// Settings
public BasicJointGenome(BasicJointGenome template)
{
this.parentID = template.parentID;
this.inno = template.inno;
this.motorStrength = template.motorStrength;
this.angleSensitivity = template.angleSensitivity;
this.useX = template.useX;
this.useY = template.useY;
this.useZ = template.useZ;
this.useMotors = template.useMotors;
this.angleSensors = template.angleSensors;
this.velocitySensors = template.velocitySensors;
this.positionSensors = template.positionSensors;
this.quaternionSensors = template.quaternionSensors;
this.usePistonY = template.usePistonY;
}
public void Initialize(BasicJointGenome genome, Agent agent)
{
parentID = genome.parentID;
inno = genome.inno;
motorStrength = genome.motorStrength;
angleSensitivity = genome.angleSensitivity;
useX = genome.useX;
useY = genome.useY;
useZ = genome.useZ;
useMotors = genome.useMotors;
angleSensors = genome.angleSensors;
velocitySensors = genome.velocitySensors;
positionSensors = genome.positionSensors;
quaternionSensors = genome.quaternionSensors;
usePistonY = genome.usePistonY;
isVisible = agent.isVisible;
throttleX = new float[1];
throttleY = new float[1];
throttleZ = new float[1];
if (useX)
{
if (angleSensors)
{
//Debug.Log("Init Joint AngleX! " + inno.ToString());
angleX = new float[1];
}
if (velocitySensors)
{
velX = new float[1];
}
}
if (useY)
{
if (angleSensors)
{
angleY = new float[1];
}
if (velocitySensors)
{
velY = new float[1];
}
}
if (useZ)
{
if (angleSensors)
{
angleZ = new float[1];
}
if (velocitySensors)
{
velZ = new float[1];
}
}
if (positionSensors)
{
posX = new float[1];
posY = new float[1];
posZ = new float[1];
}
if (quaternionSensors)
{
quatX = new float[1];
quatY = new float[1];
quatZ = new float[1];
quatW = new float[1];
}
if (usePistonY)
{
pistonThrottleY = new float[1];
pistonPosY = new float[1];
}
joint = agent.segmentList[parentID].GetComponent <ConfigurableJoint>();
if (joint == null)
{
Debug.LogAssertion("No existing ConfigurableJoint on segment " + parentID.ToString());
}
MeasureRestState(agent);
}
public void CopyBodyGenomeFromTemplate(BodyGenome templateGenome)
{
// This method creates a clone of the provided BodyGenome - should have no shared references!!!
bodyType = templateGenome.bodyType;
// copy module lists:
atmosphereSensorList = new List <AtmosphereSensorGenome>();
for (int i = 0; i < templateGenome.atmosphereSensorList.Count; i++)
{
AtmosphereSensorGenome genomeCopy = new AtmosphereSensorGenome(templateGenome.atmosphereSensorList[i]);
atmosphereSensorList.Add(genomeCopy);
}
basicJointList = new List <BasicJointGenome>();
for (int i = 0; i < templateGenome.basicJointList.Count; i++)
{
BasicJointGenome genomeCopy = new BasicJointGenome(templateGenome.basicJointList[i]);
basicJointList.Add(genomeCopy);
}
basicWheelList = new List <BasicWheelGenome>();
for (int i = 0; i < templateGenome.basicWheelList.Count; i++)
{
BasicWheelGenome genomeCopy = new BasicWheelGenome(templateGenome.basicWheelList[i]);
basicWheelList.Add(genomeCopy);
}
contactSensorList = new List <ContactGenome>();
for (int i = 0; i < templateGenome.contactSensorList.Count; i++)
{
ContactGenome genomeCopy = new ContactGenome(templateGenome.contactSensorList[i]);
contactSensorList.Add(genomeCopy);
}
gravitySensorList = new List <GravitySensorGenome>();
for (int i = 0; i < templateGenome.gravitySensorList.Count; i++)
{
GravitySensorGenome genomeCopy = new GravitySensorGenome(templateGenome.gravitySensorList[i]);
gravitySensorList.Add(genomeCopy);
}
healthModuleList = new List <HealthGenome>();
for (int i = 0; i < templateGenome.healthModuleList.Count; i++)
{
HealthGenome genomeCopy = new HealthGenome(templateGenome.healthModuleList[i]);
healthModuleList.Add(genomeCopy);
}
oscillatorInputList = new List <OscillatorGenome>();
for (int i = 0; i < templateGenome.oscillatorInputList.Count; i++)
{
OscillatorGenome genomeCopy = new OscillatorGenome(templateGenome.oscillatorInputList[i]);
oscillatorInputList.Add(genomeCopy);
}
raycastSensorList = new List <RaycastSensorGenome>();
for (int i = 0; i < templateGenome.raycastSensorList.Count; i++)
{
RaycastSensorGenome genomeCopy = new RaycastSensorGenome(templateGenome.raycastSensorList[i]);
raycastSensorList.Add(genomeCopy);
}
shieldList = new List <ShieldGenome>();
for (int i = 0; i < templateGenome.shieldList.Count; i++)
{
ShieldGenome genomeCopy = new ShieldGenome(templateGenome.shieldList[i]);
shieldList.Add(genomeCopy);
}
targetSensorList = new List <TargetSensorGenome>();
for (int i = 0; i < templateGenome.targetSensorList.Count; i++)
{
TargetSensorGenome genomeCopy = new TargetSensorGenome(templateGenome.targetSensorList[i]);
targetSensorList.Add(genomeCopy);
}
thrusterList = new List <ThrusterGenome>();
for (int i = 0; i < templateGenome.thrusterList.Count; i++)
{
ThrusterGenome genomeCopy = new ThrusterGenome(templateGenome.thrusterList[i]);
thrusterList.Add(genomeCopy);
}
torqueList = new List <TorqueGenome>();
for (int i = 0; i < templateGenome.torqueList.Count; i++)
{
TorqueGenome genomeCopy = new TorqueGenome(templateGenome.torqueList[i]);
torqueList.Add(genomeCopy);
}
trajectorySensorList = new List <TrajectorySensorGenome>();
for (int i = 0; i < templateGenome.trajectorySensorList.Count; i++)
{
TrajectorySensorGenome genomeCopy = new TrajectorySensorGenome(templateGenome.trajectorySensorList[i]);
trajectorySensorList.Add(genomeCopy);
}
valueInputList = new List <ValueInputGenome>();
for (int i = 0; i < templateGenome.valueInputList.Count; i++)
{
ValueInputGenome genomeCopy = new ValueInputGenome(templateGenome.valueInputList[i]);
valueInputList.Add(genomeCopy);
}
weaponProjectileList = new List <WeaponProjectileGenome>();
for (int i = 0; i < templateGenome.weaponProjectileList.Count; i++)
{
WeaponProjectileGenome genomeCopy = new WeaponProjectileGenome(templateGenome.weaponProjectileList[i]);
weaponProjectileList.Add(genomeCopy);
}
weaponTazerList = new List <WeaponTazerGenome>();
for (int i = 0; i < templateGenome.weaponTazerList.Count; i++)
{
WeaponTazerGenome genomeCopy = new WeaponTazerGenome(templateGenome.weaponTazerList[i]);
weaponTazerList.Add(genomeCopy);
}
}
