public static Chromosome crossover(Chromosome c1, Chromosome c2, double rate)
{
Chromosome c = new Chromosome();
// Crossover colour
Color c1_col = c1.getColour();
Color c2_col = c2.getColour();
float r = (.5F * c1_col.r) + (.5F * c2_col.r);
float g = (.5F * c1_col.g) + (.5F * c2_col.g);
float b = (.5F * c1_col.b) + (.5F * c2_col.b);
c.setColour(r,g,b);
Color c1_limb_col = c1.getLimbColour();
Color c2_limb_col = c2.getLimbColour();
r = (.5F * c1_limb_col.r) + (.5F * c2_limb_col.r);
g = (.5F * c1_limb_col.g) + (.5F * c2_limb_col.g);
b = (.5F * c1_limb_col.b) + (.5F * c2_limb_col.b);
c.setLimbColour(r,g,b);
// Crossover limbs
ArrayList c1_branches = c1.branches;
ArrayList c2_branches = c2.branches;
ArrayList c_branches;
// Randomly select the parent from which the child will derive its limb structure
int select = Random.Range(0,2);
ArrayList other_crt_branches;
if (select == 0)
{
c_branches = c1_branches;
other_crt_branches = c2_branches;
}
else
{
c_branches = c2_branches;
other_crt_branches = c1_branches;
}
select = Random.Range(0,2);
if (select == 0)
{
c.setRootScale(c1.getRootScale());
}
else
{
c.setRootScale(c2.getRootScale());
}
// Randomly select attributes from the selected creature's limbs to
// assign to child creature's limbs
c.num_recurrences = new int[c_branches.Count];
for (int i=0; i<c_branches.Count; i++)
{
ArrayList c_limbs = (ArrayList) c_branches[i];
c.num_recurrences[i] = c_limbs.Count;
for (int j=1; j<c_limbs.Count; j++)
{
ArrayList c_attributes = (ArrayList) c_limbs[j];
//select random limb segment from other creature
ArrayList other_crt_limbs = (ArrayList) other_crt_branches[Random.Range (0,other_crt_branches.Count)];
ArrayList other_crt_attributes = (ArrayList) other_crt_limbs[Random.Range(0,other_crt_limbs.Count)];
Vector3 c_scale = (Vector3) c_attributes[1];
Vector3 other_crt_scale = (Vector3) other_crt_attributes[1];
for (int s=0; s<3; s++)
{
rand = rnd.NextDouble();
if (rand < rate) {
c_scale[s] = other_crt_scale[s];
}
}
//select random limb segment from other creature
other_crt_limbs = (ArrayList) other_crt_branches[Random.Range (0,other_crt_branches.Count)];
other_crt_attributes = (ArrayList) other_crt_limbs[Random.Range(0,other_crt_limbs.Count)];
Vector3 c_pos = (Vector3) c_attributes[0];
Vector3 other_crt_pos = (Vector3) other_crt_attributes[0];
for (int p=0; p<3; p++)
{
rand = rnd.NextDouble();
if (rand < rate)
{
c_pos[p] = other_crt_pos[p];
}
}
}
c_branches[i] = c_limbs;
c.num_branches = c_branches.Count;
}
// Crossover frequency and amplitude
c.base_joint_amplitude = c1.base_joint_amplitude;
c.base_joint_frequency = c1.base_joint_frequency;
c.base_joint_phase = c1.base_joint_phase;
rand = rnd.NextDouble();
if (rand < 0.5f)
{
c.base_joint_amplitude = c2.base_joint_amplitude;
}
rand = rnd.NextDouble();
if (rand < 0.5f)
{
c.base_joint_frequency = c2.base_joint_frequency;
}
rand = rnd.NextDouble();
if (rand < 0.5f)
{
c.base_joint_phase = c2.base_joint_phase;
}
rand = rnd.NextDouble();
