private void Start()
{
GUIHelper.AddToDisplay("Best fitness", () => bestFitness);
GUIHelper.AddToDisplay("Generation", () => currentGeneration);
GUIHelper.AddToDisplay("Genome", () => currentGenome);
CreatePopulation();
}
private void Awake()
{
_neatManager = FindObjectOfType <NEAT_Manager>();
_isNeuralNetworkImported = jsonFile != null;
_rigidbody = gameObject.GetComponent <Rigidbody>();
_vpResetVehicle = gameObject.GetComponent <VPResetVehicle>();
_vpVehicleToolkit = GetComponent <VPVehicleToolkit>();
_checkpoints = path.GetComponentsInChildren <Transform>();
Array.Sort(_checkpoints, (t1, t2) => string.Compare(t1.name, t2.name, StringComparison.Ordinal));
GUIHelper.AddToDisplay("Fitness", () => _globalFitness);
GUIHelper.AddToDisplay("Time", () => _runningTime);
GUIHelper.AddToDisplay("Avg speed", () => _avgSpeed);
GUIHelper.AddToDisplay("Current checkpoint", () => _currentCheckpoint + 1);
SensorByTypeResolver.Add(SensorType.Front, sensorFPosition);
SensorByTypeResolver.Add(SensorType.Back, sensorBPosition);
SensorByTypeResolver.Add(SensorType.Right, sensorRPosition);
SensorByTypeResolver.Add(SensorType.Left, sensorLPosition);
SensorByTypeResolver.Add(SensorType.FrontLeft, sensorFLPosition);
SensorByTypeResolver.Add(SensorType.FrontRight, sensorFRPosition);
SensorByTypeResolver.Add(SensorType.FrontLeftCenter, sensorFLCPosition);
SensorByTypeResolver.Add(SensorType.FrontRightCenter, sensorFRCPosition);
SensorReadActionByTypeResolver.Add(SensorType.Speed, () => _vpVehicleToolkit.speed / 40);
SensorReadActionByTypeResolver.Add(SensorType.AxeX, () => NormalizeEuler(transform.eulerAngles.x));
SensorReadActionByTypeResolver.Add(SensorType.AxeY, () => (transform.eulerAngles.y - 180) / 180);
SensorReadActionByTypeResolver.Add(SensorType.AxeZ, () => (transform.eulerAngles.z - 180) / 180);
inputsAmount = SensorByTypeResolver.Count + SensorReadActionByTypeResolver.Count;
var curTransform = transform;
_initPosition = curTransform.position;
_initEulerAngles = curTransform.eulerAngles;
_initRotation = curTransform.rotation;
_lastPosition = _initPosition;
if (_isNeuralNetworkImported)
{
Destroy(_neatManager);
_network = SerializationHelper.DeserializeNeuralNetwork(this);
}
else
{
_network = NeuralNetwork.Of(inputsAmount, outputsAmount, ActivationsFunctions);
}
}