[64] | 1 | // This file is a part of the Framsticks GDK library.
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| 2 | // Copyright (C) 2002-2011 Szymon Ulatowski. See LICENSE.txt for details.
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| 3 | // Refer to http://www.framsticks.com/ for further information.
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| 4 |
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| 5 | #include "nonstd.h"
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| 6 | #include "model.h"
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| 7 | #include "framsg.h"
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| 8 | #include "multimap.h"
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| 9 | #include "errmanager.h"
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| 10 |
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| 11 | #include <math.h>
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| 12 |
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| 13 | #define FIELDSTRUCT Model
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| 14 | ParamEntry f0_model_paramtab[]=
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| 15 | {
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| 16 | {"Model",1,2,"m",},
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| 17 | {"se",2,0,"startenergy","f",FIELD(startenergy),},
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| 18 | {"Vstyle",2,0,"vis_style","s",FIELD(vis_style),},
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| 19 | {0,0,0,},
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| 20 | };
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| 21 | #undef FIELDSTRUCT
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| 22 |
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| 23 | Model::Model()
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| 24 | {
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| 25 | autobuildmaps=0;
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| 26 | init();
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| 27 | }
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| 28 |
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| 29 | void Model::init()
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| 30 | {
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| 31 | partmappingchanged=0;
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| 32 | buildstatus=empty;
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| 33 | modelfromgenotype=0;
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| 34 | startenergy=1.0;
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| 35 | checklevel=1;
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| 36 | #ifdef MODEL_V1_COMPATIBLE
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| 37 | oldneurocount=-1; // == unknown
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| 38 | oldconnections=0;
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| 39 | #endif
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| 40 | map=0;
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| 41 | f0map=0;
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| 42 | f0genoknown=1;
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| 43 | }
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| 44 |
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| 45 | void Model::moveElementsFrom(Model &source)
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| 46 | {
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| 47 | int i;
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| 48 | open();
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| 49 | for (i=0;i<source.getPartCount();i++)
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| 50 | addPart(source.getPart(i));
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| 51 | for (i=0;i<source.getJointCount();i++)
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| 52 | addJoint(source.getJoint(i));
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| 53 | for (i=0;i<source.getNeuroCount();i++)
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| 54 | addNeuro(source.getNeuro(i));
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| 55 | source.parts.clear(); source.joints.clear(); source.neurons.clear();
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| 56 | source.clear();
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| 57 | }
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| 58 |
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| 59 | void Model::internalCopy(const Model &mod)
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| 60 | {
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| 61 | geno=mod.geno;
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| 62 | f0genoknown=0;
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| 63 | startenergy=mod.startenergy;
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| 64 | if (mod.getStatus()==valid)
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| 65 | {
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| 66 | modelfromgenotype=mod.modelfromgenotype;
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| 67 | {for (int i=0;i<mod.getPartCount();i++)
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| 68 | addPart(new Part(*mod.getPart(i)));}
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| 69 | {for (int i=0;i<mod.getJointCount();i++)
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| 70 | {
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| 71 | Joint *oldj=mod.getJoint(i);
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| 72 | Joint *j=new Joint(*oldj);
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| 73 | addJoint(j);
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| 74 | j->attachToParts(oldj->part1->refno,oldj->part2->refno);
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| 75 | }}
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| 76 | {for (int i=0;i<mod.getNeuroCount();i++)
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| 77 | {
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| 78 | Neuro *oldn=mod.getNeuro(i);
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| 79 | Neuro *n=new Neuro(*oldn);
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| 80 | addNeuro(n);
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| 81 | if (oldn->part_refno>=0) n->attachToPart(oldn->part_refno);
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| 82 | else n->attachToJoint(oldn->joint_refno);
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| 83 | }}
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| 84 | for (int i=0;i<mod.getNeuroCount();i++)
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| 85 | {
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| 86 | Neuro *oldn=mod.getNeuro(i);
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| 87 | Neuro *n=getNeuro(i);
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| 88 | for (int ni=0;ni < oldn->getInputCount();ni++)
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| 89 | {
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| 90 | float w;
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| 91 | Neuro *oldinput=oldn->getInput(ni,w);
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| 92 | SString info=n->getInputInfo(ni);
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| 93 | n->addInput(getNeuro(oldinput->refno),w,&info);
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| 94 | }
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| 95 | }
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| 96 | }
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| 97 | }
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| 98 |
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| 99 |
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| 100 | Model::Model(const Geno &src,int buildmaps)
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| 101 | :autobuildmaps(buildmaps)
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| 102 | {init(src);}
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| 103 |
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| 104 | void Model::operator=(const Model &mod)
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| 105 | {
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| 106 | clear();
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| 107 | open();
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| 108 | internalCopy(mod);
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| 109 | buildstatus=mod.buildstatus;
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| 110 | }
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| 111 |
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| 112 | Model::Model(const Model &mod,int buildmaps)
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| 113 | :autobuildmaps(buildmaps)
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| 114 | {
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| 115 | init();
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| 116 | open();
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| 117 | internalCopy(mod);
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| 118 | buildstatus=mod.buildstatus;
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| 119 | }
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| 120 |
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| 121 | void Model::init(const Geno &src)
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| 122 | {
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| 123 | init();
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| 124 | modelfromgenotype=1;
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| 125 | geno=src;
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| 126 | build();
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| 127 | }
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| 128 |
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| 129 | void Model::resetAllDelta()
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| 130 | {
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| 131 | for (int i=0;i<getJointCount();i++)
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| 132 | getJoint(i)->resetDelta();
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| 133 | }
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| 134 |
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| 135 | void Model::useAllDelta(bool yesno)
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| 136 | {
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| 137 | for (int i=0;i<getJointCount();i++)
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| 138 | getJoint(i)->useDelta(yesno);
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| 139 | }
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| 140 |
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| 141 | Model::~Model()
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| 142 | {
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| 143 | delmodel_list.action((long)this);
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| 144 | clear();
