Examples of EvolvableBoxAgent3DAppendixInfo

eas.users.students.fabian.diplomarbeit.EvolvableBoxAgents3D.Agents.EvolvableBoxAgent3DAppendixInfo
A class to store all information necessary to create an appendix. @author Fabian

Examples of eas.users.students.fabian.diplomarbeit.EvolvableBoxAgents3D.Agents.EvolvableBoxAgent3DAppendixInfo

      freeAxis = 2;
    }
    // Provoke error with freeaxis = 1:
    // freeAxis = 1;


    EvolvableBoxAgent3DAppendixInfo ainfo = new EvolvableBoxAgent3DAppendixInfo(
        1, // 1st appendix
        0, // attached directly to the core
        new Vector3f(size), new Vector3f(positionOnPredecessor),
        freeAxis);


    appendixInfoList.add(ainfo);


    // Randomly generate the maximum allowed number of appendices.
    // 2 + r.nextInt(9) means a total of 10 boxes maximum.
    // r.nextInt(9) returns 0-8 not 0-9!
    
    int totalNumberOfBoxes = 2 + random.nextInt(maxNumOfBoxes-2);
    //totalNumberOfBoxes = 4;
    for (int currentAppendixId = 2; currentAppendixId < totalNumberOfBoxes; currentAppendixId++) {
      // Define predecessor to attach this appendix to.
      predecessorId = random.nextInt(currentAppendixId);


      size = new Vector3f();
      size.x = .5f + (float) Math.abs(random.nextGaussian());
      size.y = .5f + (float) Math.abs(random.nextGaussian());
      size.z = .5f + (float) Math.abs(random.nextGaussian());


      positionOnPredecessor = new Vector3f();
      positionOnPredecessor.x = (float) random.nextGaussian();
      positionOnPredecessor.y = (float) random.nextGaussian();
      positionOnPredecessor.z = (float) random.nextGaussian();


      // Bug, siehe oben.
      // freeAxis = r.nextInt(3);
      if (Math.random() > .5) {
        freeAxis = 0;
      } else {
        freeAxis = 2;
      }


      ainfo = new EvolvableBoxAgent3DAppendixInfo(currentAppendixId,
          predecessorId, new Vector3f(size), new Vector3f(
              positionOnPredecessor), freeAxis);


      appendixInfoList.add(ainfo);
    }

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Examples of eas.users.students.fabian.diplomarbeit.EvolvableBoxAgents3D.Agents.EvolvableBoxAgent3DAppendixInfo


    Iterator<EvolvableBoxAgent3DAppendixInfo> iter = appendixInfoList
        .iterator();


    while (iter.hasNext()) {
      EvolvableBoxAgent3DAppendixInfo ainfo = iter.next();
      EvolvableBoxAgent3DConnectable predecessor = null;
      // If predecessorId == 0 then attach it directly to the core.
      if (ainfo.getPredecessorId() == 0) {
        predecessor = agent;
      }
      // If not, attach it to the appendix with the id.
      else {
        predecessor = agent.getAppendices().get(
            ainfo.getPredecessorId());
      }


      new EvolvableBoxAgent3DAppendix(ainfo.getAppendixId(), predecessor,
          ainfo.getSize(), ainfo.getPositionOnPredecessor(),
          ainfo.getFreeAxis());//.hashCode();
    }


    EvoBoxNeuroBrain brain = new EvoBoxNeuroBrain(agent, agent.id(),
        new Random(), genome.getSparseNet().createOffspring(agentId));
    agent.implantBrain(brain);

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Examples of eas.users.students.fabian.diplomarbeit.EvolvableBoxAgents3D.Agents.EvolvableBoxAgent3DAppendixInfo

            .nextToken());
        Vector3f appendixSize = getVector3fFromString(mainST
            .nextToken());
        int freeAxis = Integer.parseInt(mainST.nextToken());


        EvolvableBoxAgent3DAppendixInfo ainfo = new EvolvableBoxAgent3DAppendixInfo(
            appendixId, predecessorId, appendixSize,
            positionOnPredecessor, freeAxis);
        appendixInfoList.add(ainfo);
        /*
         * if (!mainST.hasMoreTokens()) { moreAppendices = false; } /*

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Examples of eas.users.students.fabian.diplomarbeit.EvolvableBoxAgents3D.Agents.EvolvableBoxAgent3DAppendixInfo

