Changeset 969 for cpp/frams/genetics/fS

Timestamp:

06/30/20 00:32:56 (5 years ago)

Author:

Maciej Komosinski

Message:

fS: preserved volume during shape-type changes

Location:

cpp/frams/genetics/fS

Files:

• fS_general.cpp (modified) (24 diffs)
• fS_general.h (modified) (14 diffs)
• fS_oper.cpp (modified) (19 diffs)
• fS_oper.h (modified) (2 diffs)

cpp/frams/genetics/fS/fS_general.cpp

@@ -10 +10 @@
 #include "frams/util/rndutil.h"
 #include "frams/neuro/neurolibrary.h"
-
+#include "../genooperators.h"
 
 int fS_Genotype::precision = 4;
-
-
-double round2(double var)
-{
-        double value = (int) (var * 100 + .5);
-        return (double) value / 100;
-}
+bool fS_Genotype::TURN_WITH_ROTATION = false;
+
 
 double fS_stod(const string&  str, int start, size_t* size)
@@ -30 +25 @@
         {
                 throw fS_Exception("Invalid numeric value", start);
+        }
+        catch(const std::out_of_range& ex)
+        {
+                throw fS_Exception("Invalid numeric value; out of range", start);
         }
 }
@@ -39 +38 @@
         fr = _state->fr;
         s = _state->s;
+        stif = _state->stif;
 }
 
@@ -55 +55 @@
 {
         Orient rotmatrix = Orient_1;
-        rotmatrix.rotate(Pt3D(
-                        Convert::toRadians(rotation.x),
-                        Convert::toRadians(rotation.y),
-                        Convert::toRadians(rotation.z)
-        ));
+        rotmatrix.rotate(rotation);
         vector = rotmatrix.transform(vector);
 }
@@ -115 +111 @@
 }
 
-Node::Node(Substring &restOfGeno, bool _modifierMode, bool _paramMode, bool _cycleMode, Node *_parent)
+Node::Node(Substring &restOfGeno, Node *_parent)
 {
         parent = _parent;
-        modifierMode = _modifierMode;
-        paramMode = _paramMode;
-        cycleMode = _cycleMode;
         partDescription = new Substring(restOfGeno);
 
@@ -293 +286 @@
                 return item->second;
         else
-                return defaultParamValues.at(key);
+                return defaultValues.at(key);
 }
 
@@ -415 +408 @@
 }
 
-double getDistance(Pt3D radiiParent, Pt3D radii, Pt3D vector, Pt3D rotationParent, Pt3D rotation)
-{
+double Node::getDistance()
+{
+        Pt3D size = calculateSize();
+        Pt3D parentSize = parent->calculateSize();      // Here we are sure that parent is not nullptr
         int parentSphereCount, sphereCount;
         double parentSphereRadius, sphereRadius;
-        Pt3D *centersParent = findSphereCenters(parentSphereCount, parentSphereRadius, radiiParent, rotationParent);
-        Pt3D *centers = findSphereCenters(sphereCount, sphereRadius, radii, rotation);
+        Pt3D *centersParent = findSphereCenters(parentSphereCount, parentSphereRadius, parentSize, parent->getRotation());
+        Pt3D *centers = findSphereCenters(sphereCount, sphereRadius, size, getRotation());
 
         double distanceThreshold = sphereRadius + parentSphereRadius;
         double minDistance = 0.0;
-        double maxDistance = 2 * (max3(radiiParent) + max3(radii));
+        double maxDistance = 2 * (max3(parentSize) + max3(size));
         double currentDistance = avg(maxDistance, minDistance);
         int result = -1;
+        int iterationNo = 0;
         while (result != ADJACENT)
         {
-                Pt3D currentVector = vector * currentDistance;
+                iterationNo++;
+                Pt3D currentVector = state->v * currentDistance;
                 result = isCollision(centersParent, centers, parentSphereCount, sphereCount, currentVector, distanceThreshold);
+
                 if (result == DISJOINT)
                 {
@@ -440 +438 @@
                         currentDistance = avg(maxDistance, currentDistance);
                 }
+
+                if(maxDistance <= 0 || iterationNo > 1000)
+                        throw fS_Exception("Computing of distances between parts failed", 0);
                 if (currentDistance > maxDistance)
+                {
                         throw fS_Exception("Internal error; then maximal distance between parts exceeded.", 0);
+                }
                 if (currentDistance < minDistance)
                         throw fS_Exception("Internal error; the minimal distance between parts exceeded.", 0);
@@ -449 +452 @@
         delete[] centersParent;
         delete[] centers;
-        return round2(currentDistance);
-}
-
-void Node::getState(State *_state, const Pt3D &parentSize)
+        return currentDistance;
+}
+
+void Node::getState(State *_state)
 {
         if (state != nullptr)
@@ -473 +476 @@
                 else if (mod == MODIFIERS[2])
                         state->s *= multiplier;
-        }
-
-        Pt3D size = calculateSize();
+                else if (mod == MODIFIERS[3])
+                        state->stif *= multiplier;
+        }
+
         if (parent != nullptr)
         {
@@ -481 +485 @@
                 state->rotate(getVectorRotation());
 
