public void RebuildCritterFromGenomeRecursive(bool physicsOn, bool useSegments, float variableMass, bool editor) {
//Debug.Log("RebuildCritterFromGenomeRecursive: " + physicsOn.ToString() + ", " + useSegments.ToString() + ", " + variableMass.ToString() + ", " + editor.ToString());
BoundingBoxMinCorner = Vector3.zero;
BoundingBoxMaxCorner = Vector3.zero;
// IMPROVE THIS SO IT WORKS FOR BOTH CritterConstructer AND Trainer
if (!editor)
masterCritterGenome.PreBuildCritter(variableMass);
// Delete existing Segment GameObjects
if(!useSegments || editor)
DeleteSegments();
// Is this the best way to clear the lists? from a memory standpoint...
segaddonPhysicalAttributesList.Clear();
segaddonJointAngleSensorList.Clear();
segaddonContactSensorList.Clear();
segaddonRaycastSensorList.Clear();
segaddonCompassSensor1DList.Clear();
segaddonCompassSensor3DList.Clear();
segaddonPositionSensor1DList.Clear();
segaddonPositionSensor3DList.Clear();
segaddonRotationSensor1DList.Clear();
segaddonRotationSensor3DList.Clear();
segaddonVelocitySensor1DList.Clear();
segaddonVelocitySensor3DList.Clear();
segaddonAltimeterList.Clear();
segaddonEarBasicList.Clear();
segaddonGravitySensorList.Clear();
segaddonOscillatorInputList.Clear();
segaddonValueInputList.Clear();
segaddonTimerInputList.Clear();
segaddonJointMotorList.Clear();
segaddonThrusterEffector1DList.Clear();
segaddonThrusterEffector3DList.Clear();
segaddonTorqueEffector1DList.Clear();
segaddonTorqueEffector3DList.Clear();
segaddonMouthBasicList.Clear();
segaddonNoiseMakerBasicList.Clear();
segaddonStickyList.Clear();
segaddonWeaponBasicList.Clear();
InitializeSegmentMaterial();
if (critterSegmentList != null) {
critterSegmentList.Clear();
}
if(inputChannelsList != null) {
inputChannelsList.Clear();
}
else {
inputChannelsList = new List<BrainInputChannel>();
}
if (outputChannelsList != null) {
outputChannelsList.Clear();
}
else {
outputChannelsList = new List<BrainOutputChannel>();
}
// interpret Genome and construct critter in its bind pose
bool isPendingChildren = true;
int currentDepth = 0; // start with RootNode
int maxDepth = 20; // safeguard to prevent while loop lock
int nextSegmentID = 0;
float critterTotalVolume = 0f;
List<CritterSegment> builtSegmentsList = new List<CritterSegment>(); // keep track of segments that have been built - linear in-order array 0-n segments
List<BuildSegmentInfo> currentBuildSegmentList = new List<BuildSegmentInfo>(); // keeps track of all current-depth segment build-requests, and holds important metadata
List<BuildSegmentInfo> nextBuildSegmentList = new List<BuildSegmentInfo>(); // used to keep track of next childSegments that need to be built
// *********** Will attempt to traverse the Segments to be created, keeping track of where on each graph (nodes# & segment#) the current build is on.
BuildSegmentInfo rootSegmentBuildInfo = new BuildSegmentInfo();
rootSegmentBuildInfo.sourceNode = masterCritterGenome.CritterNodeList[0];
currentBuildSegmentList.Add(rootSegmentBuildInfo); // ROOT NODE IS SPECIAL!
// Do a Breadth-first traversal??
