protected override void UpdatePhenome() {
Feelers.Feel(transform, DIRECTIONS, 0.5f, sensors, true);
float[] outputs = neuralNet.Evaluate(sensors);
float leftTheta = outputs[0] * 6;
float rightTheta = outputs[1] * 6;
float speed = outputs[2] * 6;
float dt = Time.fixedDeltaTime;
float angle = transform.rotation.eulerAngles.z;
angle += (leftTheta - rightTheta) * dt * 200;
float x = Mathf.Cos(Mathf.Deg2Rad * angle);
float y = Mathf.Sin(Mathf.Deg2Rad * angle);
Vector3 heading = new Vector3(x, y, 0);
heading *= speed * dt;
totalDistance += Vector3.Magnitude(heading);
transform.position += heading;
gameObject.transform.rotation = Quaternion.Euler(new Vector3(0, 0, angle));
Vector2 pos = new Vector2(transform.position.x, transform.position.y);
CACHE[0] = null;
Physics2D.OverlapCircleNonAlloc(pos, 0.1f, CACHE);
if (CACHE[0] != null) {
// Debug.Log(leftTheta + " " + rightTheta + " " + speed);
SetAsDone();
}
if (totalDistance > 25)
SetAsDone();
}
private void AddFeeler()
{
Feeler newFeeler = new Feeler(this, AmountOfFeelers, true);
newFeeler.AddAndMesh();
Feelers.Add(newFeeler);
}
// Use this for initialization
protected override void initializeAgent()
{
numInputs = 4;
numOutputs = 2;
numLayers = 1;
numNeuronsPerLayer = 6;
targetsEnabled = true;
mouseIsTarget = false;
userControl = false;
//Create sensors
feelers = new Feelers(this, radius*3); //TODO add perpendicular feelers to allow agent to know when it's moving along a wall.
adjAgents = new AdjacentAgents(this, radius*3, grid);
pieSlices = new PieSlices(this, adjAgents);
//Create brain and genetic algorithm
brain = new NeuralNet(numInputs, numOutputs, numLayers, numNeuronsPerLayer);
setGeneticAlgorithm( new GeneticAlgorithmOld(40, numInputs, numOutputs, numLayers, numNeuronsPerLayer));
startLocation = transform.position;
startRotation = transform.rotation;
createFourTargets();
reset ();
}
// Use this for initialization
protected override void initializeAgent()
{
seekMouse = false;
//Sensors
feelers = new Feelers(this, radius*3);
adjAgents = new AdjacentAgents(this, radius*3, grid);
pieSlices = new PieSlices(this, adjAgents);
}
