public override object Read(ES2Reader reader)
{
CritterNode data = new CritterNode();
Read(reader, data);
return(data);
}
public CritterNode CloneThisCritterNode() {
CritterNode clonedCritterNode = new CritterNode(this.ID, this.innov);
clonedCritterNode.dimensions = this.dimensions;
clonedCritterNode.jointLink.CopySettingsFromJointLink(this.jointLink);
for(int i = 0; i < this.attachedChildNodesIdList.Count; i++) {
// populate clonedNode's attachedChild list based on this Node
clonedCritterNode.attachedChildNodesIdList.Add(this.attachedChildNodesIdList[i]);
}
return clonedCritterNode;
}
public void CopySettingsFromNode(CritterNode sourceNode) {
this.iD = sourceNode.ID;
this.innov = sourceNode.innov;
this.dimensions = sourceNode.dimensions;
this.jointLink.CopySettingsFromJointLink(sourceNode.jointLink);
for (int i = 0; i < sourceNode.attachedChildNodesIdList.Count; i++) {
// populate clonedNode's attachedChild list based on this Node
this.attachedChildNodesIdList.Add(sourceNode.attachedChildNodesIdList[i]);
}
}
public void CopySettingsFromNode(CritterNode sourceNode)
{
this.iD = sourceNode.ID;
this.innov = sourceNode.innov;
this.dimensions = sourceNode.dimensions;
this.jointLink.CopySettingsFromJointLink(sourceNode.jointLink);
for (int i = 0; i < sourceNode.attachedChildNodesIdList.Count; i++)
{
// populate clonedNode's attachedChild list based on this Node
this.attachedChildNodesIdList.Add(sourceNode.attachedChildNodesIdList[i]);
}
}
public CritterNode CloneThisCritterNode()
{
CritterNode clonedCritterNode = new CritterNode(this.ID, this.innov);
clonedCritterNode.dimensions = this.dimensions;
clonedCritterNode.jointLink.CopySettingsFromJointLink(this.jointLink);
for (int i = 0; i < this.attachedChildNodesIdList.Count; i++)
{
// populate clonedNode's attachedChild list based on this Node
clonedCritterNode.attachedChildNodesIdList.Add(this.attachedChildNodesIdList[i]);
}
return(clonedCritterNode);
}
public override void Write(object obj, ES2Writer writer)
{
CritterNode data = (CritterNode)obj;
// Add your writer.Write calls here.
writer.Write(0); // Version 0 is current version number
// Make sure to edit Read() function to properly handle version control!
// VERSION 0:
//writer.Write(data.attachedJointLinkList);
//writer.Write(data.jointLink);
writer.Write(data.attachedChildNodesIdList);
writer.Write(data.jointLink);
writer.Write(data.dimensions);
writer.Write(data.ID);
writer.Write(data.innov);
}
public override void Read(ES2Reader reader, object c)
{
CritterNode data = (CritterNode)c;
// Add your reader.Read calls here to read the data into the object.
// Read the version number.
int fileVersion = reader.Read <int>();
// VERSION 0:
if (fileVersion >= 0)
{
//data.attachedJointLinkList = reader.ReadList<CritterJointLink>();
//if (data.jointLink != null)
data.attachedChildNodesIdList = reader.ReadList <System.Int32>();
data.jointLink = reader.Read <CritterJointLink>();
data.dimensions = reader.Read <Vector3>();
data.ID = reader.Read <System.Int32>();
data.innov = reader.Read <System.Int32>();
}
}
public void UpdateNodeAddonsPanel(bool segmentOn, GameObject selectedSegment, bool active)
{
if (active)
{
panelNodeAddons.panelOverlay.SetActive(false);
}
else
{
panelNodeAddons.panelOverlay.SetActive(true);
}
if (selectedSegment != null)
{
CritterNode sourceNode = selectedSegment.GetComponent <CritterSegment>().sourceNode;
panelNodeAddons.textNodeID.text = "Selected Node ID: " + sourceNode.ID.ToString() + " [" + sourceNode.innov.ToString() + "]";
}
else
{
panelNodeAddons.textNodeID.text = "Selected Node ID: none";
}
}
public CritterGenome() {
//Debug.Log("CritterGenome Constructor()!");
CritterNodeList = new List<CritterNode>();
CritterNode critterRootNode = new CritterNode(0, 0); // create root node // Does Root node ALWAYS have innov=0?