while (isPendingChildren) {
//int numberOfChildNodes = masterCritterGenome.CritterNodeList[currentNode].attachedJointLinkList.Count;
for (int i = 0; i < currentBuildSegmentList.Count; i++) {
//Debug.Log("currentDepth: " + currentDepth.ToString() + "builtNodesQueue.Count: " + builtSegmentsList.Count.ToString() + ", pendingNodes: " + currentBuildSegmentList.Count.ToString() + ", i: " + i.ToString());
// Iterate through pending nodes
// Build current node --> Segment
GameObject newGO = new GameObject("Node" + nextSegmentID.ToString());
CritterSegment newSegment = newGO.AddComponent<CritterSegment>();
builtSegmentsList.Add(newSegment);
newGO.layer = LayerMask.NameToLayer("editorSegment"); ; // set segmentGO layer to editorSegment, to distinguish it from Gizmos
newGO.transform.SetParent(this.gameObject.transform);
if (useSegments) {
newGO.GetComponent<MeshRenderer>().material = critterSegmentMaterial;
newGO.GetComponent<MeshRenderer>().material.SetFloat("_DisplayTarget", 0f);
newGO.GetComponent<MeshRenderer>().material.SetFloat("_Selected", 0f);
newGO.AddComponent<BoxCollider>().isTrigger = false;
critterSegmentList.Add(newGO); // Add to master Linear list of Segments
}
else {
newGO.SetActive(false);
}
newSegment.InitGamePiece(); // create the mesh and some other initialization stuff
newSegment.sourceNode = currentBuildSegmentList[i].sourceNode;
newSegment.id = nextSegmentID;
nextSegmentID++;
if (currentBuildSegmentList[i].sourceNode.ID == 0) { // is ROOT segment -- Look into doing Root build BEFORE for loop to avoid the need to do this check
newGO.transform.position = masterCritterGenome.centerOfMassOffset;
newGO.transform.rotation = Quaternion.identity;
newSegment.scalingFactor = newSegment.sourceNode.jointLink.recursionScalingFactor;
newGO.transform.localScale = currentBuildSegmentList[i].sourceNode.dimensions * newSegment.scalingFactor;
critterTotalVolume += newGO.transform.localScale.x * newGO.transform.localScale.y * newGO.transform.localScale.z;
newSegment.surfaceArea = new Vector3(newGO.transform.localScale.y * newGO.transform.localScale.z * 2f, newGO.transform.localScale.x * newGO.transform.localScale.z * 2f, newGO.transform.localScale.x * newGO.transform.localScale.y * 2f);
}
else { // if NOT root segment, can consider parent-related stuff:
newSegment.parentSegment = currentBuildSegmentList[i].parentSegment;
// Inherit Axis-Inversions from parent segment:
newSegment.mirrorX = newSegment.parentSegment.mirrorX;
newSegment.mirrorY = newSegment.parentSegment.mirrorY;
newSegment.mirrorZ = newSegment.parentSegment.mirrorZ;
// inherit scaling factor from parent -- this is later adjusted again if it is part of a recursion chain
newSegment.scalingFactor = newSegment.parentSegment.scalingFactor;
newSegment.scalingFactor *= currentBuildSegmentList[i].sourceNode.jointLink.recursionScalingFactor; // propagate scaling factor
// Check for if the segment currently being built is a Mirror COPY:
if (currentBuildSegmentList[i].isMirror) {
//Debug.Log("This is a MIRROR COPY segment - Wow!");
if(currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorX) {
// Invert the X-axis (this will propagate down to all this segment's children
newSegment.mirrorX = !newSegment.mirrorX;
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorY) {
newSegment.mirrorY = !newSegment.mirrorY;
}
//else if (currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorZ) {
// newSegment.mirrorZ = !newSegment.mirrorZ;
//}
}
}
if (physicsOn) {
newGO.AddComponent<Rigidbody>().isKinematic = false;
if(editor && currentBuildSegmentList[i].sourceNode.ID == 0)
newGO.GetComponent<Rigidbody>().isKinematic = true;
if(editor) { // TEMPORARY!!!! if editor && physX, build critterMesh so hide segments!
//newGO.GetComponent<MeshRenderer>().enabled = false;
}
//newGO.GetComponent<Rigidbody>().drag = 20f;
//newGO.GetComponent<Rigidbody>().angularDrag = 20f;
// Bouncy Root:
//GameObject anchorGO = new GameObject("Anchor");
//anchorGO.transform.SetParent(this.gameObject.transform);
//anchorGO.AddComponent<Rigidbody>().isKinematic = true;
/*ConfigurableJoint configJoint = newGO.AddComponent<ConfigurableJoint>();
configJoint.autoConfigureConnectedAnchor = false;
configJoint.connectedBody = anchorGO.GetComponent<Rigidbody>();
configJoint.anchor = new Vector3(0f, 0f, 0f);
configJoint.connectedAnchor = new Vector3(0f, 0f, 0f);
configJoint.xMotion = ConfigurableJointMotion.Locked;
configJoint.yMotion = ConfigurableJointMotion.Locked;
configJoint.zMotion = ConfigurableJointMotion.Locked;
configJoint.angularXMotion = ConfigurableJointMotion.Locked;
configJoint.angularYMotion = ConfigurableJointMotion.Locked;
configJoint.angularZMotion = ConfigurableJointMotion.Locked;
SoftJointLimitSpring limitSpring = configJoint.linearLimitSpring;
limitSpring.spring = 80f;
limitSpring.damper = 800f;
configJoint.linearLimitSpring = limitSpring;
SoftJointLimit jointLimit = configJoint.linearLimit;
jointLimit.limit = 0.01f;
jointLimit.bounciness = 0.01f;
configJoint.linearLimit = jointLimit;
configJoint.angularXLimitSpring = limitSpring;
configJoint.angularYZLimitSpring = limitSpring;
*/
}
// CHECK FOR RECURSION:
if (currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions > 0) { // if the node being considered has recursions:
//Debug.Log("currentNode: " + currentBuildSegmentList[i].sourceNode.ID.ToString() + "newSegmentRecursion#: " + newSegment.recursionNumber.ToString() + ", parentRecursion#: " + currentBuildSegmentList[i].parentSegment.recursionNumber.ToString());
if (newSegment.sourceNode == currentBuildSegmentList[i].parentSegment.sourceNode) { // if this segment's sourceNode is the same is its parent Segment's sourceNode, then it is not the root of the recursion chain!
