1 | // This file is a part of Framsticks SDK. http://www.framsticks.com/ |
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2 | // Copyright (C) 1999-2020 Maciej Komosinski and Szymon Ulatowski. |
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3 | // See LICENSE.txt for details. |
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4 | |
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5 | #ifndef _MODELPARTS_H_ |
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6 | #define _MODELPARTS_H_ |
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7 | |
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8 | #include <frams/util/3d.h> |
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9 | #include <frams/genetics/genoconv.h> |
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10 | |
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11 | #include <frams/util/extvalue.h> |
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12 | #include <frams/util/list.h> |
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13 | #include <frams/util/sstring.h> |
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14 | #include <frams/util/sstringutils.h> |
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15 | #include <frams/param/param.h> |
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16 | #include <frams/param/syntparam.h> |
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17 | #include <frams/util/usertags.h> |
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18 | #include <frams/param/paramtabobj.h> |
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19 | |
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20 | #include <stdio.h> |
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21 | |
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22 | class Model; |
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23 | class IRange; |
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24 | class MultiRange; |
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25 | |
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26 | typedef UserTags<Model, void *, 5> ModelUserTags; |
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27 | |
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28 | |
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29 | /// Introduced only because we can't have a forward declaration of enum in the Model class, |
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30 | /// and we would need a forward declaration because of mutual (cyclic) dependence of declarations of Model and NeuroClass. |
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31 | /// https://stackoverflow.com/questions/27019292/is-in-class-enum-forward-declaration-possible |
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32 | /// Use Model::... instead of ModelEnum::... |
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33 | class ModelEnum |
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34 | { |
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35 | public: |
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36 | enum ShapeType { SHAPE_BALL_AND_STICK = 0, SHAPE_SOLIDS = 1, SHAPE_UNKNOWN, SHAPE_ILLEGAL }; ///< 0 and 1 have special significance - these values allow for bit operations. |
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37 | }; |
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38 | |
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39 | |
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40 | /** Common base for model elements. */ |
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41 | class PartBase |
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42 | { |
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43 | public: |
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44 | SString vis_style; |
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45 | PartBase(const SString &s) :vis_style(s), mapped(0) {} |
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46 | ~PartBase(); |
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47 | static SString getDefaultStyle() { return SString("none"); } |
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48 | MultiRange *mapped; |
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49 | enum PartBaseFlags { Selected = 1 }; |
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50 | int flags; |
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51 | Model *owner; ///< backlink to the model |
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52 | |
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53 | SString info; |
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54 | |
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55 | Model &getModel() const { return *owner; } |
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56 | |
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57 | ModelUserTags userdata; |
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58 | |
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59 | void notifyMappingChange(); |
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60 | |
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61 | void clearMapping(); |
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62 | MultiRange *getMapping() { return mapped; } |
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63 | void setMapping(const IRange &mr); |
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64 | void addMapping(const IRange &mr); |
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65 | void setMapping(const MultiRange &mr); |
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66 | void addMapping(const MultiRange &mr); |
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67 | |
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68 | void setInfo(const SString &name, const SString &value); |
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69 | void setInfo(const SString &name, int value); |
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70 | void setInfo(const SString &name, double value); |
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71 | SString getInfo(const SString &name); |
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72 | }; |
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73 | |
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74 | /// Part is the only real physical object in the Framsticks creature. |
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75 | /// You can use this class for querying and adjusting constructed |
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76 | /// model properties |
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77 | class Part : public PartBase |
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78 | { |
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79 | friend class Model; |
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80 | static SString getDefaultStyle(); |
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81 | Part(double _mass, double _size, double _density, double _friction, double _ingest, double _assim) |
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82 | :PartBase(getDefaultStyle()), mass(_mass), size(_size), density(_density), friction(_friction), ingest(_ingest), assim(_assim) |
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83 | {} |
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84 | void defassign(); |
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85 | public: |
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86 | // base properties - have special meaning and therefore are often accessed directly for convenience |
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87 | Pt3D p; ///< 3d coordinates of the part |
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88 | Orient o; ///< orientation in 3d space (rotation matrix) |
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89 | /// ParamInterface object is preferred way to get/set other properties. |
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90 | Param extraProperties(); |
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91 | Param properties(); |
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92 | paInt refno; |