CritterNodeList.Add(critterRootNode); // set it to first member of the list.
addonPhysicalAttributesList = new List<AddonPhysicalAttributes>();
addonJointAngleSensorList = new List<AddonJointAngleSensor>();
addonContactSensorList = new List<AddonContactSensor>();
addonRaycastSensorList = new List<AddonRaycastSensor>();
addonCompassSensor1DList = new List<AddonCompassSensor1D>();
addonCompassSensor3DList = new List<AddonCompassSensor3D>();
addonPositionSensor1DList = new List<AddonPositionSensor1D>();
addonPositionSensor3DList = new List<AddonPositionSensor3D>();
addonRotationSensor1DList = new List<AddonRotationSensor1D>();
addonRotationSensor3DList = new List<AddonRotationSensor3D>();
addonVelocitySensor1DList = new List<AddonVelocitySensor1D>();
addonVelocitySensor3DList = new List<AddonVelocitySensor3D>();
addonAltimeterList = new List<AddonAltimeter>();
addonEarBasicList = new List<AddonEarBasic>();
addonGravitySensorList = new List<AddonGravitySensor>();
addonOscillatorInputList = new List<AddonOscillatorInput>();
addonValueInputList = new List<AddonValueInput>();
addonTimerInputList = new List<AddonTimerInput>();
addonJointMotorList = new List<AddonJointMotor>();
addonThrusterEffector1DList = new List<AddonThrusterEffector1D>();
addonThrusterEffector3DList = new List<AddonThrusterEffector3D>();
addonTorqueEffector1DList = new List<AddonTorqueEffector1D>();
addonTorqueEffector3DList = new List<AddonTorqueEffector3D>();
addonMouthBasicList = new List<AddonMouthBasic>();
addonNoiseMakerBasicList = new List<AddonNoiseMakerBasic>();
addonStickyList = new List<AddonSticky>();
addonWeaponBasicList = new List<AddonWeaponBasic>();
}
public override object Read(ES2Reader reader)
{
CritterNode data = new CritterNode();
Read(reader, data);
return data;
}
public void ResetToBlankGenome() {
if(CritterNodeList == null) {
CritterNodeList = new List<CritterNode>();
}
else {
ClearAllAddons();
CritterNodeList.Clear();
}
CritterNode critterRootNode = new CritterNode(0, 0); // create root node
//critterRootNode.jointLink.parentNode = critterRootNode;
CritterNodeList.Add(critterRootNode); // set it to first member of the list.
}
public void DeleteBranch(CritterNode node) { // Removes the specified nodes as well as all of its children / mirrors
}
/*public void AddNewNode(CritterNode parentNode, Vector3 attachDir, int id) {
CritterNode newCritterNode = new CritterNode(id);
newCritterNode.jointLink.parentNodeID = parentNode.ID;
newCritterNode.jointLink.thisNodeID = newCritterNode.ID;
newCritterNode.jointLink.numberOfRecursions = 0;
Vector3 newSegmentDimensions = parentNode.dimensions;
newCritterNode.dimensions = newSegmentDimensions;
parentNode.attachedChildNodesIdList.Add(newCritterNode.ID); // check this
newCritterNode.jointLink.attachDir = attachDir.normalized;
CritterNodeList.Add(newCritterNode);
//Debug.Log("AddNewNode(CritterNode parentNode = " + parentNode.ID.ToString() + ", Vector3 attachDir = " + newCritterNode.jointLink.attachDir.ToString() + ")");
}*/
public void AddNewNode(CritterNode parentNode, Vector3 attachDir, Vector3 restAngleDir, int id, int inno) {
CritterNode newCritterNode = new CritterNode(id, inno);
newCritterNode.jointLink.parentNodeID = parentNode.ID;
//newCritterNode.jointLink.jointType = CritterJointLink.JointType. // Need to change this so the jointType can vary -- right now it's only HingeX!