if (rand < 0.5f)
{
c.hunger_threshold = c2.hunger_threshold;
}
else
{
c.hunger_threshold = c1.hunger_threshold;
}
c.setBranches(c_branches);
return (c);
}
public static Chromosome mutate(Chromosome c, double rate, float factor)
{
// Mutate colour
float[] cs = new float[3];
Color cc = c.getColour();
cs[0] = cc.r;
cs[1] = cc.g;
cs[2] = cc.b;
for (int i=0; i<3; i++)
{
rand = rnd.NextDouble();
if (rand < rate)
cs[i] += randomiseGene(factor);
}
c.setColour(cs[0], cs[1], cs[2]);
// Mutate root scale
Vector3 rc = c.getRootScale();
if (rc.x > 1F && rc.y > 1F && rc.z > 1F)
{
float[] rs = new float[3];
rs[0] = rc.x;
rs[1] = rc.y;
rs[2] = rc.z;
for (int i=0; i<3; i++)
{
rand = rnd.NextDouble();
if (rand < rate)
rs[i] += randomiseGene(factor);
}
Vector3 rootScale = new Vector3 (rs[0], rs[1], rs[2]);
c.setRootScale(rootScale);
}
// mutate limbs
cc = c.getLimbColour();
cs[0] = cc.r;
cs[1] = cc.g;
cs[2] = cc.b;
for (int i=0; i<3; i++)
{
rand = rnd.NextDouble();
if (rand < rate)
cs[i] += randomiseGene(factor);
}
c.setLimbColour(cs[0], cs[1], cs[2]);
ArrayList branches = c.branches;
for (int b=0; b<branches.Count; b++)
{
ArrayList limbs = (ArrayList) branches[b];
for (int i=0; i<limbs.Count; i++)
{
ArrayList limb = (ArrayList) limbs[i];
Vector3 v = (Vector3) limb[1];
for (int k=0; k<3; k++)
{
rand = rnd.NextDouble();
if(rand < rate)
v[k] += randomiseGene(factor);
}
}
}
// mutate base frequency and amplitude
rand = rnd.NextDouble();
if(rand < rate)
{
c.base_joint_amplitude += randomiseGene(factor);
}
rand = rnd.NextDouble();
if(rand < rate)
{
c.base_joint_frequency += randomiseGene(factor);
}
rand = rnd.NextDouble();
if(rand < rate)
{
c.base_joint_phase += randomiseGene(factor);
}
rand = rnd.NextDouble();
if(rand < rate)
{
c.hunger_threshold += randomiseGene(factor);
}
c.setBranches(branches);
return c;
}
public static Chromosome crossover(Chromosome c1, Chromosome c2, double rate)
{
Chromosome c = new Chromosome();
// Crossover colour
Color c1_col = c1.getColour();
Color c2_col = c2.getColour();
float r = (.5F * c1_col.r) + (.5F * c2_col.r);
float g = (.5F * c1_col.g) + (.5F * c2_col.g);
float b = (.5F * c1_col.b) + (.5F * c2_col.b);
c.setColour(r, g, b);
Color c1_limb_col = c1.getLimbColour();
Color c2_limb_col = c2.getLimbColour();
r = (.5F * c1_limb_col.r) + (.5F * c2_limb_col.r);
g = (.5F * c1_limb_col.g) + (.5F * c2_limb_col.g);
b = (.5F * c1_limb_col.b) + (.5F * c2_limb_col.b);
c.setLimbColour(r, g, b);
// Crossover limbs
ArrayList c1_branches = c1.branches;
ArrayList c2_branches = c2.branches;
ArrayList c_branches;
// Randomly select the parent from which the child will derive its limb structure
int select = Random.Range(0, 2);
ArrayList other_crt_branches;
if (select == 0)
{
c_branches = c1_branches;
other_crt_branches = c2_branches;
}
else
{
c_branches = c2_branches;
other_crt_branches = c1_branches;
}
select = Random.Range(0, 2);
if (select == 0)
{
c.setRootScale(c1.getRootScale());
}
else
{
c.setRootScale(c2.getRootScale());
}
