- Timestamp:
- 07/20/20 16:37:38 (4 years ago)
- Location:
- cpp/frams
- Files:
-
- 9 edited
-
Makefile-SDK-files (modified) (5 diffs)
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genetics/defgenoconv.cpp (modified) (1 diff)
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genetics/fS/fS_conv.cpp (modified) (2 diffs)
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genetics/fS/fS_conv.h (modified) (2 diffs)
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genetics/fS/fS_general.cpp (modified) (15 diffs)
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genetics/fS/fS_general.h (modified) (9 diffs)
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genetics/fS/fS_oper.cpp (modified) (14 diffs)
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genetics/fS/fS_oper.h (modified) (3 diffs)
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genetics/fS/part_distance_estimator.h (modified) (3 diffs)
Legend:
- Unmodified
- Added
- Removed
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cpp/frams/Makefile-SDK-files
r1007 r1017 3 3 # ALL_DIRS is later expanded by the shell, no spaces/newlines allowed, or it breaks 4 4 ALL_DIRS={common,PrintFloat,frams,frams/canvas,frams/config,common/loggers,frams/genetics,frams/genetics/f0,frams/genetics/f1,frams/genetics/f2,frams/genetics/f3,frams/genetics/f4,frams/genetics/f5,frams/genetics/f6,frams/genetics/f7,frams/genetics/f8,frams/genetics/f9,frams/genetics/fn,frams/genetics/fF,frams/genetics/fT,frams/genetics/fB,frams/genetics/fH,frams/genetics/fL,frams/genetics/fS,frams/model,frams/neuro,frams/neuro/impl,frams/param,frams/test,frams/util,frams/vm/classes,common/virtfile,frams/_demos,frams/model/geometry,frams/_demos/geometry,frams/model/similarity,frams/model/similarity/hungarian,frams/model/similarity/SVD} 5 6 GEOMETRY_OBJS=frams/model/geometry/meshbuilder.o frams/model/geometry/modelgeometryinfo.o frams/model/geometry/geometryutils.o 5 7 6 8 GENMANF4=frams/genetics/f4/f4_oper.o … … 22 24 CONVFH=frams/genetics/fH/fH_conv.o frams/genetics/fH/fH_general.o frams/param/mutableparam.o 23 25 CONVFL=frams/genetics/fL/fL_conv.o frams/genetics/fL/fL_general.o frams/genetics/fL/fL_matheval.o 24 CONVFS=frams/genetics/fS/fS_conv.o frams/genetics/fS/fS_general.o 26 CONVFS=frams/genetics/fS/fS_conv.o frams/genetics/fS/fS_general.o $(GEOMETRY_OBJS) 25 27 26 28 # $(sort - remove duplicates … … 40 42 41 43 SDK_OBJS=frams/util/list.o frams/util/advlist.o frams/param/param.o frams/util/sstring.o frams/util/sstringutils.o frams/util/3d.o frams/vm/classes/3dobject.o frams/model/model.o frams/model/modelparts.o frams/neuro/neurolibrary.o frams/genetics/geno.o frams/genetics/genoconv.o frams/util/extvalue.o frams/vm/classes/collectionobj.o frams/util/hashtable.o common/log.o common/util-string.o common/util-file.o common/nonstd_stdio.o frams/util/callbacks.o frams/param/syntparam.o frams/util/multirange.o frams/util/multimap.o frams/param/paramtabobj.o common/loggers/loggers.o frams/param/paramobj.o frams/genetics/genooperators.o common/nonstd_math.o frams/util/validitychecks.o common/Convert.o frams/util/rndutil.o common/virtfile/stringfile.o common/virtfile/stdinoutfilesystem.o $(PRINTFLOAT_OBJS) 42 43 GEOMETRY_OBJS=frams/model/geometry/meshbuilder.o frams/model/geometry/modelgeometryinfo.o frams/model/geometry/geometryutils.o44 44 45 45 STDOUT_LOGGER_OBJS=common/virtfile/virtfile.o common/loggers/loggertostdout.o common/console.o … … 84 84 NEURO_LAYOUT_TEST_OBJS= frams/_demos/neuro_layout_test.o $(STDOUT_LOGGER_OBJS) $(SDK_OBJS) $(GENOCONV_AND_GENMAN_SDK_OBJS) $(NN_LAYOUT_OBJS) 85 85 86 GEOMETRY_INFO_TEST_OBJS= frams/_demos/geometry/info_test.o frams/_demos/geometry/geometrytestutils.o frams/_demos/genotypeloader.o frams/_demos/genotypemini.o frams/param/multiparamload.o common/virtfile/stdiofile.o $(SDK_OBJS) $(GENOCONV_AND_GENMAN_SDK_OBJS) $(GEOMETRY_OBJS) $(STDOUT_LOGGER_OBJS)86 GEOMETRY_INFO_TEST_OBJS=$(sort frams/_demos/geometry/info_test.o frams/_demos/geometry/geometrytestutils.o frams/_demos/genotypeloader.o frams/_demos/genotypemini.o frams/param/multiparamload.o