Genome.pde

class Genome {
  ArrayList<ConnectionGene> genes = new ArrayList<ConnectionGene>();
  ArrayList<Node> nodes = new ArrayList<Node>();
  int inputs;
  int outputs;
  int layers = 2;
  int nextNode = 0;
  int biasNode;

  ArrayList<Node> network = new ArrayList<Node>();
  Genome(int in, int out) {
    inputs = in;
    outputs = out;

    for (int i = 0; i < inputs; i++) {
      nodes.add(new Node(i));
      nextNode++;
      nodes.get(i).layer = 0;
    }

    for (int i = 0; i < outputs; i++) {
      nodes.add(new Node(i+inputs));
      nodes.get(i+inputs).layer = 1;
      nextNode++;
    }

    nodes.add(new Node(nextNode));
    biasNode = nextNode;
    nextNode++;
    nodes.get(biasNode).layer = 0;
  }

  Node getNode(int nodeNumber) {
    for (int i = 0; i < nodes.size(); i++) {
      if (nodes.get(i).number == nodeNumber) {
        return nodes.get(i);
      }
    }
    return null;
  }

  void connectNodes() {
    for (int i = 0; i < nodes.size(); i++) {
      nodes.get(i).outputConnections.clear();
    }
    for (int i = 0; i < genes.size(); i++) {
      genes.get(i).fromNode.outputConnections.add(genes.get(i));//add it to node
    }
  }

  float[] feedForward(float[] inputValues) {
    for (int i = 0; i < inputs; i++) {
      nodes.get(i).outputValue = inputValues[i];
    }
    nodes.get(biasNode).outputValue = 1;

    for (int i = 0; i < network.size(); i++) {
      network.get(i).engage();
    }

    float[] outs = new float[outputs];
    for (int i = 0; i < outputs; i++) {
      outs[i] = nodes.get(inputs + i).outputValue;
    }

    for (int i = 0; i < nodes.size(); i++) {
      nodes.get(i).inputSum = 0;
    }
    return outs;
  }

  void generateNetwork() {
    connectNodes();
    network = new ArrayList<Node>();

    for (int l = 0; l < layers; l++) {
      for (int i = 0; i < nodes.size(); i++) {
        if (nodes.get(i).layer == l) network.add(nodes.get(i));
      }
    }
  }

  void addNode(ArrayList<ConnectionHistory> innovationHistory) {
    if (genes.size() == 0) {
      addConnection(innovationHistory);
      return;
    }
    int randomConnection = floor(random(genes.size()));

    while (genes.get(randomConnection).fromNode == nodes.get(biasNode) && genes.size() != 1) {
      randomConnection = floor(random(genes.size()));
    }

    genes.get(randomConnection).enabled = false;

    int newNodeNo = nextNode;
    nodes.add(new Node(newNodeNo));
    nextNode++;
    int connectionInnovationNumber = getInnovationNumber(innovationHistory, genes.get(randomConnection).fromNode, getNode(newNodeNo));
    genes.add(new ConnectionGene(genes.get(randomConnection).fromNode, getNode(newNodeNo), 1, connectionInnovationNumber));

    connectionInnovationNumber = getInnovationNumber(innovationHistory, getNode(newNodeNo), genes.get(randomConnection).toNode);    
    genes.add(new ConnectionGene(getNode(newNodeNo), genes.get(randomConnection).toNode, genes.get(randomConnection).weight, connectionInnovationNumber));
    getNode(newNodeNo).layer = genes.get(randomConnection).fromNode.layer +1;

    connectionInnovationNumber = getInnovationNumber(innovationHistory, nodes.get(biasNode), getNode(newNodeNo));
    genes.add(new ConnectionGene(nodes.get(biasNode), getNode(newNodeNo), 0, connectionInnovationNumber));

    if (getNode(newNodeNo).layer == genes.get(randomConnection).toNode.layer) {
      for (int i = 0; i< nodes.size() -1; i++) {//dont include this newest node
        if (nodes.get(i).layer >= getNode(newNodeNo).layer) {
          nodes.get(i).layer ++;
        }
      }
      layers ++;
    }
    connectNodes();
  }

  void addConnection(ArrayList<ConnectionHistory> innovationHistory) {
    //cannot add a connection to a fully connected network
    if (fullyConnected()) {
      println("connection failed");
      return;
    }