newCritterNode.jointLink.thisNodeID = newCritterNode.ID;
newCritterNode.jointLink.numberOfRecursions = 0;
Vector3 newSegmentDimensions = parentNode.dimensions;
newCritterNode.dimensions = newSegmentDimensions;
parentNode.attachedChildNodesIdList.Add(newCritterNode.ID);
newCritterNode.jointLink.attachDir = attachDir.normalized;
newCritterNode.jointLink.restAngleDir = restAngleDir.normalized;
CritterNodeList.Add(newCritterNode);
Debug.Log("AddNewNode(CritterNodeID: " + newCritterNode.ID.ToString() + ", parentNode = " + parentNode.ID.ToString() + ", attachDir = " + newCritterNode.jointLink.attachDir.ToString() + ")" + " restAngleDir: " + restAngleDir.ToString());
}
public void AddNewNode(CritterNode parentNode, CritterJointLink jointLink) {
//Debug.Log("AddNewNode(CritterNode parentNode, CritterJointLink jointLink)");
}
public void AddNewNode(CritterNode parentNode) {
//Debug.Log("AddNewNode(CritterNode parentNode)");
}
public void UpdateSegmentSettingsPanel(bool segmentOn, GameObject selectedSegment, bool active)
{
if (active)
{
panelSegmentSettings.panelOverlay.SetActive(false);
}
else
{
panelSegmentSettings.panelOverlay.SetActive(true);
}
if (selectedSegment != null)
{
CritterNode sourceNode = selectedSegment.GetComponent <CritterSegment>().sourceNode;
panelSegmentSettings.textSegmentID.text = "Segment ID: " + selectedSegment.GetComponent <CritterSegment>().id.ToString();
panelSegmentSettings.textNodeID.text = "(Node: " + sourceNode.ID.ToString() + ")";
if (sourceNode.ID != 0) // if not the ROOT
{
panelSegmentSettings.textParentSegmentID.text = "Parent Segment ID: " + selectedSegment.GetComponent <CritterSegment>().parentSegment.id.ToString();
panelSegmentSettings.textParentNodeID.text = "(Node: " + sourceNode.jointLink.parentNodeID.ToString() + ")";
}
else
{
panelSegmentSettings.textParentSegmentID.text = "Parent Segment ID: ";
panelSegmentSettings.textParentNodeID.text = "(Root)";
}
Vector3 size = sourceNode.dimensions;
size.x = (float)Math.Round((double)size.x, 2);
size.y = (float)Math.Round((double)size.y, 2);
size.z = (float)Math.Round((double)size.z, 2);
panelSegmentSettings.textDimensionX.text = "X: " + size.x.ToString();
panelSegmentSettings.textDimensionY.text = "Y: " + size.y.ToString();
panelSegmentSettings.textDimensionZ.text = "Z: " + size.z.ToString();
panelSegmentSettings.sliderDimensionX.value = size.x;
panelSegmentSettings.sliderDimensionY.value = size.y;
panelSegmentSettings.sliderDimensionZ.value = size.z;
panelSegmentSettings.textInheritedScaleFactor.text = "Inherited Scale Factor: " + selectedSegment.GetComponent <CritterSegment>().scalingFactor.ToString();
Vector3 attachDir = sourceNode.jointLink.attachDir;
attachDir.x = (float)Math.Round((double)attachDir.x, 2);
attachDir.y = (float)Math.Round((double)attachDir.y, 2);
attachDir.z = (float)Math.Round((double)attachDir.z, 2);
panelSegmentSettings.textAttachDirX.text = "X: " + attachDir.x.ToString();
panelSegmentSettings.textAttachDirY.text = "Y: " + attachDir.y.ToString();
panelSegmentSettings.textAttachDirZ.text = "Z: " + attachDir.z.ToString();
panelSegmentSettings.sliderAttachDirX.value = attachDir.x;
panelSegmentSettings.sliderAttachDirY.value = attachDir.y;
panelSegmentSettings.sliderAttachDirZ.value = attachDir.z;
Vector3 restAngle = sourceNode.jointLink.restAngleDir;
restAngle.x = (float)Math.Round((double)restAngle.x, 2);
restAngle.y = (float)Math.Round((double)restAngle.y, 2);
restAngle.z = (float)Math.Round((double)restAngle.z, 2);
panelSegmentSettings.textRestAngleX.text = "X: " + restAngle.x.ToString();
panelSegmentSettings.textRestAngleY.text = "Y: " + restAngle.y.ToString();
panelSegmentSettings.textRestAngleZ.text = "Z: " + restAngle.z.ToString();
