Freeing Instances.

First of all, thanks for a truy innovative creation, as a opengl programmer Im impressed.

1. When freeing my multibody object tripod using : free Tripod.
it vanishes from the : print "all Mobiles ", myMobile. collection
but the simulation rappidly deteriorates to a siruplike slowmotion state,
I take it that this is because the former ghost tripods are still in the moddel..
I used :(controller): self disable-freed-instance-protection.

? How can you propperly kill or reset the state of an object (joint positions, velocities, ect-)

2. Is there anyway to reload a multiboddy back into the original object, without
causing a new instance ?

Background :
Im using Breve to make a tripod walk with genetic algorithms.
The tripod is dependent on starting from the exact same conditions each
time, therefore I instantain it for each run of the training algorithm.

Sincerely,
Thorolf Tonjum
Msc Intelligent systems

Code : Built upon the walker example.

# 
# Walker
#
# - reset position : kompletely kill, load obj from xml file
# - reset time     : Reset_time = Reset_time - Global_time
# - fix genes !
#
#
#
#
#
#

@use PhysicalControl.
@use Link.
@use Genome.
@use Shape.
@use Stationary.
@use MultiBody.

@define SPEED_K 12.


Controller Walker.

PhysicalControl : Walker {
	+ variables:
		SelectedGenomes, GenePopulation (list).
		currentSelectedGenome (int).
		Tripod (object).

		# the following are flags that can be controlled by the user
		# via the simulation menu

		locked (int).
		lockMenu (object).
		cloudTexture (int).


	+ to init:
		floorShape (object).
		floor (object).
		number (int).
		item (object).

    self disable-freed-instance-protection.

		locked = 0.
		self set-random-seed-from-dev-random.
		self enable-lighting.
		self enable-smooth-drawing.
		self move-light to (0, 20, 0).

		# Create the floor for the critter to walk on.
		floorShape = (new Shape init-with-cube size (1000, 2, 1000)).
		floor = new Stationary.
		floor register with-shape floorShape at-location (0, 0, 0).
		floor catch-shadows.
		floor set-color to (1.0, 1.0, 1.0).

		cloudTexture = (self load-image from "images/clouds.png").

		self enable-shadow-volumes.
		self enable-reflections.
    self half-gravity.

		self set-background-color to (.4, .6, .9).
		self set-background-texture to cloudTexture.

		# Create the Tripod.
		Tripod = new TripodTemplate.
		Tripod move to (0, 6, 0).
		self offset-camera by (3, 13, -13).
		self watch item Tripod.

    # Tripod Re-set-shape.
    Tripod archive-as-xml file "Tri.xml".

		# The "genoms" are the individuals that will control the TripodTemplate.
		# Create the genoms and assign them numbers.
		GenePopulation = 10 new genoms.
		foreach item in GenePopulation: {
			(item set-number to number).
			print "Genome ", (GenePopulation{number} get-number), (GenePopulation{number} get-distance).
			number += 1.

		}



		self pick-Genomes.

		# set up the menus...
		lockMenu = (self add-menu named "Lock Genome" for-method "toggle-Genome-lock").
		self add-menu-separator.
		self add-menu named "Save Current Genome" for-method "save-current-genome".
		self add-menu named "Load Into Current Genome" for-method "load-into-current-genome".

		# schedule the first Genome change and we're ready to go.
		self schedule method-call "change-Genomes" at-time (self get-time) + 20.0.
		self display-current-Genome.


	+ to display-current-Genome:
		currentNumber (int).
		currentNumber = (SelectedGenomes{currentSelectedGenome} get-number).
		self set-display-text to "Genome #$currentNumber" at-x -.95 at-y -.9.

	+ to iterate:
		SelectedGenomes{currentSelectedGenome} control robot Tripod at-time (self get-time).
		super iterate.

	+ to pick-Genomes:

		sort GenePopulation with compare-distance.

		SelectedGenomes{0} = GenePopulation{0}.
		SelectedGenomes{1} = GenePopulation{1}.
		SelectedGenomes{2} = GenePopulation{2}.
		SelectedGenomes{3} = GenePopulation{3}.
		SelectedGenomes{4} = GenePopulation{4}.
		SelectedGenomes{5} = GenePopulation{5}.
		SelectedGenomes{6} = GenePopulation{6}.
		SelectedGenomes{7} = GenePopulation{7}.
		SelectedGenomes{8} = GenePopulation{8}.
		SelectedGenomes{9} = GenePopulation{9}.

		currentSelectedGenome = 0.