    //get random nodes
    int randomNode1 = floor(random(nodes.size())); 
    int randomNode2 = floor(random(nodes.size()));
    while (randomConnectionNodesAreShit(randomNode1, randomNode2)) {//while the random nodes are no good
      //get new ones
      randomNode1 = floor(random(nodes.size())); 
      randomNode2 = floor(random(nodes.size()));
    }
    int temp;
    if (nodes.get(randomNode1).layer > nodes.get(randomNode2).layer) {//if the first random node is after the second then switch
      temp =randomNode2  ;
      randomNode2 = randomNode1;
      randomNode1 = temp;
    }    

    //get the innovation number of the connection
    //this will be a new number if no identical genome has mutated in the same way 
    int connectionInnovationNumber = getInnovationNumber(innovationHistory, nodes.get(randomNode1), nodes.get(randomNode2));
    //add the connection with a random array

    genes.add(new ConnectionGene(nodes.get(randomNode1), nodes.get(randomNode2), random(-1, 1), connectionInnovationNumber));//changed this so if error here
    connectNodes();
  }

  boolean randomConnectionNodesAreShit(int r1, int r2) {
    if (nodes.get(r1).layer == nodes.get(r2).layer) return true; // if the nodes are in the same layer 
    if (nodes.get(r1).isConnectedTo(nodes.get(r2))) return true; //if the nodes are already connected



    return false;
  }

  //-------------------------------------------------------------------------------------------------------------------------------------------
  //returns the innovation number for the new mutation
  //if this mutation has never been seen before then it will be given a new unique innovation number
  //if this mutation matches a previous mutation then it will be given the same innovation number as the previous one
  int getInnovationNumber(ArrayList<ConnectionHistory> innovationHistory, Node from, Node to) {
    boolean isNew = true;
    int connectionInnovationNumber = nextConnectionNo;
    for (int i = 0; i < innovationHistory.size(); i++) {//for each previous mutation
      if (innovationHistory.get(i).matches(this, from, to)) {//if match found
        isNew = false;//its not a new mutation
        connectionInnovationNumber = innovationHistory.get(i).innovationNumber; //set the innovation number as the innovation number of the match
        break;
      }
    }

    if (isNew) {//if the mutation is new then create an arrayList of integers representing the current state of the genome
      ArrayList<Integer> innoNumbers = new ArrayList<Integer>();
      for (int i = 0; i< genes.size(); i++) {//set the innovation numbers
        innoNumbers.add(genes.get(i).innovationNo);
      }

      //then add this mutation to the innovationHistory 
      innovationHistory.add(new ConnectionHistory(from.number, to.number, connectionInnovationNumber, innoNumbers));
      nextConnectionNo++;
    }
    return connectionInnovationNumber;
  }
  //----------------------------------------------------------------------------------------------------------------------------------------

  //returns whether the network is fully connected or not
  boolean fullyConnected() {
    int maxConnections = 0;
    int[] nodesInLayers = new int[layers];//array which stored the amount of nodes in each layer

    //populate array
    for (int i =0; i< nodes.size(); i++) {
      nodesInLayers[nodes.get(i).layer] +=1;
    }

    //for each layer the maximum amount of connections is the number in this layer * the number of nodes infront of it
    //so lets add the max for each layer together and then we will get the maximum amount of connections in the network
    for (int i = 0; i < layers-1; i++) {
      int nodesInFront = 0;
      for (int j = i+1; j < layers; j++) {//for each layer infront of this layer
        nodesInFront += nodesInLayers[j];//add up nodes
      }

      maxConnections += nodesInLayers[i] * nodesInFront;
    }

    if (maxConnections == genes.size()) {//if the number of connections is equal to the max number of connections possible then it is full
      return true;
    }
    return false;
  }