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93 | Pt3D rot;///< rotation angles |
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94 | |
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95 | /// |
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96 | paInt shape;///default=old Framsticks compatible, do not mix with shapes>0 |
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97 | enum Shape { SHAPE_BALL_AND_STICK = 0, SHAPE_ELLIPSOID = 1, SHAPE_CUBOID = 2, SHAPE_CYLINDER = 3 }; |
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98 | double mass, size, density, friction, ingest, assim, hollow; |
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99 | Pt3D scale; |
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100 | Pt3D food; |
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101 | //SList points; // collistion points |
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102 | //Slist neurons; // "select * from owner->neurons where part=this" ;-) |
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103 | |
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104 | Pt3D vcolor; |
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105 | double vsize; |
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106 | |
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107 | Part(enum Shape s = SHAPE_BALL_AND_STICK); |
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108 | Part(const Part &src) :PartBase(getDefaultStyle()) { operator=(src); } |
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109 | void operator=(const Part &src); |
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110 | |
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111 | void setPositionAndRotationFromAxis(const Pt3D &p1, const Pt3D &p2); |
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112 | void setOrient(const Orient &o);///< set part.o and calculates part.rot (rotation angles) |
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113 | void setRot(const Pt3D &r);///< set part.rot (rotation angles) and calculate part.o |
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114 | |
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115 | static Param &getStaticParam(); |
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116 | }; |
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117 | |
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118 | class Part_MinMaxDef : public Part //contains additional information for Model::getMinPart()/getMaxPart()/getDefPart() |
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119 | { |
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120 | public: |
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121 | 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. |
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122 | |
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123 | void defassign(); |
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124 | Part_MinMaxDef() { defassign(); } |
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125 | }; |
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126 | |
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127 | /// Imaginary connection between two parts. |
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128 | /// Joint has no mass nor intertia but can transfer forces. |
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129 | class Joint : public PartBase |
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130 | { |
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131 | friend class Model; |
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132 | SString getDefaultStyle(); |
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133 | Joint(double _stamina, double _stif, double _rotstif, double _d) |
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134 | :PartBase(getDefaultStyle()), stamina(_stamina), stif(_stif), rotstif(_rotstif) |
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135 | { |
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136 | d = Pt3D(_d, 0, 0); |
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137 | } |
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138 | void defassign(); |
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139 | void resetDeltaMarkers(); |
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140 | public: |
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141 | // base properties: |
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142 | paInt p1_refno, p2_refno; ///< parts' reference numbers |
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143 | |
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144 | Part *part1, *part2; ///< references to parts |
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145 | class Pt3D d; ///< position delta between parts |
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146 | class Pt3D rot; ///< orientation delta between parts expressed as 3 angles |
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147 | enum Shape { |
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148 | SHAPE_BALL_AND_STICK = 0, ///< old Framsticks compatible, creates a physical rod between parts (cylinder or cuboid), do not mix with part.shape>0 |
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149 | SHAPE_FIXED = 1, ///< merge parts into one physical entity |
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150 | SHAPE_HINGE_X = 2, ///< hinge connection, revolving around X axis defined by hinge_pos and hinge_rot |
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151 | SHAPE_HINGE_XY = 3 ///< double hinge connection, revolving around X and Y axes defined by hinge_pos and hinge_rot |
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152 | }; |
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153 | paInt shape;///< values of type Shape (paInt for integration with Param) |
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154 | class Pt3D hinge_pos; ///< hinge position (relative to part1) for HINGE_X and HINGE_XY |
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155 | class Pt3D hinge_rot; ///< hinge orientation (relative to part1) for HINGE_X and HINGE_XY |
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156 | 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. |
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157 | |
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158 | Joint(); |
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159 | Joint(const Joint &src) :PartBase(getDefaultStyle()) { operator=(src); } |
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160 | void operator=(const Joint &src); |
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161 | |
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162 | /** connect two parts with this joint. |
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163 | p2 position will be adjusted if delta option is in effect. |
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164 | @see isDelta() |
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165 | */ |
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166 | void attachToParts(Part *p1, Part *p2); |
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167 | /// @see attachToParts(Part*,Part*) |
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168 | void attachToParts(int p1, int p2); |
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169 | |
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170 | /** discard delta information but don't disable delta flag. |
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171 | delta will be calculated from parts positions during final consistency check. |
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172 | */ |
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173 | void resetDelta(); |
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174 | |
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175 | /** enable or disable delta option. |
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176 | delta value is not changed. |
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177 | */ |
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178 | void useDelta(bool use); |
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179 | |