-                double distance = getDistance(parentSize, size, state->v, getRotation(), getRotation());
+                double distance = getDistance();
                 state->addVector(distance);
         }
         for (int i = 0; i < int(children.size()); i++)
-                children[i]->getState(state, size);
+                children[i]->getState(state);
 }
 
@@ -493 +497 @@
         for (int i = 0; i < int(branches.size()); i++)
         {
-                children.push_back(new Node(branches[i], modifierMode, paramMode, cycleMode, this));
+                children.push_back(new Node(branches[i], this));
         }
 }
@@ -593 +597 @@
 Pt3D Node::getVectorRotation()
 {
-        double rx = getParam(ROT_X);
-        double ry = getParam(ROT_Y);
-        double rz = getParam(ROT_Z);
-        return Pt3D(rx, ry, rz);
+        return Pt3D(getParam(ROT_X), getParam(ROT_Y), getParam(ROT_Z));
 }
 
 Pt3D Node::getRotation()
 {
-        double rx = getParam(RX);
-        double ry = getParam(RY);
-        double rz = getParam(RZ);
-        return Pt3D(rx, ry, rz);
+        Pt3D rotation = Pt3D(getParam(RX), getParam(RY), getParam(RZ));
+        if(fS_Genotype::TURN_WITH_ROTATION)
+                rotation += getVectorRotation();
+        return rotation;
 }
 
@@ -614 +615 @@
                 addJointsToModel(model, parent);
 
-
         for (int i = 0; i < int(neurons.size()); i++)
         {
@@ -639 +639 @@
 {
         part = new Part(partType);
-        part->p = Pt3D(round2(state->location.x),
-                                   round2(state->location.y),
-                                   round2(state->location.z));
-
-        part->friction = round2(getParam(FRICTION) * state->fr);
-        part->ingest = round2(getParam(INGESTION) * state->ing);
+        part->p = Pt3D(state->location.x,
+                                   state->location.y,
+                                   state->location.z);
+
+        part->friction = getParam(FRICTION) * state->fr;
+        part->ingest = getParam(INGESTION) * state->ing;
         Pt3D size = calculateSize();
-        part->scale.x = round2(size.x);
-        part->scale.y = round2(size.y);
-        part->scale.z = round2(size.z);
+        part->scale.x = size.x;
+        part->scale.y = size.y;
+        part->scale.z = size.z;
         part->setRot(getRotation());
 }
@@ -655 +655 @@
 {
         Joint *j = new Joint();
+        j->stif = getParam(STIFFNESS) * state->stif;
+        j->rotstif = j->stif;
+
         j->attachToParts(parent->part, part);
         switch (joint)
@@ -698 +701 @@
                         if (i != 0)
                                 result += NEURON_SEPARATOR;
-                        if (n->getClassName() != "N")
-                        {
-                                result += n->getDetails();
-                                if (!n->inputs.empty())
-                                        result += NEURON_INTERNAL_SEPARATOR;
-                        }
+
+                        result += n->getDetails();
+                        if (!n->inputs.empty())
+                                result += NEURON_INTERNAL_SEPARATOR;
+
                         for (auto it = n->inputs.begin(); it != n->inputs.end(); ++it)
                         {
@@ -714 +716 @@
                                         result += SString::valueOf(it->second);
                                 }
-
                         }
                 }
@@ -754 +755 @@
 