// Randomly select attributes from the selected creature's limbs to
// assign to child creature's limbs
c.num_recurrences = new int[c_branches.Count];
for (int i = 0; i < c_branches.Count; i++)
{
ArrayList c_limbs = (ArrayList)c_branches[i];
c.num_recurrences[i] = c_limbs.Count;
for (int j = 1; j < c_limbs.Count; j++)
{
ArrayList c_attributes = (ArrayList)c_limbs[j];
//select random limb segment from other creature
ArrayList other_crt_limbs = (ArrayList)other_crt_branches[Random.Range(0, other_crt_branches.Count)];
ArrayList other_crt_attributes = (ArrayList)other_crt_limbs[Random.Range(0, other_crt_limbs.Count)];
Vector3 c_scale = (Vector3)c_attributes[1];
Vector3 other_crt_scale = (Vector3)other_crt_attributes[1];
for (int s = 0; s < 3; s++)
{
rand = rnd.NextDouble();
if (rand < rate)
{
c_scale[s] = other_crt_scale[s];
}
}
//select random limb segment from other creature
other_crt_limbs = (ArrayList)other_crt_branches[Random.Range(0, other_crt_branches.Count)];
other_crt_attributes = (ArrayList)other_crt_limbs[Random.Range(0, other_crt_limbs.Count)];
Vector3 c_pos = (Vector3)c_attributes[0];
Vector3 other_crt_pos = (Vector3)other_crt_attributes[0];
for (int p = 0; p < 3; p++)
{
rand = rnd.NextDouble();
if (rand < rate)
{
c_pos[p] = other_crt_pos[p];
}
}
}
c_branches[i] = c_limbs;
c.num_branches = c_branches.Count;
}
// Crossover frequency and amplitude
c.base_joint_amplitude = c1.base_joint_amplitude;
c.base_joint_frequency = c1.base_joint_frequency;
c.base_joint_phase = c1.base_joint_phase;
rand = rnd.NextDouble();
if (rand < 0.5f)
{
c.base_joint_amplitude = c2.base_joint_amplitude;
}
rand = rnd.NextDouble();
if (rand < 0.5f)
{
c.base_joint_frequency = c2.base_joint_frequency;
}
rand = rnd.NextDouble();
if (rand < 0.5f)
{
c.base_joint_phase = c2.base_joint_phase;
}
rand = rnd.NextDouble();
if (rand < 0.5f)
{
c.hunger_threshold = c2.hunger_threshold;
}
else
{
c.hunger_threshold = c1.hunger_threshold;
}
c.setBranches(c_branches);
return(c);
}
public static Chromosome mutate(Chromosome c, double rate, float factor)
{
// Mutate colour
float[] cs = new float[3];
Color cc = c.getColour();
cs[0] = cc.r;
cs[1] = cc.g;
cs[2] = cc.b;
for (int i = 0; i < 3; i++)
{
rand = rnd.NextDouble();
if (rand < rate)
{
cs[i] += randomiseGene(factor);
}
}
c.setColour(cs[0], cs[1], cs[2]);
// Mutate root scale
Vector3 rc = c.getRootScale();
if (rc.x > 1F && rc.y > 1F && rc.z > 1F)
{
float[] rs = new float[3];
rs[0] = rc.x;
rs[1] = rc.y;
rs[2] = rc.z;
for (int i = 0; i < 3; i++)
{
rand = rnd.NextDouble();
if (rand < rate)
{
rs[i] += randomiseGene(factor);
}
}
Vector3 rootScale = new Vector3(rs[0], rs[1], rs[2]);
c.setRootScale(rootScale);
}
// mutate limbs
cc = c.getLimbColour();
cs[0] = cc.r;
cs[1] = cc.g;
cs[2] = cc.b;
for (int i = 0; i < 3; i++)
{
rand = rnd.NextDouble();
if (rand < rate)
{
cs[i] += randomiseGene(factor);
}
}
c.setLimbColour(cs[0], cs[1], cs[2]);
ArrayList branches = c.branches;
for (int b = 0; b < branches.Count; b++)
{
