source: cpp/frams/model/modelparts.h @ 1318

// This file is a part of Framsticks SDK.  http://www.framsticks.com/
// Copyright (C) 1999-2021  Maciej Komosinski and Szymon Ulatowski.
// See LICENSE.txt for details.

#ifndef _MODELPARTS_H_
#define _MODELPARTS_H_

#include <frams/util/3d.h>
#include <frams/genetics/genoconv.h>

#include <frams/util/extvalue.h>
#include <frams/util/list.h>
#include <frams/util/sstring.h>
#include <frams/util/sstringutils.h>
#include <frams/param/param.h>
#include <frams/param/syntparam.h>
#include <frams/util/usertags.h>
#include <frams/param/paramtabobj.h>

#include <stdio.h>

class Model;
class IRange;
class MultiRange;

typedef UserTags<Model, void *, 5> ModelUserTags;


/// Introduced only because we can't have a forward declaration of enum in the Model class, 
/// and we would need a forward declaration because of mutual (cyclic) dependence of declarations of Model and NeuroClass.
/// https://stackoverflow.com/questions/27019292/is-in-class-enum-forward-declaration-possible
/// Use Model::... instead of ModelEnum::...
class ModelEnum
{
public:
        enum ShapeType {
                SHAPETYPE_BALL_AND_STICK = 0, SHAPETYPE_SOLIDS = 1, SHAPETYPE_UNKNOWN, SHAPETYPE_ILLEGAL, ///< 0 and 1 have special significance - these values allow for bit operations.
                SHAPETYPE_FIRST = SHAPETYPE_BALL_AND_STICK, SHAPETYPE_LAST = SHAPETYPE_SOLIDS // for iteration
        };
};

/** Common base for model elements. */
class PartBase
{
public:
        SString vis_style;
        PartBase(const SString &s) :vis_style(s), mapped(0) {}
        ~PartBase();
        static SString getDefaultStyle() { return SString("none"); }
        MultiRange *mapped;
        enum PartBaseFlags { Selected = 1 };
        int flags;
        Model *owner;   ///< backlink to the model

        SString info;

        Model &getModel() const { return *owner; }

        ModelUserTags userdata;

        void notifyMappingChange();

        void clearMapping();
        MultiRange *getMapping() { return mapped; }
        void setMapping(const IRange &mr);
        void addMapping(const IRange &mr);
        void setMapping(const MultiRange &mr);
        void addMapping(const MultiRange &mr);

        void setInfo(const SString &name, const SString &value);
        void setInfo(const SString &name, int value);
        void setInfo(const SString &name, double value);
        SString getInfo(const SString &name);
};

/// Part is the only real physical object in creatures in Framsticks.
/// You can use this class for querying and adjusting constructed
/// model properties.
class Part : public PartBase
{
        friend class Model;
        static SString getDefaultStyle();
        Part(double _mass, double _size, double _density, double _friction, double _ingest, double _assim)
                :PartBase(getDefaultStyle()), mass(_mass), size(_size), density(_density), friction(_friction), ingest(_ingest), assim(_assim)
        {}
        void defassign();
public:
        // base properties - have special meaning and therefore are often accessed directly for convenience
        Pt3D p;    ///< 3d coordinates of the part
        Orient o;  ///< orientation in 3d space (rotation matrix)
        /// ParamInterface object is preferred way to get/set other properties.
        Param extraProperties();
        Param properties();
        paInt refno;
        Pt3D rot;///< rotation angles

        ///
        paInt shape;///default=old Framsticks compatible, do not mix with shapes>0
        enum Shape {
                SHAPE_BALL = 0, ///<  for "ball and stick" shape type model only.
                SHAPE_ELLIPSOID = 1, SHAPE_CUBOID = 2 /* rectangular cuboid */, SHAPE_CYLINDER = 3,
                SHAPE_FIRST = SHAPE_BALL, SHAPE_LAST = SHAPE_CYLINDER // for iteration
        };
        static const char* getShapeName(Shape sh);
        static constexpr double DEFAULT_STICK_RADIUS = 0.15; //used in odesim, VisualModel, CreatureObj3D, and SHAPETYPE_BALL_AND_STICK to SHAPETYPE_SOLIDS Model conversion

        double mass, size, density, friction, ingest, assim, hollow;
        Pt3D scale;
        Pt3D food;
        //SList points; // collistion points
        //Slist neurons; // "select * from owner->neurons where part=this" ;-)