 
-bool Node::changeSizeParam(string paramKey, double multiplier, bool ensureCircleSection)
-{
-        double oldValue = getParam(paramKey);
-        params[paramKey] = oldValue * multiplier;
+bool Node::changeSizeParam(string key, bool ensureCircleSection)
+{
+        double oldValue = getParam(key);
+        params[key] = GenoOperators::mutateCreep('f', params[key], minValues.at(key), maxValues.at(key), true);
         if (!ensureCircleSection || isPartSizeValid())
                 return true;
         else
         {
-                params[paramKey] = oldValue;
+                params[key] = oldValue;
                 return false;
         }
@@ -786 +787 @@
         {
                 string geno = genotype.c_str();
-                // M - modifier mode, S - standard mode
-                size_t modeSeparatorIndex = geno.find(':');
-                if (modeSeparatorIndex == string::npos)
-                        throw fS_Exception("No mode separator", 0);
-
-                string modeStr = geno.substr(0, modeSeparatorIndex).c_str();
-                bool modifierMode = modeStr.find(MODIFIER_MODE) != string::npos;
-                bool paramMode = modeStr.find(PARAM_MODE) != string::npos;
-                bool cycleMode = modeStr.find(CYCLE_MODE) != string::npos;
-
-                int actualGenoStart = modeSeparatorIndex + 1;
-                Substring substring(geno.c_str(), actualGenoStart, geno.length() - actualGenoStart);
-                startNode = new Node(substring, modifierMode, paramMode, cycleMode, nullptr);
+                Substring substring(geno.c_str(), 0, geno.length());
+                startNode = new Node(substring, nullptr);
                 validateNeuroInputs();
         }
@@ -816 +806 @@
 {
         State *initialState = new State(Pt3D(0), Pt3D(1, 0, 0));
-        startNode->getState(initialState, Pt3D(1.0));
-}
-
-double fS_Genotype::randomParamMultiplier()
-{
-        double multiplier = 1 + fabs(RndGen.GaussStd());
-        if (multiplier > PARAM_MAX_MULTIPLIER)
-                multiplier = PARAM_MAX_MULTIPLIER;
-        if (rndUint(2) == 0)
-                multiplier = 1.0 / multiplier;
-        return multiplier;
+        startNode->getState(initialState);
 }
 
@@ -833 +813 @@
         getState();
         startNode->buildModel(model, nullptr);
-
         buildNeuroConnections(model);
-
-        // Additional joints
-        vector<Node*> allNodes = getAllNodes();
-        for (int i = 0; i < int(allNodes.size()); i++)
-        {
-                Node *node = allNodes[i];
-                if (node->params.find(JOINT_DISTANCE) != node->params.end())
-                {
-                        Node *otherNode = getNearestNode(allNodes, node);
-                        if (otherNode != nullptr)
-                        {
-                                // If other node is close enough, add a joint
-                                double distance = node->state->location.distanceTo(otherNode->state->location);
-                                if (distance < node->params[JOINT_DISTANCE])
-                                {
-                                        Joint *joint = new Joint();
-                                        joint->attachToParts(node->part, otherNode->part);
-
-                                        joint->shape = Joint::Shape::SHAPE_FIXED;
-                                        model.addJoint(joint);
-                                }
-                        }
-                }
-        }
 }
 
@@ -905 +860 @@
         SString geno;
         geno.memoryHint(100);     // Provide a small buffer from the start to improve performance
-
-        if (startNode->modifierMode)
-                geno += MODIFIER_MODE;
-        if (startNode->paramMode)
-                geno += PARAM_MODE;
-        if (startNode->cycleMode)
-                geno += CYCLE_MODE;
-
-        geno += ':';
         startNode->getGeno(geno);
         return geno;
@@ -1010 +956 @@
                 if (!nodes[i]->isPartSizeValid())
                 {
-                        return nodes[i]->partDescription->start;
+                        return 1 + nodes[i]->partDescription->start;
                 }
         }

cpp/frams/genetics/fS/fS_general.h

@@ -14 +14 @@
 #include "frams/util/multirange.h"
 
