public static BasicObstaclesGenome BirthNewGenome(BasicObstaclesGenome parentGenome, float mutationRate, float mutationDriftAmount, EnvironmentGenome envGenomeRef)
{
// OBSTACLES:
// NEED TO COPY ALL ATTRIBUTES HERE unless I switch mutation process to go: full-copy, then re-traverse and mutate on a second sweep...
BasicObstaclesGenome newGenome = new BasicObstaclesGenome();
newGenome.numObstacles = parentGenome.numObstacles;
newGenome.minObstacleSize = parentGenome.minObstacleSize;
newGenome.maxObstacleSize = parentGenome.maxObstacleSize;
newGenome.randomSeed = parentGenome.randomSeed;
float rand = UnityEngine.Random.Range(0f, 1f);
if (rand < mutationRate)
{
int newVal = UnityEngine.Random.Range(0, 99999);
newGenome.randomSeed = newVal;
}
newGenome.obstaclePositions = new Vector2[newGenome.numObstacles];
newGenome.obstacleScales = new float[newGenome.numObstacles];
for (int i = 0; i < parentGenome.obstaclePositions.Length; i++)
{
newGenome.obstaclePositions[i] = new Vector2(parentGenome.obstaclePositions[i].x, parentGenome.obstaclePositions[i].y);
newGenome.obstacleScales[i] = parentGenome.obstacleScales[i];
rand = UnityEngine.Random.Range(0f, 1f);
if (rand < mutationRate)
{
float newPosX = UnityEngine.Random.Range(0f, 1f);
newGenome.obstaclePositions[i].x = Mathf.Lerp(newGenome.obstaclePositions[i].x, newPosX, mutationDriftAmount);
}
if (rand < mutationRate)
{
float newPosZ = UnityEngine.Random.Range(0f, 1f);
newGenome.obstaclePositions[i].y = Mathf.Lerp(newGenome.obstaclePositions[i].y, newPosZ, mutationDriftAmount);
}
// Check for intersection with Agent Start Position:
Vector2 startCoords = new Vector2(envGenomeRef.agentStartPositionsList[0].agentStartPosition.x / 40f + 0.5f, envGenomeRef.agentStartPositionsList[0].agentStartPosition.z / 40f + 0.5f);
if ((newGenome.obstaclePositions[i] - startCoords).magnitude < 0.15f)
{
newGenome.obstaclePositions[i] = startCoords + (newGenome.obstaclePositions[i] - startCoords) * 0.15f / (newGenome.obstaclePositions[i] - startCoords).magnitude;
}
// Check for intersection with Target Position:
// will need to do this as env is being created since target pos is random
/*if(envGenomeRef.useTargetColumn) {
* Vector2 targetCoords = new Vector2(envGenomeRef.targetColumnGenome..agentStartPosition.x / 40f + 0.5f, envGenomeRef.agentStartPositionsList[0].agentStartPosition.z / 40f + 0.5f);
* if ((newGenome.obstaclePositions[i] - startCoords).magnitude < 0.15f) {
* newGenome.obstaclePositions[i] = startCoords + (newGenome.obstaclePositions[i] - startCoords) * 0.15f / (newGenome.obstaclePositions[i] - startCoords).magnitude;
* }
* //
* }*/
if (rand < mutationRate)
{
float newScale = UnityEngine.Random.Range(newGenome.minObstacleSize, newGenome.maxObstacleSize);
newGenome.obstacleScales[i] = Mathf.Lerp(newGenome.obstacleScales[i], newScale, mutationDriftAmount);
}
}
return(newGenome);
}
public BasicObstaclesGenome(BasicObstaclesGenome templateGenome, EnvironmentGenome envGenomeRef)
{
numObstacles = templateGenome.numObstacles;
minObstacleSize = templateGenome.minObstacleSize;
maxObstacleSize = templateGenome.maxObstacleSize;
obstaclePositions = new Vector2[numObstacles];
obstacleScales = new float[numObstacles];
for (int i = 0; i < obstaclePositions.Length; i++)
{
if (i < templateGenome.obstaclePositions.Length) // when changing numOctaves, doesn't immediately change parentgenome terrainWaves array
//terrainWaves[i] = new Vector3(templateGenome.terrainWaves[i].x, templateGenome.terrainWaves[i].y, templateGenome.terrainWaves[i].z);
//Debug.Log("Copy Terrain Genome: " + terrainWaves[i].ToString());
{
obstaclePositions[i] = new Vector2(templateGenome.obstaclePositions[i].x, templateGenome.obstaclePositions[i].y);
obstacleScales[i] = templateGenome.obstacleScales[i];
// = size;
}
else
{
obstaclePositions[i] = new Vector2(UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f));
// Revisit this for prepping agentStartPositions!!!!