        Pt3D vcolor;

        Part(enum Shape s = SHAPE_BALL);
        Part(const Part &src) :PartBase(getDefaultStyle()) { operator=(src); }
        void operator=(const Part &src);

        void setPositionAndRotationFromAxis(const Pt3D &p1, const Pt3D &p2);
        void setOrient(const Orient &o);///< set part.o and calculates part.rot (rotation angles)
        void setRot(const Pt3D &r);///< set part.rot (rotation angles) and calculate part.o

        static Param &getStaticParam();
};

class Part_MinMaxDef : public Part //contains additional information for Model::getMinPart()/getMaxPart()/getDefPart()
{
public:
        double volume; ///< Introduced to limit the range of volumes (~mass) in simulation of solids. Genetic operators should observe this min,max volume by calculating and limiting the volume of Parts based on their type and sx,sy,sz.

        void defassign();
        Part_MinMaxDef() { defassign(); }
};

/// Imaginary connection between two parts.
/// Joint has no mass nor intertia but can transfer forces.
class Joint : public PartBase
{
        friend class Model;
        SString getDefaultStyle();
        Joint(double _stamina, double _stif, double _rotstif, double _d)
                :PartBase(getDefaultStyle()), stamina(_stamina), stif(_stif), rotstif(_rotstif)
        {
                d = Pt3D(_d, 0, 0);
        }
        void defassign();
        void resetDeltaMarkers();
public:
        // base properties:
        paInt p1_refno, p2_refno; ///< parts' reference numbers

        Part *part1, *part2;    ///< references to parts
        class Pt3D d;           ///< position delta between parts
        class Pt3D rot; ///< orientation delta between parts expressed as 3 angles
        enum Shape {
                SHAPE_STICK = 0, ///<  for "ball and stick" shape type model, creates a physical (cylinder or cuboid) rod between parts. Do not mix with part.shape>0.
                SHAPE_FIXED = 1, ///< merge parts into one physical entity
                SHAPE_HINGE_X = 2, ///< hinge connection, revolving around X axis defined by hinge_pos and hinge_rot
                SHAPE_HINGE_XY = 3, ///< double hinge connection, revolving around X and Y axes defined by hinge_pos and hinge_rot
                SHAPE_FIRST = SHAPE_STICK, SHAPE_LAST = SHAPE_HINGE_XY // for iteration
        };
        paInt shape;///< values of type Shape (paInt for integration with Param)
        static const char* getShapeName(Shape sh);
        class Pt3D hinge_pos; ///< hinge position (relative to part1) for HINGE_X and HINGE_XY
        class Pt3D hinge_rot; ///< hinge orientation (relative to part1) for HINGE_X and HINGE_XY
        double hinge_limit_x[2], hinge_limit_y[2]; ///< hinge movement range - i.e., extreme allowed values of a state. A state can be an angle or other physical property. limit[0] <= 0 <= limit[1]. Relative Part position and orientation as set in the Model define the initial state 0.

        Joint();
        Joint(const Joint &src) :PartBase(getDefaultStyle()) { operator=(src); }
        void operator=(const Joint &src);

        /** connect two parts with this joint.
                p2 position will be adjusted if delta option is in effect.
                @see isDelta()
                */
        void attachToParts(Part *p1, Part *p2);
        /// @see attachToParts(Part*,Part*)
        void attachToParts(int p1, int p2);

        /** discard delta information but don't disable delta flag.
                delta will be calculated from parts positions during final consistency check.
                */
        void resetDelta();

        /** enable or disable delta option.
                delta value is not changed.
                */
        void useDelta(bool use);

        /** @return true if delta option is in effect.
                @see useDelta(), resetDelta(), useDelta()
                */
        bool isDelta();

        /// ParamInterface object is preferred way to get/set other properties.
        Param extraProperties();
        Param properties();

        // do not touch these:
        paInt refno; ///< this joint's reference number
        double stamina;
        double stif, rotstif;   ///< stiffness for moving and bending forces
        class Orient o; ///< orientation delta between parts as rotation matrix
        /** flag: generated f0 should include delta data.
                set by 'singlestep' if j: attributes use delta option */
        bool usedelta;
        Pt3D vcolor;

        static Param &getStaticParam();
};

#define JOINT_DELTA_MARKER 99999.0



////////////////// Neural Network /////////////////

class NeuroClass;

typedef UserTags<NeuroClass, void *, 5> NeuroClassUserTags;