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| 145 | }
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| 146 |
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| 147 | void Model::clear()
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| 148 | {
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| 149 | Part *p;
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| 150 | for (parts.start();p=(Part*)parts();) delete p;
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| 151 | Joint* j;
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| 152 | for (joints.start();j=(Joint*)joints();) delete j;
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| 153 | Neuro *n;
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| 154 | for (neurons.start();n=(Neuro*)neurons();) delete n;
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| 155 | parts.clear(); joints.clear(); neurons.clear();
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| 156 | delMap();
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| 157 | delF0Map();
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| 158 | init();
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| 159 | geno=Geno();
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| 160 | f0geno=Geno();
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| 161 | }
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| 162 |
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| 163 | Part *Model::addPart(Part *p)
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| 164 | {
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| 165 | p->owner=this;
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| 166 | p->refno=parts.size();
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| 167 | parts+=p;
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| 168 | return p;
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| 169 | }
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| 170 |
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| 171 | Joint *Model::addJoint(Joint *j)
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| 172 | {
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| 173 | j->owner=this;
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| 174 | j->refno=joints.size();
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| 175 | joints+=j;
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| 176 | return j;
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| 177 | }
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| 178 |
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| 179 | Neuro *Model::addNeuro(Neuro *n)
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| 180 | {
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| 181 | n->owner=this;
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| 182 | n->refno=neurons.size();
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| 183 | neurons+=n;
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| 184 | return n;
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| 185 | }
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| 186 |
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| 187 | void Model::removeNeuros(SList &nlist)
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| 188 | {
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| 189 | FOREACH(Neuro*,nu,nlist)
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| 190 | {
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| 191 | int i=findNeuro(nu);
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| 192 | if (i>=0) removeNeuro(i);
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| 193 | }
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| 194 | }
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| 195 |
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| 196 | void Model::removePart(int partindex,int removeattachedjoints,int removeattachedneurons)
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| 197 | {
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| 198 | Part *p=getPart(partindex);
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| 199 | if (removeattachedjoints)
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| 200 | {
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| 201 | SList jlist;
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| 202 | findJoints(jlist,p);
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| 203 | FOREACH(Joint*,j,jlist)
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| 204 | {
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| 205 | int i=findJoint(j);
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| 206 | if (i>=0) removeJoint(i,removeattachedneurons);
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| 207 | }
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| 208 | }
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| 209 | if (removeattachedneurons)
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| 210 | {
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| 211 | SList nlist;
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| 212 | findNeuros(nlist,0,p);
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| 213 | removeNeuros(nlist);
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| 214 | }
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| 215 | parts-=partindex;
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| 216 | delete p;
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| 217 | }
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| 218 |
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| 219 | void Model::removeJoint(int jointindex,int removeattachedneurons)
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| 220 | {
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| 221 | Joint *j=getJoint(jointindex);
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| 222 | if (removeattachedneurons)
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| 223 | {
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| 224 | SList nlist;
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| 225 | findNeuros(nlist,0,0,j);
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| 226 | removeNeuros(nlist);
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| 227 | }
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| 228 | joints-=jointindex;
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| 229 | delete j;
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| 230 | }
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| 231 |
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| 232 | void Model::removeNeuro(int neuroindex,bool removereferences)
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| 233 | {
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| 234 | Neuro* thisN=getNeuro(neuroindex);
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| 235 |
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| 236 | if (removereferences)
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| 237 | {
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| 238 | Neuro* n;
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| 239 | // remove all references to thisN
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| 240 | for (int i=0;n=(Neuro*)neurons(i);i++)
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| 241 | {
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| 242 | Neuro *inp;
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| 243 | for (int j=0;inp=n->getInput(j);j++)
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| 244 | if (inp==thisN)
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| 245 | {
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| 246 | n->removeInput(j);
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| 247 | j--;
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| 248 | }
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| 249 | }
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| 250 | }
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| 251 |
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| 252 | neurons-=neuroindex;
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| 253 | delete thisN;
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| 254 | }
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| 255 |
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| 256 | MultiMap& Model::getMap()
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| 257 | {
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| 258 | if (!map) map=new MultiMap();
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| 259 | return *map;
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| 260 | }
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| 261 |
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| 262 | void Model::delMap()
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| 263 | {
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| 264 | if (map) {delete map; map=0;}
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| 265 | }
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| 266 | void Model::delF0Map()
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| 267 | {
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| 268 | if (f0map) {delete f0map; f0map=0;}
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| 269 | }
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| 270 |
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| 271 | void Model::makeGenToGenMap(MultiMap& result,const MultiMap& gen1tomodel,const MultiMap& gen2tomodel)
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| 272 | {
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| 273 | result.clear();
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| 274 | MultiMap m;
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| 275 | m.addReversed(gen2tomodel);
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| 276 | result.addCombined(gen1tomodel,m);
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| 277 | }
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| 278 |
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| 279 | void Model::getCurrentToF0Map(MultiMap& result)
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| 280 | {
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| 281 | result.clear();
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| 282 | if (!map) return;
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| 283 | const MultiMap& f0m=getF0Map();
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| 284 | makeGenToGenMap(result,*map,f0m);
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| 285 | }
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| 286 |
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| 287 | void Model::rebuild(int buildm)
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| 288 | {
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| 289 | autobuildmaps=buildm;
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| 290 | clear();
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| 291 | build();
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| 292 | }
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| 293 |
