);
}

int Neuro::isNNConnection()
{
        static SString conn("-");
        return (getClassName() == conn);
}

int Neuro::findInputs(SList& result, const char* classname, const Part* part, const Joint* joint) const
{
        Neuro *nu;
        SString cn(classname);
        int n0 = result.size();
        for (int i = 0; nu = getInput(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;
}

int Neuro::findOutputs(SList& result, const char* classname, const Part* part, const Joint* joint) const
{ // not very efficient...
        Neuro *nu, *inp;
        SString cn(classname);
        SList found;
        int n0 = result.size();
        for (int i = 0; nu = getModel().getNeuro(i); i++)
        {
                if (part)
                        if (nu->part != part) continue;
                if (joint)
                        if (nu->joint != joint) continue;
                if (classname)
                        if (inp->getClassName() != cn) continue;
                for (int j = 0; inp = nu->getInput(j); j++)
                        if (inp == this)
                        {
                        result += (void*)nu;
                        break;
                        }
        }
        return result.size() - n0;
}

void Neuro::get_inputCount(PARAMGETARGS)
{
        ret->setInt(inputs.size());
}

void Neuro::p_getInputNeuroDef(ExtValue *args, ExtValue *ret)
{
        int i = args->getInt();
        if ((i < 0) || (i >= inputs.size()))
                ret->setEmpty();
        else
                ret->setObject(ExtObject(&Neuro::getStaticParam(), inputs(i).n));
}

void Neuro::p_getInputWeight(ExtValue *args, ExtValue *ret)
{
        int i = args->getInt();
        if ((i < 0) || (i >= inputs.size()))
                ret->setEmpty();
        else
                ret->setDouble(inputs(i).weight);
}

void Neuro::p_getInputNeuroIndex(ExtValue *args, ExtValue *ret)
{
        int i = args->getInt();
        if ((i < 0) || (i >= inputs.size()))
                ret->setInt(-1);
        else
                ret->setInt(inputs(i).n->refno);
}

void Neuro::get_classObject(PARAMGETARGS)
{
#ifndef SDK_WITHOUT_FRAMS
        NeuroClassExt::makeStaticObject(ret, getClass());
#endif
}

/////// old items
#ifdef MODEL_V1_COMPATIBLE
void OldItems::buildlist()
{ // guaranteed to work only for old NN layouts
        // (neurons,neuro connections, old receptors and effectors)
        if (listok) return;
        // inputs can contain both neuroitem connections (details="") and direct neuron references (details="N")
        // in OldItems we create neuroitems freom direct references
        for(int i=0;i<neuro.getInputCount();i++)
        {
                float w;
                Neuro *n=neuro.getInput(i,w);
                if (n->isOldNeuron())
                {
                        Neuro *ni=new Neuro();
                        ni->setClassName("-");
                        ni->weight=w;
                        ni->neuro_refno=neuro.refno;
                        ni->conn_refno=n->refno;
                        items+=ni;
                        syntitems+=ni;
                }
                else
                {
                        items+=n;
                        n->weight=w;
                }
        }
        SList outputs;
        neuro.findOutputs(outputs);
        FOREACH(Neuro*,n,outputs)
        {
                if (n->isNNConnection() || n->isOldNeuron())
                        outputs-=n;
        }
        items+=outputs;
        listok=1;
}

void OldItems::freelist()
{
        FOREACH(Neuro*,n,syntitems)
                delete n;
        syntitems.clear();
        items.clear();
        listok=0;
}

int OldItems::getItemCount()
{
        buildlist();
        return items.size();
}

NeuroItem *OldItems::getNeuroItem(int i)
{
        buildlist();
        return (NeuroItem*)items(i);
}

NeuroItem *OldItems::addNewNeuroItem()
{
        Neuro *nu=neuro.getModel().addNewNeuro();
        nu->setClassName("-");
        if (listok) items+=nu;
        neuro.addInput(nu);
        return (NeuroItem*)nu;
}

int OldItems::findNeuroItem(NeuroItem *ni)
{
        buildlist();
        return items.find((void*)ni);
}
#endif