ArrayList limbs = (ArrayList)branches[b];
for (int i = 0; i < limbs.Count; i++)
{
ArrayList limb = (ArrayList)limbs[i];
Vector3 v = (Vector3)limb[1];
for (int k = 0; k < 3; k++)
{
rand = rnd.NextDouble();
if (rand < rate)
{
v[k] += randomiseGene(factor);
}
}
}
}
// mutate base frequency and amplitude
rand = rnd.NextDouble();
if (rand < rate)
{
c.base_joint_amplitude += randomiseGene(factor);
}
rand = rnd.NextDouble();
if (rand < rate)
{
c.base_joint_frequency += randomiseGene(factor);
}
rand = rnd.NextDouble();
if (rand < rate)
{
c.base_joint_phase += randomiseGene(factor);
}
rand = rnd.NextDouble();
if (rand < rate)
{
c.hunger_threshold += randomiseGene(factor);
}
c.setBranches(branches);
return(c);
}
// TODO: Limbs should be made into a better tree structure, not this
// list of lists rubbish
private void setupLimbs()
{
int num_branches = chromosome.getBranchCount();
chromosome.setNumBranches(num_branches);
for (int i = 0; i < num_branches; i++)
{
limbs = chromosome.getLimbs(i);
List <GameObject> actual_limbs = new List <GameObject>();
int recurrences = chromosome.num_recurrences[i];
for (int j = 0; j < recurrences; ++j)
{
GameObject limb = GameObject.CreatePrimitive(PrimitiveType.Cube);
limb.layer = LayerMask.NameToLayer("Creature");
limb.name = "limb_" + i + "_" + j;
limb.transform.parent = _t;
actual_limbs.Add(limb);
Limb limb_script = limb.AddComponent <Limb>();
ArrayList attributes = (ArrayList)limbs[j];
limb_script.setScale((Vector3)attributes[1]);
limb_script.setColour((Color)chromosome.getLimbColour());
if (j == 0)
{
limb_script.setPosition((Vector3)attributes[0]);
limb.transform.LookAt(root.transform);
}
else
{
limb_script.setPosition(actual_limbs[j - 1].transform.localPosition);
limb.transform.LookAt(root.transform);
limb.transform.Translate(0, 0, -actual_limbs[j - 1].transform.localScale.z);
}
limb.AddComponent <Rigidbody>();
limb.AddComponent <BoxCollider>();
limb.GetComponent <Collider>().material = (PhysicMaterial)Resources.Load("Physics Materials/Creature");
ConfigurableJoint joint = limb.AddComponent <ConfigurableJoint>();
//joint.configuredInWorldSpace = true;
joint.axis = new Vector3(0.5F, 0F, 0F);
joint.anchor = new Vector3(0F, 0F, 0.5F);
if (j == 0)
{
joint.connectedBody = root.GetComponent <Rigidbody>();
}
else
{
joint.connectedBody = actual_limbs[j - 1].GetComponent <Rigidbody>();
}
limb.GetComponent <Rigidbody>().drag = 1F;
joints.Add(joint);
joint.xMotion = ConfigurableJointMotion.Locked;
joint.yMotion = ConfigurableJointMotion.Locked;
joint.zMotion = ConfigurableJointMotion.Locked;
joint.angularXMotion = ConfigurableJointMotion.Free;
joint.angularYMotion = ConfigurableJointMotion.Free;
joint.angularZMotion = ConfigurableJointMotion.Free;
JointDrive angXDrive = new JointDrive();
angXDrive.mode = JointDriveMode.Position;
angXDrive.positionSpring = 7F;
angXDrive.maximumForce = 100000000F;
joint.angularXDrive = angXDrive;
joint.angularYZDrive = angXDrive;
limb.GetComponent <Rigidbody>().SetDensity(1F);
}
}
}