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| 294 | void Model::initMap()
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| 295 | {
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| 296 | if (!map) map=new MultiMap();
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| 297 | else map->clear();
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| 298 | }
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| 299 |
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| 300 | void Model::initF0Map()
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| 301 | {
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| 302 | if (!f0map) f0map=new MultiMap();
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| 303 | else f0map->clear();
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| 304 | }
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| 305 |
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| 306 | void Model::build()
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| 307 | {
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| 308 | f0errorposition=-1;
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| 309 | f0warnposition=-1;
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| 310 | MultiMap *convmap=autobuildmaps?new MultiMap():0;
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| 311 | f0geno=(geno.getFormat()=='0')? geno : geno.getConverted('0',convmap);
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| 312 | f0genoknown=1;
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| 313 | if (f0geno.isInvalid())
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| 314 | {
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| 315 | buildstatus=invalid;
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| 316 | if (convmap) delete convmap;
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| 317 | return;
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| 318 | }
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| 319 | SString f0txt=f0geno.getGene();
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| 320 | buildstatus=building; // was: open();
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| 321 | if (autobuildmaps)
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| 322 | {
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| 323 | partmappingchanged=0;
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| 324 | initMap();
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| 325 | initF0Map();
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| 326 | }
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| 327 | int pos=0,lnum=1,lastpos=0;
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| 328 | SString line;
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| 329 | MultiRange frommap;
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| 330 | ErrorHandler err(ErrorHandler::DontBlock);
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| 331 | for (;f0txt.getNextToken(pos,line,'\n');lnum++)
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| 332 | {
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| 333 | if (autobuildmaps)
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| 334 | {
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| 335 | frommap.clear();
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| 336 | frommap.add(lastpos,pos-1);
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| 337 | }
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| 338 | err.reset();
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| 339 | if (singleStepBuild(line,autobuildmaps?(&frommap):0)==-1)
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| 340 | {
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| 341 | buildstatus=invalid;
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| 342 | FMprintf("Model","build",FMLV_ERROR,
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| 343 | geno.getName().len()?"illegal f0 code at line %d (%s)":"illegal f0 code at line %d",
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| 344 | lnum,(const char*)geno.getName());
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| 345 | f0errorposition=lastpos;
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| 346 | if (convmap) delete convmap;
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| 347 | return;
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| 348 | }
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| 349 | if (err.getWarningCount())
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| 350 | {if (f0warnposition<0) f0warnposition=lastpos;}
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| 351 | lastpos=pos;
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| 352 | }
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| 353 | err.disable();
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| 354 | close();
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| 355 | if (convmap)
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| 356 | {
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| 357 | *f0map=*map;
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| 358 | if (geno.getFormat()!='0')
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| 359 | {
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| 360 | MultiMap tmp;
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| 361 | tmp.addCombined(*convmap,getMap());
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| 362 | *map=tmp;
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| 363 | }
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| 364 | delete convmap;
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| 365 | }
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| 366 | }
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| 367 |
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| 368 | const MultiMap& Model::getF0Map()
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| 369 | {
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| 370 | if (!f0map)
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| 371 | {
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| 372 | f0map=new MultiMap();
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| 373 | makeGeno(f0geno,f0map);
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| 374 | f0genoknown=1;
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| 375 | }
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| 376 | return *f0map;
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| 377 | }
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| 378 |
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| 379 | Geno Model::rawGeno()
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| 380 | {
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| 381 | Geno tmpgen;
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| 382 | makeGeno(tmpgen);
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| 383 | return tmpgen;
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| 384 | }
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| 385 |
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| 386 | void Model::makeGeno(Geno &g,MultiMap *map)
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| 387 | {
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| 388 | if ((buildstatus!=valid)&&(buildstatus!=building))
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| 389 | {
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| 390 | g=Geno(0,0,0,"invalid model");
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| 391 | return;
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| 392 | }
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| 393 |
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| 394 | SString gen;
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| 395 |
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| 396 | static Param modelparam(f0_model_paramtab);
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| 397 | static Param partparam(f0_part_paramtab);
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| 398 | static Param jointparam(f0_joint_paramtab);
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| 399 | static Param neuroparam(f0_neuro_paramtab);
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| 400 | static Param connparam(f0_neuroconn_paramtab);
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| 401 |
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| 402 | static Part defaultpart;
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| 403 | static Joint defaultjoint;
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| 404 | static Neuro defaultneuro;
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| 405 | static Model defaultmodel;
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| 406 | static NeuroConn defaultconn;
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| 407 | //static NeuroItem defaultneuroitem;
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| 408 |
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| 409 | Part *p;
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| 410 | Joint *j;
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| 411 | Neuro *n;
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| 412 | int i;
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| 413 | int len;
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| 414 | int a,b;
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| 415 | //NeuroItem *ni;
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| 416 |
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| 417 | if (startenergy!=defaultmodel.startenergy)
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| 418 | {
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| 419 | modelparam.select(this);
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| 420 | gen+="m:";
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| 421 | modelparam.save2(gen,&defaultmodel);
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| 422 | }
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| 423 |
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| 424 | for (i=0;p=(Part*)parts(i);i++)
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| 425 | {
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| 426 | partparam.select(p);
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| 427 | len=gen.len();
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| 428 | gen+="p:";
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| 429 | partparam.save2(gen,&defaultpart);
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| 430 | if (map)
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| 431 | map->add(len,gen.len()-1,partToMap(i));
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| 432 | }
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| 433 | for (i=0;j=(Joint*)joints(i);i++)
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| 434 | {
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| 435 | jointparam.select(j);
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| 436 | len=gen.len();
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| 437 | jointparam.setParamTab(j->usedelta?f0_joint_paramtab:f0_nodeltajoint_paramtab);