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

SString Part::getDefaultStyle()
{
        return SString("part");
}
SString Joint::getDefaultStyle()
{
        return SString("joint");
}
/*
const SString& Neuro::getDefaultStyle()
{static SString s("neuro"); return s;}
const SString& NeuroItem::getDefaultStyle()
{static SString s("neuroitem"); return s;}
*/
SString Neuro::getDefaultStyle()
{
        return SString("neuro");
}

Part::Part(enum Shape s) :PartBase(getDefaultStyle())
{
        o = Orient_1;
        p = Pt3D_0;
        rot = Pt3D_0;
        flags = 0;
        defassign();
        shape = s;
        mass = 1;
}

void Part::operator=(const Part& src)
{
        p = src.p; o = src.o;
        flags = src.flags;
        mass = src.mass; density = src.density;
        friction = src.friction;
        ingest = src.ingest;
        assim = src.assim;
        size = src.size;
        rot = src.rot;
        refno = src.refno;
        vcolor = src.vcolor;
        vsize = src.vsize;
        vis_style = src.vis_style;
        shape = src.shape;
        scale = src.scale;
        hollow = src.hollow;
}

void Part::setOrient(const Orient &_o)
{
        o = _o;
        rot.getAngles(o.x, o.z);
}

void Part::setRot(const Pt3D &r)
{
        rot = r;
        o = Orient_1;
        o.rotate(rot);
}

void Part::setPositionAndRotationFromAxis(const Pt3D &p1, const Pt3D &p2)
{
        Pt3D x = p2 - p1;
        Pt3D dir(x.y, x.z, x.x);
        p = p1 + x*0.5;
        rot.getAngles(x, dir);
}

Param& Part::getStaticParam()
{
        static Param p(f0_part_paramtab, 0, "Part");
        return p;
}


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

Joint::Joint() :PartBase(getDefaultStyle())
{
        rot = Pt3D_0;
        defassign();
        d.x = JOINT_DELTA_MARKER;
        d.y = JOINT_DELTA_MARKER;
        d.z = JOINT_DELTA_MARKER;
        part1 = 0; part2 = 0;
        flags = 0;
        usedelta = 0;
}

void Joint::operator=(const Joint& src)
{
        rot = src.rot;
        d = src.d;
        shape = src.shape;
        stamina = src.stamina;
        stif = src.stif; rotstif = src.rotstif;
        vis_style = src.vis_style;
        vcolor = src.vcolor;
        part1 = 0; part2 = 0;
        flags = src.flags;
        usedelta = src.usedelta;
        refno = src.refno;
}

void Joint::attachToParts(Part* p1, Part* p2)
{
        part1 = p1;
        part2 = p2;
        if (p1 && p2)
        {
                o = rot;
                if (usedelta)
                {
                        p1->o.transform(p2->o, o);
                        //              p2->o.x=p1->o/o.x; p2->o.y=p1->o/o.y; p2->o.z=p1->o/o.z;
                        p2->p = p2->o.transform(d) + p1->p;
                }
        }
}

void Joint::attachToParts(int p1, int p2)
{
        attachToParts((p1 >= 0) ? owner->getPart(p1) : 0, (p2 >= 0) ? owner->getPart(p2) : 0);
}

void Joint::resetDelta()
{
        d = Pt3D(JOINT_DELTA_MARKER, JOINT_DELTA_MARKER, JOINT_DELTA_MARKER);
}

void Joint::resetDeltaMarkers()
{
        if (d.x == JOINT_DELTA_MARKER) d.x = 0;
        if (d.y == JOINT_DELTA_MARKER) d.y = 0;
        if (d.z == JOINT_DELTA_MARKER) d.z = 0;
}

void Joint::useDelta(bool use)
{
        usedelta = use;
}

bool Joint::isDelta()
{
        return usedelta;
}

Param& Joint::getStaticParam()
{
        static Param p(f0_joint_paramtab, 0, "Joint");
        return p;
}