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180 | /** @return true if delta option is in effect. |
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181 | @see useDelta(), resetDelta(), useDelta() |
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182 | */ |
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183 | bool isDelta(); |
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184 | |
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185 | /// ParamInterface object is preferred way to get/set other properties. |
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186 | Param extraProperties(); |
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187 | Param properties(); |
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188 | |
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189 | // do not touch these: |
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190 | paInt refno; ///< this joint's reference number |
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191 | double stamina; |
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192 | double stif, rotstif; ///< stiffness for moving and bending forces |
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193 | class Orient o; ///< orientation delta between parts as rotation matrix |
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194 | /** flag: generated f0 should include delta data. |
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195 | set by 'singlestep' if j: attributes use delta option */ |
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196 | bool usedelta; |
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197 | Pt3D vcolor; |
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198 | |
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199 | static Param &getStaticParam(); |
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200 | }; |
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201 | |
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202 | #define JOINT_DELTA_MARKER 99999.0 |
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203 | |
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204 | |
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205 | |
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206 | ////////////////// Neural Network ///////////////// |
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207 | |
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208 | class NeuroClass; |
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209 | |
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210 | typedef UserTags<NeuroClass, void *, 5> NeuroClassUserTags; |
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211 | |
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212 | /** Information about neuron class. |
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213 | */ |
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214 | class NeuroClass |
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215 | { |
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216 | bool ownedvectordata; |
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217 | void operator=(const NeuroClass &nosuchthich) {} |
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218 | public: |
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219 | SString name, longname, description; |
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220 | ParamEntry *props; |
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221 | bool ownedprops;//< destructor will free props using ParamObject::freeParamTab |
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222 | paInt prefinputs, prefoutput; |
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223 | paInt preflocation; |
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224 | |
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225 | static constexpr int SUPPORTED_SHAPE_BALL_AND_STICK = 1; |
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226 | static constexpr int SUPPORTED_SHAPE_SOLIDS = 2; |
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227 | static constexpr int SUPPORTED_SHAPE_ALL = SUPPORTED_SHAPE_BALL_AND_STICK | SUPPORTED_SHAPE_SOLIDS; |
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228 | paInt supported_shape_types; //< bitfield of 'Model::shape' values: NeuroClass::SUPPORTED_SHAPE_xxx = 1 << Model::SHAPE_xxx |
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229 | int *vectordata; |
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230 | paInt visualhints; |
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231 | |
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232 | //void *impl; |
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233 | int impl_count; |
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234 | bool active; |
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235 | bool genactive; |
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236 | NeuroClassUserTags userdata; |
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237 | |
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238 | ////////////////////// |
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239 | ~NeuroClass(); |
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240 | NeuroClass(); |
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241 | NeuroClass(ParamEntry *_props, SString _description, |
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242 | int _prefinputs, int _prefoutput, int _preflocation, int *_vectordata, bool own_vd = 1, int vhints = 0, int sup_shapes = NeuroClass::SUPPORTED_SHAPE_ALL); |
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243 | /** class name for use in Neuro::setClassName(), Neuro::setDetails() (former 'moredata' field), |
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244 | eg. "N","-",G" */ |
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245 | const SString &getName() { return name; } |
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246 | /** human friendly name, eg. "Neuron","Link","Gyroscope" */ |
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247 | const SString &getLongName() { return longname; } |
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248 | /** long description */ |
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249 | const SString &getDescription() { return description; } |
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250 | ParamEntry *getParamTab() { return props; } |
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251 | |
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252 | /** NeuroClass specific properties, recognized by all neurons of this class */ |
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253 | Param getProperties() { return Param(props); } |
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254 | |
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255 | /** preferred number of inputs, -1 = no preference (any number will go). |
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256 | extra inputs may be ignored by the object (depends on the class). |
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257 | */ |
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258 | int getPreferredInputs() { return (int)prefinputs; } |
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259 | |
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260 | /** @return 0 if this object doesn't provide useful output signal. */ |
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261 | int getPreferredOutput() { return (int)prefoutput; } |
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262 | |
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263 | /** @return 0 if the object doesn't need any assignment to the body element. |
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264 | @return 1 = it likes to be attached to the Part ( @see Neuro::attachToPart() ) |
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265 | @return 2 = the object prefers to have the Joint ( @see Neuro::attachToJoint() ) |
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266 | */ |
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267 | int getPreferredLocation() { return (int)preflocation; } |