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| 438 | gen+="j:";
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| 439 | jointparam.save2(gen,&defaultjoint);
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| 440 | if (map)
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| 441 | map->add(len,gen.len()-1,jointToMap(i));
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| 442 | }
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| 443 | for (i=0;n=(Neuro*)neurons(i);i++)
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| 444 | {
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| 445 | neuroparam.select(n);
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| 446 | len=gen.len();
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| 447 | gen+="n:";
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| 448 | neuroparam.save2(gen,&defaultneuro);
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| 449 | if (map)
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| 450 | map->add(len,gen.len()-1,neuroToMap(i));
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| 451 | }
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| 452 | for (a=0;a<neurons.size();a++)
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| 453 | { // inputs
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| 454 | n=(Neuro*)neurons(a);
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| 455 | // if ((n->getInputCount()==1)&&(n->getInput(0).refno <= n->refno))
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| 456 | // continue; // already done with Neuro::conn_refno
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| 457 |
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| 458 | for (b=0;b<n->getInputCount();b++)
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| 459 | {
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| 460 | float w;
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| 461 | NeuroConn nc;
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| 462 | Neuro* n2=n->getInput(b,w);
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| 463 | // if (((n2.parentcount==1)&&(n2.parent)&&(n2.parent->refno < n2.refno)) ^
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| 464 | // (n2.neuro_refno>=0))
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| 465 | // printf("!!!! bad Neuro::neuro_refno ?!\n");
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| 466 |
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| 467 | // if ((n2.parentcount==1)&&(n2.parent)&&(n2.parent->refno < n2.refno))
|
---|
| 468 | // if (n2.neuro_refno>=0)
|
---|
| 469 | // continue; // already done with Neuro::neuro_refno
|
---|
| 470 |
|
---|
| 471 | nc.n1_refno=n->refno; nc.n2_refno=n2->refno;
|
---|
| 472 | nc.weight=w;
|
---|
| 473 | SString **s=n->inputInfo(b);
|
---|
| 474 | if ((s)&&(*s))
|
---|
| 475 | nc.info=**s;
|
---|
| 476 | connparam.select(&nc);
|
---|
| 477 | len=gen.len();
|
---|
| 478 | gen+="c:";
|
---|
| 479 | connparam.save2(gen,&defaultconn);
|
---|
| 480 | if (map)
|
---|
| 481 | map->add(len,gen.len()-1,neuroToMap(n->refno));
|
---|
| 482 | }
|
---|
| 483 | }
|
---|
| 484 | g=Geno(gen,'0');
|
---|
| 485 | }
|
---|
| 486 |
|
---|
| 487 | //////////////
|
---|
| 488 |
|
---|
| 489 | void Model::open()
|
---|
| 490 | {
|
---|
| 491 | if (buildstatus==building) return;
|
---|
| 492 | buildstatus=building;
|
---|
| 493 | modelfromgenotype=0;
|
---|
| 494 | partmappingchanged=0;
|
---|
| 495 | f0genoknown=0;
|
---|
| 496 | delMap();
|
---|
| 497 | }
|
---|
| 498 |
|
---|
| 499 | void Model::checkpoint()
|
---|
| 500 | {}
|
---|
| 501 |
|
---|
| 502 | void Model::setGeno(const Geno& newgeno)
|
---|
| 503 | {
|
---|
| 504 | geno=newgeno;
|
---|
| 505 | }
|
---|
| 506 |
|
---|
| 507 | void Model::clearMap()
|
---|
| 508 | {
|
---|
| 509 | Part *p; Joint *j; Neuro *n;
|
---|
| 510 | int i;
|
---|
| 511 | delMap();
|
---|
| 512 | delF0Map();
|
---|
| 513 | for (i=0;p=(Part*)parts(i);i++)
|
---|
| 514 | p->clearMapping();
|
---|
| 515 | for (i=0;j=(Joint*)joints(i);i++)
|
---|
| 516 | j->clearMapping();
|
---|
| 517 | for (i=0;n=(Neuro*)neurons(i);i++)
|
---|
| 518 | n->clearMapping();
|
---|
| 519 | }
|
---|
| 520 |
|
---|
| 521 | int Model::close()
|
---|
| 522 | {
|
---|
| 523 | if (buildstatus!=building)
|
---|
| 524 | FMprintf("Model","close",FMLV_WARN,"unexpected close() - no open()");
|
---|
| 525 | if (internalcheck(1)>0)
|
---|
| 526 | {
|
---|
| 527 | buildstatus=valid;
|
---|
| 528 |
|
---|
| 529 | if (partmappingchanged)
|
---|
| 530 | {
|
---|
| 531 | getMap();
|
---|
| 532 | Part *p; Joint *j; Neuro *n;
|
---|
| 533 | int i;
|
---|
| 534 | for (i=0;p=(Part*)parts(i);i++)
|
---|
| 535 | if (p->getMapping())
|
---|
| 536 | map->add(*p->getMapping(),partToMap(i));
|
---|
| 537 | for (i=0;j=(Joint*)joints(i);i++)
|
---|
| 538 | if (j->getMapping())
|
---|
| 539 | map->add(*j->getMapping(),jointToMap(i));
|
---|
| 540 | for (i=0;n=(Neuro*)neurons(i);i++)
|
---|
| 541 | if (n->getMapping())
|
---|
| 542 | map->add(*n->getMapping(),neuroToMap(i));
|
---|
| 543 | }
|
---|
| 544 | }
|
---|
| 545 | else
|
---|
| 546 | buildstatus=invalid;
|
---|
| 547 |
|
---|
| 548 | return (buildstatus==valid);
|
---|
| 549 | }
|
---|
| 550 |
|
---|
| 551 | int Model::validate()
|
---|
| 552 | {
|
---|
| 553 | return internalcheck(0);
|
---|
| 554 | }
|
---|
| 555 |
|
---|
| 556 | Pt3D Model::whereDelta(const Part& start,const Pt3D& rot, const Pt3D& delta)
|
---|
| 557 | {
|
---|
| 558 | Orient roto;
|
---|
| 559 | roto=rot;
|
---|
| 560 | Orient o;
|
---|
| 561 | roto.transform(o,start.o);
|
---|
| 562 | //o.x=start.o/roto.x;
|
---|
| 563 | //o.y=start.o/roto.y;
|
---|
| 564 | //o.z=start.o/roto.z;
|
---|
| 565 | return o.transform(delta)+start.p;
|
---|
| 566 | }
|
---|
| 567 |
|
---|
| 568 | int Model::singleStepBuild(const SString &line,const MultiRange* srcrange)
|
---|
| 569 | {
|
---|
| 570 | int pos=0; const char*t=(const char*)line;
|
---|
| 571 | for (;*t;t++,pos++)
|
---|
| 572 | if (!strchr(" \r\t",*t)) break;
|
---|
| 573 | if (*t=='#') return 0;
|
---|
| 574 | if (!*t) return 0;
|
---|
| 575 | if (!strncmp(t,"p:",2))
|
---|
| 576 | {
|
---|
| 577 | static Param partparam(f0_part_paramtab);
|
---|
| 578 | Part *p=new Part();
|
---|
| 579 | partparam.select(p);
|
---|
| 580 | pos+=2;
|
---|
| 581 | partparam.load2(line,pos);
|
---|
| 582 | p->o.rotate(p->rot);
|
---|
| 583 | parts+=p;
|
---|
| 584 | p->owner=this;
|
---|
| 585 | if (srcrange) p->setMapping(*srcrange);
|
---|
| 586 | return getPartCount()-1;
|
---|
| 587 | }
|
---|
| 588 | if (!strncmp(t,"m:",2))
|
---|
| 589 | {
|
---|
| 590 | static Param modelparam(f0_model_paramtab);
|
---|
| 591 | modelparam.select(this);
|
---|
| 592 | pos+=2;
|
---|
| 593 | modelparam.load2(line,pos);
|
---|
| 594 | return 0;
|
---|
| 595 | }
|
---|
| 596 | else if (!strncmp(t,"j:",2))
|
---|
| 597 | {
|
---|
| 598 | static Param jointparam(f0_joint_paramtab);
|
---|
| 599 | Joint *j=new Joint();
|
---|
| 600 | jointparam.select(j);
|
---|
| 601 | pos+=2;
|
---|
| 602 | j->owner=this;
|
---|
| 603 | jointparam.load2(line,pos);
|
---|
| 604 | if ((j->p1_refno>=0)&&(j->p1_refno<getPartCount())&&
|
---|
| 605 | (j->p2_refno>=0)&&(j->p2_refno<getPartCount()))
|
---|
| 606 | {
|
---|
| 607 | addJoint(j);
|
---|
| 608 | if (j->d.x < (JOINT_DELTA_MARKER-1.0))
|
---|
| 609 | j->useDelta(1);
|
---|
| 610 | j->attachToParts(j->p1_refno,j->p2_refno);
|
---|
| 611 | if (srcrange) j->setMapping(*srcrange);
|
---|
| 612 | return j->refno;
|
---|
| 613 | }
|
---|
| 614 | else
|
---|
| 615 | {
|
---|
| 616 | delete j;
|
---|
| 617 | FMprintf("Model","build",FMLV_ERROR,
|
---|
| 618 | "invalid part reference for joint #%d",getJointCount()-1);
|
---|
| 619 | return -1;
|
---|
| 620 | }
|
---|
| 621 | }
|
---|
| 622 | else if (!strncmp(t,"n:",2)) // neuro (or the old neuro object as the special case)
|
---|
| 623 | {
|
---|
| 624 | static Param neuroparam(f0_neuro_paramtab);
|
---|
| 625 | Neuro *nu=new Neuro();
|
---|
| 626 | neuroparam.select(nu);
|
---|
| 627 | pos+=2;
|
---|
| 628 | neuroparam.load2(line,pos);
|
---|
| 629 | #ifdef MODEL_V1_COMPATIBLE
|
---|
| 630 | if (nu->neuro_refno>=0) // parent specified...
|
---|
| 631 | {
|
---|
| 632 | if (nu->neuro_refno >= getNeuroCount()) // and it's illegal
|
---|
| 633 | {
|
---|
| 634 | delete nu;
|
---|
| 635 | return -1;
|
---|
| 636 | }
|
---|
| 637 | Neuro *parentNU=getNeuro(nu->neuro_refno);
|
---|
| 638 | parentNU->addInput(nu,nu->weight);
|
---|
| 639 | // default class for parented units: n-n link
|
---|
| 640 | //if (nu->moredata.len()==0) nu->moredata="-";
|
---|
| 641 | }
|
---|
| 642 | else
|
---|
| 643 | #endif
|
---|
| 644 | {
|
---|
| 645 | // default class for unparented units: standard neuron
|
---|
| 646 | if (nu->getClassName().len()==0) nu->setClassName("N");
|
---|
| 647 | }
|
---|
| 648 | /*
|
---|
| 649 | if (nu->conn_refno>=0) // input specified...
|
---|
| 650 | {
|
---|
| 651 | if (nu->conn_refno >= getNeuroCount()) // and it's illegal
|
---|
| 652 | {
|
---|
| 653 | delete nu;
|
---|
| 654 | return -1;
|
---|
| 655 | }
|
---|
| 656 | Neuro *inputNU=getNeuro(nu->conn_refno);
|
---|
| 657 | nu->addInput(inputNU,nu->weight);
|
---|
| 658 | }
|
---|
| 659 | */
|
---|
| 660 | #ifdef MODEL_V1_COMPATIBLE
|
---|
| 661 | nu->weight=1.0;
|
---|
| 662 | #endif
|
---|
| 663 | nu->owner=this;
|
---|
| 664 | // attach to part/joint
|
---|
| 665 | if (nu->part_refno>=0)
|
---|
| 666 | nu->attachToPart(nu->part_refno);
|
---|
| 667 | if (nu->joint_refno>=0)
|
---|
| 668 | nu->attachToJoint(nu->joint_refno);
|
---|
| 669 | if (srcrange) nu->setMapping(*srcrange);
|
---|
| 670 | // todo: check part/joint ref#
|
---|
| 671 | #ifdef MODEL_V1_COMPATIBLE
|
---|
| 672 | if (hasOldNeuroLayout())
|
---|
| 673 | {
|
---|
| 674 | int count=old_getNeuroCount();
|
---|
| 675 | neurons.insert(count,nu);
|
---|
| 676 | oldneurocount=count+1;
|
---|
| 677 | return oldneurocount-1;
|
---|
| 678 | }
|
---|
| 679 | else
|
---|
| 680 | #endif
|
---|
| 681 | {
|
---|
| 682 | neurons+=nu;
|
---|
| 683 | return neurons.size()-1;
|
---|
| 684 | }
|
---|
| 685 | }
|
---|
| 686 | else if (!strncmp(t,"c:",2)) // add input
|
---|
| 687 | {
|
---|
| 688 | static Param ncparam(f0_neuroconn_paramtab);
|
---|
| 689 | NeuroConn c;
|
---|
| 690 | ncparam.select(&c);
|
---|
| 691 | pos+=2;
|
---|
| 692 | ncparam.load2(line,pos);
|
---|
| 693 | if ((c.n1_refno>=0)&&(c.n1_refno<getNeuroCount())&&(c.n2_refno>=0)&&(c.n2_refno<getNeuroCount()))
|
---|
| 694 | {
|
---|
| 695 | Neuro *na=getNeuro(c.n1_refno);
|
---|
| 696 | Neuro *nb=getNeuro(c.n2_refno);
|
---|
| 697 | na->addInput(nb,c.weight,&c.info);
|
---|
| 698 | if (srcrange)
|
---|
| 699 | na->addMapping(*srcrange);
|
---|
| 700 | return 0;
|
---|
| 701 | }
|
---|
| 702 | FMprintf("Model","build",FMLV_ERROR,
|
---|
| 703 | "invalid neuron connection #%d <- #%d",c.n1_refno,c.n2_refno);
|
---|
| 704 | return -1;
|
---|
| 705 | }
|
---|
| 706 | #ifdef MODEL_V1_COMPATIBLE
|
---|
| 707 | else if (!strncmp(t,"ni:",3)) // old neuroitem
|
---|
| 708 | {
|
---|
| 709 | // we always use old layout for "ni:"
|
---|
| 710 | static Param neuroitemparam(f0_neuroitem_paramtab);
|
---|
| 711 | Neuro *nu=new Neuro();
|
---|
| 712 | neuroitemparam.select(nu);
|
---|
| 713 | pos+=3;
|
---|
| 714 | neuroitemparam.load2(line,pos);
|
---|
| 715 | // illegal parent?
