/// <summary>
/// If using NEAT, this function simply sets the AgentBrain genome variable as the brain. Otherwise, the genome is actually used as a genome and is decoded into the appropriate brain structure.
/// </summary>
private void createBrains()
{
if (Genome != null)
{
if (NeatBrain)
{
Brain = Genome;
}
else
if (Homogeneous)
{
ANN = SubstrateDescription.generateHomogeneousGenome(Genome, NormalizeANNWeights, this.AdaptableANN, this.ModulatoryANN, EvolveSubstrate);
Brains = new List<INetwork>();
for (int i = 0; i < NumRobots; i++)
{
INetwork b = ANN.Decode(null);
Brains.Add(b);
}
}
else
{
if (MultipleBrains)
{
List<NeatGenome> genes = SubstrateDescription.generateGenomeStackSituationalPolicy(Genome, Convert.ToUInt32(NumRobots), NormalizeANNWeights, AdaptableANN, ModulatoryANN, 2, out ZCoordinates);
for (int j = 0; j < genes.Count; j++)
MultiBrains.Add(genes[j].Decode(null));
Brain = MultiBrains[0];
}
else if (Hive)
{
ANN = SubstrateDescription.generateHiveBrainGenomeStack(Genome, Convert.ToUInt32(NumRobots), NormalizeANNWeights, AdaptableANN,
ModulatoryANN, out ZCoordinates, EvolveSubstrate, UseCTRNNs);
Brain = UseCTRNNs ? ANN.DecodeToCTRNN() : ANN.Decode(null);
}
else
{
ANN = SubstrateDescription.generateMultiGenomeStack(Genome, Convert.ToUInt32(NumRobots), NormalizeANNWeights, AdaptableANN,
ModulatoryANN, out ZCoordinates, EvolveSubstrate);
Brain = ANN.Decode(null);
}
}
}
}
