public void Update()
{
//Create a raycast and returns the distance between the origin and the collide point
_ins[0] = MonoUtils.GetDistance(leftSensor.position, leftSensor.forward);
_ins[1] = MonoUtils.GetDistance(rightSensor.position, rightSensor.forward);
//Returns the percentage of the sensor between the minimalDistance and the maximalDistance,
//if less than the minimal returns 0, it greater that the maximal returns 1, the idea is give
//the neural net values between 0 and 1, is the only way it works
_ins[0] = MathUtils.Range(0, 5, _ins[0]);
_ins[1] = MathUtils.Range(0, 5, _ins[1]);
//Check the neural net return value
neuralNet.Calculate(_ins, out _outs);
//Get the only value that in this case the neural net return
//Check the MonoNeuralNet script in the gameobject IA in the
//gameObject car and see where it specifies one
float val = _outs[0];
//Turns base in the the direction that the neural net says
if (val < 0.2f)
{
transform.Rotate(0, (1 - MathUtils.Range(0, 0.2f, val)) * -100 * Time.deltaTime, 0);
}
else if (val > 0.8f)
{
transform.Rotate(0, MathUtils.Range(0.8f, 1, val) * 100 * Time.deltaTime, 0);
}
/* USE THIS IF YOU WANT A NON SMOOTH TURN
*
* if (val < 0.2f)
* transform.Rotate(0, -100 * Time.deltaTime, 0);
* else if (val > 0.8f)
* transform.Rotate(0, 100 * Time.deltaTime, 0);
*
*/
//Constant move forward
transform.Translate(0, 0, 0.2f);
}
public void Update()
{
//Create a raycast and returns the distance between the origin and the collide point
_ins[0] = MonoUtils.GetDistance(leftSensor.position, leftSensor.forward);
_ins[1] = MonoUtils.GetDistance(rightSensor.position, rightSensor.forward);
//Returns the percentage of the sensor between the minimalDistance and the maximalDistance,
//if less than the minimal returns 0, it greater that the maximal returns
_ins[0] = MathUtils.Range(minimalDistance, maximalDistance, _ins[0]);
_ins[1] = MathUtils.Range(minimalDistance, maximalDistance, _ins[1]);
//If the sensors reaches 0, that means that the neural net doesnt return the correct value,
//so we need to train in every hit so the next time wont fail, also relocates to the initial
//position and stops the current update to prevent undesired behaviours
if (_ins[0] == 0)
{
for (int i = 0; i < trainLoops; i++)
{
neuralNet.Train(_ins, new float[] { 1f });
}
transform.position = startPos;
transform.rotation = startRot;
return;
}
else if (_ins [1] == 0)
{
for (int i = 0; i < trainLoops; i++)
{
neuralNet.Train(_ins, new float[] { 0f });
}
transform.position = startPos;
transform.rotation = startRot;
return;
}
//Check the neural net return value
neuralNet.Calculate(_ins, out _outs);
//Get the only value that in this case the neural net return
//Check the MonoNeuralNet script in the gameobject IA in the
//gameObject car and see where it specifies one
float val = _outs[0];
//Turns base in the the direction that the neural net says
if (val < 0.3f)
{
transform.Rotate(0, (1 - MathUtils.Range(0, 0.2f, val)) * -100 * Time.deltaTime, 0);
}
else if (val > 0.7f)
{
transform.Rotate(0, MathUtils.Range(0.8f, 1, val) * 100 * Time.deltaTime, 0);
}
/* USE THIS IF YOU WANT A NON SMOOTH TURN
*
* if (val < 0.2f)
* transform.Rotate(0, -100 * Time.deltaTime, 0);
* else if (val > 0.8f)
* transform.Rotate(0, 100 * Time.deltaTime, 0);
*
*/
//Constant move forward
transform.Translate(0, 0, 0.2f);
}