public void AddConnection(PSOParticle particle)
{
if (connectionPrefab == null)
{
return;
}
// Just keep one direction of the pair of particles (halves the line renderers needed)
if (particle.particleId < particleId)
{
return;
}
if (connections == null)
{
connections = new List <Connection>();
}
Connection conn = new Connection
{
particle = particle,
lineRenderer = Instantiate(connectionPrefab, transform)
};
connections.Add(conn);
}
public PSOContext(int PopSize, int Dimensions, double MaxVel, double[] UpperBounds, double[] LowerBounds)
{
rnd = new Random();
myPopSize = PopSize;
myDimension = Dimensions;
myUpperBounds = UpperBounds;
myLowerBounds = LowerBounds;
myParticles = new PSOParticle[myPopSize];
for (int i = 0; i < myPopSize; i++) {
myParticles[i] = new PSOParticle(Dimensions, ref myUpperBounds, ref myLowerBounds, MaxVel, ref rnd);
}
myGlobalBest = myParticles[rnd.Next(myPopSize)];
}
public void iterate(double[] scores)
{
if (scores.Length != myParticles.Length)
throw new Exception("Array length does not match population size.");
for (int i = 0; i < myParticles.Length; i++) {
if (scores[i] < myBestFitness) {
myBestFitness = scores[i];
myGlobalBest = myParticles[i];
//myGlobalBest.Fitness = myBestFitness;
}
}
for (int i = 0; i < myParticles.Length; i++) {
myParticles[i].GlobalBest = myGlobalBest;
myParticles[i].iterate(scores[i]);
}
}
public PSOParticle GetWorstParticle()
{
if (particles == null)
{
return(null);
}
float val = -float.MaxValue;
PSOParticle particle = null;
foreach (var p in particles)
{
if (p.transform.position.y > val)
{
particle = p;
val = p.transform.position.y;
}
}
return(particle);
}
override public bool Restart(int seed, float estimatedTime)
{
int tries = 0;
int maxTries = 25;
rndGen = new System.Random(seed);
while (tries < maxTries)
{
elapsedTime = 0;
PSORender psoRender = FindObjectOfType <PSORender>();
startLookPos = new Vector3(rndGen.Range(-1, 1), rndGen.Range(0.5f, 1.5f), rndGen.Range(-1, 1)).normalized *outerRadius *scale;
startLookPos.y = Mathf.Max(startLookPos.y, psoRender.extentsY.y);
PSOParticle particle = null;
switch (targetParticle)
{
case TargetParticle.None:
targetPos = rndGen.onUnitSphere() * innerRadius * scale;
if (targetPos.y < 0)
{
targetPos.y = Mathf.Abs(targetPos.y);
}
break;
case TargetParticle.Best:
particle = psoRender.GetBestParticle();
break;
case TargetParticle.Worst:
particle = psoRender.GetBestParticle();
break;
case TargetParticle.Random:
int index = rndGen.Range(0, psoRender.GetParticleCount());
particle = psoRender.GetParticle(index);
break;
default:
break;
}
transform.position = startLookPos;
if (particle)
{
if (usePrediction)
{
targetPos = particle.Predict(estimatedTime);
}
else
{
particleTransform = particle.transform;
targetPos = particleTransform.position;
}
Vector3 toTarget = targetPos - startLookPos;
Vector3 dir = toTarget.normalized;
float maxDist = toTarget.magnitude;
if (dir.y < -0.1f)
{
// Check raycast
if (!Physics.Raycast(startLookPos, dir, maxDist))
{
break;
}
}
tries++;
}
else
{
Vector3 toTarget = targetPos - startLookPos;
Vector3 dir = toTarget.normalized;
float maxDist = toTarget.magnitude;
if (dir.y < -0.1f)
{
break;
}
}
}
if (tries == maxTries)
{
return(false);
}
FixedUpdate();
return(true);
}
