Changeset 1017 for cpp/frams/genetics/fS/fS_general.h

Timestamp:

07/20/20 16:37:38 (4 years ago)

Author:

Maciej Komosinski

Message:

fS: faster collision detection, depends on "geometry" algorithms

File:

• cpp/frams/genetics/fS/fS_general.h (modified) (9 diffs)

cpp/frams/genetics/fS/fS_general.h

@@ -54 +54 @@
 #define RZ "rz"
 //@}
-/** @name Macros and values used in collision detection */
-//@{
-#define DISJOINT 0
-#define COLLISION 1
-#define ADJACENT 2
-//@}
+
 
 #define HINGE_X 'b'
@@ -87 +82 @@
 const string ALL_JOINTS = "abc";
 const int JOINT_COUNT = JOINTS.length();
-const string MODIFIERS = "IFST";
+const string MODIFIERS = "IFS";
 const char SIZE_MODIFIER = 's';
-const vector<string> PARAMS {INGESTION, FRICTION, ROT_X, ROT_Y, ROT_Z, RX, RY, RZ, SIZE, SIZE_X, SIZE_Y, SIZE_Z,
-                                                         STIFFNESS};
+const vector<string> PARAMS {INGESTION, FRICTION, ROT_X, ROT_Y, ROT_Z, RX, RY, RZ, SIZE, SIZE_X, SIZE_Y, SIZE_Z};
 const vector<string> SIZE_PARAMS {SIZE, SIZE_X, SIZE_Y, SIZE_Z};
 
@@ -214 +208 @@
         double ing = 1.0;      /// Ingestion multiplier
         double s = 1.0;      /// Size multipliers
-        double stif = 1.0;      /// Stiffness multipliers
 
         State(State *_state); /// Derive the state from parent
@@ -272 +265 @@
         Part *part;     /// A part object built from node. Used in building the Model
         int partCodeLen; /// The length of substring that directly describes the corresponding part
-        std::map<string, double> defaultValues;
         GenotypeParams genotypeParams;
 
@@ -335 +327 @@
          * @param _state state of the parent
          */
-        void getState(State *_state);
+        void getState(State *_state, bool calculateLocation);
 
         /**
@@ -370 +362 @@
 
 public:
+        static std::map<string, double> minValues;
+        static std::map<string, double> defaultValues;
+        static std::map<string, double> maxValues;
         char joint = DEFAULT_JOINT;           /// Set of all joints
         Part::Shape partType;  /// The type of the part
@@ -389 +384 @@
          * @return The effective size
          */
-        Pt3D calculateSize();
+        void calculateSize(Pt3D &scale);
 
         /**
@@ -407 +402 @@
          * @return the param value
          */
-        double getParam(string key);
+        double getParam(const string &key);
+        double getParam(const string &key, double defaultValue);
 };
 
@@ -454 +450 @@
         ~fS_Genotype();
 
-        void getState();
+        void getState(bool calculateLocation);
 
         /**