//Debug.Log("newSegment.sourceNode == currentBuildNodeParentSegmentList[i].sourceNode!");
// Are we at the end of a recursion chain?
if (currentBuildSegmentList[i].parentSegment.recursionNumber >= currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions) {
//Debug.Log("recursion number greater than numRecursions! ( " + currentBuildSegmentList[i].parentSegment.recursionNumber.ToString() + " vs " + currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions.ToString());
newSegment.recursionNumber = currentBuildSegmentList[i].parentSegment.recursionNumber + 1; //
//newSegment.scalingFactor *= currentBuildSegmentList[i].sourceNode.jointLink.recursionScalingFactor;
}
else { // create new recursion instance!!
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = currentBuildSegmentList[i].sourceNode; // request a segment to be built again based on the current sourceNode
newSegment.recursionNumber = currentBuildSegmentList[i].parentSegment.recursionNumber + 1;
//newSegment.scalingFactor *= currentBuildSegmentList[i].sourceNode.jointLink.recursionScalingFactor; // propagate scaling factor
newSegmentInfo.parentSegment = newSegment; // parent of itself (the just-built Segment)
nextBuildSegmentList.Add(newSegmentInfo);
// If the node also has Symmetry:
if (newSegmentInfo.sourceNode.jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = currentBuildSegmentList[i].sourceNode; // uses same sourceNode, but tags as Mirror:
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else { // this is the root --- its sourceNode has recursion, and this segment is unique from its parentNode:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = currentBuildSegmentList[i].sourceNode;
newSegment.recursionNumber = 1;
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
// If the node also has Symmetry:
if (newSegmentInfo.sourceNode.jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = currentBuildSegmentList[i].sourceNode; // uses same sourceNode, but tags as Mirror:
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
// PositionSEGMENT GameObject!!!
if (newSegment.id == 0) { // if ROOT NODE:
}
else {
SetSegmentTransform(newGO); // Properly position the SegmentGO where it should be && scale!
critterTotalVolume += newGO.transform.localScale.x * newGO.transform.localScale.y * newGO.transform.localScale.z;
if (physicsOn) {
//newGO.GetComponent<Rigidbody>().isKinematic = false;
newGO.GetComponent<Rigidbody>().ResetInertiaTensor();
ConfigurableJoint configJoint = newGO.AddComponent<ConfigurableJoint>();
configJoint.autoConfigureConnectedAnchor = false;
configJoint.connectedBody = newSegment.parentSegment.gameObject.GetComponent<Rigidbody>();
configJoint.anchor = GetJointAnchor(newSegment);
configJoint.connectedAnchor = GetJointConnectedAnchor(newSegment); // <-- Might be Unnecessary
ConfigureJointSettings(newSegment, ref configJoint); // UPDATE THIS TO USE segaddonJointMotorSettings!?!?
}
}
// Check boundingBox:
//BoundingBox
CheckBoundingBox(newGO);
// SEGMENT ADDONS:
if (physicsOn) {
// Check for Physical Attributes:
List<AddonPhysicalAttributes> physicalAttributesList = masterCritterGenome.CheckForAddonPhysicalAttributes(currentBuildSegmentList[i].sourceNode.ID);
for(int a = 0; a < physicalAttributesList.Count; a++) {
SegaddonPhysicalAttributes newPhysicalAttributes = new SegaddonPhysicalAttributes(physicalAttributesList[a]);
newPhysicalAttributes.segmentID = newSegment.id;
segaddonPhysicalAttributesList.Add(newPhysicalAttributes);
segmentPhysicMaterial.dynamicFriction = newPhysicalAttributes.dynamicFriction[0];
segmentPhysicMaterial.staticFriction = newPhysicalAttributes.staticFriction[0];
segmentPhysicMaterial.bounciness = newPhysicalAttributes.bounciness[0];
RigidbodyConstraints rbConstraints = newGO.GetComponent<Rigidbody>().constraints;
if (newPhysicalAttributes.freezePositionX[0]) {
rbConstraints = rbConstraints | RigidbodyConstraints.FreezePositionX;
}
if (newPhysicalAttributes.freezePositionY[0]) {
rbConstraints = rbConstraints | RigidbodyConstraints.FreezePositionY;
}
if (newPhysicalAttributes.freezePositionZ[0]) {
rbConstraints = rbConstraints | RigidbodyConstraints.FreezePositionZ;
}
if (newPhysicalAttributes.freezeRotationX[0]) {
rbConstraints = rbConstraints | RigidbodyConstraints.FreezeRotationX;
}
if (newPhysicalAttributes.freezeRotationY[0]) {
rbConstraints = rbConstraints | RigidbodyConstraints.FreezeRotationY;
}
if (newPhysicalAttributes.freezeRotationZ[0]) {
rbConstraints = rbConstraints | RigidbodyConstraints.FreezeRotationZ;
}
newGO.GetComponent<Rigidbody>().constraints = rbConstraints;
newGO.GetComponent<BoxCollider>().material = segmentPhysicMaterial;
}
#region INPUTS
List<AddonJointAngleSensor> jointAngleSensorList = masterCritterGenome.CheckForAddonJointAngleSensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < jointAngleSensorList.Count; j++) {