/** Information about neuron class.
 */
class NeuroClass
{
        bool ownedvectordata;
        void operator=(const NeuroClass &nosuchthich) {}
public:
        SString name, longname, description;
        ParamEntry *props;
        bool ownedprops; //< destructor will free props using ParamObject::freeParamTab
        paInt prefinputs, prefoutput;
        paInt preflocation;

        enum PrefLocation { PREFER_UNATTACHED = 0, PREFER_PART = 1, PREFER_JOINT = 2 };

        static constexpr int SUPPORTED_SHAPETYPE_BALL_AND_STICK = 1;
        static constexpr int SUPPORTED_SHAPETYPE_SOLIDS = 2;
        static constexpr int SUPPORTED_SHAPETYPE_ALL = SUPPORTED_SHAPETYPE_BALL_AND_STICK | SUPPORTED_SHAPETYPE_SOLIDS;
        paInt supported_shape_types; //< bitfield of 'Model::shape' values: NeuroClass::SUPPORTED_SHAPE_xxx = 1 << Model::SHAPE_xxx

        static constexpr int SUPPORTED_JOINT_STICK = 1;
        static constexpr int SUPPORTED_JOINT_FIXED = 2;
        static constexpr int SUPPORTED_JOINT_HINGE_X = 4;
        static constexpr int SUPPORTED_JOINT_HINGE_XY = 8;
        static constexpr int SUPPORTED_JOINTSHAPE_ALL = SUPPORTED_JOINT_STICK + SUPPORTED_JOINT_FIXED + SUPPORTED_JOINT_HINGE_X + SUPPORTED_JOINT_HINGE_XY;
        paInt supported_joint_shapes; //< bitfield of 'Joint::shape' values: NeuroClass::SUPPORTED_JOINT_xxx = 1 << JOINT::SHAPE_xxx

        int *vectordata;
        paInt visualhints;

        //void *impl;
        int impl_count;
        bool active;
        bool genactive;
        NeuroClassUserTags userdata;

        //////////////////////
        ~NeuroClass();
        NeuroClass();
        NeuroClass(ParamEntry *_props, SString _description,
                int _prefinputs, int _prefoutput, int _preflocation, int *_vectordata, bool own_vd = 1, int vhints = 0, int sup_shapes = NeuroClass::SUPPORTED_SHAPETYPE_ALL, int sup_joints = NeuroClass::SUPPORTED_JOINTSHAPE_ALL);
        /** class name for use in Neuro::setClassName(), Neuro::setDetails() (former 'moredata' field),
                eg. "N","-",G" */
        const SString &getName() { return name; }
        /** human friendly name, eg. "Neuron","Link","Gyroscope"  */
        const SString &getLongName() { return longname; }
        /** long description */
        const SString &getDescription() { return description; }
        ParamEntry *getParamTab() { return props; }

        /** NeuroClass specific properties, recognized by all neurons of this class */
        Param getProperties() { return Param(props); }

        /** preferred number of inputs, -1 = no preference (any number will go).
                extra inputs may be ignored by the object (depends on the class).
                */
        int getPreferredInputs() { return (int)prefinputs; }

        /** @return 0 if this object doesn't provide useful output signal. */
        int getPreferredOutput() { return (int)prefoutput; }

        /** @return 0 (PREFER_UNATTACHED) if the neuron doesn't need any assignment to a body element.
                @return 1 (PREFER_PART) if the neuron likes to be attached to a Part ( @see Neuro::attachToPart() )
                @return 2 (PREFER_JOINT) if the neuron prefers to be attached to a Joint ( @see Neuro::attachToJoint() )
                */
        PrefLocation getPreferredLocation() { return (PrefLocation)preflocation; }
        /** vector drawing to be used in neuro net diagram.
                interpretation:
                {
                LEN = datalength (excluding this number)
                NL = number_of_lines
                line#1 ->  NS = number_of_segments, x1,y1, x2,y2, ... xNS-1,yNS-1,
                ...
                line#NL -> NS = number_of_segments, x1,y1, x2,y2, ... xNS-1,yNS-1,
                }
                */
        int getSupportedShapeTypes() { return (int)supported_shape_types; }
        bool isShapeTypeSupported(ModelEnum::ShapeType t) { return (1 << (int)t) & supported_shape_types; }
        int getSupportedJointShapes() { return (int)supported_joint_shapes; }
        bool isJointShapeSupported(Joint::Shape t) { return (1 << (int)t) & supported_joint_shapes; }
        int *getSymbolGlyph()
        {
                return vectordata;
        }
        void setSymbolGlyph(int *data, bool owned = true)
        {
                if (vectordata && ownedvectordata) delete[]vectordata;
                vectordata = data;
                ownedvectordata = owned;
        }
        /** additional information about how the neuron should be drawn
                used by structure view (and maybe some other components).
                return value is defined by the enum Hint
                @see enum Hint
                */
        int getVisualHints()
        {
                return (int)visualhints;
        }