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268 | /** vector drawing to be used in neuro net diagram. |
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269 | interpretation: |
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270 | { |
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271 | LEN = datalength (excluding this number) |
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272 | NL = number_of_lines |
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273 | line#1 -> NS = number_of_segments, x1,y1, x2,y2, ... xNS-1,yNS-1, |
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274 | ... |
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275 | line#NL -> NS = number_of_segments, x1,y1, x2,y2, ... xNS-1,yNS-1, |
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276 | } |
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277 | */ |
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278 | int getSupportedShapeTypes() { return (int)supported_shape_types; } |
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279 | bool isShapeTypeSupported(ModelEnum::ShapeType t) { return (1 << (int)t) & supported_shape_types; } |
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280 | int *getSymbolGlyph() |
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281 | { |
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282 | return vectordata; |
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283 | } |
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284 | void setSymbolGlyph(int *data, bool owned = 1) |
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285 | { |
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286 | if (vectordata && ownedvectordata) delete[]vectordata; |
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287 | vectordata = data; ownedvectordata = owned; |
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288 | } |
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289 | /** additional information about how the neuron should be drawn |
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290 | used by structure view (and maybe some other components). |
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291 | return value is defined by the enum Hint |
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292 | @see enum Hint |
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293 | */ |
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294 | int getVisualHints() |
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295 | { |
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296 | return (int)visualhints; |
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297 | } |
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298 | |
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299 | enum Hint |
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300 | { |
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301 | /** don't draw neurons of this class */ |
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302 | Invisible = 1, |
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303 | /** don't draw classname label below the neuron */ |
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304 | DontShowClass = 2, |
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305 | /** draw the neuron at the first part when attached to joint (default is in the middle) */ |
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306 | AtFirstPart = 4, |
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307 | /** draw the neuron at the second part when attached to joint (default is in the middle) */ |
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308 | AtSecondPart = 8, |
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309 | /** use effector colour for this neuro unit */ |
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310 | EffectorClass = 16, |
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311 | /** use receptor colour for this neuro unit */ |
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312 | ReceptorClass = 32, |
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313 | IsV1BendMuscle = 64, |
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314 | IsV1RotMuscle = 128, |
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315 | IsLinearMuscle = 256, |
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316 | IsSolidMuscle = 512 |
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317 | }; |
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318 | |
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319 | /** textual summary, automatically generated from other properties (like the neuro class tooltip) */ |
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320 | SString getSummary(); |
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321 | |
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322 | static void resetActive(); ///< set default values of active and genactive for all classes |
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323 | static void setGenActive(const char *classes[]); ///< set genactive for specified classes |
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324 | }; |
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325 | |
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326 | |
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327 | |
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328 | |
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329 | |
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330 | |
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331 | /** Single processing unit in Framsticks neural network. */ |
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332 | class Neuro : public PartBase |
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333 | { |
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334 | friend class Model; |
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335 | static SString getDefaultStyle(); |
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336 | |
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337 | struct NInput { |
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338 | Neuro *n; double weight; SString *info; |
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339 | NInput(Neuro *_n, double w, SString *i = 0) :n(_n), weight(w), info(i) {} |
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340 | }; |
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341 | |
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342 | SListTempl<NInput> inputs; |
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343 | |
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344 | NeuroClass *myclass; |
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345 | bool knownclass; |
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346 | SString myclassname, myclassparams; |
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347 | /** set myclass and make knownclass=true */ |
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348 | void checkClass(); |
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349 | SString **inputInfo(int i); |
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350 | void defassign(); |
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351 | |
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352 | public: |
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353 | enum NeuroFlags { HoldState = 2 }; |
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354 | Param properties(); |
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355 | Param extraProperties(); |
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356 | |
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357 | void setInputInfo(int i, const SString &name, const SString &value); |
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358 | void setInputInfo(int i, const SString &name, int value); |
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359 | void setInputInfo(int i, const SString &name, double value); |
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360 | SString getInputInfo(int i); |
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361 | SString getInputInfo(int i, const SString &name); |
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362 | |