SegaddonJointAngleSensor newJointAngleSensor = new SegaddonJointAngleSensor(jointAngleSensorList[j]);
newJointAngleSensor.segmentID = newSegment.id;
segaddonJointAngleSensorList.Add(newJointAngleSensor);
if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeX) {
string inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleX";
BrainInputChannel BIC_SegmentAngle = new BrainInputChannel(ref newJointAngleSensor.angleX, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngle);
if (newJointAngleSensor.measureVel) {
inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleVelX";
BrainInputChannel BIC_SegmentAngleVel = new BrainInputChannel(ref newJointAngleSensor.angleVelX, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngleVel);
}
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeY) {
string inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleY";
BrainInputChannel BIC_SegmentAngle = new BrainInputChannel(ref newJointAngleSensor.angleY, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngle);
if (newJointAngleSensor.measureVel) {
inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleVelY";
BrainInputChannel BIC_SegmentAngleVel = new BrainInputChannel(ref newJointAngleSensor.angleVelY, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngleVel);
}
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeZ) {
string inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleZ";
BrainInputChannel BIC_SegmentAngle = new BrainInputChannel(ref newJointAngleSensor.angleZ, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngle);
if (newJointAngleSensor.measureVel) {
inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleVelZ";
BrainInputChannel BIC_SegmentAngleVel = new BrainInputChannel(ref newJointAngleSensor.angleVelZ, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngleVel);
}
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.DualXY) {
string inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleX";
BrainInputChannel BIC_SegmentAngleX = new BrainInputChannel(ref newJointAngleSensor.angleX, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngleX);
inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleY";
BrainInputChannel BIC_SegmentAngleY = new BrainInputChannel(ref newJointAngleSensor.angleY, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngleY);
if (newJointAngleSensor.measureVel) {
inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleVelX";
BrainInputChannel BIC_SegmentAngleVelX = new BrainInputChannel(ref newJointAngleSensor.angleVelX, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngleVelX);
inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleVelY";
BrainInputChannel BIC_SegmentAngleVelY = new BrainInputChannel(ref newJointAngleSensor.angleVelY, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngleVelY);
}
}
}
List<AddonContactSensor> contactSensorList = masterCritterGenome.CheckForAddonContactSensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < contactSensorList.Count; j++) {
SegaddonContactSensor newContactSensor = new SegaddonContactSensor(contactSensorList[j]);
newContactSensor.segmentID = newSegment.id;
segaddonContactSensorList.Add(newContactSensor);
SegaddonCollisionDetector collisionDetector = newGO.AddComponent<SegaddonCollisionDetector>();
collisionDetector.referencedContactSensor = newContactSensor;
string inputChannelName = "Segment " + newContactSensor.segmentID.ToString() + " Contact Sensor";
BrainInputChannel BIC_SegmentContactInput = new BrainInputChannel(ref newContactSensor.contactStatus, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentContactInput);
}
List<AddonRaycastSensor> raycastSensorList = masterCritterGenome.CheckForAddonRaycastSensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < raycastSensorList.Count; j++) {
SegaddonRaycastSensor newRaycastSensor = new SegaddonRaycastSensor(raycastSensorList[j]);
newRaycastSensor.segmentID = newSegment.id;
segaddonRaycastSensorList.Add(newRaycastSensor);
string inputChannelName = "Segment " + newRaycastSensor.segmentID.ToString() + " Raycast Sensor(dist)";
BrainInputChannel BIC_SegmentRaycastInput = new BrainInputChannel(ref newRaycastSensor.distance, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentRaycastInput);
}
List<AddonCompassSensor1D> compassSensor1DList = masterCritterGenome.CheckForAddonCompassSensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < compassSensor1DList.Count; j++) {
SegaddonCompassSensor1D newCompassSensor1D = new SegaddonCompassSensor1D(compassSensor1DList[j]);
newCompassSensor1D.segmentID = newSegment.id;
segaddonCompassSensor1DList.Add(newCompassSensor1D);
string inputChannelName = "Segment " + newCompassSensor1D.segmentID.ToString() + " Compass1D";
BrainInputChannel BIC_SegmentCompass1DInput = new BrainInputChannel(ref newCompassSensor1D.dotProduct, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentCompass1DInput);