-/** @name Names of genotype modes */
-//@{
-#define MODIFIER_MODE 'M'
-#define PARAM_MODE 'S'
-#define CYCLE_MODE 'J'
-//@}
-
 /** @name Values of constants used in encoding */
 //@{
 #define BRANCH_START '('
 #define BRANCH_END ')'
-#define BRANCH_SEPARATOR ','
+#define BRANCH_SEPARATOR '^'
 #define PARAM_START '{'
 #define PARAM_END '}'
@@ -45 +38 @@
 /** @name Every modifier changes the underlying value by this multiplier */
 const double MODIFIER_MULTIPLIER = 1.1;
-/** @name In mutation parameters will be multiplied by at most this value */
-const double PARAM_MAX_MULTIPLIER = 1.5;
-
 /**
  * Used in finding the proper distance between the parts
@@ -70 +60 @@
 #define INGESTION "i"
 #define FRICTION "f"
+#define STIFFNESS "st"
 #define SIZE "s"
 #define SIZE_X "x"
@@ -80 +71 @@
 #define RY "ry"
 #define RZ "rz"
-#define JOINT_DISTANCE "j"
 //@}
 /** @name Macros and values used in collision detection */
@@ -113 +103 @@
 const char DEFAULT_JOINT = 'a';
 const string JOINTS = "bc";
+const string ALL_JOINTS = "abc";
 const int JOINT_COUNT = JOINTS.length();
-const string MODIFIERS = "IFS";
+const string MODIFIERS = "IFST";
 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,
-                                                          JOINT_DISTANCE};
+                                                         STIFFNESS};
 
 /** @name Default values of node parameters*/
 static const Part defPart = Model::getDefPart();
-const std::map<string, double> defaultParamValues = {
+static const Joint defJoint = Model::getDefJoint();
+const std::map<Part::Shape, double> volumeMultipliers = {
+                {Part::Shape::SHAPE_CUBOID, 8.0},
+                {Part::Shape::SHAPE_CYLINDER, 2.0 * M_PI},
+                {Part::Shape::SHAPE_ELLIPSOID, (4.0 / 3.0) * M_PI},
+};
+const std::map<string, double> defaultValues = {
                 {INGESTION,      defPart.ingest},
                 {FRICTION,       defPart.friction},
+                {STIFFNESS,              defJoint.stif},
                 {ROT_X,          0.0},
                 {ROT_Y,          0.0},
@@ -133 +131 @@
                 {SIZE_X,         1.0},
                 {SIZE_Y,         1.0},
-                {SIZE_Z,         1.0},
-                {JOINT_DISTANCE, 1.0}
+                {SIZE_Z,         1.0}
+};
+
+const std::map<string, double> minValues = {
+                {INGESTION,      0},
+                {FRICTION,       0},
+                {STIFFNESS,      0.0},
+                {ROT_X,          -M_PI},
+                {ROT_Y,          -M_PI},
+                {ROT_Z,          -M_PI},
+                {RX,             -M_PI},
+                {RY,             -M_PI},
+                {RZ,             -M_PI},
+                {SIZE,           0.01},
+                {SIZE_X,         0.01},
+                {SIZE_Y,         0.01},
+                {SIZE_Z,         0.01}
+};
+
+const std::map<string, double> maxValues = {
+                {INGESTION,      1.0},
+                {FRICTION,       1.0},
+                {STIFFNESS,      0.0},
+                {ROT_X,          M_PI},
+                {ROT_Y,          M_PI},
+                {ROT_Z,          M_PI},
+                {RX,             M_PI},
+                {RY,             M_PI},
+                {RZ,             M_PI},
+                {SIZE,           100.0},
+                {SIZE_X,         100.0},
+                {SIZE_Y,         100.0},
+                {SIZE_Z,         100.0}
 };
 
@@ -252 +281 @@
         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
@@ -301 +331 @@
 private:
         Substring *partDescription = nullptr;
-        bool cycleMode, modifierMode, paramMode; /// Possible modes
         Node *parent;
         Part *part;     /// A part object built from node. Used in building the Model
@@ -309 +338 @@
         vector<Node *> children;    /// Vector of all direct children
         std::map<char, int> modifiers;     /// Vector of all modifiers
-        char joint = DEFAULT_JOINT;           /// Set of all joints
         vector<fS_Neuron *> neurons;    /// Vector of all the neurons
 