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363 | NeuroClass *getClass(); |
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364 | void setClass(NeuroClass *); |
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365 | |
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366 | SString getClassParams() { return myclassparams; } |
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367 | void setClassParams(const SString &cp) { myclassparams = cp; } |
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368 | |
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369 | SString getClassName(); |
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370 | void setClassName(const SString &clazz); |
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371 | |
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372 | /** return neuro unit details encoded as <CLASS> ":" <PROPERTIES> |
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373 | |
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374 | new Neuro can be created as root object (without parent) or can be |
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375 | the child of existing Neuro. Children of the Neuro are its inputs. |
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376 | Standard Framsticks neuron calculates the sum of all input units - other processing |
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377 | units don't have to treat them equally and can even ignore some of them. |
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378 | There are hints about expected inputs in the class database, @see getClass |
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379 | |
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380 | Application should not assume anything about classes and its properties |
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381 | except for two standard classes: (information about all current classes |
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382 | can be retrieved with getClass/getClassProperties methods) |
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383 | - getClassName()="N" is the standard Framsticks neuron, accepts any number of inputs, |
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384 | compatible with old Neuro object |
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385 | - getClassName()="-" is the neuron link, compatible with old Neuro-Neuro link |
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386 | (NeuroItem with empty details) |
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387 | Empty details defaults to "-" if the parent unit is specified, |
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388 | and "N" if the unit has no parent. |
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389 | */ |
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390 | SString getDetails(); |
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391 | |
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392 | /** details = classname + ":" + classparams |
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393 | @see getDetails() |
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394 | */ |
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395 | void setDetails(const SString &); |
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396 | |
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397 | #define STATRICKCLASS Neuro |
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398 | PARAMGETDEF(details) { arg1->setString(getDetails()); } |
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399 | PARAMSETDEF(details) { setDetails(arg1->getString()); return PSET_CHANGED; } |
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400 | PARAMGETDEF(inputCount); |
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401 | PARAMPROCDEF(p_getInputNeuroDef); |
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402 | PARAMPROCDEF(p_getInputNeuroIndex); |
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403 | PARAMPROCDEF(p_getInputWeight); |
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404 | PARAMGETDEF(classObject); |
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405 | #undef STATRICKCLASS |
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406 | |
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407 | ///@param handle_defaults_when_saving see SyntParam |
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408 | SyntParam classProperties(bool handle_defaults_when_saving = true); |
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409 | // base properties: |
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410 | paInt refno; ///< unique reference number (former 'neuro' refno) |
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411 | |
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412 | paInt part_refno; ///< can be used by some items as the part ref# |
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413 | paInt joint_refno; ///< can be used by some items as the joint ref# |
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414 | |
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415 | Pt3D pos, rot; ///< default = zero |
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416 | |
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417 | ModelUserTags userdata; |
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418 | |
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419 | Neuro(); |
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420 | Neuro(double _state, double _inertia, double _force, double _sigmo); |
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421 | Neuro(const Neuro &src) :PartBase(getDefaultStyle()) { operator=(src); } |
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422 | |
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423 | ~Neuro(); |
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424 | |
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425 | void operator=(const Neuro &src); |
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426 | |
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427 | /** Attach this Neuro to the specified Part or detach it from the body if p==NULL. |
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428 | Neuro can be attached to either Part or Joint, but not both. |
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429 | @see getPart() |
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430 | */ |
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431 | void attachToPart(Part *p) { part = p; joint = 0; } |
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432 | |
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433 | /** Attach this Neuro to the specified Joint or detach it from the body if p==NULL. |
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434 | Neuro can be attached to either Part or Joint, but not both. |
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435 | @see getJoint() |
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436 | */ |
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437 | void attachToJoint(Joint *j) { joint = j; part = 0; } |
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438 | |
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439 | void attachToPart(int i); |
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440 | void attachToJoint(int i); |
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441 | |
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442 | /** @return Part the Neuro is attached to, or NULL if it has no defined location on the body. |
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443 | @see attachToPart() |
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444 | */ |
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445 | Part *getPart() { return part; } |
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446 | |
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447 | /** @return Joint the Neuro is attached to, or NULL if it has no defined location on the body. |
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448 | @see attachToJoint() |
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449 | */ |
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450 | Joint *getJoint() { return joint; } |