}
List<AddonCompassSensor3D> compassSensor3DList = masterCritterGenome.CheckForAddonCompassSensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < compassSensor3DList.Count; j++) {
SegaddonCompassSensor3D newCompassSensor3D = new SegaddonCompassSensor3D(compassSensor3DList[j]);
newCompassSensor3D.segmentID = newSegment.id;
segaddonCompassSensor3DList.Add(newCompassSensor3D);
string inputChannelName = "Segment " + newCompassSensor3D.segmentID.ToString() + " Compass3D Right";
BrainInputChannel BIC_SegmentCompass3DInputRight = new BrainInputChannel(ref newCompassSensor3D.dotProductRight, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentCompass3DInputRight);
inputChannelName = "Segment " + newCompassSensor3D.segmentID.ToString() + " Compass3D Up";
BrainInputChannel BIC_SegmentCompass3DInputUp = new BrainInputChannel(ref newCompassSensor3D.dotProductUp, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentCompass3DInputUp);
inputChannelName = "Segment " + newCompassSensor3D.segmentID.ToString() + " Compass3D Forward";
BrainInputChannel BIC_SegmentCompass3DInputForward = new BrainInputChannel(ref newCompassSensor3D.dotProductForward, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentCompass3DInputForward);
}
List<AddonPositionSensor1D> positionSensor1DList = masterCritterGenome.CheckForAddonPositionSensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < positionSensor1DList.Count; j++) {
SegaddonPositionSensor1D newPositionSensor1D = new SegaddonPositionSensor1D(positionSensor1DList[j]);
newPositionSensor1D.segmentID = newSegment.id;
segaddonPositionSensor1DList.Add(newPositionSensor1D);
string inputChannelName = "Segment " + newPositionSensor1D.segmentID.ToString() + " Position1D Forward";
BrainInputChannel BIC_SegmentPosition1DInput = new BrainInputChannel(ref newPositionSensor1D.linearDistance, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentPosition1DInput);
}
List<AddonPositionSensor3D> positionSensor3DList = masterCritterGenome.CheckForAddonPositionSensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < positionSensor3DList.Count; j++) {
SegaddonPositionSensor3D newPositionSensor3D = new SegaddonPositionSensor3D(positionSensor3DList[j]);
newPositionSensor3D.segmentID = newSegment.id;
segaddonPositionSensor3DList.Add(newPositionSensor3D);
string inputChannelName = "Segment " + newPositionSensor3D.segmentID.ToString() + " Position3D Right";
BrainInputChannel BIC_SegmentPosition3DInputRight = new BrainInputChannel(ref newPositionSensor3D.distanceRight, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentPosition3DInputRight);
inputChannelName = "Segment " + newPositionSensor3D.segmentID.ToString() + " Position3D Up";
BrainInputChannel BIC_SegmentPosition3DInputUp = new BrainInputChannel(ref newPositionSensor3D.distanceUp, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentPosition3DInputUp);
inputChannelName = "Segment " + newPositionSensor3D.segmentID.ToString() + " Position3D Forward";
BrainInputChannel BIC_SegmentPosition3DInputForward = new BrainInputChannel(ref newPositionSensor3D.distanceForward, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentPosition3DInputForward);
}
List<AddonRotationSensor1D> rotationSensor1DList = masterCritterGenome.CheckForAddonRotationSensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < rotationSensor1DList.Count; j++) {
SegaddonRotationSensor1D newRotationSensor1D = new SegaddonRotationSensor1D(rotationSensor1DList[j]);
newRotationSensor1D.segmentID = newSegment.id;
segaddonRotationSensor1DList.Add(newRotationSensor1D);
string inputChannelName = "Segment " + newRotationSensor1D.segmentID.ToString() + " Rotation1D";
BrainInputChannel BIC_SegmentRotation1DInput = new BrainInputChannel(ref newRotationSensor1D.rotationRate, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentRotation1DInput);
}
List<AddonRotationSensor3D> rotationSensor3DList = masterCritterGenome.CheckForAddonRotationSensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < rotationSensor3DList.Count; j++) {
SegaddonRotationSensor3D newRotationSensor3D = new SegaddonRotationSensor3D(rotationSensor3DList[j]);
newRotationSensor3D.segmentID = newSegment.id;
segaddonRotationSensor3DList.Add(newRotationSensor3D);
string inputChannelName = "Segment " + newRotationSensor3D.segmentID.ToString() + " Rotation3D X";
BrainInputChannel BIC_SegmentRotation3DInputX = new BrainInputChannel(ref newRotationSensor3D.rotationRateX, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentRotation3DInputX);
inputChannelName = "Segment " + newRotationSensor3D.segmentID.ToString() + " Rotation3D Y";
BrainInputChannel BIC_SegmentRotation3DInputY = new BrainInputChannel(ref newRotationSensor3D.rotationRateY, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentRotation3DInputY);