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

#include F0_CLASSES_FILE

#ifdef MODEL_V1_COMPATIBLE

#define FIELDSTRUCT Neuro
ParamEntry f0_old_neuro_tab[]=
{
        {"Connections",2,6,"n",},
        {"Other properties",},
        {"p",0,0,"part ref#","d",FIELD(part_refno),},
        {"j",0,0,"joint ref#","d",FIELD(joint_refno),},
        {"s",1,0,"state","f",FIELD(state),},
        {"in",1,0,"Inertia","f",FIELD(inertia),},
        {"fo",1,0,"Force","f",FIELD(force),},
        {"si",1,0,"Sigmoid","f",FIELD(sigmo),},
        {0,0,0,},
}; 
#undef FIELDSTRUCT

#define FIELDSTRUCT NeuroItem
ParamEntry f0_neuroitem_paramtab[]=
{
        {"Connections",3,12,"ni",},
        {"Geometry",},
        {"Other",},
        {"n",0,0,"neuron ref#","d",FIELD(neuro_refno),},
        {"c",2,0,"connection ref#","d",FIELD(conn_refno),},
        {"w",2,0,"connection weight","f",FIELD(weight),},
        {"p",0,0,"part ref#","d",FIELD(part_refno),},
        {"j",0,0,"joint ref#","d",FIELD(joint_refno),},
        {"px",1,0,"position.x","f",FIELD(pos.x),},
        {"py",1,0,"position.y","f",FIELD(pos.y),},
        {"pz",1,0,"position.z","f",FIELD(pos.z),},
        {"rx",1,0,"rotation.x","f",FIELD(rot.x),},
        {"ry",1,0,"rotation.y","f",FIELD(rot.y),},
        {"rz",1,0,"rotation.z","f",FIELD(rot.z),},
        {"d",2,0,"item details","s",GETSET(details),},
        {0,0,0,},
}; 
#undef FIELDSTRUCT
#endif

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

ParamEntry Neuro::emptyParamTab[] =
{
        { "Undefined Neuro", 1, 0, "?", },
        { 0, 0, 0, },
};

Param Part::extraProperties()
{
        return Param(f0_part_xtra_paramtab, this);
}

Param Joint::extraProperties()
{
        return Param(f0_joint_xtra_paramtab, this);
}

Param Neuro::extraProperties()
{
        return Param(f0_neuro_xtra_paramtab, this);
}

Param Part::properties()
{
        return Param(f0_part_paramtab, this);
}

Param Joint::properties()
{
        return Param(usedelta ? f0_joint_paramtab : f0_nodeltajoint_paramtab, this);
}

Param Neuro::properties()
{
        return Param(f0_neuro_paramtab, this);
}

class NeuroExtParamTab : public ParamTab
{
public:
        NeuroExtParamTab() :ParamTab(f0_neuro_paramtab)
        {
#define FIELDSTRUCT NeuroExt
                ParamEntry entry = { "class", 2, 0, "neuro class", "s", GETSET(neuroclass) };
#undef FIELDSTRUCT
                add(&entry);

#define FIELDSTRUCT Neuro
                ParamEntry entry2 = { "state", 2, 0, "state", "f", FIELD(state) };
#undef FIELDSTRUCT
                add(&entry2);
        }
};

Param& Neuro::getStaticParam()
{
        static Param p(f0_neuro_paramtab, 0, "NeuroDef");
        return p;
}

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

NeuroConn::NeuroConn()
{
        defassign();
}

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

ParamEntry *NeuroExt::getParamTab()
{
        static NeuroExtParamTab tab;
        return tab.getParamTab();
}

void NeuroExt::get_neuroclass(PARAMGETARGS)
{
        ret->setString(getClassName());
}

int NeuroExt::set_neuroclass(PARAMSETARGS)
{
        setClassName(arg->getString()); return PSET_CHANGED;
}