public void MakeChild()
{
for (int i = 0; i < DESTROY; i++)
{
int father = Random.Range(0, GENERATION - DESTROY);
int mother = Random.Range(0, GENERATION - DESTROY);
Indivisual child = Indivisual.MakeChild(colony[father], colony[mother]);
colony.Add(child);
}
}
public void Collector(Indivisual indivisual)
{
for (int i = 0; i < transform.childCount; ++i)
{
GameObject child = transform.GetChild(i).gameObject;
if (child.GetComponent <JointController>() != null)
{
indivisual.joint_controllers.Add(child.GetComponent <JointController>());
child.GetComponent <JointController>().Init(indivisual, indivisual.joint_controllers.Count - 1);
}
if (child.GetComponent <JointCollector>() != null)
{
child.GetComponent <JointCollector>().Collector(indivisual);
}
}
}
public static Indivisual MakeChild(Indivisual father, Indivisual mother)
{
int rnd = Random.Range(0, GENE_COUNT);
Indivisual child = new Indivisual();
for (int i = 0; i < GENE_COUNT; i++)
{
if (i > rnd)
{
child.SetIndexGene(i, mother.GetIndexGene(i));
}
else
{
child.SetIndexGene(i, father.GetIndexGene(i));
}
}
return(child);
}
// Update is called once per frame
void Update()
{
time++;
if (time < MAX_WAIT)
{
return;
}
generations.Reviews();
int best = generations.GetBestGene();
best_gene = generations.GetIndexColony(best);
changeGene(best_gene.GetGene(), renderers);
best_point = best_gene.GetPoint();
if (best_point >= Indivisual.GENE_COUNT)
{
Instantiate(thankyou);
Debug.Log("thank you");
}
generations.Delete();
generations.MakeChild();
generations.Mutations();
}
public void Init(Indivisual indivisual, int gene_idx)
{
rb = GetComponent <Rigidbody>();
elapsed_time = 0f;
Vector3 default_world_y = transform.rotation * Vector3.up;
Matrix3x3 matrix = new Matrix3x3(transform.parent.right, transform.parent.up, transform.parent.forward);
float[,] inverse_matrix = matrix.Inverse();
default_local_y.x = inverse_matrix[0, 0] * default_world_y.x + inverse_matrix[0, 1] * default_world_y.y + inverse_matrix[0, 2] * default_world_y.z;
default_local_y.y = inverse_matrix[1, 0] * default_world_y.x + inverse_matrix[1, 1] * default_world_y.y + inverse_matrix[1, 2] * default_world_y.z;
default_local_y.z = inverse_matrix[2, 0] * default_world_y.x + inverse_matrix[2, 1] * default_world_y.y + inverse_matrix[2, 2] * default_world_y.z;
default_local_y = default_local_y.normalized;
power = Decode_gene(indivisual.genes[gene_idx, Indivisual.gene_size - 2], indivisual.power_lower_limit, indivisual.power_upper_limit);
period = Decode_gene(indivisual.genes[gene_idx, Indivisual.gene_size - 1], indivisual.period_lower_limit, indivisual.period_upper_limit);
for (int i = 0; i < pose_size; ++i)
{
float theta = Decode_gene(indivisual.genes[gene_idx, i * pose_size + 0], indivisual.codon_lower_limit[0], indivisual.codon_upper_limit[0]);
float phi = Decode_gene(indivisual.genes[gene_idx, i * pose_size + 1], indivisual.codon_lower_limit[1], indivisual.codon_upper_limit[1]);
float angle = Decode_gene(indivisual.genes[gene_idx, i * pose_size + 2], indivisual.codon_lower_limit[2], indivisual.codon_upper_limit[2]);
Vector3 axis = new Vector3(Mathf.Sin(theta) * Mathf.Cos(phi), Mathf.Sin(theta) * Mathf.Sin(phi), Mathf.Cos(theta));
aim_local_ys[i] = Quaternion.AngleAxis(angle, axis) * default_local_y;
}
}