inputChannelName = "Segment " + newRotationSensor3D.segmentID.ToString() + " Rotation3D Z";
BrainInputChannel BIC_SegmentRotation3DInputZ = new BrainInputChannel(ref newRotationSensor3D.rotationRateZ, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentRotation3DInputZ);
}
List<AddonVelocitySensor1D> velocitySensor1DList = masterCritterGenome.CheckForAddonVelocitySensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < velocitySensor1DList.Count; j++) {
SegaddonVelocitySensor1D newVelocitySensor1D = new SegaddonVelocitySensor1D(velocitySensor1DList[j]);
newVelocitySensor1D.segmentID = newSegment.id;
segaddonVelocitySensor1DList.Add(newVelocitySensor1D);
string inputChannelName = "Segment " + newVelocitySensor1D.segmentID.ToString() + " Velocity1D";
BrainInputChannel BIC_SegmentVelocity1DInput = new BrainInputChannel(ref newVelocitySensor1D.componentVelocity, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentVelocity1DInput);
}
List<AddonVelocitySensor3D> velocitySensor3DList = masterCritterGenome.CheckForAddonVelocitySensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < velocitySensor3DList.Count; j++) {
SegaddonVelocitySensor3D newVelocitySensor3D = new SegaddonVelocitySensor3D(velocitySensor3DList[j]);
newVelocitySensor3D.segmentID = newSegment.id;
segaddonVelocitySensor3DList.Add(newVelocitySensor3D);
string inputChannelName = "Segment " + newVelocitySensor3D.segmentID.ToString() + " Velocity3D Right";
BrainInputChannel BIC_SegmentVelocity3DInputRight = new BrainInputChannel(ref newVelocitySensor3D.velocityRight, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentVelocity3DInputRight);
inputChannelName = "Segment " + newVelocitySensor3D.segmentID.ToString() + " Velocity3D Up";
BrainInputChannel BIC_SegmentVelocity3DInputUp = new BrainInputChannel(ref newVelocitySensor3D.velocityUp, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentVelocity3DInputUp);
inputChannelName = "Segment " + newVelocitySensor3D.segmentID.ToString() + " Velocity3D Forward";
BrainInputChannel BIC_SegmentVelocity3DInputForward = new BrainInputChannel(ref newVelocitySensor3D.velocityForward, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentVelocity3DInputForward);
}
List<AddonAltimeter> altimeterList = masterCritterGenome.CheckForAddonAltimeter(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < altimeterList.Count; j++) {
SegaddonAltimeter newAltimeter = new SegaddonAltimeter(altimeterList[j]);
newAltimeter.segmentID = newSegment.id;
segaddonAltimeterList.Add(newAltimeter);
string inputChannelName = "Segment " + newAltimeter.segmentID.ToString() + " Altimeter";
BrainInputChannel BIC_SegmentAltimeterInput = new BrainInputChannel(ref newAltimeter.altitude, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAltimeterInput);
}
List<AddonEarBasic> earBasicList = masterCritterGenome.CheckForAddonEarBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < earBasicList.Count; j++) {
SegaddonEarBasic newEarBasic = new SegaddonEarBasic(earBasicList[j]);
newEarBasic.segmentID = newSegment.id;
segaddonEarBasicList.Add(newEarBasic);
string inputChannelName = "Segment " + newEarBasic.segmentID.ToString() + " Ear Basic";
BrainInputChannel BIC_SegmentEarBasicInput = new BrainInputChannel(ref newEarBasic.activation, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentEarBasicInput);
}
List<AddonGravitySensor> gravitySensorList = masterCritterGenome.CheckForAddonGravitySensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < gravitySensorList.Count; j++) {
SegaddonGravitySensor newGravitySensor = new SegaddonGravitySensor(gravitySensorList[j]);
newGravitySensor.segmentID = newSegment.id;
segaddonGravitySensorList.Add(newGravitySensor);
string inputChannelName = "Segment " + newGravitySensor.segmentID.ToString() + " Gravity Sensor";
BrainInputChannel BIC_SegmentGravityInput = new BrainInputChannel(ref newGravitySensor.gravityDot, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentGravityInput);
}
List<AddonOscillatorInput> oscillatorInputList = masterCritterGenome.CheckForAddonOscillatorInput(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < oscillatorInputList.Count; j++) {
SegaddonOscillatorInput newOscillatorInput = new SegaddonOscillatorInput(oscillatorInputList[j]);
newOscillatorInput.segmentID = newSegment.id;
segaddonOscillatorInputList.Add(newOscillatorInput);
//SegaddonOscillatorInput oscillatorInput = critterBeingTested.segaddonOscillatorInputList[oscillatorInputIndex];
string inputChannelName = "Segment " + newOscillatorInput.segmentID.ToString() + " Oscillator Input";
BrainInputChannel BIC_SegmentOscillatorInput = new BrainInputChannel(ref newOscillatorInput.value, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentOscillatorInput);
}