panelSegmentSettings.sliderRestAngleX.value = restAngle.x;
panelSegmentSettings.sliderRestAngleY.value = restAngle.y;
panelSegmentSettings.sliderRestAngleZ.value = restAngle.z;
panelSegmentSettings.dropdownJointType.value = (int)sourceNode.jointLink.jointType;
panelSegmentSettings.textNumRecursions.text = "Recursion Number: " + sourceNode.jointLink.numberOfRecursions.ToString();
panelSegmentSettings.textRecursionScaleFactor.text = "Scale Factor: " + sourceNode.jointLink.recursionScalingFactor.ToString();
panelSegmentSettings.sliderRecursionScaleFactor.value = sourceNode.jointLink.recursionScalingFactor;
panelSegmentSettings.textRecursionForward.text = "Forward Bias: " + sourceNode.jointLink.recursionForward.ToString();
panelSegmentSettings.sliderRecursionForward.value = sourceNode.jointLink.recursionForward;
panelSegmentSettings.toggleAttachOnlyToLast.isOn = sourceNode.jointLink.onlyAttachToTailNode;
panelSegmentSettings.dropdownSymmetryType.value = (int)sourceNode.jointLink.symmetryType;
panelSegmentSettings.textJointAngleLimit.text = "Primary: " + sourceNode.jointLink.jointLimitPrimary.ToString();
panelSegmentSettings.textJointAngleLimitSecondary.text = "Secondary: " + sourceNode.jointLink.jointLimitSecondary.ToString();
panelSegmentSettings.sliderJointAngleLimit.value = sourceNode.jointLink.jointLimitPrimary;
panelSegmentSettings.sliderJointAngleLimitSecondary.value = sourceNode.jointLink.jointLimitSecondary;
}
else
{
panelSegmentSettings.textSegmentID.text = "Segment ID: none";
panelSegmentSettings.textNodeID.text = "Parent ID: none";
panelSegmentSettings.textDimensionX.text = "X: ";
panelSegmentSettings.textDimensionY.text = "Y: ";
panelSegmentSettings.textDimensionZ.text = "Z: ";
panelSegmentSettings.textAttachDirX.text = "X: ";
panelSegmentSettings.textAttachDirY.text = "Y: ";
panelSegmentSettings.textAttachDirZ.text = "Z: ";
panelSegmentSettings.textRestAngleX.text = "X: ";
panelSegmentSettings.textRestAngleY.text = "Y: ";
panelSegmentSettings.textRestAngleZ.text = "Z: ";
}
}
public void RebuildBranchFromGenome(CritterNode node) { // resets and re-constructs only a branch of the Critter, starting with specified node
}
public void BodyCrossover(ref CritterNode clonedCritterNode, CritterNode lessFitNode) {
// Node dimensions
if(CheckForMutation(0.5f)) {
clonedCritterNode.dimensions = lessFitNode.dimensions;
}
// Joint Settings - placement, orientation
if (CheckForMutation(0.5f)) {
clonedCritterNode.jointLink.attachDir = lessFitNode.jointLink.attachDir;
}
if (CheckForMutation(0.5f)) {
clonedCritterNode.jointLink.restAngleDir = lessFitNode.jointLink.restAngleDir;
}
if (CheckForMutation(0.5f)) {
clonedCritterNode.jointLink.jointLimitPrimary = lessFitNode.jointLink.jointLimitPrimary;
clonedCritterNode.jointLink.jointLimitSecondary = lessFitNode.jointLink.jointLimitSecondary;
clonedCritterNode.jointLink.jointType = lessFitNode.jointLink.jointType;
}
// Recursion
if (CheckForMutation(0.5f)) {
clonedCritterNode.jointLink.numberOfRecursions = lessFitNode.jointLink.numberOfRecursions;
}
// Symmetry
if (CheckForMutation(0.5f)) {
clonedCritterNode.jointLink.symmetryType = lessFitNode.jointLink.symmetryType;
}
// Scale Factors, forward Bias, Attach only to Last, etc.
if (CheckForMutation(0.5f)) {
clonedCritterNode.jointLink.recursionScalingFactor = lessFitNode.jointLink.recursionScalingFactor;
clonedCritterNode.jointLink.recursionForward = lessFitNode.jointLink.recursionForward;
clonedCritterNode.jointLink.onlyAttachToTailNode = lessFitNode.jointLink.onlyAttachToTailNode;
}
}
public void DeleteNode(CritterNode node) {
int deletedID = node.ID; // id of the node being deleted
masterCritterGenome.DeleteNode(deletedID); // handled within Genome
}