common/virtfile/stdiofile.o $(SDK_OBJS) $(GENOCONV_AND_GENMAN_SDK_OBJS) $(GEOMETRY_OBJS) $(STDOUT_LOGGER_OBJS)) 87 87 88 GEOMETRY_SURFACE_TEST_OBJS= frams/_demos/geometry/surface_test.o frams/_demos/geometry/geometrytestutils.o frams/_demos/genotypeloader.o frams/_demos/genotypemini.o frams/param/multiparamload.o common/virtfile/stdiofile.o $(SDK_OBJS) $(GENOCONV_AND_GENMAN_SDK_OBJS) $(GEOMETRY_OBJS) $(STDOUT_LOGGER_OBJS)88 GEOMETRY_SURFACE_TEST_OBJS=$(sort frams/_demos/geometry/surface_test.o frams/_demos/geometry/geometrytestutils.o frams/_demos/genotypeloader.o frams/_demos/genotypemini.o frams/param/multiparamload.o common/virtfile/stdiofile.o $(SDK_OBJS) $(GENOCONV_AND_GENMAN_SDK_OBJS) $(GEOMETRY_OBJS) $(STDOUT_LOGGER_OBJS)) 89 89 90 GEOMETRY_VOLUME_TEST_OBJS= frams/_demos/geometry/volume_test.o frams/_demos/geometry/geometrytestutils.o frams/_demos/genotypeloader.o frams/_demos/genotypemini.o frams/param/multiparamload.o common/virtfile/stdiofile.o $(SDK_OBJS) $(GENOCONV_AND_GENMAN_SDK_OBJS) $(GEOMETRY_OBJS) $(STDOUT_LOGGER_OBJS)90 GEOMETRY_VOLUME_TEST_OBJS=$(sort frams/_demos/geometry/volume_test.o frams/_demos/geometry/geometrytestutils.o frams/_demos/genotypeloader.o frams/_demos/genotypemini.o frams/param/multiparamload.o common/virtfile/stdiofile.o $(SDK_OBJS) $(GENOCONV_AND_GENMAN_SDK_OBJS) $(GEOMETRY_OBJS) $(STDOUT_LOGGER_OBJS)) 91 91 92 GEOMETRY_APICES_TEST_OBJS= frams/_demos/geometry/apices_test.o frams/_demos/geometry/geometrytestutils.o frams/_demos/genotypeloader.o frams/_demos/genotypemini.o frams/param/multiparamload.o common/virtfile/stdiofile.o $(SDK_OBJS) $(GENOCONV_AND_GENMAN_SDK_OBJS) $(GEOMETRY_OBJS) $(STDOUT_LOGGER_OBJS)92 GEOMETRY_APICES_TEST_OBJS=$(sort frams/_demos/geometry/apices_test.o frams/_demos/geometry/geometrytestutils.o frams/_demos/genotypeloader.o frams/_demos/genotypemini.o frams/param/multiparamload.o common/virtfile/stdiofile.o $(SDK_OBJS) $(GENOCONV_AND_GENMAN_SDK_OBJS) $(GEOMETRY_OBJS) $(STDOUT_LOGGER_OBJS)) 93 93 94 94 SIMIL_TEST_OBJS=frams/_demos/simil_test.o $(SIMILARITY_OBJS) frams/_demos/genotypeloader.o frams/_demos/genotypemini.o frams/param/multiparamload.o common/virtfile/stdiofile.o $(STDOUT_LOGGER_OBJS) $(SDK_OBJS) $(GENOCONV_AND_GENMAN_SDK_OBJS) … … 98 98 PARAMTREE_STDIN_TEST_OBJS=frams/_demos/paramtree_stdin_test.o frams/_demos/paramtree_print.o $(STDOUT_LOGGER_OBJS) common/virtfile/stdiofile.o $(SDK_OBJS) frams/param/paramtree.o 99 99 100 PARAMTREE_PARAMLIST_TEST_OBJS= frams/_demos/paramtree_paramlist_test.o frams/_demos/paramtree_print.o $(STDOUT_LOGGER_OBJS) common/virtfile/stdiofile.o $(SDK_OBJS) $(GENOCONV_AND_GENMAN_SDK_OBJS) frams/neuro/neuroimpl.o frams/neuro/neurofactory.o frams/neuro/impl/neuroimpl-simple.o frams/neuro/impl/neuroimpl-channels.o frams/neuro/impl/neuroimpl-fuzzy.o frams/neuro/impl/neuroimpl-fuzzy-f0.o $(GENOTYPE_LOADER_OBJS) $(GEOMETRY_OBJS) frams/model/geometry/modelgeoclass.o frams/model/modelobj.o frams/param/paramtree.o100 PARAMTREE_PARAMLIST_TEST_OBJS=$(sort frams/_demos/paramtree_paramlist_test.o frams/_demos/paramtree_print.o $(STDOUT_LOGGER_OBJS) common/virtfile/stdiofile.o $(SDK_OBJS) $(GENOCONV_AND_GENMAN_SDK_OBJS) frams/neuro/neuroimpl.o frams/neuro/neurofactory.o frams/neuro/impl/neuroimpl-simple.o frams/neuro/impl/neuroimpl-channels.o frams/neuro/impl/neuroimpl-fuzzy.o frams/neuro/impl/neuroimpl-fuzzy-f0.o $(GENOTYPE_LOADER_OBJS) $(GEOMETRY_OBJS) frams/model/geometry/modelgeoclass.o frams/model/modelobj.o frams/param/paramtree.o) 101 101 102 102 MUTABLEPARAM_TEST_OBJS=frams/_demos/mutableparam_test.o $(STDOUT_LOGGER_OBJS) common/virtfile/stdiofile.o $(SDK_OBJS) frams/param/mutableparam.o frams/param/mutparamlist.o frams/param/paramtrans.o -
cpp/frams/genetics/defgenoconv.cpp
r958 r1017 104 104 #endif 105 105 #ifdef USE_GENCONV_fS0 106 addConverter(new GenoConv_fS0 ); //solids106 addConverter(new GenoConv_fS0s); //solids 107 107 #endif 108 108 -
cpp/frams/genetics/fS/fS_conv.cpp