List<AddonValueInput> valueInputList = masterCritterGenome.CheckForAddonValueInput(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < valueInputList.Count; j++) {
SegaddonValueInput newValueInput = new SegaddonValueInput(valueInputList[j]);
newValueInput.segmentID = newSegment.id;
segaddonValueInputList.Add(newValueInput);
string inputChannelName = "Segment " + newValueInput.segmentID.ToString() + " Value Input";
BrainInputChannel BIC_SegmentValueInput = new BrainInputChannel(ref newValueInput.value, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentValueInput);
}
List<AddonTimerInput> timerInputList = masterCritterGenome.CheckForAddonTimerInput(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < timerInputList.Count; j++) {
SegaddonTimerInput newTimerInput = new SegaddonTimerInput(timerInputList[j]);
newTimerInput.segmentID = newSegment.id;
segaddonTimerInputList.Add(newTimerInput);
string inputChannelName = "Segment " + newTimerInput.segmentID.ToString() + " Timer Input";
BrainInputChannel BIC_SegmentTimerInput = new BrainInputChannel(ref newTimerInput.value, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentTimerInput);
}
#endregion
#region OUTPUTS:
List<AddonJointMotor> jointMotorList = masterCritterGenome.CheckForAddonJointMotor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < jointMotorList.Count; j++) {
SegaddonJointMotor newJointMotor = new SegaddonJointMotor(jointMotorList[j]);
newJointMotor.segmentID = newSegment.id;
segaddonJointMotorList.Add(newJointMotor);
//SegaddonJointMotor motor = critterBeingTested.segaddonJointMotorList[motorIndex];
if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeX) {
string outputChannelName = "Segment " + newJointMotor.segmentID.ToString() + " Motor Target X";
BrainOutputChannel BOC_SegmentAngleVel = new BrainOutputChannel(ref newJointMotor.targetAngularX, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentAngleVel);
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeY) {
string outputChannelName = "Segment " + newJointMotor.segmentID.ToString() + " Motor Target Y";
BrainOutputChannel BOC_SegmentAngleVel = new BrainOutputChannel(ref newJointMotor.targetAngularY, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentAngleVel);
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeZ) {
string outputChannelName = "Segment " + newJointMotor.segmentID.ToString() + " Motor Target Z";
BrainOutputChannel BOC_SegmentAngleVel = new BrainOutputChannel(ref newJointMotor.targetAngularZ, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentAngleVel);
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.DualXY) {
string outputChannelName = "Segment " + newJointMotor.segmentID.ToString() + " Motor Target X";
BrainOutputChannel BOC_SegmentAngleVelX = new BrainOutputChannel(ref newJointMotor.targetAngularX, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentAngleVelX);
outputChannelName = "Segment " + newJointMotor.segmentID.ToString() + " Motor Target Y";
BrainOutputChannel BOC_SegmentAngleVelY = new BrainOutputChannel(ref newJointMotor.targetAngularY, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentAngleVelY);
}
}
List<AddonThrusterEffector1D> thrusterEffector1DList = masterCritterGenome.CheckForAddonThrusterEffector1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < thrusterEffector1DList.Count; j++) {
SegaddonThrusterEffector1D newThrusterEffector1D = new SegaddonThrusterEffector1D(thrusterEffector1DList[j]);
newThrusterEffector1D.segmentID = newSegment.id;
segaddonThrusterEffector1DList.Add(newThrusterEffector1D);
string outputChannelName = "Segment " + newThrusterEffector1D.segmentID.ToString() + " Thruster1D";
BrainOutputChannel BOC_SegmentThruster1D = new BrainOutputChannel(ref newThrusterEffector1D.throttle, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentThruster1D);
}
List<AddonThrusterEffector3D> thrusterEffector3DList = masterCritterGenome.CheckForAddonThrusterEffector3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < thrusterEffector3DList.Count; j++) {
SegaddonThrusterEffector3D newThrusterEffector3D = new SegaddonThrusterEffector3D(thrusterEffector3DList[j]);
newThrusterEffector3D.segmentID = newSegment.id;
segaddonThrusterEffector3DList.Add(newThrusterEffector3D);
string outputChannelName = "Segment " + newThrusterEffector3D.segmentID.ToString() + " Thruster3D X";
BrainOutputChannel BOC_SegmentThruster3DX = new BrainOutputChannel(ref newThrusterEffector3D.throttleX, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentThruster3DX);
outputChannelName = "Segment " + newThrusterEffector3D.segmentID.ToString() + " Thruster3D Y";
BrainOutputChannel BOC_SegmentThruster3DY = new BrainOutputChannel(ref newThrusterEffector3D.throttleY, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentThruster3DY);
outputChannelName = "Segment " + newThrusterEffector3D.segmentID.ToString() + " Thruster3D Z";