        enum Hint
        {
                /** don't draw neurons of this class */
                Invisible = 1,
                /** don't draw classname label below the neuron */
                DontShowClass = 2,
                /** draw the neuron at the first part when attached to joint (default is in the middle) */
                AtFirstPart = 4,
                /** draw the neuron at the second part when attached to joint (default is in the middle) */
                AtSecondPart = 8,
                /** use effector colour for this neuro unit */
                EffectorClass = 16,
                /** use receptor colour for this neuro unit */
                ReceptorClass = 32,
                IsV1BendMuscle = 64,
                IsV1RotMuscle = 128,
                IsLinearMuscle = 256,
                IsSolidMuscle = 512
        };

        /** textual summary, automatically generated from other properties (like the neuro class tooltip) */
        SString getSummary();

        static void resetActive(); ///< set default values of active and genactive for all classes
        static void setGenActive(const char *classes[]); ///< set genactive for specified classes
};






/** Single processing unit in Framsticks neural network.  */
class Neuro : public PartBase
{
        friend class Model;
        static SString getDefaultStyle();

        struct NInput {
                Neuro *n; double weight; SString *info;
                NInput(Neuro *_n, double w, SString *i = 0) :n(_n), weight(w), info(i) {}
        };

        SListTempl<NInput> inputs;

        NeuroClass *myclass;
        bool knownclass;
        SString myclassname, myclassparams;
        /** set myclass and make knownclass=true */
        void checkClass();
        SString **inputInfo(int i);
        void defassign();

public:
        enum NeuroFlags { HoldState = 2 };
        Param properties();
        Param extraProperties();

        void setInputInfo(int i, const SString &name, const SString &value);
        void setInputInfo(int i, const SString &name, int value);
        void setInputInfo(int i, const SString &name, double value);
        SString getInputInfo(int i);
        SString getInputInfo(int i, const SString &name);

        NeuroClass *getClass();
        void setClass(NeuroClass *);

        SString getClassParams() { return myclassparams; }
        void setClassParams(const SString &cp) { myclassparams = cp; }

        SString getClassName();
        void setClassName(const SString &clazz);

        /** return neuro unit details encoded as <CLASS> ":" <PROPERTIES>

                new Neuro can be created as root object (without parent) or can be
                the child of existing Neuro. Children of the Neuro are its inputs.
                Standard Framsticks neuron calculates the sum of all input units - other processing
                units don't have to treat them equally and can even ignore some of them.
                There are hints about expected inputs in the class database, @see getClass

                Application should not assume anything about classes and its properties
                except for two standard classes: (information about all current classes
                can be retrieved with getClass/getClassProperties methods)
                - getClassName()="N" is the standard Framsticks neuron, accepts any number of inputs,
                compatible with old Neuro object
                - getClassName()="-" is the neuron link, compatible with old Neuro-Neuro link
                (NeuroItem with empty details)
                Empty details defaults to "-" if the parent unit is specified,
                and "N" if the unit has no parent.
                */
        SString getDetails();

        /** details = classname + ":" + classparams
                @see getDetails()
                */
        void setDetails(const SString &);

#define STATRICKCLASS Neuro
        PARAMGETDEF(details) { arg1->setString(getDetails()); }
        PARAMSETDEF(details) { setDetails(arg1->getString()); return PSET_CHANGED; }
        PARAMGETDEF(inputCount);
        PARAMPROCDEF(p_getInputNeuroDef);
        PARAMPROCDEF(p_getInputNeuroIndex);
        PARAMPROCDEF(p_getInputWeight);
        PARAMGETDEF(classObject);
#undef STATRICKCLASS

        ///@param handle_defaults_when_saving see SyntParam
        SyntParam classProperties(bool handle_defaults_when_saving = true);
        // base properties:
        paInt refno; ///< unique reference number (former 'neuro' refno)

        paInt part_refno; ///< can be used by some items as the part ref#
        paInt joint_refno; ///< can be used by some items as the joint ref#

