private static void UpdateNetInputs(NeuralCreature c)
{
List <ISensor> sensors = c.Body.Sensors;
int i = 0;
for (int s = 0; s < sensors.Count; s++)
{
for (int sp = 0; sp < sensors[s].SensorCount; sp++)
{
c.Mind.Inputs[i] = sensors[s].Get(sp);
i++;
}
}
}
private static void Reset(NeuralCreature c)
{
c.Score = 0f;
c.Goal = UnityEngine.Random.insideUnitCircle.normalized;
c.Goal = new Vector3(c.Goal.x, 0f, c.Goal.y);
c.Body.Root.Transform.GetComponent <AngleSensor>().Goal = c.Goal;
List <ISensor> sensors = c.Body.Sensors;
for (int i = 0; i < sensors.Count; i++)
{
sensors[i].OnReset();
}
}
private static void UpdateNetOutputs(NeuralCreature c)
{
List <IActuator> actuators = c.Body.Actuators;
int i = 0;
for (int s = 0; s < actuators.Count; s++)
{
for (int sp = 0; sp < actuators[s].ActuatorCount; sp++)
{
actuators[s].Set(sp, c.Mind.Last.Outputs[i]);
i++;
}
}
}
private void Awake()
{
Application.runInBackground = true;
var protoCreature = QuadrotorFactory.CreateCreature(
Vector3.zero,
Quaternion.identity);
var config = new FCNetworkConfig();
config.Layers.Add(new FCLayerConfig {
NumNeurons = protoCreature.NumInputs
});
config.Layers.Add(new FCLayerConfig {
NumNeurons = 30
});
config.Layers.Add(new FCLayerConfig {
NumNeurons = protoCreature.NumOutputs
});
Destroy(protoCreature.gameObject);
// Create creature bodies
_creatures = new List <NeuralCreature>(_populationSize);
for (int i = 0; i < _populationSize; i++)
{
NeuralCreature nc = new NeuralCreature();
Vector3 spawnPos = GetSpawnPosition(i, _populationSize);
nc.Body = QuadrotorFactory.CreateCreature(
spawnPos,
GetSpawnRotation());
nc.Mind = new FCNetwork(config);
NeuralUtils.Initialize(nc.Mind, ref _rng);
_creatures.Add(nc);
}
// Create a random genotype to seed the population
_genotype = new FCNetwork(config);
NeuralUtils.Initialize(_genotype, ref _rng);
PrepareNewEpisode();
MutatePopulation();
// Store initial pose so we can reuse creature gameplay objects across tests
_creatureInitPose = new List <ITransform>();
CreatureFactory.SerializePose(_creatures[0].Body, _creatureInitPose);
Physics.autoSimulation = false;
Physics.autoSyncTransforms = false;
var colliders = FindObjectsOfType <CapsuleCollider>();
for (int i = 0; i < colliders.Length; i++)
{
// Bug this doesn't work, why?
colliders[i].material = _physicsMaterial;
}
StartEpisode();
}