r1006 r1017 5 5 #include "fS_conv.h" 6 6 7 SString GenoConv_fS0 ::convert(SString &i, MultiMap *map, bool using_checkpoints)7 SString GenoConv_fS0s::convert(SString &i, MultiMap *map, bool using_checkpoints) 8 8 { 9 9 fS_Genotype *genotype; … … 14 14 catch (fS_Exception &e) 15 15 { 16 logPrintf("GenoConv_fS0 ", "convert", LOG_ERROR, e.what());16 logPrintf("GenoConv_fS0s", "convert", LOG_ERROR, e.what()); 17 17 return SString(); 18 18 } -
cpp/frams/genetics/fS/fS_conv.h
r1006 r1017 12 12 * Genotype converter from fS to f0s. 13 13 */ 14 class GenoConv_fS0 : public GenoConverter14 class GenoConv_fS0s : public GenoConverter 15 15 { 16 16 public: 17 GenoConv_fS0 () : GenoConverter()17 GenoConv_fS0s() : GenoConverter() 18 18 { 19 19 name = "Solid encoding"; … … 27 27 SString convert(SString &i, MultiMap *map, bool using_checkpoints); 28 28 29 ~GenoConv_fS0 ()29 ~GenoConv_fS0s() 30 30 {}; 31 31 }; -
cpp/frams/genetics/fS/fS_general.cpp
r1006 r1017 16 16 int fS_Genotype::precision = 4; 17 17 bool fS_Genotype::TURN_WITH_ROTATION = false; 18 std::map<string, double> Node::minValues; 19 std::map<string, double> Node::defaultValues; 20 std::map<string, double> Node::maxValues; 18 21 19 22 void Node::prepareParams() 20 23 { 21 defaultValues = { 22 {INGESTION, Model::getDefPart().ingest}, 23 {FRICTION, Model::getDefPart().friction}, 24 {STIFFNESS, Model::getDefJoint().stif}, 25 {ROT_X, 0.0}, 26 {ROT_Y, 0.0}, 27 {ROT_Z, 0.0}, 28 {RX, 0.0}, 29 {RY, 0.0}, 30 {RZ, 0.0}, 31 {SIZE, 1.0}, 32 {SIZE_X, Model::getDefPart().scale.x}, 33 {SIZE_Y, Model::getDefPart().scale.y}, 34 {SIZE_Z, Model::getDefPart().scale.z} 35 }; 24 if(minValues.empty()) 25 { 26 minValues = { 27 {INGESTION, Model::getMinPart().ingest}, 28 {FRICTION, Model::getMinPart().friction}, 29 {ROT_X, -M_PI}, 30 {ROT_Y, -M_PI}, 31 {ROT_Z, -M_PI}, 32 {RX, -M_PI}, 33 {RY, -M_PI}, 34 {RZ, -M_PI}, 35 {SIZE, 0.01}, 36 {SIZE_X, Model::getMinPart().scale.x}, 37 {SIZE_Y, Model::getMinPart().scale.y}, 38 {SIZE_Z, Model::getMinPart().scale.z} 39 }; 40 } 41 42 if(maxValues.empty()) 43 { 44 maxValues = { 45 {INGESTION, Model::getMaxPart().ingest}, 46 {FRICTION, Model::getMaxPart().friction}, 47 {ROT_X, M_PI}, 48 {ROT_Y, M_PI}, 49 {ROT_Z, M_PI}, 50 {RX, M_PI}, 51 {RY, M_PI}, 52 {RZ, M_PI}, 53 {SIZE, 100.0}, 54 {SIZE_X, Model::getMaxPart().scale.x}, 55 {SIZE_Y, Model::getMaxPart().scale.y}, 56 {SIZE_Z, Model::getMaxPart().scale.z} 57 }; 58 } 59 if(defaultValues.empty()) 60 { 61 defaultValues = { 62 {INGESTION, Model::getDefPart().ingest}, 63 {FRICTION, Model::getDefPart().friction}, 64 {ROT_X, 0.0}, 65 {ROT_Y, 0.0}, 66 {ROT_Z, 0.0}, 67 {RX, 0.0}, 68 {RY, 0.0}, 69 {RZ, 0.0}, 70 {SIZE, 1.0}, 71 {SIZE_X, Model::getDefPart().scale.x}, 72 {SIZE_Y, Model::getDefPart().scale.y}, 73 {SIZE_Z, Model::getDefPart().scale.z} 74 }; 75 } 36 76 } 37 77 … … 58 98 fr = _state->fr; 59 99 s = _state->s; 60 stif = _state->stif;61 100 } 62 101 … … 259 298 if(paramsEndIndex == -1) 260 299 throw fS_Exception("Lacking param end sign", restOfGenotype.start); 300 261 301 for (int i = 0; i < int(separators.size()) - 1; i++) 262 302 { … … 297 337 } 298 338 299 double Node::getParam( stringkey)339 double Node::getParam(const string &key) 300 340 { 301 341 auto item = params.find(key); 302 342 if (item != params.end()) 303 343 return item->second; 304 else 305 return defaultValues.at(key); 306 } 307 308 309 void Node::getState(State *_state) 344 return defaultValues.at(key); 345 } 346 347 double Node::getParam(const string &key, double defaultValue) 348 { 349 auto item = params.find(key); 350 if (item != params.end()) 351 return item->second; 352 return defaultValue; 353 } 354 355 356 void Node::getState(State *_state, bool calculateLocation) 310 357 { 311 358 if (state != nullptr) … … 328 375 else if (mod == MODIFIERS[2]) 329 376 state->s *= multiplier; 330 else if (mod == MODIFIERS[3]) 331 state->stif *= multiplier; 332 } 333 334 if (parent != nullptr) 377 } 378 379 if (parent != nullptr && calculateLocation) 335 380 { 336 381 // Rotate … … 341 386 } 342 387 for (int i = 0; i < int(children.size()); i++) 343 children[i]->getState(state );388 children[i]->getState(state, calculateLocation); 344 389 } 345 390 … … 388 433 } 389 434 390 Pt3D Node::calculateSize()435 void Node::calculateSize(Pt3D &scale) 391 436 { 392 437 double sizeMultiplier = getParam(SIZE) * state->s; 393 double sx = getParam(SIZE_X) * sizeMultiplier; 394 double sy = getParam(SIZE_Y) * sizeMultiplier; 395 double sz = getParam(SIZE_Z) * sizeMultiplier; 396 return Pt3D(sx, sy, sz); 438 scale.x = getParam(SIZE_X) * sizeMultiplier; 439 scale.y = getParam(SIZE_Y) * sizeMultiplier; 440 scale.z = getParam(SIZE_Z) * sizeMultiplier; 397 441 } 398 442 … … 400 444 { 401 445 double result; 402 Pt3D size = calculateSize(); 446 Pt3D size; 447 calculateSize(size); 403 448 double radiiProduct = size.x * size.y * size.z; 404 449 switch (partType) … … 421 466 bool Node::isPartSizeValid() 422 467 { 423 Pt3D size = calculateSize(); 468 Pt3D size; 469 calculateSize(size); 424 470 double volume = calculateVolume(); 425 471 Part_MinMaxDef minP = Model::getMinPart(); … … 449 495 Pt3D Node::getVectorRotation() 450 496 { 451 return Pt3D(getParam(ROT_X ), getParam(ROT_Y), getParam(ROT_Z));497 return Pt3D(getParam(ROT_X, 0.0), getParam(ROT_Y, 0.0), getParam(ROT_Z, 0.0)); 452 498 } 453 499 454 500 Pt3D Node::getRotation() 455 501 { 456 Pt3D rotation = Pt3D(getParam(RX ), getParam(RY), getParam(RZ));502 Pt3D rotation = Pt3D(getParam(RX, 0.0), getParam(RY, 0.0), getParam(RZ, 0.0)); 457 503 if(fS_Genotype::TURN_WITH_ROTATION) 458 504 rotation += getVectorRotation(); … … 492 538 { 493 539 part = new Part(partType); 494 part->p = Pt3D(state->location.x, 495 state->location.y, 496 state->location.z); 540 part->p = Pt3D(state->location); 497 541 498 542 part->friction = getParam(FRICTION) * state->fr; 499 543 part->ingest = getParam(INGESTION) * state->ing; 500 Pt3D size = calculateSize(); 501 part->scale.x = size.x; 502 part->scale.y = size.y; 503 part->scale.z = size.z; 544 calculateSize(part->scale); 504 545 part->setRot(getRotation()); 505 546 } … … 508 549 { 509 550 Joint *j = new Joint(); 510 j->stif = getParam(STIFFNESS) * state->stif;511 j->rotstif = j->stif;512 513 551 j->attachToParts(parent->part, part); 514 552 switch (joint) … … 650 688 } 651 689 652 void fS_Genotype::getState( )690 void fS_Genotype::getState(bool calculateLocation) 653 691 { 654 692 State *initialState = new State(Pt3D(0), Pt3D(1, 0, 0)); 655 startNode->getState(initialState );693 startNode->getState(initialState, calculateLocation); 656 694 } 657 695 … … 662 700 model.open(using_checkpoints); 663 701 664 getState( );702 getState(true); 665 703 startNode->buildModel(model, nullptr); 666 704 buildNeuroConnections(model); … … 808 846 int fS_Genotype::checkValidityOfPartSizes() 809 847 { 810 getState( );848 getState(false); 811 849 vector<Node*> nodes = getAllNodes(); 812 850 for (int i = 0; i < int(nodes.size()); i++) -
cpp/frams/genetics/fS/fS_general.h
r1006 r1017 54 54 #define RZ "rz" 55 55 //@} 56 /** @name Macros and values used in collision detection */ 57 //@{ 58 #define DISJOINT 0 59 #define COLLISION 1 60 #define ADJACENT 2 61 //@} 56 62 57 63 58 #define HINGE_X 'b' … … 87 82 const string ALL_JOINTS = "abc"; 88 83 const int JOINT_COUNT = JOINTS.length(); 89 const string MODIFIERS = "IFS T";84 const string MODIFIERS = "IFS"; 90 85 const char SIZE_MODIFIER = 's'; 91 const vector<string> PARAMS {INGESTION, FRICTION, ROT_X, ROT_Y, ROT_Z, RX, RY, RZ, SIZE, SIZE_X, SIZE_Y, SIZE_Z, 92 STIFFNESS}; 86 const vector<string> PARAMS {INGESTION, FRICTION, ROT_X, ROT_Y, ROT_Z, RX, RY, RZ, SIZE, SIZE_X, SIZE_Y, SIZE_Z}; 93 87 const vector<string> SIZE_PARAMS {SIZE, SIZE_X, SIZE_Y, SIZE_Z}; 94 88 … … 214 208 double ing = 1.0; /// Ingestion multiplier 215 209 double s = 1.0; /// Size multipliers 216 double stif = 1.0; /// Stiffness multipliers217 210 218 211 State(State *_state); /// Derive the state from parent … … 272 265 Part *part; /// A part object built from node. Used in building the Model 273 266 int partCodeLen; /// The length of substring that directly describes the corresponding part 274 std::map<string, double> defaultValues;275 267 GenotypeParams genotypeParams; 276 268 … … 335 327 * @param _state state of the parent 336 328 */ 337 void getState(State *_state );329 void getState(State *_state, bool