int debug(int argc,char** argv){
test();
const int temp[] = {0, 7306, 77, 9859, 8996, 0, 7615, 0, 0, 1641, 8007, 0, 1666, 1098, 3253, 0, 5908, 6549, 7241, 8392, 2533, 8392, 7810, 150, 0, 8248, 1100, 0, 0, 0, 300, 350, 300
, 2324, 4627, 1393, 457, 4736, 0, 819, 0, 289, 0, 0, 2872, 5034, 1, 539, 2160, 3399, 9902, 1094, 6143, 100, 0, 4660, 5670, 400, 1214, 0, 5202, 0, 6629, 5316, 0,
8392, 7810, 1519, 4743, 0, 513, 3589, 1790, 25, 1433, 5552, 0, 8695, 3, 9352, 1413, 9324, 1, 25, 3278, 0, 0, 0, 6020, 0, 1071, 2400, 3678, 1641, 8007, 0, 4650,
1098, 1801, 1211, 2465, 6549, 6435, 1471, 3032, 2598, 100, 3005, 9326, 150, 1,25, 3278, 0, 4710, 9276, 3266, 4386, 0, 0, 7340, 0, 0, 3559, 9407, 0, 4710, 6038
, 3187, 9961, 7280, 1460, 7224, 7744, 200, 5723, 2289, 0, 3948, 9274, 0, 573, 0, 8815, 3264, 0, 3809, 0, 0, 0};
int size = sizeof( temp ) / sizeof ( *temp );
std::vector<int> ancestor (temp, temp+size);
Physics* WWDPhysics = new Physics();
//init creature
readDNA(&ancestor,WWDPhysics);
//WWDPhysics->testPhysics();
//default glut doesn't return from mainloop
WWDPhysics->solveGroundConflicts();
return glutmain(argc, argv,1024,600,"Walking with dinosaurs",WWDPhysics);
}
int WWD(int argc,char** argv){
HANDLE *handles =new HANDLE[numCores];
const int temp[] = {
//Body
295,195,95, //main box: h,w,d
1, //1 box attached
1,/*Joint type*/ 50,50,5,/*preXYS*/ 50,50,4,/*postXYS*/ 45,45,45,/*DofXYZ*/ //Create joint
295,195,95, //attached box: h,w,d
//NN-Effector0-layer 0
1, 2,10,0,1,100,100, //2-in-node: f=interpolate, in0=0,in1=1,w0=100,w1=100
0, 2,0,0,0,0,100, //2-in-node: f=sum,in0=0,in1=1,w0=0,w1=100 (just sends in1 through unchanged) - No more nodes
1,0,1, //NN-Effector: use outputs O0=1,O1=0,O2=1
0, //no attached boxes
//NN-main-layer 0 (sensors not implemented yet)
1, 0,30, //constant node 30
1, 0,62, //constant node 62
2, 0,125, //constant node 125 - change layer
//NN-main-layer 1
1, 2,0,0,1,50,23, //2-in-node: f=sum in0=0 in1=1 w0=50 w1=23
2, 1,12,2,5, //1-in node: f=cos in0=2 w0=5 - change layer
//NN-main-layer 2
1, 2,1,0,1,1,200, //2-in node: f=product in0=0 in1=1, w0=1 w1=200
0, 2,0,0,1,1,1 //2-in node: f=sum in0=0 in1=1, w0=1 w1=1 - No more nodes
};
int size = sizeof( temp ) / sizeof ( *temp );
std::vector<int> ancestor (temp, temp+size);
std::vector<creature>* creatures = new std::vector<creature>();
//Creates one ancestor and the rest is mutation of the ancestor
creatures->push_back(creature());
creatures->at(0).dna=ancestor;
creatures->at(0).fitness=0;
for(int i=1; i<populationSize;i++){
creatures->push_back(creature());
creatures->at(i).dna=mutate(ancestor,2);
creatures->at(i).fitness=0;
}
for(int i=0;i<nrOfGenerations;i++){
//#pragma omp parallel
{
//run simulator
//#pragma omp for schedule(dynamic)
for(int j =0; j<populationSize; j++){
//init world
Physics* WWDPhysics = new Physics();
//init creature
readDNA(&creatures->at(j).dna,WWDPhysics);
//run sim
WWDPhysics->runSimulation();
creatures->at(j).fitness = WWDPhysics->getFitness();
creatures->at(j).treePointer = getMTree(&creatures->at(j).dna);
delete WWDPhysics;
}
/*
//threads
for(int j =0; j<numCores; j++){
handles[j] = (HANDLE)_beginthreadex(0, 0, &threadSim,(void*) j, 0, 0);
}
WaitForMultipleObjects(numCores, handles, true,INFINITE);
for(int j =0; j<numCores; j++){
CloseHandle(handles[j]);
} */
//print all unsorted
/*for(int j=0;j< (int) worlds.size();j++){
printf("nr %d %f\n",j,worlds.at(j)->getFitness());
}*/
//mutate
//#pragma omp single nowait
evolve(creatures); //Evolve cleans up the MTrees so no need for that here
//print survivors sorted
//#pragma omp for ordered
for(int j=0;j< (int) (creatures->size()/5.f);j++){
#ifdef _DEBUG
printf("nr %d %f\n",j,creatures->at(j).fitness);
#endif
}
//#pragma omp for ordered
#ifdef _DEBUG
printf("round %d \n",i);
#endif
}
}
for (int i = 0; i < (int) creatures->at(0).dna.size(); i++){
#ifdef _DEBUG
printf("%d,", creatures->at(0).dna.at(i));
#endif
}
//Show end result if we want to...
Physics* WWDPhysics = new Physics();
//init creature
readDNA(&creatures->at(0).dna,WWDPhysics);
//default glut doesn't return from mainloop
WWDPhysics->calcSize();
WWDPhysics->solveGroundConflicts();
#ifdef _DEBUG
printf("\nPress enter to continue\n");
#endif
getchar();
return glutmain(argc, argv,1024,600,"Walking with dinosaurs",WWDPhysics);
}
