public Bot(Maze maze, EngineSettings engineSettings, WallGrid walls, BrainFactory brainFactory, EyeFactory eyeFactory)
{
_maze = maze;
_engineSettings = engineSettings;
_walls = walls;
_numEyes = engineSettings.BotEyes;
_energyStep = 1.0;
var neurons = _numEyes +
(engineSettings.ThinkDistance ? 1 : 0) +
(engineSettings.ThinkPath ? 5 : 0) +
(engineSettings.ThinkVelocity ? 3 : 0);
Brain = brainFactory.Create(neurons, 2);
_eyes = new Eye[_numEyes];
Velocity = new Ray(new CoordD(0.5, 0.5), 0.0, engineSettings.BotSpeed);
for (var i = 0; i < _numEyes; ++i)
{
var theta = i / (double)_numEyes * Consts.HalfTurn - Consts.QuarterTurn;
_eyes[i] = eyeFactory.Create(Velocity.Origin, 2, 0, theta, 100);
}
Init(new CoordD(.5,.5));
}
/// <summary>
/// Breeds two parent brains creating this as the new child.
/// </summary>
/// <param name="parentA">A parent brain.</param>
/// <param name="parentB">A parent brain.</param>
/// <param name="mutationRate">The rate of weights that are randomized instead of inherited.</param>
public void Breed(Brain parentA, Brain parentB, double mutationRate)
{
for (var i = 0; i < _netSize.Length; ++i)
{
for (var j = 0; j < _largestLayer * _largestLayer; ++j)
{
if (_rand.NextDouble() <= mutationRate)
{
_weights[i, j] = GenerateWeight();
}
else if (_rand.NextDouble() >= 0.5)
{
_weights[i, j] = parentA.GetWeight(i, j);
}
else
{
_weights[i, j] = parentB.GetWeight(i, j);
}
}
}
}
