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Add slider to control number of parallel evaluations.

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This commit is contained in:
Benelot
2016-09-12 19:42:07 +02:00
parent 229d2501af
commit c0285bc425
1 changed files with 58 additions and 14 deletions
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72
examples/Evolution/NN3DWalkers.cpp
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@@ -42,6 +42,8 @@ static btScalar gLegLength = 0.45f;
static btScalar gForeLegLength = 0.75f;
static btScalar gForeLegRadius = 0.08f;
static btScalar gParallelEvaluations = 10.0f;
#ifndef SIMD_PI_4
#define SIMD_PI_4 0.5 * SIMD_HALF_PI
#endif
@@ -62,10 +64,6 @@ static btScalar gForeLegRadius = 0.08f;
#define NUM_WALKERS 50
#endif
#ifndef NUM_PARALLEL_EVALUATIONS
#define NUM_PARALLEL_EVALUATIONS 1
#endif
#ifndef EVALUATION_TIME
#define EVALUATION_TIME 10 // s
#endif
@@ -101,6 +99,8 @@ static btScalar gForeLegRadius = 0.08f;
void* GROUND_ID = (void*)1;
//TODO: Fix bug that happens randomly and lets creatures not be visible
class NN3DWalkersExample : public CommonRigidBodyBase
{
btScalar m_Time;
@@ -128,7 +128,7 @@ public:
virtual void exitPhysics();
void spawnWalker(const btVector3& startOffset, bool bFixed);
void spawnWalker(int index, const btVector3& startOffset, bool bFixed);
virtual bool keyboardCallback(int key, int state);
@@ -196,6 +196,7 @@ class NNWalker
btScalar m_evaluationTime;
bool m_reaped;
btVector3 m_startPosition;
int m_index;
btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
{
@@ -224,9 +225,10 @@ public:
}
}
NNWalker(btDynamicsWorld* ownerWorld, const btVector3& positionOffset, bool bFixed)
NNWalker(int index, btDynamicsWorld* ownerWorld, const btVector3& positionOffset, bool bFixed)
: m_ownerWorld (ownerWorld), m_inEvaluation(false), m_evaluationTime(0), m_reaped(false)
{
m_index = index;
btVector3 vUp(0, 1, 0); // up in local reference frame
NN3DWalkersExample* nnWalkersDemo = (NN3DWalkersExample*)m_ownerWorld->getWorldUserInfo();
@@ -492,6 +494,10 @@ public:
void setReaped(bool reaped) {
m_reaped = reaped;
}
int getIndex() const {
return m_index;
}
};
void evaluationUpdatePreTickCallback(btDynamicsWorld *world, btScalar timeStep);
@@ -504,24 +510,45 @@ bool legContactProcessedCallback(btManifoldPoint& cp, void* body0, void* body1)
void* ID1 = o1->getUserPointer();
void* ID2 = o2->getUserPointer();
if (ID2 != GROUND_ID || ID1 != GROUND_ID) {
if (ID1 != GROUND_ID || ID2 != GROUND_ID) {
// Make a circle with a 0.9 radius at (0,0,0)
// with RGB color (1,0,0).
if(nn3DWalkers->m_dynamicsWorld->getDebugDrawer() != NULL){
nn3DWalkers->m_dynamicsWorld->getDebugDrawer()->drawSphere(cp.getPositionWorldOnA(), 0.1, btVector3(1., 0., 0.));
}
if(ID1 != GROUND_ID){
if(ID1 != GROUND_ID && ID1){
((NNWalker*)ID1)->setTouchSensor(o1);
}
if(ID2 != GROUND_ID){
if(ID2 != GROUND_ID && ID2){
((NNWalker*)ID2)->setTouchSensor(o2);
}
}
return false;
}
struct WalkerFilterCallback : public btOverlapFilterCallback
{
// return true when pairs need collision
virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const
{
btCollisionObject* obj0 = static_cast<btCollisionObject*>(proxy0->m_clientObject);
btCollisionObject* obj1 = static_cast<btCollisionObject*>(proxy1->m_clientObject);
if (obj0->getUserPointer() == GROUND_ID || obj1->getUserPointer() == GROUND_ID) { // everything collides with ground
return true;
}
else{
return ((NNWalker*)obj0->getUserPointer())->getIndex() == ((NNWalker*)obj1->getUserPointer())->getIndex();
}
}
};
void floorNNSliderValue(float notUsed) {
gParallelEvaluations = floor(gParallelEvaluations);
}
void NN3DWalkersExample::initPhysics()
{
gContactProcessedCallback = legContactProcessedCallback;
@@ -616,6 +643,16 @@ void NN3DWalkersExample::initPhysics()
slider);
}
{ // create a slider to change the number of parallel evaluations
SliderParams slider("Parallel evaluations", &gParallelEvaluations);
slider.m_minVal = 1;
slider.m_maxVal = NUM_WALKERS;
slider.m_clampToNotches = false;
slider.m_callback = floorNNSliderValue; // hack to get integer values
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
// Setup a big ground box
{
@@ -644,9 +681,12 @@ void NN3DWalkersExample::initPhysics()
// Spawn one walker
btVector3 offset(0,0,0);
spawnWalker(offset, false);
spawnWalker(i, offset, false);
}
btOverlapFilterCallback * filterCallback = new WalkerFilterCallback();
m_dynamicsWorld->getPairCache()->setOverlapFilterCallback(filterCallback);
m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,300,200, "Fitness Performance");
m_timeSeriesCanvas ->setupTimeSeries(40, NUM_WALKERS*EVALUATION_TIME, 0);
for(int i = 0; i < NUM_WALKERS ; i++){
@@ -655,9 +695,9 @@ void NN3DWalkersExample::initPhysics()
}
void NN3DWalkersExample::spawnWalker(const btVector3& startOffset, bool bFixed)
void NN3DWalkersExample::spawnWalker(int index, const btVector3& startOffset, bool bFixed)
{
NNWalker* walker = new NNWalker(m_dynamicsWorld, startOffset, bFixed);
NNWalker* walker = new NNWalker(index, m_dynamicsWorld, startOffset, bFixed);
m_walkersInPopulation.push_back(walker);
}
@@ -941,11 +981,15 @@ void NN3DWalkersExample::scheduleEvaluations() {
m_evaluationsQty--;
}
if(m_evaluationsQty < NUM_PARALLEL_EVALUATIONS && !m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() == 0){ /**!< Setup the new evaluations */
if(m_evaluationsQty < gParallelEvaluations && !m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() == 0){ /**!< Setup the new evaluations */
b3Printf("An evaluation started at %f s.",m_Time);
m_evaluationsQty++;
m_walkersInPopulation[i]->setInEvaluation(true);
m_walkersInPopulation[i]->resetAt(btVector3(0,0,0));
if(m_walkersInPopulation[i]->getEvaluationTime() == 0){ // reset to origin if the evaluation did not yet run
m_walkersInPopulation[i]->resetAt(btVector3(0,0,0));
}
m_walkersInPopulation[i]->addToWorld();
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}