	+ to change-Genomes:
		newGenome (int).
		newOffset (vector).
    myMobile  (list).

		# if they have locked the current Genome, do nothing.
		if locked: return.

		# we change the Genomes every time a Genome is finished it's
		# turn.  if we have seen the last Genome, breed them together.
		
		SelectedGenomes{currentSelectedGenome} set-distance to |(Tripod get-location)|.
    

    free Tripod.

    myMobile = all Mobiles.
    print "all Mobiles ", myMobile.
    # self report-object-allocation.

    Tripod = new TripodTemplate.
		Tripod move to (0, 6, 0).
		self offset-camera by (3, 13, -13).
		self watch item Tripod.

    # Tripod center.
		Tripod set-color.
		
		newOffset = random[(50, 10, 50)] + (-15, 1, -15).
		if |newOffset| < 14: newOffset = 14 * newOffset/|newOffset|.
		self bullet-pan-camera-offset by newOffset steps 5.


		currentSelectedGenome += 1.

		if currentSelectedGenome > 8: {
			self breed-new-genoms.
			self pick-Genomes.
		}

		newGenome = (SelectedGenomes{currentSelectedGenome} get-number).

		# schedule a new Genome change in 30 seconds.
		self schedule method-call "change-Genomes" at-time (self get-time) + 10.0.
		self display-current-Genome.

	+ to breed-new-genoms:
    Testnum (int).
    number(int).
    item (object).
    
		print "breeding genoms...".
    number =-1.

    sort SelectedGenomes with compare-distance.

		# print out the distance for each individual tested

    foreach item in GenePopulation: {
      number += 1.
			print "Genome ", (GenePopulation{number} get-number), (GenePopulation{number} get-distance).
		}
		
		number =-1.
		
		foreach item in SelectedGenomes: {
      number += 1.
      GenePopulation{number} = SelectedGenomes{number}.
			print "Selected ", (SelectedGenomes{number} get-number), (SelectedGenomes{number} get-distance).
		}

    number =-1.
    
		foreach item in SelectedGenomes: {
      number += 1.
      GenePopulation{number} = SelectedGenomes{number}.
			print "Genome ", (GenePopulation{number} get-number), (GenePopulation{number} get-distance).
  		}
		
		

		# breed

		SelectedGenomes{0} breed with SelectedGenomes{1} to-child GenePopulation{9}.
		SelectedGenomes{1} breed with SelectedGenomes{0} to-child GenePopulation{8}.
		
		SelectedGenomes{2} breed with SelectedGenomes{3} to-child GenePopulation{7}.
		SelectedGenomes{3} breed with SelectedGenomes{2} to-child GenePopulation{6}.

		
		#  mutation
		(GenePopulation{9} get-genome) mutate.
		(GenePopulation{7} get-genome) mutate.
		(GenePopulation{5} get-genome) mutate.
		(GenePopulation{4} get-genome) mutate.


	+ to compare-distance of a (object) with b (object):
		result (float).
		result = (b get-distance) - (a get-distance).
		return result.

	# the following methods are accessed from the simulation menu.

	+ to toggle-Genome-lock:
		if locked == 1: {
			locked = 0.
			Tripod center.
			self schedule method-call "change-Genomes" at-time (self get-time) + 10.0.
			lockMenu uncheck.
		} else {
			locked = 1.
			lockMenu check.
		}

	+ to save-current-genome:
		(SelectedGenomes{currentSelectedGenome} get-genome) save-with-dialog.

	+ to load-into-current-genome:
		(SelectedGenomes{currentSelectedGenome} get-genome) load-with-dialog.
		
		+ to catch-key-1-down:
		newOffset (vector).
		
		newOffset = random[(90, 10, 90)] + (-15, 1, -15).
		if |newOffset| < 14: newOffset = 14 * newOffset/|newOffset|.
		self bullet-pan-camera-offset by newOffset steps 100.
		
		newOffset = random[(90, 10, 90)] + (-15, 1, -15).
		if |newOffset| < 14: newOffset = 14 * newOffset/|newOffset|.
		self bullet-pan-camera-offset by newOffset steps 100.
		
    newOffset = random[(90, 10, 90)] + (-15, 1, -15).
		if |newOffset| < 14: newOffset = 14 * newOffset/|newOffset|.
		self bullet-pan-camera-offset by newOffset steps 100.
		# look at self from newOffset.