calculateLocation); 338 330 339 331 /** … … 370 362 371 363 public: 364 static std::map<string, double> minValues; 365 static std::map<string, double> defaultValues; 366 static std::map<string, double> maxValues; 372 367 char joint = DEFAULT_JOINT; /// Set of all joints 373 368 Part::Shape partType; /// The type of the part … … 389 384 * @return The effective size 390 385 */ 391 Pt3D calculateSize();386 void calculateSize(Pt3D &scale); 392 387 393 388 /** … … 407 402 * @return the param value 408 403 */ 409 double getParam(string key); 404 double getParam(const string &key); 405 double getParam(const string &key, double defaultValue); 410 406 }; 411 407 … … 454 450 ~fS_Genotype(); 455 451 456 void getState( );452 void getState(bool calculateLocation); 457 453 458 454 /** -
cpp/frams/genetics/fS/fS_oper.cpp
r1006 r1017 24 24 {"fS_mut_mod_neuro_conn", 0, 0, "Modify neuron connection", "f 0 100 10", FIELD(prob[FS_MOD_NEURO_CONNECTION]), "mutation: probability of changing a neuron connection",}, 25 25 {"fS_mut_add_neuro_conn", 0, 0, "Add neuron connection", "f 0 100 10", FIELD(prob[FS_ADD_NEURO_CONNECTION]), "mutation: probability of adding a neuron connection",}, 26 {"fS_mut_rem 26 {"fS_mut_rem_neuro_conn", 0, 0, "Remove neuron connection", "f 0 100 10", FIELD(prob[FS_REM_NEURO_CONNECTION]), "mutation: probability of removing a neuron connection",}, 27 27 {"fS_mut_mod_neuro_params", 0, 0, "Modify neuron params", "f 0 100 10", FIELD(prob[FS_MOD_NEURO_PARAMS]), "mutation: probability of changing a neuron param",}, 28 28 {"fS_circle_section", 0, 0, "Ensure circle section", "d 0 1 1", FIELD(ensureCircleSection), "Ensure that ellipsoids and cylinders have circle cross-section"}, … … 35 35 #undef FIELDSTRUCT 36 36 37 38 void GenoOper_fS::prepareParams()39 {40 minValues = {41 {INGESTION, Model::getMinPart().ingest},42 {FRICTION, Model::getMinPart().friction},43 {STIFFNESS, 0.1},44 {ROT_X, -M_PI},45 {ROT_Y, -M_PI},46 {ROT_Z, -M_PI},47 {RX, -M_PI},48 {RY, -M_PI},49 {RZ, -M_PI},50 {SIZE, 0.01},51 {SIZE_X, Model::getMinPart().scale.x},52 {SIZE_Y, Model::getMinPart().scale.y},53 {SIZE_Z, Model::getMinPart().scale.z}54 };55 56 maxValues = {57 {INGESTION, Model::getMaxPart().ingest},58 {FRICTION, Model::getMaxPart().friction},59 {STIFFNESS, 0.5},60 {ROT_X, M_PI},61 {ROT_Y, M_PI},62 {ROT_Z, M_PI},63 {RX, M_PI},64 {RY, M_PI},65 {RZ, M_PI},66 {SIZE, 100.0},67 {SIZE_X, Model::getMaxPart().scale.x},68 {SIZE_Y, Model::getMaxPart().scale.y},69 {SIZE_Z, Model::getMaxPart().scale.z}70 };71 }72 73 37 GenoOper_fS::GenoOper_fS() 74 38 { 75 prepareParams();76 39 par.setParamTab(genooper_fS_paramtab); 77 40 par.select(this); … … 332 295 bool GenoOper_fS::addPart(fS_Genotype &geno, const vector <Part::Shape> &availablePartShapes, bool mutateSize) 333 296 { 334 geno.getState( );297 geno.getState(false); 335 298 Node *node = geno.chooseNode(); 336 299 char partType = SHAPE_TO_GENE.at(availablePartShapes[rndUint(availablePartShapes.size())]); … … 375 338 if (mutateSize) 376 339 { 377 geno.getState( );340 geno.getState(false); 378 341 mutateSizeParam(newNode, SIZE_X, true); 379 342 mutateSizeParam(newNode, SIZE_Y, true); … … 387 350 Node *randomNode, *selectedChild; 388 351 // Choose a parent with children 389 for (int i = 0; i < mutationTries; i++) 352 // It may be difficult to choose a eligible node, so the number of tries should be high 353 for (int i = 0; i < 10 * mutationTries; i++) 390 354 { 391 355 randomNode = geno.chooseNode(); … … 425 389 #endif 426 390 427 geno.getState( );391 geno.getState(false); 428 392 double sizeMultiplier = randomNode->getParam(SIZE) * randomNode->state->s; 429 393 double relativeVolume = randomNode->calculateVolume() / pow(sizeMultiplier, 3.0); … … 485 449 bool isRadius = isRadiusOfBase || key == SIZE_X; 486 450 if (ensureCircleSection && isRadius) 487 if (ensureCircleSection && isRadius)488 451 { 489 452 if (randomNode->partType == Part::Shape::SHAPE_ELLIPSOID) … … 493 456 } 494 457 // Add modified default value for param 495 randomNode->params[key] = mutateCreep('f', randomNode->defaultValues.at(key), minValues.at(key), maxValues.at(key), true); 