source: cpp/frams/model/modelparts.cpp @ 498

// This file is a part of Framsticks SDK.  http://www.framsticks.com/
// Copyright (C) 1999-2015  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)
{}

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+=")";
                switch(*p.type(i))
                        {
                        case 'd': t+=" integer";
                        {paInt a,b,c; if (p.getMinMax(i,a,b,c)>=2) t+=SString::sprintf(" %d..%d",a,b);}
                                break;
                        case 'f': t+=" float";
                        {double a,b,c; if (p.getMinMax(i,a,b,c)>=2) t+=SString::sprintf(" %g..%g",a,b);}
                                break;
                        case 's': t+=" string"; break;
                        case 'x': t+=" anything"; break;
                        }
                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;
}

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;}