|
---|
| 716 | if ((nu->neuro_refno<0)||(nu->neuro_refno>=old_getNeuroCount()))
|
---|
| 717 | {
|
---|
| 718 | delete nu;
|
---|
| 719 | return -1;
|
---|
| 720 | }
|
---|
| 721 | Neuro *parentN=getNeuro(nu->neuro_refno);
|
---|
| 722 | // copy part/joint refno from parent, if possible
|
---|
| 723 | if ((nu->part_refno<0)&&(parentN->part_refno>=0))
|
---|
| 724 | nu->part_refno=parentN->part_refno;
|
---|
| 725 | if ((nu->joint_refno<0)&&(parentN->joint_refno>=0))
|
---|
| 726 | nu->joint_refno=parentN->joint_refno;
|
---|
| 727 | nu->owner=this;
|
---|
| 728 | // attach to part/joint
|
---|
| 729 | if (nu->part_refno>=0)
|
---|
| 730 | nu->attachToPart(nu->part_refno);
|
---|
| 731 | if (nu->joint_refno>=0)
|
---|
| 732 | nu->attachToJoint(nu->joint_refno);
|
---|
| 733 | if (srcrange)
|
---|
| 734 | nu->setMapping(*srcrange);
|
---|
| 735 | // special case: old muscles
|
---|
| 736 | // PARENT neuron will be set up to be the CHILD of the current one (!)
|
---|
| 737 | if (nu->isOldEffector())
|
---|
| 738 | {
|
---|
| 739 | nu->neuro_refno=parentN->refno;
|
---|
| 740 | neurons+=nu;
|
---|
| 741 | nu->owner=this;
|
---|
| 742 | nu->addInput(parentN,nu->weight); // (!)
|
---|
| 743 | nu->weight=1.0;
|
---|
| 744 | parentN->invalidateOldItems();
|
---|
| 745 | return 0; // !!! -> ...getItemCount()-1;
|
---|
| 746 | }
|
---|
| 747 | parentN->addInput(nu,nu->weight);
|
---|
| 748 | neurons+=nu;
|
---|
| 749 | parentN->invalidateOldItems();
|
---|
| 750 | if (nu->getClassName().len()==0)
|
---|
| 751 | {
|
---|
| 752 | nu->setClassName("-");
|
---|
| 753 | // for compatibility, "ni" can define a n-n connection
|
---|
| 754 | // referring to non-existent neuron (which will be hopefully defined later)
|
---|
| 755 | // internal check will add the proper input to this unit
|
---|
| 756 | // if conn_refno >=0 and input count==0
|
---|
| 757 | oldconnections=1;
|
---|
| 758 | if (srcrange)
|
---|
| 759 | parentN->addMapping(*srcrange);
|
---|
| 760 | }
|
---|
| 761 | else
|
---|
| 762 | nu->weight=1.0;
|
---|
| 763 | return 0; // !!! -> ...getItemCount()-1;
|
---|
| 764 | }
|
---|
| 765 | #endif
|
---|
| 766 | else return -1;
|
---|
| 767 | }
|
---|
| 768 |
|
---|
| 769 | #ifdef MODEL_V1_COMPATIBLE
|
---|
| 770 | int Model::addOldConnectionsInputs()
|
---|
| 771 | {
|
---|
| 772 | if (!oldconnections) return 1;
|
---|
| 773 | Neuro* n;
|
---|
| 774 | for (int i=0;i<neurons.size();i++)
|
---|
| 775 | {
|
---|
| 776 | n=(Neuro*)neurons(i);
|
---|
| 777 | if (n->conn_refno>=0)
|
---|
| 778 | if (n->isNNConnection())
|
---|
| 779 | if (n->conn_refno < old_getNeuroCount())
|
---|
| 780 | { // good reference
|
---|
| 781 | Neuro* parent=n->parent; // nn connection has exactly one parent
|
---|
| 782 | int inp=parent->findInput(n);
|
---|
| 783 | Neuro* target=getNeuro(n->conn_refno);
|
---|
| 784 | parent->setInput(inp,target,n->weight);
|
---|
| 785 | removeNeuro(i,0); // no need to remove references
|
---|
| 786 | i--;
|
---|
| 787 | }
|
---|
| 788 | else
|
---|
| 789 | {
|
---|
| 790 | FMprintf("Model","internalCheck",FMLV_ERROR,
|
---|
| 791 | "illegal N-N connection #%d (reference to #%d) (%s)",
|
---|
| 792 | i,n->conn_refno,(const char*)geno.getName());
|
---|
| 793 | return 0;
|
---|
| 794 | }
|
---|
| 795 | }
|
---|
| 796 | oldconnections=0;
|
---|
| 797 | return 1;
|
---|
| 798 | }
|
---|
| 799 | #endif
|
---|
| 800 |
|
---|
| 801 | /////////////
|
---|
| 802 |
|
---|
| 803 | /** change the sequence of neuro units
|
---|
| 804 | and fix references in "-" objects (n-n connections) */
|
---|
| 805 | void Model::moveNeuro(int oldpos,int newpos)
|
---|
| 806 | {
|
---|
| 807 | if (oldpos==newpos) return; // nop!
|
---|
| 808 | Neuro *n=getNeuro(oldpos);
|
---|
| 809 | neurons-=oldpos;
|
---|
| 810 | neurons.insert(newpos,n);
|
---|
| 811 | // conn_refno could be broken -> fix it
|
---|
| 812 | #ifdef MODEL_V1_COMPATIBLE
|
---|
| 813 | for (int i=0;i<neurons.size();i++)
|
---|
| 814 | {
|
---|
| 815 | Neuro *n2=getNeuro(i);
|
---|
| 816 | if (n2->isNNConnection())
|
---|
| 817 | if (n2->conn_refno == oldpos) n2->conn_refno=newpos;
|
---|
| 818 | else
|
---|
| 819 | { if (n2->conn_refno > oldpos) n2->conn_refno--;
|
---|
| 820 | if (n2->conn_refno >= newpos) n2->conn_refno++; }
|
---|
| 821 | }
|
---|
| 822 | invalidateOldNeuroCount();
|
---|
| 823 | #endif
|
---|
| 824 | }
|
---|
| 825 |
|
---|
| 826 | #ifdef MODEL_V1_COMPATIBLE
|
---|
| 827 | /** move all old neurons (class "N") to the front of the neurons list.