Vector2 startCoords = new Vector2(envGenomeRef.agentStartPositionsList[0].agentStartPosition.x / 40f + 0.5f, envGenomeRef.agentStartPositionsList[0].agentStartPosition.z / 40f + 0.5f);
if ((obstaclePositions[i] - startCoords).magnitude < 0.15f)
{
obstaclePositions[i] = startCoords + (obstaclePositions[i] - startCoords) * 0.15f / (obstaclePositions[i] - startCoords).magnitude;
}
obstacleScales[i] = UnityEngine.Random.Range(1f, 1f);
}
}
}
public void CopyGenomeFromTemplate(EnvironmentGenome templateGenome)
{
//Debug.Log("CopyGenomeFromTemplate BEFORE startPosCount: " + templateGenome.agentStartPositionsList.Count.ToString());
// This method creates a clone of the provided ScriptableObject Genome - should have no shared references!!!
this.challengeType = templateGenome.challengeType;
arenaBounds = new Vector3(templateGenome.arenaBounds.x, templateGenome.arenaBounds.y, templateGenome.arenaBounds.z);
agentStartPositionsList = new List <StartPositionGenome>();
for (int i = 0; i < templateGenome.agentStartPositionsList.Count; i++)
{
//Debug.Log("CopyGenomeFromTemplate DURING i: " + i.ToString());
StartPositionGenome genomeCopy = new StartPositionGenome(templateGenome.agentStartPositionsList[i]);
agentStartPositionsList.Add(genomeCopy);
}
//Debug.Log("CopyGenomeFromTemplate AFTER startPosCount: " + agentStartPositionsList.Count.ToString());
useTerrain = templateGenome.useTerrain;
if (useTerrain)
{
terrainGenome = new TerrainGenome(templateGenome.terrainGenome);
//terrainGenome.InitializeRandomGenome();
}
useBasicObstacles = templateGenome.useBasicObstacles;
if (useBasicObstacles)
{
basicObstaclesGenome = new BasicObstaclesGenome(templateGenome.basicObstaclesGenome, this);
//basicObstaclesGenome.InitializeRandomGenome();
}
useTargetColumn = templateGenome.useTargetColumn;
if (useTargetColumn)
{
targetColumnGenome = new TargetColumnGenome();
//targetColumnGenome.InitializeRandomGenome();
}
useAtmosphere = templateGenome.useAtmosphere;
if (useAtmosphere)
{
atmosphereGenome = new AtmosphereGenome(templateGenome.atmosphereGenome);
//basicObstaclesGenome.InitializeRandomGenome();
}
useMeteorites = templateGenome.useMeteorites;
if (useMeteorites)
{
meteoritesGenome = new MeteoritesGenome(templateGenome.meteoritesGenome);
//basicObstaclesGenome.InitializeRandomGenome();
}
// For now this is fine -- but eventually might want to copy brainGenome from saved asset!
//brainGenome = new BrainGenome(); // creates neuron and axonLists
//InitializeRandomBrainGenome();
}
public EnvironmentGenome BirthNewGenome(EnvironmentGenome parentGenome, int index, Challenge.Type challengeType, float mutationRate, float mutationDriftAmount)
{
EnvironmentGenome newGenome = new EnvironmentGenome(index);
newGenome.challengeType = parentGenome.challengeType;
newGenome.arenaBounds = new Vector3(parentGenome.arenaBounds.x, parentGenome.arenaBounds.y, parentGenome.arenaBounds.z);
newGenome.useTerrain = parentGenome.useTerrain;
if (parentGenome.useTerrain)
{
newGenome.terrainGenome = TerrainGenome.BirthNewGenome(parentGenome.terrainGenome, mutationRate, mutationDriftAmount);
}
newGenome.useBasicObstacles = parentGenome.useBasicObstacles;
if (parentGenome.useBasicObstacles)
{
newGenome.basicObstaclesGenome = BasicObstaclesGenome.BirthNewGenome(parentGenome.basicObstaclesGenome, mutationRate, mutationDriftAmount, this);
}
newGenome.useTargetColumn = parentGenome.useTargetColumn;
if (parentGenome.useTargetColumn)
{
newGenome.targetColumnGenome = TargetColumnGenome.BirthNewGenome(parentGenome.targetColumnGenome, mutationRate, mutationDriftAmount);
}
newGenome.useAtmosphere = parentGenome.useAtmosphere;
if (parentGenome.useAtmosphere)
{
newGenome.atmosphereGenome = AtmosphereGenome.BirthNewGenome(parentGenome.atmosphereGenome, mutationRate, mutationDriftAmount);
}
newGenome.useMeteorites = parentGenome.useMeteorites;
if (parentGenome.useMeteorites)
{
newGenome.meteoritesGenome = MeteoritesGenome.BirthNewGenome(parentGenome.meteoritesGenome, mutationRate, mutationDriftAmount);
}
// StartPositions:
// HACKY! DOES NOT SUPPORT EVOLVING START POSITIONS! ALL THE SAME!!!!
newGenome.agentStartPositionsList = parentGenome.agentStartPositionsList;
/*newGenome.agentStartPositionsList = new List<Vector3>();
* //Debug.Log("(parentGenome.agentStartPositionsList.Count" + parentGenome.agentStartPositionsList.Count.ToString());
* for (int i = 0; i < parentGenome.agentStartPositionsList.Count; i++) {
* newGenome.agentStartPositionsList.Add(new Vector3(parentGenome.agentStartPositionsList[i].x, parentGenome.agentStartPositionsList[i].y, parentGenome.agentStartPositionsList[i].z));
* }
* newGenome.agentStartRotationsList = new List<Quaternion>();
* for (int i = 0; i < parentGenome.agentStartRotationsList.Count; i++) {
* newGenome.agentStartRotationsList.Add(new Quaternion(parentGenome.agentStartRotationsList[i].x, parentGenome.agentStartRotationsList[i].y, parentGenome.agentStartRotationsList[i].z, parentGenome.agentStartRotationsList[i].w));
* }*/
return(newGenome);
}