public NeuralOutput Think(SensoryInput input)
{
for (var layer = 0; layer < Network.Layers.Length; ++layer)
{
for (var neuron = 0; neuron < Network.Layers[layer].Neurons.Length; neuron++)
{
if (layer == 0)
{
Network.Layers[layer].Neurons[neuron].Value = input.Values[neuron];
}
else
{
Network.Layers[layer].Neurons[neuron].Value = 0;
for (var dentrite = 0; dentrite < Network.Layers[layer - 1].Neurons.Length; ++dentrite)
{
Network.Layers[layer].Neurons[neuron].Value = Network.Layers[layer].Neurons[neuron].Value +
Network.Layers[layer - 1].Neurons[dentrite]
.Value *
Network.Layers[layer].Neurons[neuron].Dendrite
[dentrite].Weight;
}
Network.Layers[layer].Neurons[neuron].Value =
MathUtilityHelper.HyperbolicTangent(Network.Layers[layer].Neurons[neuron].Value);
}
}
}
NeuralOutput output;
output.Values = new double[Network.Layers[Network.Layers.Length - 1].Neurons.Length];
for (var neuron = 0; neuron < output.Values.Length; ++neuron)
{
output.Values[neuron] = Network.Layers[Network.Layers.Length - 1].Neurons[neuron].Value;
// Mathf.Clamp((float) Network.Layers[Network.Layers.Length - 1].Neurons[neuron].Value, -1, 1);
}
return(output);
}
public void Start()
{
originalPosition = transform.position;
originalRotation = transform.rotation;
const float exclude = 0.3f;
// translation
xTrans = new Vector2(-0.6f, 0.6f);
yTrans = new Vector2(-0.6f, 0.6f);
zTrans = new Vector2(-0.6f, 0.6f);
translation = new Vector3(
MathUtilityHelper.Range(xTrans.x, xTrans.y, -exclude, exclude),
MathUtilityHelper.Range(yTrans.x, yTrans.y, -exclude, exclude),
MathUtilityHelper.Range(zTrans.x, zTrans.y, -exclude, exclude)
);
transSpeed = new Vector3(
MathUtilityHelper.Range(minRotSpeed.x, minRotSpeed.y, -exclude, exclude),
MathUtilityHelper.Range(minRotSpeed.x, minRotSpeed.y, -exclude, exclude),
MathUtilityHelper.Range(minRotSpeed.x, minRotSpeed.y, -exclude, exclude)
);
// rotation
xRot = new Vector2 (-5f,5f);
yRot = new Vector2 (-5f,5f);
zRot = new Vector2 (-5f,5f);
minRotSpeed = new Vector2 (-0.8f,0.8f);
minRotation = new Vector2 (-5,5);
rotation.x = MathUtilityHelper.Range(xRot.x,xRot.y, minRotation.x, minRotation.y);
rotation.y = MathUtilityHelper.Range(yRot.x,yRot.y, minRotation.x, minRotation.y);
rotation.z = MathUtilityHelper.Range(zRot.x,zRot.y, minRotation.x, minRotation.y);
rotSpeed = new Vector3 (
MathUtilityHelper.Range(minRotSpeed.x,minRotSpeed.y,-exclude,exclude),
MathUtilityHelper.Range(minRotSpeed.x,minRotSpeed.y,-exclude,exclude),
MathUtilityHelper.Range(minRotSpeed.x,minRotSpeed.y,-exclude,exclude)
);
}