-        static double calculateRadiusFromVolume(Part::Shape partType, double volume)
-        {
-                double result;
-                switch (partType)
-                {
-                        case Part::Shape::SHAPE_CUBOID:
-                                result = std::cbrt(volume / 8.0);
-                                break;
-                        case Part::Shape::SHAPE_CYLINDER:
-                                result = std::cbrt(volume / (2.0 * M_PI));
-                                break;
-                        case Part::Shape::SHAPE_ELLIPSOID:
-                                result = std::cbrt(volume / ((4.0 / 3.0) * M_PI));
-                                break;
-                        default:
-                                logMessage("fS", "calculateVolume", LOG_ERROR, "Invalid part type");
-                }
-                return result;
-        }
+        double getDistance();
 
         void cleanUp();
@@ -384 +394 @@
          * @param _state state of the parent
          */
-        void getState(State *_state, const Pt3D &parentSize);
+        void getState(State *_state);
 
         /**
@@ -419 +429 @@
 
 public:
+        char joint = DEFAULT_JOINT;           /// Set of all joints
         Part::Shape partType;  /// The type of the part
         State *state = nullptr; /// The phenotypic state that inherits from ancestors
 
-        Node(Substring &genotype, bool _modifierMode, bool _paramMode, bool _cycleMode, Node *parent);
+        Node(Substring &genotype, Node *parent);
 
         ~Node();
@@ -452 +463 @@
          * @return True if the parameter value was change, false otherwise
          */
-        bool changeSizeParam(string paramKey, double multiplier, bool ensureCircleSection);
+        bool changeSizeParam(string paramKey,  bool ensureCircleSection);
 
         /**
@@ -501 +512 @@
 
         static int precision;
+        static bool TURN_WITH_ROTATION;
 
         /**
@@ -511 +523 @@
 
         void getState();
-
-        /**
-         * Get a random multiplier for parameter mutation
-         * @return Random parameter multiplier
-         */
-        static double randomParamMultiplier();
 
         /**

cpp/frams/genetics/fS/fS_oper.cpp

@@ -15 +15 @@
                                 {"fS_mut_rem_part",         0, 0, "Remove part",              "f 0 100 10", FIELD(prob[FS_REM_PART]),             "mutation: probability of deleting a part",},
                                 {"fS_mut_mod_part",         0, 0, "Modify part",              "f 0 100 10", FIELD(prob[FS_MOD_PART]),             "mutation: probability of changing the part type",},
-                                {"fS_mut_add_joint",        0, 0, "Add joint",                "f 0 100 10", FIELD(prob[FS_ADD_JOINT]),            "mutation: probability of adding a joint",},
-                                {"fS_mut_rem_joint",        0, 0, "Remove joint",             "f 0 100 10", FIELD(prob[FS_REM_JOINT]),            "mutation: probability of removing a joint",},
+                                {"fS_mut_change_joint",        0, 0, "Change joint",                "f 0 100 10", FIELD(prob[FS_CHANGE_JOINT]),            "mutation: probability of changing a joint",},
                                 {"fS_mut_add_param",        0, 0, "Add param",                "f 0 100 10", FIELD(prob[FS_ADD_PARAM]),            "mutation: probability of adding a parameter",},
                                 {"fS_mut_rem_param",        0, 0, "Remove param",             "f 0 100 10", FIELD(prob[FS_REM_PARAM]),            "mutation: probability of removing a parameter",},
@@ -41 +40 @@
         par.select(this);
         par.setDefault();
-        supported_format = "S";
+        supported_format = 'S';
 }
 
@@ -53 +52 @@
                 {
                         logPrintf("GenoOper_fS", "checkValidity", LOG_ERROR, "Invalid part size");
-                        return 1 + errorPosition;
+                        return errorPosition;
                 }
         }
@@ -92 +91 @@
                         result = changePartType(genotype, availableTypes);
                         break;
-                case FS_ADD_JOINT:
-                        result = addJoint(genotype);
-                        break;
-                case FS_REM_JOINT:
-                        result = removeJoint(genotype);
+                case FS_CHANGE_JOINT:
+                        result = changeJoint(genotype);
                         break;
                 case FS_ADD_PARAM:
@@ -214 +210 @@
 const char* GenoOper_fS::getSimplest()
 {
-        return "S:C{x=0.80599;y=0.80599;z=0.80599}";
+        return "C{x=0.80599;y=0.80599;z=0.80599}";
 }
 