  //-------------------------------------------------------------------------------------------------------------------------------
  //mutates the genome
  void mutate(ArrayList<ConnectionHistory> innovationHistory) {
    if (genes.size() ==0) {
      addConnection(innovationHistory);
    }

    float rand1 = random(1);
    if (rand1<0.8) { // 80% of the time mutate weights
      for (int i = 0; i< genes.size(); i++) {
        genes.get(i).mutateWeight();
      }
    }
    //15% of the time add a new connection
    float rand2 = random(1);
    if (rand2<0.15) {
      addConnection(innovationHistory);
    }


    //2% of the time add a node
    float rand3 = random(1);
    if (rand3<0.02) {
      addNode(innovationHistory);
    }
  }

  //---------------------------------------------------------------------------------------------------------------------------------
  //called when this Genome is better that the other parent
  Genome crossover(Genome parent2) {
    Genome child = new Genome(inputs, outputs, true);
    child.genes.clear();
    child.nodes.clear();
    child.layers = layers;
    child.nextNode = nextNode;
    child.biasNode = biasNode;
    ArrayList<ConnectionGene> childGenes = new ArrayList<ConnectionGene>();//list of genes to be inherrited form the parents
    ArrayList<Boolean> isEnabled = new ArrayList<Boolean>(); 
    //all inherrited genes
    for (int i = 0; i< genes.size(); i++) {
      boolean setEnabled = true;//is this node in the chlid going to be enabled

      int parent2gene = matchingGene(parent2, genes.get(i).innovationNo);
      if (parent2gene != -1) {//if the genes match
        if (!genes.get(i).enabled || !parent2.genes.get(parent2gene).enabled) {//if either of the matching genes are disabled

          if (random(1) < 0.75) {//75% of the time disabel the childs gene
            setEnabled = false;
          }
        }
        float rand = random(1);
        if (rand<0.5) {
          childGenes.add(genes.get(i));

          //get gene from this fucker
        } else {
          //get gene from parent2
          childGenes.add(parent2.genes.get(parent2gene));
        }
      } else {//disjoint or excess gene
        childGenes.add(genes.get(i));
        setEnabled = genes.get(i).enabled;
      }
      isEnabled.add(setEnabled);
    }


    //since all excess and disjoint genes are inherrited from the more fit parent (this Genome) the childs structure is no different from this parent | with exception of dormant connections being enabled but this wont effect nodes
    //so all the nodes can be inherrited from this parent
    for (int i = 0; i < nodes.size(); i++) {
      child.nodes.add(nodes.get(i).clone());
    }

    //clone all the connections so that they connect the childs new nodes

    for ( int i =0; i<childGenes.size(); i++) {
      child.genes.add(childGenes.get(i).clone(child.getNode(childGenes.get(i).fromNode.number), child.getNode(childGenes.get(i).toNode.number)));
      child.genes.get(i).enabled = isEnabled.get(i);
    }

    child.connectNodes();
    return child;
  }

  //----------------------------------------------------------------------------------------------------------------------------------------
  //create an empty genome
  Genome(int in, int out, boolean crossover) {
    //set input number and output number
    inputs = in; 
    outputs = out;
  }
  //----------------------------------------------------------------------------------------------------------------------------------------
  //returns whether or not there is a gene matching the input innovation number  in the input genome
  int matchingGene(Genome parent2, int innovationNumber) {
    for (int i =0; i < parent2.genes.size(); i++) {
      if (parent2.genes.get(i).innovationNo == innovationNumber) {
        return i;
      }
    }
    return -1; //no matching gene found
  }
  //----------------------------------------------------------------------------------------------------------------------------------------
  //prints out info about the genome to the console 
  void printGenome() {
    println("Print genome  layers:", layers);  
    println("bias node: "  + biasNode);
    println("nodes");
    for (int i = 0; i < nodes.size(); i++) {
      print(nodes.get(i).number + ",");
    }
    println("Genes");
    for (int i = 0; i < genes.size(); i++) {//for each connectionGene 
      println("gene " + genes.get(i).innovationNo, "From node " + genes.get(i).fromNode.number, "To node " + genes.get(i).toNode.number, 
        "is enabled " +genes.get(i).enabled, "from layer " + genes.get(i).fromNode.layer, "to layer " + genes.get(i).toNode.layer, "weight: " + genes.get(i).weight);
    }

    println();
  }

  //----------------------------------------------------------------------------------------------------------------------------------------
  //returns a copy of this genome
  Genome clone() {