  

}

Object : genoms {
	+ variables:
		distanceTraveled (float).
		genome (object).

		number (int).

	+ to set-number to n (int):
		number = n.

	+ to get-number:
		return number.
	
	+ to init:
		genome = new TripodGenome.
		self randomize.

	+ to randomize:
		genome randomize.

	+ to get-genome:
		return genome.

	+ to breed with otherGenome (object) to-child child (object):
		(child get-genome) crossover from-parent-1 (otherGenome get-genome) from-parent-2 (self get-genome).

	+ to control robot theRobot (object) at-time t (float):

		theRobot set-joint-velocity-1 to SPEED_K * (genome calculate-torque-1 at t).
		theRobot set-joint-velocity-2 to SPEED_K * -(genome calculate-torque-2 at t).
		theRobot set-joint-velocity-3 to SPEED_K * -(genome calculate-torque-3 at t).
		theRobot set-joint-velocity-4 to SPEED_K * -(genome calculate-torque-4 at t).
		theRobot set-joint-velocity-5 to SPEED_K * -(genome calculate-torque-5 at t).
		theRobot set-joint-velocity-6 to SPEED_K * (genome calculate-torque-6 at t).

	+ to set-distance to value (float):
		distanceTraveled = value.

	+ to get-distance:
		return distanceTraveled.
}

Genome : TripodGenome {
	+ variables:
		genomeData (13 floats).

	+ to randomize:
		genomeData[0] = random[5.0] - 2.5.

		genomeData[1] = random[2.0] - 1.0 .
		genomeData[2] = random[2.0] - 1.0 .
		genomeData[3] = random[2.0] - 1.0 .
		genomeData[4] = random[2.0] - 1.0 .
		genomeData[5] = random[2.0] - 1.0 .
		genomeData[6] = random[2.0] - 1.0 .

		genomeData[7] = random[6.3] - 3.15.
    genomeData[8] = random[6.3] - 3.15.
		genomeData[9] = random[6.3] - 3.15.
    genomeData[10] = random[6.3] - 3.15.
		genomeData[11] = random[6.3] - 3.15.
		genomeData[12] = random[6.3] - 3.15.


	+ to calculate-torque-1 at time (float):
		return .5 * (sin(genomeData[0] * (time + genomeData[7])) - (genomeData[1])).

	+ to calculate-torque-2 at time (float):
		return .5 * (sin(genomeData[0] * (time + genomeData[8])) - (genomeData[2])).

	+ to calculate-torque-3 at time (float):
		return .5 * (sin(genomeData[0] * (time + genomeData[9])) - (genomeData[3])).
		
 + to calculate-torque-4 at time (float):
		return .5 * (sin(genomeData[0] * (time + genomeData[10])) - (genomeData[4])).
		
 + to calculate-torque-5 at time (float):
		return .5 * (sin(genomeData[0] * (time + genomeData[11])) - (genomeData[5])).
		
 + to calculate-torque-6 at time (float):
		return .5 * (sin(genomeData[0] * (time + genomeData[12])) - (genomeData[6])).


	+ to mutate:
		n (int).

		n = random[12].
		if n < 7: genomeData[n] = random[2.0] - 1.0.
		else if n > 6: genomeData[n] = random[6.3] - 3.15.
		else if n = 0: random[5.0] - 2.5.

		print "mutated item $n of $self".
}

MultiBody : TripodTemplate {
	+ variables:
		bodyLink (object).
		links (list).
    Color1 (vector).
    Color2 (vector).
		joints (list).

	+ to get-root:
		return bodyLink.

	+ to init:
		
		linkShape, FootShape, lowerLinkShape, bodyShape (object).

		self add-menu named "Send to Center" for-method "center".

		lowerLinkShape = new Shape.
		lowerLinkShape init-with-cube size (.26, 2.5, .26).

		linkShape = new Shape.
		linkShape init-with-cube size (.28, 1.5, .28).

		bodyShape = new Shape.
		bodyShape init-with-sphere radius (0.5).
	  
		FootShape = new Shape.
		FootShape init-with-polygon-disk radius (0.55) sides (8) height (0.2).