    // Make an exact copy of the old genome's appendices info.
    LinkedList<EvolvableBoxAgent3DAppendixInfo> newAppendixInfoList = new LinkedList<EvolvableBoxAgent3DAppendixInfo>();
    Iterator<EvolvableBoxAgent3DAppendixInfo> iterGenomeToBeMutated = genomeToBeMutated
        .getAppendixInfoList().iterator();
    while (iterGenomeToBeMutated.hasNext()) {
      EvolvableBoxAgent3DAppendixInfo ainfoOld = iterGenomeToBeMutated
          .next();
      EvolvableBoxAgent3DAppendixInfo ainfoNew = new EvolvableBoxAgent3DAppendixInfo(
          ainfoOld.getAppendixId(), ainfoOld.getPredecessorId(),
          ainfoOld.getSize(), ainfoOld.getPositionOnPredecessor(),
          ainfoOld.getFreeAxis());
      newAppendixInfoList.add(ainfoNew);
    }


    //float typeOfMutation = random.nextFloat();
    //if (typeOfMutation < .95) {
    if (random.nextDouble()*portionSum < portionSparseNet) {
      //System.out.println("Mutate the brain!");
      newSparseNet.mutate(params, random);
    }


    else {
      //System.out.println("Mutate the body!");
      // Define type of mutation.
      // 0: change box size, 1: change position on
      // predecessor, 2: change free axis,
      // 3: add new appendix, 4: delete one appendix
      //int pos = neurons.size() - outputs + outputNr;
      int typeOfBodyMutation = random.nextInt(5);
      //System.out.println("Type of mutation: " + typeOfBodyMutation);


      switch (typeOfBodyMutation) {
      // //////////////////////
      // Mutate the box size.
      case 0: {


        int numberOfBoxToChange = random
            .nextInt(newAppendixInfoList.size() + 1);


        // Mutate the core.
        if (numberOfBoxToChange == 0) {
          newAgentSize = mutateVector3fKeepPositive(newAgentSize, random);
        }


        // Mutate one of the appendices.
        else {
          EvolvableBoxAgent3DAppendixInfo ainfoOld = newAppendixInfoList
              .remove(numberOfBoxToChange - 1);
          Vector3f newBoxSize = mutateVector3fKeepPositive(ainfoOld
              .getSize(), random);
          EvolvableBoxAgent3DAppendixInfo ainfoNew = new EvolvableBoxAgent3DAppendixInfo(
              ainfoOld.getAppendixId(),
              ainfoOld.getPredecessorId(), new Vector3f(
                  newBoxSize),
              ainfoOld.getPositionOnPredecessor(),
              ainfoOld.getFreeAxis());
          newAppendixInfoList.add(numberOfBoxToChange - 1, ainfoNew);
        }
        //System.out.println("Box size mutated.");
        break;
      }


        // /////////////
        // Mutate position on predecessor
      case 1: {


        int numberOfAppendixToChange = random.nextInt(newAppendixInfoList
            .size());


        EvolvableBoxAgent3DAppendixInfo ainfoOld = newAppendixInfoList
            .remove(numberOfAppendixToChange);
        Vector3f newPositionOnPredecessor = mutateVector3fAllowNegative(ainfoOld
            .getPositionOnPredecessor(), random);
        EvolvableBoxAgent3DAppendixInfo ainfoNew = new EvolvableBoxAgent3DAppendixInfo(
            ainfoOld.getAppendixId(), ainfoOld.getPredecessorId(),
            ainfoOld.getSize(), new Vector3f(
                newPositionOnPredecessor),
            ainfoOld.getFreeAxis());
        newAppendixInfoList.add(numberOfAppendixToChange, ainfoNew);
        //System.out.println("Position on predecessor mutated.");
        break;
      }


        // /////////////
        // Change freeAxis
      case 2: {
        int numberOfAppendixToChange = random.nextInt(newAppendixInfoList
            .size());


        EvolvableBoxAgent3DAppendixInfo ainfoOld = newAppendixInfoList
            .remove(numberOfAppendixToChange);
        int newFreeAxis = random.nextInt(3);
        int oldFreeAxis = ainfoOld.getFreeAxis();
        // AVOID THE BUGGY y-AXIS!!! FIX THIS LATER!
        while ((newFreeAxis == 1) || newFreeAxis == oldFreeAxis) {
          newFreeAxis = random.nextInt(3);
        }
        EvolvableBoxAgent3DAppendixInfo ainfoNew = new EvolvableBoxAgent3DAppendixInfo(
            ainfoOld.getAppendixId(), ainfoOld.getPredecessorId(),
            ainfoOld.getSize(),
            ainfoOld.getPositionOnPredecessor(), newFreeAxis);
        newAppendixInfoList.add(numberOfAppendixToChange, ainfoNew);
        //System.out.println("FreeAxis mutated");
        break;
      }