|
---|
| 828 | @return number of old neurons
|
---|
| 829 | */
|
---|
| 830 | int Model::reorderToOldLayout()
|
---|
| 831 | {
|
---|
| 832 | Neuro *n;
|
---|
| 833 | int neurocount=0;
|
---|
| 834 | for (int i=0;i<neurons.size();i++)
|
---|
| 835 | {
|
---|
| 836 | n=(Neuro*)neurons(i);
|
---|
| 837 | if (n->isOldNeuron())
|
---|
| 838 | {
|
---|
| 839 | moveNeuro(i,neurocount);
|
---|
| 840 | neurocount++;
|
---|
| 841 | i=neurocount-1;
|
---|
| 842 | }
|
---|
| 843 | }
|
---|
| 844 | return neurocount;
|
---|
| 845 | }
|
---|
| 846 | #endif
|
---|
| 847 | ////////////
|
---|
| 848 |
|
---|
| 849 | void Model::updateNeuroRefno()
|
---|
| 850 | {
|
---|
| 851 | for (int i=0;i<neurons.size();i++)
|
---|
| 852 | {
|
---|
| 853 | Neuro* n=(Neuro*)neurons(i);
|
---|
| 854 | n->refno=i;
|
---|
| 855 | }
|
---|
| 856 | }
|
---|
| 857 |
|
---|
| 858 | #define VALIDMINMAX(var,template,field) \
|
---|
| 859 | if (var -> field < getMin ## template () . field) \
|
---|
| 860 | { var->field= getMin ## template () . field; \
|
---|
| 861 | FMprintf("Model","internalCheck",FMLV_WARN,# field " too small in " # template "#%d (adjusted)",i);} \
|
---|
| 862 | else if (var -> field > getMax ## template () . field) \
|
---|
| 863 | { var->field= getMax ## template () . field; \
|
---|
| 864 | FMprintf("Model","internalCheck",FMLV_WARN,# field " too big in " # template "#%d (adjusted)",i);}
|
---|
| 865 |
|
---|
| 866 | #define LINKFLAG 0x8000000
|
---|
| 867 |
|
---|
| 868 | void Model::updateRefno()
|
---|
| 869 | {
|
---|
| 870 | int i;
|
---|
| 871 | for (i=0;i<getPartCount();i++) getPart(i)->refno=i;
|
---|
| 872 | for (i=0;i<getJointCount();i++) getJoint(i)->refno=i;
|
---|
| 873 | for (i=0;i<getNeuroCount();i++) getNeuro(i)->refno=i;
|
---|
| 874 | }
|
---|
| 875 |
|
---|
| 876 | int Model::internalcheck(int final)
|
---|
| 877 | {
|
---|
| 878 | Part *p;
|
---|
| 879 | Joint *j;
|
---|
| 880 | Neuro *n;
|
---|
| 881 | int i,k;
|
---|
| 882 | int ret=1;
|
---|
| 883 | if ((parts.size()==0)&&(neurons.size()==0)) return 0;
|
---|
| 884 | if (parts.size()==0)
|
---|
| 885 | size=Pt3D_0;
|
---|
| 886 | else
|
---|
| 887 | {
|
---|
| 888 | Pt3D bbmin=((Part*)parts(0))->p, bbmax=bbmin;
|
---|
| 889 | for (i=0;i<parts.size();i++)
|
---|
| 890 | {
|
---|
| 891 | p=(Part*)parts(i);
|
---|
| 892 | p->owner=this;
|
---|
| 893 | p->refno=i;
|
---|
| 894 | if (checklevel>0)
|
---|
| 895 | p->mass=0.0;
|
---|
| 896 | // VALIDMINMAX(p,part,mass);
|
---|
| 897 | VALIDMINMAX(p,Part,size);
|
---|
| 898 | VALIDMINMAX(p,Part,density);
|
---|
| 899 | VALIDMINMAX(p,Part,friction);
|
---|
| 900 | VALIDMINMAX(p,Part,ingest);
|
---|
| 901 | VALIDMINMAX(p,Part,assim);
|
---|
| 902 | p->flags&=~LINKFLAG; // for delta joint cycle detection
|
---|
| 903 | if (p->p.x-p->size < bbmin.x) bbmin.x=p->p.x-p->size;
|
---|
| 904 | if (p->p.y-p->size < bbmin.y) bbmin.y=p->p.y-p->size;
|
---|
| 905 | if (p->p.z-p->size < bbmin.z) bbmin.z=p->p.z-p->size;
|
---|
| 906 | if (p->p.x+p->size > bbmax.x) bbmax.x=p->p.x+p->size;
|
---|
| 907 | if (p->p.y+p->size > bbmax.y) bbmax.y=p->p.y+p->size;
|
---|
| 908 | if (p->p.z+p->size > bbmax.z) bbmax.z=p->p.z+p->size;
|
---|
| 909 | }
|
---|
| 910 | size=bbmax-bbmin;
|
---|
| 911 | for (i=0;i<joints.size();i++)
|
---|
| 912 | {
|
---|
| 913 | j=(Joint*)joints(i);
|
---|
| 914 | VALIDMINMAX(j,Joint,stamina);
|
---|
| 915 | VALIDMINMAX(j,Joint,stif);
|
---|
| 916 | VALIDMINMAX(j,Joint,rotstif);
|
---|
| 917 | j->refno=i;
|
---|
| 918 | j->owner=this;
|
---|
| 919 | if (j->part1 && j->part2 && (j->part1 != j->part2))
|
---|
| 920 | {
|
---|
| 921 | j->p1_refno=j->part1->refno;
|
---|
| 922 | j->p2_refno=j->part2->refno;
|
---|
| 923 | if (checklevel>0)
|
---|
| 924 | {
|
---|
| 925 | j->part1->mass+=1.0;
|
---|
| 926 | j->part2->mass+=1.0;
|
---|
| 927 | }
|
---|
| 928 | if ((j->usedelta)&&(j->d.x < (JOINT_DELTA_MARKER-1.0)))
|
---|
| 929 | { // delta positioning -> calc. orient.
|
---|
| 930 | if (j->part2->flags & LINKFLAG)
|
---|
| 931 | {
|
---|
| 932 | ret=0;
|
---|
| 933 | FMprintf("Model","internalCheck",FMLV_ERROR,
|
---|
| 934 | "delta joint cycle detected at joint#%d (%s)",
|
---|
| 935 | i,(const char*)geno.getName());
|
---|
| 936 | }
|
---|
| 937 | j->o=j->rot;
|
---|
| 938 | j->part1->o.transform(j->part2->o,j->o);
|
---|
| 939 | // j->part2->o.x=j->part1->o/j->o.x;
|
---|
| 940 | // j->part2->o.y=j->part1->o/j->o.y;
|
---|
| 941 | // j->part2->o.z=j->part1->o/j->o.z;
|
---|
| 942 | j->part2->p=j->part2->o.transform(j->d)+j->part1->p;
|
---|
| 943 | j->part2->flags|=LINKFLAG; j->part1->flags|=LINKFLAG; // for delta joint cycle detection
|
---|
| 944 | }
|
---|
| 945 | else
|
---|
| 946 | { // abs.positioning -> calc. delta
|
---|
| 947 | if (final)
|
---|
| 948 | {
|
---|
| 949 | // calc orient delta
|
---|
| 950 | // Orient tmpo(j->part2->o);
|
---|
| 951 | // tmpo*=j->part1->o;
|
---|
| 952 | Orient tmpo;
|
---|
| 953 | j->part1->o.revTransform(tmpo,j->part2->o);
|
---|
| 954 | tmpo.getAngles(j->rot);
|
---|
| 955 | j->o=j->rot;
|
---|
| 956 | // calc position delta
|
---|
| 957 | Pt3D tmpp(j->part2->p);
|
---|
| 958 | tmpp-=j->part1->p;
|
---|
| 959 | j->d=j->part2->o.revTransform(tmpp);
|
---|
| 960 | }
|
---|
| 961 | }
|
---|
| 962 | if (final)
|
---|
| 963 | {
|
---|
| 964 | if (j->d()>getMaxJoint().d.x)
|
---|
| 965 | {
|
---|
| 966 | ret=0;
|
---|
| 967 | FMprintf("Model","internalCheck",FMLV_ERROR,"delta too big in joint #%d (%s)",
|
---|
| 968 | i,(const char*)geno.getName());
|
---|
| 969 | }
|
---|
| 970 | else if (j->d()<getMinJoint().d.x)
|
---|
| 971 | {
|
---|