@@ -233 +229 @@
                 style = GENSTYLE_RGBS(0, 200, 0, GENSTYLE_NONE);
         }
-        else if (isdigit(ch) || strchr(".=", ch)) // Numerical value
+        else if (isdigit(ch) || strchr(".", ch)) // Numerical value
         {
                 style = GENSTYLE_RGBS(200, 0, 0, GENSTYLE_NONE);
         }
-        else if(strchr("()_;[],", ch))
+        else if(strchr("()_;[],=", ch))
         {
                 style = GENSTYLE_CS(0, GENSTYLE_BOLD); // Important char
@@ -292 +288 @@
 
         Substring substring(&partType, 0, 1);
-        Node *newNode = new Node(substring, node->modifierMode, node->paramMode, node->cycleMode, node);
+        Node *newNode = new Node(substring, node);
         // Add random rotation
         string rotationParams[]{ROT_X, ROT_Y, ROT_Z};
@@ -298 +294 @@
         {
                 for(int i=0; i < 3; i++)
-                        newNode->params[rotationParams[i]] = RndGen.Uni(-90, 90);
+                        newNode->params[rotationParams[i]] = RndGen.Uni(-M_PI / 2, M_PI / 2);
         }
         else
         {
                 string selectedParam = rotationParams[rndUint(3)];
-                newNode->params[selectedParam] = RndGen.Uni(-90, 90);
+                newNode->params[selectedParam] = RndGen.Uni(-M_PI / 2, M_PI / 2);
         }
         string rParams[]{RX, RY, RZ};
@@ -309 +305 @@
         {
                 for(int i=0; i < 3; i++)
-                        newNode->params[rParams[i]] = RndGen.Uni(-90, 90);
+                        newNode->params[rParams[i]] = RndGen.Uni(-M_PI / 2, M_PI / 2);
         }
         else
         {
                 string selectedParam = rParams[rndUint(3)];
-                newNode->params[selectedParam] = RndGen.Uni(-90, 90);
+                newNode->params[selectedParam] = RndGen.Uni(-M_PI / 2, M_PI / 2);
         }
         // Assign part size to default value
@@ -324 +320 @@
         double relativeVolume = volume / volumeMultiplier;    // Volume without applying modifiers
 
-        double newRadius = Node::calculateRadiusFromVolume(newNode->partType, relativeVolume);
+        double newRadius = std::cbrt(relativeVolume / volumeMultipliers.at(newNode->partType));
         newNode->params[SIZE_X] = newRadius;
         newNode->params[SIZE_Y] = newRadius;
@@ -333 +329 @@
         {
                 geno.getState();
-                newNode->changeSizeParam(SIZE_X, fS_Genotype::randomParamMultiplier(), true);
-                newNode->changeSizeParam(SIZE_Y, fS_Genotype::randomParamMultiplier(), true);
-                newNode->changeSizeParam(SIZE_Z, fS_Genotype::randomParamMultiplier(), true);
+                newNode->changeSizeParam(SIZE_X, true);
+                newNode->changeSizeParam(SIZE_Y, true);
+                newNode->changeSizeParam(SIZE_Z, true);
         }
         return true;
@@ -374 +370 @@
                 int index = rndUint(availTypesLength);
                 if (availTypes[index] == SHAPETYPE_TO_GENE.at(randomNode->partType))
-                        index = (index + 1 + rndUint(availTypesLength)) % availTypesLength;
+                        index = (index + 1 + rndUint(availTypesLength - 1)) % availTypesLength;
                 char newTypeChr = availTypes[index];
 