        // ///////////////////
        // Add new appendix.
      case 3: {


        // DEFINE UPPER LIMIT
        if (newAppendixInfoList.size() >= 9) {
          //System.out.println("Already 10 boxes, no boxes were added.");
          //break;
        }


        int newAppendixId = newAppendixInfoList.size() + 1;
        int newPredecessorId = random.nextInt(newAppendixInfoList.size());
        Vector3f newSize = new Vector3f();
        newSize.x = .5f + (float) Math.abs(random.nextGaussian());
        newSize.y = .5f + (float) Math.abs(random.nextGaussian());
        newSize.z = .5f + (float) Math.abs(random.nextGaussian());


        Vector3f newPositionOnPredecessor = new Vector3f();
        newPositionOnPredecessor.x = (float) random.nextGaussian();
        newPositionOnPredecessor.y = (float) random.nextGaussian();
        newPositionOnPredecessor.z = (float) random.nextGaussian();


        // Defines free axis. 0: x, 1: y, 2: z. All others are locked.
        int newFreeAxis = random.nextInt(3);
        // BUG IN JBULLET?! Wenn die y-Achse (1) benutzt wird, kommt es
        // zu
        // Sprüngen
        // und Aussetzern. So ein $§&%$§&)$%&§$=!!!!!
        //if (Math.random() > .5) {
          //newFreeAxis = 0;
        //} else {
          //newFreeAxis = 2;
        //}
        EvolvableBoxAgent3DAppendixInfo ainfoNew = new EvolvableBoxAgent3DAppendixInfo(
            newAppendixId, newPredecessorId, newSize,
            newPositionOnPredecessor, newFreeAxis);
        //System.out.println("2222222222222222222appendix list old: " + genomeToBeMutated.getAppendixInfoList().size() + " and new: " + newAppendixInfoList.size());
        newAppendixInfoList.add(ainfoNew);
        //System.out.println("3333333333333appendix list old: " + genomeToBeMutated.getAppendixInfoList().size() + " and new: " + newAppendixInfoList.size());
        
        newSparseNet = newSparseNet.createOffspring(0);
        newSparseNet.insertInputNeuron(newAppendixId-1);
        newSparseNet.insertOutputNeuron(newAppendixId-1);
        
        //System.out.println("Appendix added. newAppendixInfoList.size: " +newAppendixInfoList.size());
        //System.out.println("\n\nDEBUG:" + newSparseNet.generateGenome(new EvoBoxBrainEncoding()) + "\n\n");
        //newSparseNet.dump();
        //System.out.println("\n\n-----------------------\n\n");
        break;
      }


        // ////////////////
        // Remove one appendix
      case 4: {
        if (newAppendixInfoList.size() == 1) {
          //System.out.println("Nothing removed because only 2 boxes are left.");
          break;
        }


        int idOfAppendixToBeRemoved = random.nextInt(genomeToBeMutated
            .getAppendixInfoList().size() - 1) + 1;


        EvolvableBoxAgent3DAppendixInfo appendixToBeRemoved = genomeToBeMutated
            .getAppendixInfoList().get(idOfAppendixToBeRemoved - 1);


        int predecessorIdOfAppendixToBeRemoved = appendixToBeRemoved
            .getPredecessorId();


        newAppendixInfoList.remove(idOfAppendixToBeRemoved - 1);


        for (int currentId = 0; currentId < genomeToBeMutated
            .getAppendixInfoList().size() - 1; currentId++) {
          EvolvableBoxAgent3DAppendixInfo ainfoOld = genomeToBeMutated
              .getAppendixInfoList().get(currentId);


          int newPredecessorId;


          if (ainfoOld.getPredecessorId() == idOfAppendixToBeRemoved) {
            newPredecessorId = predecessorIdOfAppendixToBeRemoved;
          } else {
            newPredecessorId = ainfoOld.getPredecessorId();
          }


          EvolvableBoxAgent3DAppendixInfo ainfoNew = new EvolvableBoxAgent3DAppendixInfo(
              currentId + 1, newPredecessorId,
              ainfoOld.getSize(),
              ainfoOld.getPositionOnPredecessor(),
              ainfoOld.getFreeAxis());
          newAppendixInfoList.remove(currentId);

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