// Update is called once per frame
private void Update()
{
DebugGUI.LogPersistent("fpsCounter", "FPS: " + (1 / Time.smoothDeltaTime).ToString("F2"));
DebugGUI.LogPersistent("genCount", "Generation: " + genCount.ToString());
int activeCars = 0;
foreach (GameObject item in cars)
{
if (!item.GetComponent <CarController>().IsFinished())
{
activeCars++;
}
}
DebugGUI.LogPersistent("activeCars", "Active Cars: " + activeCars.ToString());
for (int i = 0; i < populationSize; i++)
{
if (!cars[i].GetComponent <CarController>().IsFinished())
{
if (cars[i].GetComponent <CarController>().output.Length != 0)
{
float speed = cars[i].GetComponent <CarController>().currentSpeed;
DebugGUI.Graph("bestCarSpeed", speed);
speedOMeter.text = speed.ToString("F0") + " MPH";
float throttleBrake = cars[i].GetComponent <CarController>().output[1];
//DebugGUI.Graph("throttle", Mathf.Clamp(cars[i].GetComponent<CarController>().output[1], 0f, 1f));
//DebugGUI.Graph("brake", Mathf.Clamp(cars[i].GetComponent<CarController>().output[2], 0f, 1f));
float engine = cars[i].GetComponent <CarController>().output[1];
if (engine > 0f)
{
DebugGUI.Graph("throttle", engine);
DebugGUI.Graph("brake", 0f);
}
else
{
DebugGUI.Graph("throttle", 0f);
DebugGUI.Graph("brake", Mathf.Abs(engine));
}
//DebugGUI.Graph("throttle", cars[i].GetComponent<CarController>().output[1]);
DebugGUI.Graph("steering", cars[i].GetComponent <CarController>().output[0]);
float angle = cars[i].GetComponent <CarController>().output[0] * 90f;
steeringWheel.transform.rotation = Quaternion.Euler(0f, 0f, -1f * angle);
//DebugGUI.Graph("currentRPM", cars[i].GetComponent<CarController>().GetRPM() / 1000f);
i = populationSize;
}
}
}
if (AllFinished())
{
timeElapsed = 0f;
mainCamera.GetComponent <CameraController>().ResetCamera();
// End of generation training
cars = cars.OrderByDescending(e => e.GetComponent <CarController>().GetFitness()).ToList();
//cars = cars.OrderByDescending(e => e.GetComponent<CarController>().GradientSort()).ToList();
// Graphing
DebugGUI.Graph("topFitness", cars[0].GetComponent <CarController>().GetFitness());
// calculate median
float limit = (populationSize / 2f) - 1f;
float medianIndex = (2 / 3f) * limit;
float median;
if (medianIndex % 1 != 0)
{
int temp1 = Mathf.FloorToInt(medianIndex);
int temp2 = Mathf.CeilToInt(medianIndex);
median = (cars[temp1].GetComponent <CarController>().GetFitness() + cars[temp2].GetComponent <CarController>().GetFitness()) / 2f;
}
else
{
median = cars[(int)medianIndex].GetComponent <CarController>().GetFitness();
}
TrainingLog data = new TrainingLog
{
generation = genCount,
topFitness = cars[0].GetComponent <CarController>().GetFitness(),
medianFitness = median
};
trainingLog.Add(data);
JSONManager.SaveData(trainingLog.ToArray(), Application.dataPath + "/trainingLog.json");
DebugGUI.Graph("medianFitness", median);
// calculate quartiles
float Q3Index = (1 / 3f) * limit; // 0.25 is used because it's sorted in descending order
float Q3;
if (Q3Index % 1 != 0)
{
int temp1 = Mathf.FloorToInt(Q3Index);
int temp2 = Mathf.CeilToInt(Q3Index);
Q3 = (cars[temp1].GetComponent <CarController>().GetFitness() + cars[temp2].GetComponent <CarController>().GetFitness()) / 2f;
}
else
{
Q3 = cars[(int)Q3Index].GetComponent <CarController>().GetFitness();
}
DebugGUI.Graph("upperQuartile", Q3);
float Q1Index = limit;
float Q1;
if (Q1Index % 1 != 0)
{
int temp1 = Mathf.FloorToInt(Q1Index);
int temp2 = Mathf.CeilToInt(Q1Index);
Q1 = (cars[temp1].GetComponent <CarController>().GetFitness() + cars[temp2].GetComponent <CarController>().GetFitness()) / 2f;
}
else
{
Q1 = cars[(int)Q1Index].GetComponent <CarController>().GetFitness();
}
DebugGUI.Graph("lowerQuartile", Q1);
float IQR = Q3 - Q1;
List <float> speedList = new List <float>();
foreach (GameObject item in cars)
{
speedList.Add(item.GetComponent <CarController>().avgSpeed);
}
speedList = speedList.OrderByDescending(e => e).ToList();
DebugGUI.Graph("medianSpeed", speedList[(populationSize / 2) - 1]);
DebugGUI.Graph("topSpeed", speedList[0]);
for (int i = 0; i < populationSize / 2; i++)
{
// check for outlier
float outlier = Q3 + (1.5f * IQR);
if (cars[0].GetComponent <CarController>().GetFitness() > outlier)
{
cars[(populationSize / 2) + i].GetComponent <CarController>().Mutate(cars[0]);
}
else
{
// take best half and delete worst half
if (i + 1 == populationSize / 2)
{
cars[(populationSize / 2) + i].GetComponent <CarController>().Reproduce(cars[i], cars[0]);
}
else
{
cars[(populationSize / 2) + i].GetComponent <CarController>().Reproduce(cars[i], cars[i + 1]);
}
}
//cars[(populationSize / 2) + i].GetComponent<CarController>().ResetCar();
//cars[i].GetComponent<CarController>().ResetCar();
}
// reset all cars
foreach (GameObject item in cars)
{
item.GetComponent <CarController>().ResetCar();
}
// saving best network to file
if (settings.saveBestNetwork)
{
cars[0].GetComponent <CarController>().SaveData();
}
genCount++;
}
else
{
for (int i = 0; i < populationSize; i++)
{
if (!cars[i].GetComponent <CarController>().IsFinished())
{
mainCamera.GetComponent <CameraController>().SetCamerTarget(cars[i]);
i = populationSize;
}
}
timeElapsed += Time.deltaTime;
DebugGUI.LogPersistent("timeElapsed", "Time Elapsed: " + timeElapsed.ToString("F3"));
}
}