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451 | |
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452 | int isOldEffector(); |
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453 | int isOldReceptor(); |
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454 | int isOldNeuron(); |
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455 | int isNNConnection(); |
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456 | |
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457 | /** @return the number of inputs connected to this Neuro. |
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458 | Functions like getInput(), getInputWeight() will accept connection number [0..InputCount-1] |
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459 | */ |
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460 | int getInputCount() const { return inputs.size(); } |
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461 | |
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462 | /// @return the number of output connections (including possible self-connections) |
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463 | int getOutputsCount() const; |
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464 | |
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465 | /** @return the Neuro connected as i-th input */ |
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466 | Neuro *getInput(int i) const { return (i >= inputs.size()) ? 0 : inputs(i).n; } |
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467 | /** @return the Neuro connected as i-th input. |
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468 | @param weight |
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469 | */ |
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470 | Neuro *getInput(int i, double &weight) const; |
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471 | /** @return connectin weight for i-th input */ |
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472 | double getInputWeight(int i) const; |
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473 | /** change connection weight for i-th input */ |
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474 | void setInputWeight(int i, double weight); |
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475 | /** connect i-th input with another neuron */ |
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476 | void setInput(int i, Neuro *n); |
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477 | /** connect i-th input with another neuron */ |
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478 | void setInput(int i, Neuro *n, double weight); |
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479 | /** add new input. @return its reference number */ |
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480 | int addInput(Neuro *child, double weight = 1.0, const SString *info = 0); |
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481 | /** @return reference number [0..InputCount-1] of the input |
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482 | or -1 if 'child' is not connected with this Neuro.*/ |
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483 | int findInput(Neuro *child) const; |
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484 | void removeInput(paInt refno); |
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485 | /** @return reference number of the child connection, like findInput() */ |
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486 | int removeInput(Neuro *child); |
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487 | |
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488 | int findInputs(SList &result, const char *classname = 0, const Part *part = 0, const Joint *joint = 0) const; |
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489 | int findOutputs(SList &result, const char *classname = 0, const Part *part = 0, const Joint *joint = 0) const; |
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490 | |
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491 | /* class database retrieval */ |
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492 | static int getClassCount(); |
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493 | /** @return Neuro class name. |
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494 | @param classindex 0 .. getClassCount() |
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495 | */ |
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496 | static SString getClassName(int classindex); |
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497 | static NeuroClass *getClass(int classindex); |
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498 | static NeuroClass *getClass(const SString &classname); |
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499 | static int getClassIndex(const NeuroClass *nc); |
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500 | |
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501 | // not really private, but you should not access those directly |
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502 | double state; |
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503 | |
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504 | /** may reference parent neuron if parentcount is exacty 1. parent is invalid otherwise. @sa parentcount */ |
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505 | Neuro *parent; |
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506 | int parentcount; ///< @sa parent |
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507 | |
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508 | Part *part; ///< link to the Part |
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509 | Joint *joint; ///< link to the Joint - required by some objects (eg.muscles) |
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510 | Orient o; ///< rotation matrix calculated from "rot" |
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511 | static ParamEntry emptyParamTab[]; |
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512 | static Param &getStaticParam(); |
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513 | }; |
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514 | |
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515 | class NeuroExt : public Neuro |
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516 | { |
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517 | public: |
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518 | #define STATRICKCLASS NeuroExt |
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519 | PARAMGETDEF(neuroclass); |
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520 | PARAMSETDEF(neuroclass); |
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521 | PARAMGETDEF(liveNeuro); |
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522 | #undef STATRICKCLASS |
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523 | static ParamEntry *getParamTab(); |
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524 | }; |
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525 | |
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526 | class NeuroConn |
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527 | { |
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528 | void defassign(); |
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529 | public: |
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530 | int n1_refno, n2_refno; |
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531 | double weight; |
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532 | SString info; |
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533 | NeuroConn(); |
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534 | }; |
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535 | |
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536 | extern ParamEntry f0_part_paramtab[], f0_part_minmaxdef_paramtab[], f0_joint_paramtab[], f0_nodeltajoint_paramtab[], f0_neuro_paramtab[], f0_neuroconn_paramtab[], f0_neuroitem_paramtab[]; |
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537 | |
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538 | #endif |
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