    Genome clone = new Genome(inputs, outputs, true);

    for (int i = 0; i < nodes.size(); i++) {//copy nodes
      clone.nodes.add(nodes.get(i).clone());
    }

    //copy all the connections so that they connect the clone new nodes

    for ( int i =0; i<genes.size(); i++) {//copy genes
      clone.genes.add(genes.get(i).clone(clone.getNode(genes.get(i).fromNode.number), clone.getNode(genes.get(i).toNode.number)));
    }

    clone.layers = layers;
    clone.nextNode = nextNode;
    clone.biasNode = biasNode;
    clone.connectNodes();

    return clone;
  }
  //----------------------------------------------------------------------------------------------------------------------------------------
  //draw the genome on the screen
  void drawGenome(int startX, int startY, int w, int h) {
    //i know its ugly but it works (and is not that important) so I'm not going to mess with it
    ArrayList<ArrayList<Node>> allNodes = new ArrayList<ArrayList<Node>>();
    ArrayList<PVector> nodePoses = new ArrayList<PVector>();
    ArrayList<Integer> nodeNumbers= new ArrayList<Integer>();

    //get the positions on the screen that each node is supposed to be in


    //split the nodes into layers
    for (int i = 0; i< layers; i++) {
      ArrayList<Node> temp = new ArrayList<Node>();
      for (int j = 0; j< nodes.size(); j++) {//for each node 
        if (nodes.get(j).layer == i ) {//check if it is in this layer
          temp.add(nodes.get(j)); //add it to this layer
        }
      }
      allNodes.add(temp);//add this layer to all nodes
    }

    //for each layer add the position of the node on the screen to the node posses arraylist
    for (int i = 0; i < layers; i++) {
      fill(255, 0, 0);
      float x = startX + (float)((i)*w)/(float)(layers-1);
      for (int j = 0; j< allNodes.get(i).size(); j++) {//for the position in the layer
        float y = startY + ((float)(j + 1.0) * h)/(float)(allNodes.get(i).size() + 1.0);
        nodePoses.add(new PVector(x, y));
        nodeNumbers.add(allNodes.get(i).get(j).number);
        if (i == layers -1) {
          //println(i, j, x, y);
        }
      }
    }

    //draw connections 
    stroke(0);
    strokeWeight(2);
    for (int i = 0; i< genes.size(); i++) {
      if (genes.get(i).enabled) {
        stroke(0);
      } else {
        stroke(100);
      }
      PVector from;
      PVector to;
      from = nodePoses.get(nodeNumbers.indexOf(genes.get(i).fromNode.number));
      to = nodePoses.get(nodeNumbers.indexOf(genes.get(i).toNode.number));
      if (genes.get(i).weight > 0) {
        stroke(255, 0, 0);
      } else {
        stroke(0, 0, 255);
      }
      strokeWeight(map(abs(genes.get(i).weight), 0, 1, 0, 5));
      line(from.x, from.y, to.x, to.y);
    }

    //draw nodes last so they appear ontop of the connection lines
    for (int i = 0; i < nodePoses.size(); i++) {
      fill(255);
      stroke(0);
      strokeWeight(1);
      ellipse(nodePoses.get(i).x, nodePoses.get(i).y, 20, 20);
      textSize(10);
      fill(0);
      textAlign(CENTER, CENTER);


      text(nodeNumbers.get(i), nodePoses.get(i).x, nodePoses.get(i).y);
    }
  }
}