    Color1 = random[(1.0, 1.0, 1.0)].
    Color2 = random[(1.0, 1.0, 1.0)].

		links = 6 new Links.
		joints = 6 new RevoluteJoints.

		links{0} set shape linkShape.
		links{0} set-color to Color1.
		links{2} set shape linkShape.
		links{2} set-color to Color1.
		links{4} set shape linkShape.
		links{4} set-color to Color1.

		links{1} set shape lowerLinkShape.
		links{1} set-color to Color2.
		links{3} set shape lowerLinkShape.
		links{3} set-color to Color2.
		links{5} set shape lowerLinkShape.
		links{5} set-color to Color2.
		


		bodyLink = new Link.
		bodyLink set shape bodyShape.
		bodyLink set-color to Color2.


		joints{0} link parent bodyLink to-child links{0}
								with-normal ( 1.5, 0, 1 )
								with-parent-point (0.85, 1, 0.65)
								with-child-point (0, 2.2, 0).
								joints{0}  set-joint-limit-vectors min ( 0.8, 0, 0) max ( 1.3, 0, 0).
		joints{1} link parent links{0} to-child links{1}
							  with-normal (-10, 0, 0)
								with-parent-point (0, -.5, 0)
								with-child-point (0, 2, 0).

		

		joints{2} link parent bodyLink to-child links{2}
								with-normal (-1.5, 0, 1)
								with-parent-point ( -0.85, 1, 0.65)
								with-child-point (0, 2.2, 0).
                joints{2}  set-joint-limit-vectors min ( 0.8, 0, 0) max ( 1.3, 0, 0).
		joints{3} link parent links{2} to-child links{3}
							  with-normal (-10, 0, 0)
								with-parent-point (0, -.5, 0)
								with-child-point (0, 2, 0).



		joints{4} link parent bodyLink to-child links{4}
								with-normal ( -1.5, 0, -1 )
							 	with-parent-point ( 0 , 1, -0.65)
								with-child-point (0, 2.2, 0).
                joints{4}  set-joint-limit-vectors min ( 0.8, 0, 0) max ( 1.3, 0, 0).
		joints{5} link parent links{4} to-child links{5}
							  with-normal (-10, 0, 0)
								with-parent-point (0, -.5, 0)
								with-child-point (0, 2, 0).

		

		self register with-link bodyLink.
		self rotate around-axis (1, 0, 0) by 1.57.

		joints set-double-spring with-strength 30 with-max 1.5 with-min -2 .
		joints set-strength-limit to 40.
		
		
	+ to Re-set:


	+ to center:
		# to center the object, we set the X and Z components to 0, but not
		# the Y, otherwise we would push the walker into the ground
		currentLocation (vector).
		currentLocation = (self get-location).
		self move to (0, currentLocation::y, 0).


  + to set-color:
  	
  	Color3 (vector).
    Color4 (vector).
  	
  	Color3 = random[(1.0, 1.0, 1.0)].
    Color4 = random[(1.0, 1.0, 1.0)].
  	
		links{0} set-color to Color3.
		links{2} set-color to Color3.
		links{4} set-color to Color3.
		links{1} set-color to Color4.
		links{3} set-color to Color4.
		links{5} set-color to Color4.

		bodyLink set-color to Color4.


	# The following six methods allow external objects move the joints
	+ to set-joint-velocity-1 to value (float):
		joints{1} set-joint-velocity to value.

	+ to set-joint-velocity-2 to value (float):
		joints{2} set-joint-velocity to value.

	+ to set-joint-velocity-3 to value (float):
		joints{3} set-joint-velocity to value.
		
	+ to set-joint-velocity-4 to value (float):
  	joints{4} set-joint-velocity to -value.
		
	+ to set-joint-velocity-5 to value (float):
		joints{5} set-joint-velocity to -value.
		
   + to set-joint-velocity-6 to value (float):
		joints{0} set-joint-velocity to value.
		
  + to Re-set-shape:
  joints{0} set-joint-velocity to 2.
  joints{1} set-joint-velocity to 2.
  joints{2} set-joint-velocity to 2.
  joints{3} set-joint-velocity to 2.
  joints{4} set-joint-velocity to 2.
  joints{5} set-joint-velocity to 2.

  

	+ to destroy:
		free links.
		free bodyLink.
		free joints.
}



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