496 return true; 458 randomNode->params[key] = randomNode->defaultValues.at(key); 459 geno.getState(false); 460 return mutateParamValue(randomNode, key); 497 461 } 498 462 … … 508 472 auto it = randomNode->params.begin(); 509 473 advance(it, rndUint(paramCount)); 510 randomNode->params.erase(it->first); 511 return true; 474 string key = it->first; 475 double value = it->second; 476 477 randomNode->params.erase(key); 478 if(geno.checkValidityOfPartSizes() == 0) 479 return true; 480 else 481 { 482 randomNode->params[key] = value; 483 } 512 484 } 513 485 } … … 515 487 } 516 488 489 490 bool GenoOper_fS::mutateParamValue(Node *node, string key) 491 { 492 // Do not allow invalid changes in part size 493 if (std::find(SIZE_PARAMS.begin(), SIZE_PARAMS.end(), key) == SIZE_PARAMS.end()) 494 { 495 node->params[key] = GenoOperators::mutateCreep('f', node->getParam(key), Node::minValues.at(key), Node::maxValues.at(key), true); 496 return true; 497 } else 498 return mutateSizeParam(node, key, ensureCircleSection); 499 } 500 517 501 bool GenoOper_fS::changeParam(fS_Genotype &geno) 518 502 { 519 geno.getState( );503 geno.getState(false); 520 504 for (int i = 0; i < mutationTries; i++) 521 505 { … … 526 510 auto it = randomNode->params.begin(); 527 511 advance(it, rndUint(paramCount)); 528 529 // Do not allow invalid changes in part size 530 if (std::find(SIZE_PARAMS.begin(), SIZE_PARAMS.end(), it->first) == SIZE_PARAMS.end()) 531 { 532 it->second = GenoOperators::mutateCreep('f', it->second, minValues.at(it->first), maxValues.at(it->first), true); 533 return true; 534 } else 535 return mutateSizeParam(randomNode, it->first, ensureCircleSection); 512 return mutateParamValue(randomNode, it->first); 536 513 } 537 514 } … … 543 520 Node *randomNode = geno.chooseNode(); 544 521 char randomModifier = MODIFIERS[rndUint(MODIFIERS.length())]; 522 int oldValue = randomNode->modifiers[randomModifier]; 523 545 524 randomNode->modifiers[randomModifier] += rndUint(2) == 0 ? 1 : -1; 546 525 … … 548 527 if (isSizeMod && geno.checkValidityOfPartSizes() != 0) 549 528 { 550 randomNode->modifiers[randomModifier] ++;529 randomNode->modifiers[randomModifier] = oldValue; 551 530 return false; 552 531 } … … 715 694 } 716 695 717 double min = std::max( minValues.at(key), valueAtMinVolume);718 double max = std::min( maxValues.at(key), valueAtMaxVolume);696 double min = std::max(Node::minValues.at(key), valueAtMinVolume); 697 double max = std::min(Node::maxValues.at(key), valueAtMaxVolume); 719 698 720 699 node->params[key] = GenoOperators::mutateCreep('f', node->getParam(key), min, max, true); -
cpp/frams/genetics/fS/fS_oper.h
r1006 r1017 42 42 paInt useElli, useCub, useCyl; 43 43 paInt strongAddPart; 44 45 std::map<string, double> minValues;46 std::map<string, double> maxValues;47 44 48 45 GenoOper_fS(); … … 118 115 119 116 /** 117 * Changes the value of specified parameter. 118 * The state of the node must be previously calculated 119 * @param node - the node on which parameter is modified 120 * @param key - the key of parameter 121 * @return 122 */ 123 bool mutateParamValue(Node *node, string key); 124 125 /** 120 126 * Performs change modifier mutation on genotype 121 127 * @return true if mutation succeeded, false otherwise … … 144 150 */ 145 151 bool mutateSizeParam(Node *node, string key, bool ensureCircleSection); 146 147 void prepareParams();148 152 }; 149 153 -
cpp/frams/genetics/fS/part_distance_estimator.h
r1006 r1017 5 5 #ifndef _PART_DISTANCE_ESTIMATOR_H_ 6 6 #define _PART_DISTANCE_ESTIMATOR_H_ 7 8 #include "frams/model/geometry/meshbuilder.h" 7 9 8 10 class fS_Utils … … 44 46 class PartDistanceEstimator 45 47 { 46 /**47 * Used in finding the proper distance between the parts48 * distance between spheres / sphere radius49 * That default value can be changed in certain cases50 * */51 static constexpr float SPHERE_RELATIVE_DISTANCE = 0.5;52 /**53 * Used in finding the proper distance between the parts54 * The maximal allowed value for55 * maximal radius of the node / sphere radius56 */57 static const int MAX_DIAMETER_QUOTIENT = 30;58 /**59 * The tolerance of the value of distance between parts60 */61 static constexpr double SPHERE_DISTANCE_TOLERANCE = 0.96;62 48 63 static constexpr double SPHERE_SIZE_QUOTIENT = 0.25; 49 public: 50 static constexpr double PRECISION = 0.05; 51 static constexpr double RELATIVE_DENSITY = 5.0; 64 52 65 53 66 static bool isInsidePart(Part::Shape shape, const Pt3D &partRadii, const Pt3D ¢er, double sphereRadius)54 static Part *buildTemporaryPart(Part::Shape shape, const Pt3D &scale, const Pt3D &rotations) 67 55 { 68 if(sphereRadius >= fS_Utils::min3(partRadii)) 69 return true; // TODO Special case 70 Pt3D mostRemote = Pt3D(fabs(center.x), fabs(center.y), fabs(center.z)) + Pt3D(sphereRadius); 71 bool isInEllipsis; 72 73 bool result = false; 74 75 switch (shape) 76 { 77 case Part::Shape::SHAPE_CUBOID: 78 if(mostRemote.x <= partRadii.x && mostRemote.y <= partRadii.y && mostRemote.z <= partRadii.z) 79 result = true; 80 break; 81 case Part::Shape::SHAPE_CYLINDER: 82 isInEllipsis = pow(center.y / (partRadii.y - sphereRadius), 2) + pow(center.z / (partRadii.z - sphereRadius), 2) <= 1.0; 83 if (mostRemote.x <= partRadii.x && isInEllipsis) 84 result = true; 85 break; 86 case Part::Shape::SHAPE_ELLIPSOID: 87 if(pow(center.x / (partRadii.x - sphereRadius), 2) + pow(center.y / (partRadii.y - sphereRadius), 2) + pow(center.z / (partRadii.z - sphereRadius), 2) <= 1.0) 88 result = true; 89 break; 90 default: 91 logMessage("fS", "calculateVolume", LOG_ERROR, "Invalid part type"); 92 } 93 return result; 56 Part *tmpPart = new Part(shape); 57 tmpPart->scale = scale; 58 tmpPart->setRot(rotations); 59 return tmpPart; 94 60 } 95 61 96 public: 97 static vector<Pt3D> findSphereCenters(Part::Shape shape, double &sphereRadius, const Pt3D &radii, const Pt3D &rotations) 62 static vector <Pt3D> findSphereCenters(Part *part) 98 63 { 99 double sphereRelativeDistance = SPHERE_RELATIVE_DISTANCE;100 double minRadius = fS_Utils::min3(radii);101 if(minRadius <= 0)102 throw fS_Exception("Invalid part size in PartDistanceEstimator", 0); 103 double maxRadius = fS_Utils::max3(radii);104 sphereRadius = SPHERE_SIZE_QUOTIENT * minRadius;105 if (MAX_DIAMETER_QUOTIENT < maxRadius / sphereRadius)64 // Divide by maximal radius to avoid long computations 65 MeshBuilder::PartSurface surface(RELATIVE_DENSITY / fS_Utils::max3(part->scale)); 66 surface.initialize(part); 67 68 vector <Pt3D> centers; 69 Pt3D point; 70 while (surface.tryGetNext(point)) 106 71 { 107 // When max radius is much bigger than sphereRadius and there are to many spheresZ 108 sphereRelativeDistance = 1.0; // Make the spheres adjacent to speed up the computation 109 sphereRadius = maxRadius / MAX_DIAMETER_QUOTIENT; 110 } 111 else if(shape == Part::Shape::SHAPE_ELLIPSOID) 112 sphereRadius = minRadius; 113 114 double sphereDiameter = 2 * sphereRadius; 115 116 double radiiArr[3]{radii.x, radii.y, radii.z}; 117 vector<double> coordinates[3]; 118 for (int dim = 0; dim < 3; dim++) 119 { 120 double spaceForSphereCenters = 2 * radiiArr[dim] - sphereDiameter; 121 if (spaceForSphereCenters > 0) 122 { 123 int lastIndex = ceil(spaceForSphereCenters / (sphereDiameter * sphereRelativeDistance)); 124 for (int i = 0; i <= lastIndex; i++) 125 { 126 coordinates[dim].push_back(spaceForSphereCenters * (double(i) / lastIndex - 0.5)); 127 } 128 } 129 else 130 coordinates[dim].push_back(0.0); 131 } 132 133 vector<Pt3D> centers; 134 for (int xi = 0; xi < int(coordinates[0].size()); xi++) 135 { 136 for (int yi = 0; yi < int(coordinates[1].size()); yi++) 137 { 138 for (int zi = 0; zi < int(coordinates[2].size()); zi++) 139 { 140 Pt3D center = Pt3D(coordinates[0][xi], coordinates[1][yi], coordinates[2][zi]); 141 if (isInsidePart(shape, radii, center, sphereRadius)) 142 { 143 fS_Utils::rotateVector(center, rotations); 144 centers.push_back(center); 145 } 146 } 147 } 72 centers.push_back(point); 148 73 } 149 74 return centers; 150 75 } 151 76 152 static int isCollision(vector<Pt3D> ¢ersParent, vector<Pt3D> ¢ers, Pt3D &vectorBetweenParts, 153 double distanceThreshold) 77 static bool isCollision(Part *parentPart, vector <Pt3D> ¢ers, Pt3D &vectorBetweenParts) 154 78 { 155 double upperThresholdSq = distanceThreshold * distanceThreshold; 156 double lowerThresholdSq = pow(SPHERE_DISTANCE_TOLERANCE * distanceThreshold, 2); 157 double distanceSq; 158 double dx, dy, dz; 159 bool existsAdjacent = false; 160 Pt3D *tmpPoint; 161 for (int sc = 0; sc < int(centers.size()); sc++) 79 static double CBRT_3 = std::cbrt(3); 80 double maxParentReachSq = pow(CBRT_3 * fS_Utils::max3(parentPart->scale), 2); 81 for (int i = 0; i < int(centers.size()); i++) 162 82 { 163 Pt3D shiftedSphere = Pt3D(centers[sc]); 164 shiftedSphere += vectorBetweenParts; 165 for (int psc = 0; psc < int(centersParent.size()); psc++) 166 { 167 tmpPoint = ¢ersParent[psc]; 168 dx = shiftedSphere.x - tmpPoint->x; 169 dy = shiftedSphere.y - tmpPoint->y; 170 dz = shiftedSphere.z - tmpPoint->z; 171 distanceSq = dx * dx + dy * dy + dz * dz; 172 173 if (distanceSq <= upperThresholdSq) 174 { 175 if (distanceSq >= lowerThresholdSq) 176 existsAdjacent = true; 177 else 178 { 179 return COLLISION; 180 } 181 } 182 } 83 Pt3D shifted = centers[i] + vectorBetweenParts; 84 double distanceToCenterSq = shifted.x * shifted.x + shifted.y * shifted.y + shifted.z * shifted.z; 85 if (distanceToCenterSq <= maxParentReachSq && GeometryUtils::isPointInsidePart(shifted, parentPart)) 86 return true; 183 87 } 184 if (existsAdjacent) 185 return ADJACENT; 186 else 187 return DISJOINT; 88 return false; 188 89 } 189 90 }; … … 191 92 double Node::getDistance() 192 93 { 193 Pt3D size = calculateSize(); 194 Pt3D parentSize = parent->calculateSize(); // Here we are sure that parent is not nullptr 195 double parentSphereRadius, sphereRadius; 196 vector<Pt3D> centersParent = PartDistanceEstimator::findSphereCenters(parent->partType, parentSphereRadius, parentSize, parent->getRotation()); 197 vector<Pt3D> centers = PartDistanceEstimator::findSphereCenters(partType, sphereRadius, size, getRotation()); 94 Pt3D size; 95 calculateSize(size); 96 Pt3D parentSize; 97 parent->calculateSize(parentSize); // Here we are sure that parent is not nullptr 98 Part *tmpPart = PartDistanceEstimator::buildTemporaryPart(partType, size, getRotation()); 99 Part *parentTmpPart = PartDistanceEstimator::buildTemporaryPart(parent->partType, parentSize, parent->getRotation()); 198 100 199 double distanceThreshold = sphereRadius + parentSphereRadius; 101 vector <Pt3D> centers = PartDistanceEstimator::findSphereCenters(tmpPart); 102 200 103 double minDistance = 0.0; 201 104 double maxDistance = 2 * (fS_Utils::max3(parentSize) + fS_Utils::max3(size)); 202 105 double currentDistance = fS_Utils::avg(maxDistance, minDistance); 203 int result = -1; 204 int iterationNo = 0; 205 while (result != ADJACENT) 106 int collisionDetected = false; 107 while (maxDistance - minDistance > PartDistanceEstimator::PRECISION) 206 108 { 207 iterationNo++;208 109 Pt3D vectorBetweenParts = state->v * currentDistance; 209 result = PartDistanceEstimator::isCollision(centersParent, centers, vectorBetweenParts, distanceThreshold);110 collisionDetected = PartDistanceEstimator::isCollision(parentTmpPart, centers, vectorBetweenParts); 210 111 211 if (result == DISJOINT) 112 if (collisionDetected) 113 { 114 minDistance = currentDistance; 115 currentDistance = fS_Utils::avg(maxDistance, currentDistance); 116 } else 212 117 { 213 118 maxDistance = currentDistance; 214 119 currentDistance = fS_Utils::avg(currentDistance, minDistance); 215 } else if (result == COLLISION)216 {217 minDistance = currentDistance;218 currentDistance = fS_Utils::avg(maxDistance, currentDistance);219 120 } 220 221 if(maxDistance <= 0 || iterationNo > 1000)222 throw fS_Exception("Computing of distances between parts failed", 0);223 if (currentDistance > maxDistance)224 {225 throw fS_Exception("Internal error; the maximal distance between parts exceeded.", 0);226 }227 if (currentDistance < minDistance)228 throw fS_Exception("Internal error; the minimal distance between parts exceeded.", 0);229 230 121 } 231 122 delete tmpPart; 123 delete parentTmpPart; 232 124 return currentDistance; 233 125 }
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