| 972 | ret=0;
|
---|
| 973 | FMprintf("Model","internalCheck",FMLV_ERROR,"delta too small in joint #%d (%s)",
|
---|
| 974 | i,(const char*)geno.getName());
|
---|
| 975 | }
|
---|
| 976 | }
|
---|
| 977 | }
|
---|
| 978 | else
|
---|
| 979 | {
|
---|
| 980 | FMprintf("Model","internalCheck",FMLV_ERROR,"illegal part references in joint #%d (%s)",
|
---|
| 981 | i,(const char*)geno.getName());
|
---|
| 982 | ret=0;
|
---|
| 983 | }
|
---|
| 984 | }
|
---|
| 985 | }
|
---|
| 986 | #ifdef MODEL_V1_COMPATIBLE
|
---|
| 987 | if (!addOldConnectionsInputs())
|
---|
| 988 | return 0;
|
---|
| 989 | #endif
|
---|
| 990 |
|
---|
| 991 | updateNeuroRefno(); // valid refno is important for n-n connections check (later)
|
---|
| 992 |
|
---|
| 993 | for (i=0;i<neurons.size();i++)
|
---|
| 994 | {
|
---|
| 995 | n=(Neuro*)neurons(i);
|
---|
| 996 | VALIDMINMAX(n,Neuro,state);
|
---|
| 997 | #ifdef MODEL_V1_COMPATIBLE
|
---|
| 998 | VALIDMINMAX(n,Neuro,inertia);
|
---|
| 999 | VALIDMINMAX(n,Neuro,force);
|
---|
| 1000 | VALIDMINMAX(n,Neuro,sigmo);
|
---|
| 1001 | n->conn_refno=-1;
|
---|
| 1002 | n->weight=1.0;
|
---|
| 1003 | n->neuro_refno=-1;
|
---|
| 1004 | #endif
|
---|
| 1005 | n->part_refno=(n->part)?n->part->refno:-1;
|
---|
| 1006 | n->joint_refno=(n->joint)?n->joint->refno:-1;
|
---|
| 1007 | }
|
---|
| 1008 |
|
---|
| 1009 | if (parts.size()&&(checklevel>0))
|
---|
| 1010 | {
|
---|
| 1011 | for (i=0;i<parts.size();i++)
|
---|
| 1012 | {
|
---|
| 1013 | p=(Part*)parts(i);
|
---|
| 1014 | if (p->mass<=0.001)
|
---|
| 1015 | p->mass=1.0;
|
---|
| 1016 | p->flags&=~LINKFLAG;
|
---|
| 1017 | }
|
---|
| 1018 | getPart(0)->flags|=LINKFLAG;
|
---|
| 1019 | int change=1;
|
---|
| 1020 | while(change)
|
---|
| 1021 | {
|
---|
| 1022 | change=0;
|
---|
| 1023 | for (i=0;i<joints.size();i++)
|
---|
| 1024 | {
|
---|
| 1025 | j=(Joint*)joints(i);
|
---|
| 1026 | if (j->part1->flags&LINKFLAG)
|
---|
| 1027 | {
|
---|
| 1028 | if (!(j->part2->flags&LINKFLAG))
|
---|
| 1029 | {
|
---|
| 1030 | change=1;
|
---|
| 1031 | j->part2->flags|=LINKFLAG;
|
---|
| 1032 | }
|
---|
| 1033 | }
|
---|
| 1034 | else
|
---|
| 1035 | if (j->part2->flags&LINKFLAG)
|
---|
| 1036 | {
|
---|
| 1037 | if (!(j->part1->flags&LINKFLAG))
|
---|
| 1038 | {
|
---|
| 1039 | change=1;
|
---|
| 1040 | j->part1->flags|=LINKFLAG;
|
---|
| 1041 | }
|
---|
| 1042 | }
|
---|
| 1043 | }
|
---|
| 1044 | }
|
---|
| 1045 | for (i=0;i<parts.size();i++)
|
---|
| 1046 | {
|
---|
| 1047 | p=(Part*)parts(i);
|
---|
| 1048 | if (!(p->flags&LINKFLAG))
|
---|
| 1049 | {
|
---|
| 1050 | FMprintf("Model","internalCheck",FMLV_ERROR,"not all parts connected (eg.#0-#%d) (%s)",
|
---|
| 1051 | i,(const char*)geno.getName());
|
---|
| 1052 | ret=0;
|
---|
| 1053 | break;
|
---|
| 1054 | }
|
---|
| 1055 | }
|
---|
| 1056 | }
|
---|
| 1057 |
|
---|
| 1058 | for (i=0;i<joints.size();i++)
|
---|
| 1059 | {
|
---|
| 1060 | j=(Joint*)joints(i);
|
---|
| 1061 | if (j->p1_refno==j->p2_refno)
|
---|
| 1062 | {
|
---|
| 1063 | FMprintf("Model","internalCheck",FMLV_ERROR,"illegal self connection, joint #%d (%s)",
|
---|
| 1064 | i,(const char*)geno.getName());
|
---|
| 1065 | ret=0;
|
---|
| 1066 | break;
|
---|
| 1067 | }
|
---|
| 1068 | for (k=i+1;k<joints.size();k++)
|
---|
| 1069 | {
|
---|
| 1070 | Joint* j2=(Joint*)joints(k);
|
---|
| 1071 | if (((j->p1_refno==j2->p1_refno)&&(j->p2_refno==j2->p2_refno))
|
---|
| 1072 | || ((j->p1_refno==j2->p2_refno)&&(j->p2_refno==j2->p1_refno)))
|
---|
| 1073 | {
|
---|
| 1074 | FMprintf("Model","internalCheck",FMLV_ERROR,"illegal duplicate joints #%d and #%d (%s)",
|
---|
| 1075 | i,k,(const char*)geno.getName());
|
---|
| 1076 | ret=0;
|
---|
| 1077 | break;
|
---|
| 1078 | }
|
---|
| 1079 | }
|
---|
| 1080 | }
|
---|
| 1081 | return ret;
|
---|
| 1082 | }
|
---|
| 1083 |
|
---|
| 1084 | /////////////
|
---|
| 1085 |
|
---|
| 1086 | int Model::getErrorPosition(bool includingwarnings)
|
---|
| 1087 | {
|
---|
| 1088 | return includingwarnings?
|
---|
| 1089 | ((f0errorposition>=0) ? f0errorposition : f0warnposition)
|
---|
| 1090 | :
|
---|
| 1091 | f0errorposition;
|
---|
| 1092 | }
|
---|
| 1093 |
|
---|
| 1094 | const Geno& Model::getGeno() const
|
---|
| 1095 | {
|
---|
| 1096 | return geno;
|
---|
| 1097 | }
|
---|
| 1098 |
|
---|
| 1099 | const Geno& Model::getF0Geno()
|
---|
| 1100 | {
|
---|
| 1101 | static Geno invalidgeno("",'0',"","invalid");
|
---|
| 1102 | if (buildstatus==building)
|
---|
| 1103 | FMprintf("Model","getGeno",FMLV_WARN,"model was not completed - missing close()");
|
---|
| 1104 | if (buildstatus!=valid)
|
---|
| 1105 | return invalidgeno;
|
---|
| 1106 | if (!f0genoknown)
|
---|
| 1107 | {
|
---|
| 1108 | if (autobuildmaps)
|
---|
| 1109 | {
|
---|
| 1110 | initF0Map();
|
---|
| 1111 | makeGeno(f0geno,f0map);
|
---|
| 1112 | }
|
---|
| 1113 | else
|
---|
| 1114 | {
|
---|
| 1115 | delF0Map();
|
---|
| 1116 | makeGeno(f0geno);
|
---|
| 1117 | }
|
---|
| 1118 | f0genoknown=1;
|
---|
| 1119 | }
|
---|
| 1120 | return f0geno;
|
---|
| 1121 | }
|
---|
| 1122 |
|
---|
| 1123 | int Model::getPartCount() const
|
---|
| 1124 | {
|
---|
| 1125 | return parts.size();
|
---|
| 1126 | }
|
---|
| 1127 |
|
---|
| 1128 | Part* Model::getPart(int i) const
|
---|
| 1129 | {
|
---|
| 1130 | return ((Part*)parts(i));
|
---|
| 1131 | }
|
---|
| 1132 |
|
---|
| 1133 | int Model::getJointCount() const
|
---|
| 1134 | {
|
---|
| 1135 | return joints.size();
|
---|
| 1136 | }
|
---|
| 1137 |
|
---|
| 1138 | Joint* Model::getJoint(int i) const
|
---|
| 1139 | {
|
---|
| 1140 | return ((Joint*)joints(i));
|
---|
| 1141 | }