@@ -385 +381 @@
 #endif
 
-                if (ensureCircleSection)
-                {
-                        geno.getState();
-                        if (randomNode->partType == Part::Shape::SHAPE_CUBOID
-                                || (randomNode->partType == Part::Shape::SHAPE_CYLINDER && newType == Part::Shape::SHAPE_ELLIPSOID))
-                        {
-                                double sizeMultiplier = randomNode->getParam(SIZE) * randomNode->state->s;
-                                double relativeVolume = randomNode->calculateVolume() / pow(sizeMultiplier, 3.0);
-                                double newRelativeRadius = Node::calculateRadiusFromVolume(newType, relativeVolume);
-                                randomNode->params[SIZE_X] = newRelativeRadius;
-                                randomNode->params[SIZE_Y] = newRelativeRadius;
-                                randomNode->params[SIZE_Z] = newRelativeRadius;
-                        }
+                geno.getState();
+                double sizeMultiplier = randomNode->getParam(SIZE) * randomNode->state->s;
+                double relativeVolume = randomNode->calculateVolume() / pow(sizeMultiplier, 3.0);
+
+                if(!ensureCircleSection || newType == Part::Shape::SHAPE_CUBOID || (randomNode->partType == Part::Shape::SHAPE_ELLIPSOID && newType == Part::Shape::SHAPE_CYLINDER))
+                {
+                        double radiusQuotient = std::cbrt(volumeMultipliers.at(randomNode->partType) / volumeMultipliers.at(newType));
+                        randomNode->params[SIZE_X] = randomNode->getParam(SIZE_X) * radiusQuotient;
+                        randomNode->params[SIZE_Y] = randomNode->getParam(SIZE_Y) * radiusQuotient;
+                        randomNode->params[SIZE_Z] = randomNode->getParam(SIZE_Z) * radiusQuotient;
+                }
+                else if(randomNode->partType == Part::Shape::SHAPE_CUBOID && newType == Part::Shape::SHAPE_CYLINDER)
+                {
+                        double newRadius = 0.5 * (randomNode->getParam(SIZE_X) + randomNode->getParam(SIZE_Y));
+                        randomNode->params[SIZE_X] = newRadius;
+                        randomNode->params[SIZE_Y] = newRadius;
+                        randomNode->params[SIZE_Z] = 0.5 * relativeVolume / (M_PI * newRadius * newRadius);
+                }
+                else if(newType == Part::Shape::SHAPE_ELLIPSOID)
+                {
+                        double newRelativeRadius = cbrt(relativeVolume / volumeMultipliers.at(newType));
+                        randomNode->params[SIZE_X] = newRelativeRadius;
+                        randomNode->params[SIZE_Y] = newRelativeRadius;
+                        randomNode->params[SIZE_Z] = newRelativeRadius;
+                }
+                else
+                {
+                        throw fS_Exception("Invalid part type", 1);
                 }
                 randomNode->partType = newType;
@@ -405 +416 @@
 }
 
-bool GenoOper_fS::addJoint(fS_Genotype &geno)
+bool GenoOper_fS::changeJoint(fS_Genotype &geno)
 {
         if (geno.startNode->children.empty())
                 return false;
 
-        Node *randomNode;
-        for (int i = 0; i < mutationTries; i++)
-        {
-                char randomJoint = JOINTS[rndUint(JOINT_COUNT)];
-                randomNode = geno.chooseNode(1);        // First part does not have joints
-                if (randomNode->joint == DEFAULT_JOINT)
-                {
-                        randomNode->joint = randomJoint;
-                        return true;
-                }
-        }
-        return false;
-}
-
-
-bool GenoOper_fS::removeJoint(fS_Genotype &geno)
-{
-        // This operator may can lower success rate that others, as it does not work when there is only one node
-        if (geno.startNode->children.size() < 1) // Only one node; there are no joints
-                return false;
-
-        // Choose a node with joints
-        for (int i = 0; i < mutationTries; i++)
-        {
-                Node *randomNode = geno.chooseNode(1);    // First part does not have joints
-                if (randomNode->joint != DEFAULT_JOINT)
-                {
-                        randomNode->joint = DEFAULT_JOINT;
-                        return true;
-                }
-        }
-        return false;
+        Node *randomNode = geno.chooseNode(1);        // First part does not have joints
+        int jointLen  = ALL_JOINTS.length();
+        int index = rndUint(jointLen);
+        if (ALL_JOINTS[index] == randomNode->joint)
+                index = (index + 1 + rndUint(jointLen - 1)) % jointLen;
+
+        randomNode->joint = ALL_JOINTS[index];
+        return true;
 }
 
@@ -450 +437 @@
         if (paramCount == int(PARAMS.size()))
                 return false;
-        string selectedParam = PARAMS[rndUint(PARAMS.size())];
-        // Not allow 'j' parameter when the cycle mode is not on
-        if (selectedParam == JOINT_DISTANCE && !geno.startNode->cycleMode)
-                return false;
-        if (randomNode->params.count(selectedParam) > 0)
+        string key = PARAMS[rndUint(PARAMS.size())];
+        if (randomNode->params.count(key) > 0)
                 return false;
         // Do not allow invalid changes in part size
-        bool isRadiusOfBase = selectedParam == SIZE_X || selectedParam == SIZE_Y;
-        bool isRadius = isRadiusOfBase || selectedParam == SIZE_Z;
+        bool isRadiusOfBase = key == SIZE_X || key == SIZE_Y;
+        bool isRadius = isRadiusOfBase || key == SIZE_Z;
         if (ensureCircleSection && isRadius)
         {
@@ -467 +451 @@
         }
         // Add modified default value for param
-        randomNode->params[selectedParam] = defaultParamValues.at(selectedParam);
+        randomNode->params[key] = mutateCreep('f', defaultValues.at(key), minValues.at(key), maxValues.at(key), true);
         return true;
 }
@@ -501 +485 @@
                         advance(it, rndUint(paramCount));
 