        Pt3D pos, rot;  ///< default = zero

        ModelUserTags userdata;

        Neuro();
        Neuro(double _state, double _inertia, double _force, double _sigmo);
        Neuro(const Neuro &src) :PartBase(getDefaultStyle()) { operator=(src); }

        ~Neuro();

        void operator=(const Neuro &src);

        /** Attach this Neuro to the specified Part or detach it from the body if p==NULL.
                Neuro can be attached to either Part or Joint, but not both.
                @see getPart()
                */
        void attachToPart(Part *p) { part = p; joint = 0; }

        /** Attach this Neuro to the specified Joint or detach it from the body if p==NULL.
                Neuro can be attached to either Part or Joint, but not both.
                @see getJoint()
                */
        void attachToJoint(Joint *j) { joint = j; part = 0; }

        void attachToPart(int i);
        void attachToJoint(int i);

        /** @return Part the Neuro is attached to, or NULL if it has no defined location on the body.
                @see attachToPart()
                */
        Part *getPart() { return part; }

        /** @return Joint the Neuro is attached to, or NULL if it has no defined location on the body.
                @see attachToJoint()
                */
        Joint *getJoint() { return joint; }

        int isOldEffector();
        int isOldReceptor();
        int isOldNeuron();
        int isNNConnection();

        /** @return the number of inputs connected to this Neuro.
                Functions like getInput(), getInputWeight() will accept connection number [0..InputCount-1]
                */
        int getInputCount() const { return inputs.size(); }

        /// @return the number of output connections (including possible self-connections)
        int getOutputsCount() const;

        /** @return the Neuro connected as i-th input */
        Neuro *getInput(int i) const { return (i >= inputs.size()) ? 0 : inputs(i).n; }
        /** @return the Neuro connected as i-th input.
                @param weight
                */
        Neuro *getInput(int i, double &weight) const;
        /** @return connectin weight for i-th input */
        double getInputWeight(int i) const;
        /** change connection weight for i-th input */
        void setInputWeight(int i, double weight);
        /** connect i-th input with another neuron */
        void setInput(int i, Neuro *n);
        /** connect i-th input with another neuron */
        void setInput(int i, Neuro *n, double weight);
        /** add new input. @return its reference number */
        int addInput(Neuro *child, double weight = 1.0, const SString *info = 0);
        /** @return reference number [0..InputCount-1] of the input
           or -1 if 'child' is not connected with this Neuro.*/
        int findInput(Neuro *child) const;
        void removeInput(paInt refno);
        /**    @return reference number of the child connection, like findInput() */
        int removeInput(Neuro *child);

        int findInputs(SList &result, const char *classname = 0, const Part *part = 0, const Joint *joint = 0) const;
        int findOutputs(SList &result, const char *classname = 0, const Part *part = 0, const Joint *joint = 0) const;

        /* class database retrieval */
        static int getClassCount();
        /** @return Neuro class name.
                @param classindex 0 .. getClassCount()
                */
        static SString getClassName(int classindex);
        static NeuroClass *getClass(int classindex);
        static NeuroClass *getClass(const SString &classname);
        static int getClassIndex(const NeuroClass *nc);

        // not really private, but you should not access those directly
        double state;

        /** may reference parent neuron if parentcount is exacty 1. parent is invalid otherwise. @sa parentcount */
        Neuro *parent;
        int parentcount; ///< @sa parent

        Part *part;     ///< link to the Part
        Joint *joint;   ///< link to the Joint - required by some objects (eg.muscles)
        Orient o;       ///< rotation matrix calculated from "rot"
        static ParamEntry emptyParamTab[];
        static Param &getStaticParam();
};

class NeuroExt : public Neuro
{
public:
#define STATRICKCLASS NeuroExt
        PARAMGETDEF(neuroclass);
        PARAMSETDEF(neuroclass);
        PARAMGETDEF(liveNeuro);
#undef STATRICKCLASS
        static ParamEntry *getParamTab();
};

class NeuroConn
{
        void defassign();
public:
        int n1_refno, n2_refno;
        double weight;
        SString info;
        NeuroConn();
};

extern ParamEntry f0_part_paramtab[], f0_part_minmaxdef_paramtab[], f0_joint_paramtab[], f0_nodeltajoint_paramtab[], f0_neuro_paramtab[], f0_neuroconn_paramtab[], f0_neuroitem_paramtab[];

#endif