|
---|
| 1142 |
|
---|
| 1143 | int Model::findJoints(SList& result,const Part* part)
|
---|
| 1144 | {
|
---|
| 1145 | Joint *j;
|
---|
| 1146 | int n0=result.size();
|
---|
| 1147 | if (part)
|
---|
| 1148 | for(int i=0;j=(Joint*)joints(i);i++)
|
---|
| 1149 | if ((j->part1 == part) || (j->part2 == part)) result+=(void*)j;
|
---|
| 1150 | return result.size()-n0;
|
---|
| 1151 | }
|
---|
| 1152 |
|
---|
| 1153 | int Model::findNeuro(Neuro* n)
|
---|
| 1154 | {return neurons.find(n);}
|
---|
| 1155 |
|
---|
| 1156 | int Model::findPart(Part* p)
|
---|
| 1157 | {return parts.find(p);}
|
---|
| 1158 |
|
---|
| 1159 | int Model::findJoint(Joint* j)
|
---|
| 1160 | {return joints.find(j);}
|
---|
| 1161 |
|
---|
| 1162 | int Model::findJoint(Part *p1, Part *p2)
|
---|
| 1163 | {
|
---|
| 1164 | Joint* j;
|
---|
| 1165 | for(int i=0;j=getJoint(i);i++)
|
---|
| 1166 | if ((j->part1==p1)&&(j->part2==p2)) return i;
|
---|
| 1167 | return -1;
|
---|
| 1168 | }
|
---|
| 1169 |
|
---|
| 1170 |
|
---|
| 1171 | ////////////////////
|
---|
| 1172 |
|
---|
| 1173 | #ifdef MODEL_V1_COMPATIBLE
|
---|
| 1174 | void Model::calcOldNeuroCount()
|
---|
| 1175 | {
|
---|
| 1176 | if (oldneurocount>=0) return;
|
---|
| 1177 | oldneurocount=reorderToOldLayout();
|
---|
| 1178 | }
|
---|
| 1179 |
|
---|
| 1180 | int Model::old_getNeuroCount()
|
---|
| 1181 | { calcOldNeuroCount();
|
---|
| 1182 | return oldneurocount;}
|
---|
| 1183 |
|
---|
| 1184 | Neuro* Model::old_getNeuro(int i)
|
---|
| 1185 | {calcOldNeuroCount();
|
---|
| 1186 | return (i<oldneurocount)? (Neuro*)getNeuro(i) : (Neuro*)0;
|
---|
| 1187 | }
|
---|
| 1188 |
|
---|
| 1189 | int Model::old_findNeuro(Neuro* n)
|
---|
| 1190 | {calcOldNeuroCount();
|
---|
| 1191 | return findNeuro(n);}
|
---|
| 1192 |
|
---|
| 1193 | Neuro *Model::old_addNewNeuro()
|
---|
| 1194 | {
|
---|
| 1195 | int count=old_getNeuroCount();
|
---|
| 1196 | Neuro *nu=addNewNeuro();
|
---|
| 1197 | nu->setClassName("N");
|
---|
| 1198 | moveNeuro(nu->refno,oldneurocount);
|
---|
| 1199 | oldneurocount=count+1;
|
---|
| 1200 | return (Neuro*)nu;
|
---|
| 1201 | }
|
---|
| 1202 | #endif
|
---|
| 1203 |
|
---|
| 1204 | ///////////////////////
|
---|
| 1205 |
|
---|
| 1206 | int Model::getNeuroCount() const
|
---|
| 1207 | {return neurons.size();}
|
---|
| 1208 |
|
---|
| 1209 | Neuro* Model::getNeuro(int i) const
|
---|
| 1210 | {return (Neuro*)neurons(i);}
|
---|
| 1211 |
|
---|
| 1212 | int Model::getConnectionCount() const
|
---|
| 1213 | {
|
---|
| 1214 | int n=0;
|
---|
| 1215 | for(int i=0;i<getNeuroCount();i++)
|
---|
| 1216 | n+=getNeuro(i)->getInputCount();
|
---|
| 1217 | return n;
|
---|
| 1218 | }
|
---|
| 1219 |
|
---|
| 1220 | int Model::findNeuros(SList& result,
|
---|
| 1221 | const char* classname,const Part* part,const Joint* joint)
|
---|
| 1222 | {
|
---|
| 1223 | Neuro *nu;
|
---|
| 1224 | SString cn(classname);
|
---|
| 1225 | int n0=result.size();
|
---|
| 1226 | for(int i=0;nu=(Neuro*)neurons(i);i++)
|
---|
| 1227 | {
|
---|
| 1228 | if (part)
|
---|
| 1229 | if (nu->part != part) continue;
|
---|
| 1230 | if (joint)
|
---|
| 1231 | if (nu->joint != joint) continue;
|
---|
| 1232 | if (classname)
|
---|
| 1233 | if (nu->getClassName() != cn) continue;
|
---|
| 1234 | result+=(void*)nu;
|
---|
| 1235 | }
|
---|
| 1236 | return result.size()-n0;
|
---|
| 1237 | }
|
---|
| 1238 |
|
---|
| 1239 | ///////////////////
|
---|
| 1240 |
|
---|
| 1241 | void Model::disturb(double amount)
|
---|
| 1242 | {
|
---|
| 1243 | int i;
|
---|
| 1244 | if (amount<=0) return;
|
---|
| 1245 | for(i=0;i<parts.size();i++)
|
---|
| 1246 | {
|
---|
| 1247 | Part *p=getPart(i);
|
---|
| 1248 | p->p.x+=(rnd01-0.5)*amount;
|
---|
| 1249 | p->p.y+=(rnd01-0.5)*amount;
|
---|
| 1250 | p->p.z+=(rnd01-0.5)*amount;
|
---|
| 1251 | }
|
---|
| 1252 | for(i=0;i<joints.size();i++)
|
---|
| 1253 | {
|
---|
| 1254 | Joint *j=getJoint(i);
|
---|
| 1255 | Pt3D tmpp(j->part2->p);
|
---|
| 1256 | tmpp-=j->part1->p;
|
---|
| 1257 | j->d=j->part2->o.revTransform(tmpp);
|
---|
| 1258 | }
|
---|
| 1259 | }
|
---|
| 1260 |
|
---|
| 1261 | //////////////////////
|
---|
| 1262 |
|
---|
| 1263 | class MinPart: public Part {public: MinPart() {Param par(f0_part_paramtab,this);par.setMin();}};
|
---|
| 1264 | class MaxPart: public Part {public: MaxPart() {Param par(f0_part_paramtab,this);par.setMax();}};
|
---|
| 1265 | class MinJoint: public Joint {public: MinJoint() {Param par(f0_joint_paramtab,this);par.setMin();}};
|
---|
| 1266 | class MaxJoint: public Joint {public: MaxJoint() {Param par(f0_joint_paramtab,this);par.setMax();}};
|
---|
| 1267 | class MinNeuro: public Neuro {public: MinNeuro() {Param par(f0_neuro_paramtab,this);par.setMin();}};
|
---|
| 1268 | class MaxNeuro: public Neuro {public: MaxNeuro() {Param par(f0_neuro_paramtab,this);par.setMax();}};
|
---|
| 1269 |
|
---|
| 1270 | Part& Model::getMinPart() {static MinPart part; return part;}
|
---|
| 1271 | Part& Model::getMaxPart() {static MaxPart part; return part;}
|
---|
| 1272 | Part& Model::getDefPart() {static Part part; return part;}
|
---|
| 1273 | Joint& Model::getMinJoint() {static MinJoint joint; return joint;}
|
---|
| 1274 | Joint& Model::getMaxJoint() {static MaxJoint joint; return joint;}
|
---|
| 1275 | Joint& Model::getDefJoint() {static Joint joint; return joint;}
|
---|
| 1276 | Neuro& Model::getMinNeuro() {static MinNeuro neuro; return neuro;}
|
---|
| 1277 | Neuro& Model::getMaxNeuro() {static MaxNeuro neuro; return neuro;}
|
---|
| 1278 | Neuro& Model::getDefNeuro() {static Neuro neuro; return neuro;}
|
---|