-                        double multiplier = fS_Genotype::randomParamMultiplier();
-
-
                         // Do not allow invalid changes in part size
                         if (it->first != SIZE_X && it->first != SIZE_Y && it->first != SIZE_Z)
                         {
-                                it->second *= multiplier;
+                                it->second = GenoOperators::mutateCreep('f', it->second, minValues.at(it->first), maxValues.at(it->first), true);
                                 return true;
                         } else
-                                return randomNode->changeSizeParam(it->first, multiplier, ensureCircleSection);
+                                return randomNode->changeSizeParam(it->first, ensureCircleSection);
                 }
         }
@@ -607 +588 @@
                         advance(it, rndUint(inputCount));
 
-                        it->second = GenoOperators::getMutatedNeuroClassProperty(it->second, selectedNeuron, -1);
+                        it->second = GenoOperators::getMutatedNeuronConnectionWeight(it->second);
                         return true;
                 }
@@ -673 +654 @@
 
         fS_Neuron *neu = neurons[rndUint(neurons.size())];
-        SyntParam par = neu->classProperties();
-
-        if (par.getPropCount() > 0)
-        {
-                int i = rndUint(par.getPropCount());
-                if (*par.type(i) == 'f')
-                {
-                        double change = GenoOperators::getMutatedNeuroClassProperty(par.getDouble(i), neu, GenoOperators::NEUROCLASS_PROP_OFFSET + i);
-                        par.setDouble(i, change);
-                }
-                SString line;
-                int tmp = 0;
-                par.update(&line);
-                SString props;
-                line.getNextToken(tmp, props, '\n'); // removal of newline character
-                if (props != "")
-                {
-                        SString det = neu->getClass()->name + ": " + props;
-                        neu->setDetails(det);
-                        return true;
-                }
-        }
-
-        return false;
-}
+        return GenoOperators::mutateRandomNeuroClassProperty(neu);
+}

cpp/frams/genetics/fS/fS_oper.h

@@ -15 +15 @@
 #define FS_REM_PART 1
 #define FS_MOD_PART 2
-#define FS_ADD_JOINT 3
-#define FS_REM_JOINT 4
-#define FS_ADD_PARAM 5
-#define FS_REM_PARAM 6
-#define FS_MOD_PARAM 7
-#define FS_MOD_MOD 8
-#define FS_ADD_NEURO 9
-#define FS_REM_NEURO 10
-#define FS_MOD_NEURO_CONNECTION 11
-#define FS_ADD_NEURO_CONNECTION 12
-#define FS_REM_NEURO_CONNECTION 13
-#define FS_MOD_NEURO_PARAMS 14
-#define FS_OPCOUNT 15
+#define FS_CHANGE_JOINT 3
+#define FS_ADD_PARAM 4
+#define FS_REM_PARAM 5
+#define FS_MOD_PARAM 6
+#define FS_MOD_MOD 7
+#define FS_ADD_NEURO 8
+#define FS_REM_NEURO 9
+#define FS_MOD_NEURO_CONNECTION 10
+#define FS_ADD_NEURO_CONNECTION 11
+#define FS_REM_NEURO_CONNECTION 12
+#define FS_MOD_NEURO_PARAMS 13
+#define FS_OPCOUNT 14
 //@}
 
@@ -90 +89 @@
 
         /**
-         * Performs add joint mutation on genotype
+         * Changes the type of one joint in genotype
          * @return true if mutation succeeded, false otherwise
          */
-        bool addJoint(fS_Genotype &geno);
-
-        /**
-         * Performs remove mutation on genotype
-         * @return true if mutation succeeded, false otherwise
-         */
-        bool removeJoint(fS_Genotype &geno);
+        bool changeJoint(fS_Genotype &geno);
 
         /**