BrainOutputChannel BOC_SegmentThruster3DZ = new BrainOutputChannel(ref newThrusterEffector3D.throttleZ, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentThruster3DZ);
}
List<AddonTorqueEffector1D> torqueEffector1DList = masterCritterGenome.CheckForAddonTorqueEffector1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < torqueEffector1DList.Count; j++) {
SegaddonTorqueEffector1D newTorqueEffector1D = new SegaddonTorqueEffector1D(torqueEffector1DList[j]);
newTorqueEffector1D.segmentID = newSegment.id;
segaddonTorqueEffector1DList.Add(newTorqueEffector1D);
string outputChannelName = "Segment " + newTorqueEffector1D.segmentID.ToString() + " Torque1D";
BrainOutputChannel BOC_SegmentTorque1D = new BrainOutputChannel(ref newTorqueEffector1D.throttle, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentTorque1D);
}
List<AddonTorqueEffector3D> torqueEffector3DList = masterCritterGenome.CheckForAddonTorqueEffector3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < torqueEffector3DList.Count; j++) {
SegaddonTorqueEffector3D newTorqueEffector3D = new SegaddonTorqueEffector3D(torqueEffector3DList[j]);
newTorqueEffector3D.segmentID = newSegment.id;
segaddonTorqueEffector3DList.Add(newTorqueEffector3D);
string outputChannelName = "Segment " + newTorqueEffector3D.segmentID.ToString() + " Torque3D X";
BrainOutputChannel BOC_SegmentTorque3DX = new BrainOutputChannel(ref newTorqueEffector3D.throttleX, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentTorque3DX);
outputChannelName = "Segment " + newTorqueEffector3D.segmentID.ToString() + " Torque3D Y";
BrainOutputChannel BOC_SegmentTorque3DY = new BrainOutputChannel(ref newTorqueEffector3D.throttleY, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentTorque3DY);
outputChannelName = "Segment " + newTorqueEffector3D.segmentID.ToString() + " Torque3D Z";
BrainOutputChannel BOC_SegmentTorque3DZ = new BrainOutputChannel(ref newTorqueEffector3D.throttleZ, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentTorque3DZ);
}
List<AddonMouthBasic> mouthBasicList = masterCritterGenome.CheckForAddonMouthBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < mouthBasicList.Count; j++) {
SegaddonMouthBasic newMouthBasic = new SegaddonMouthBasic(mouthBasicList[j]);
newMouthBasic.segmentID = newSegment.id;
segaddonMouthBasicList.Add(newMouthBasic);
SegaddonTriggerDetector triggerDetector = newGO.AddComponent<SegaddonTriggerDetector>();
triggerDetector.referencedMouth = newMouthBasic;
}
List<AddonNoiseMakerBasic> noiseMakerBasicList = masterCritterGenome.CheckForAddonNoiseMakerBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < noiseMakerBasicList.Count; j++) {
SegaddonNoiseMakerBasic newNoiseMakerBasic = new SegaddonNoiseMakerBasic(noiseMakerBasicList[j]);
newNoiseMakerBasic.segmentID = newSegment.id;
segaddonNoiseMakerBasicList.Add(newNoiseMakerBasic);
string outputChannelName = "Segment " + newNoiseMakerBasic.segmentID.ToString() + " NoiseMaker";
BrainOutputChannel BOC_SegmentNoiseMaker = new BrainOutputChannel(ref newNoiseMakerBasic.volume, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentNoiseMaker);
}
List<AddonSticky> stickyList = masterCritterGenome.CheckForAddonSticky(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < stickyList.Count; j++) {
SegaddonSticky newSticky = new SegaddonSticky(stickyList[j]);
newSticky.segmentID = newSegment.id;
segaddonStickyList.Add(newSticky);
string outputChannelName = "Segment " + newSticky.segmentID.ToString() + " Sticky";
BrainOutputChannel BOC_SegmentSticky = new BrainOutputChannel(ref newSticky.stickiness, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentSticky);
}
List<AddonWeaponBasic> weaponBasicList = masterCritterGenome.CheckForAddonWeaponBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < weaponBasicList.Count; j++) {
SegaddonWeaponBasic newWeaponBasic = new SegaddonWeaponBasic(weaponBasicList[j]);
newWeaponBasic.segmentID = newSegment.id;
segaddonWeaponBasicList.Add(newWeaponBasic);
string outputChannelName = "Segment " + newWeaponBasic.segmentID.ToString() + " Weapon";
BrainOutputChannel BOC_SegmentWeapon = new BrainOutputChannel(ref newWeaponBasic.strength, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentWeapon);
}
#endregion
}
// Figure out how many unique Child nodes this built node has:
//int numberOfChildNodes = currentBuildSegmentList[i].sourceNode.attachedJointLinkList.Count; // old
int numberOfChildNodes = currentBuildSegmentList[i].sourceNode.attachedChildNodesIdList.Count;
//Debug.Log("numberOfChildNodes: " + numberOfChildNodes.ToString() + "currentBuildSegmentList[i].sourceNode: " + currentBuildSegmentList[i].sourceNode.ID.ToString() + ", i: " + i.ToString());
for (int c = 0; c < numberOfChildNodes; c++) {
// if NO symmetry:
// Check if Attaching to a recursion chain && if onlyattachToTail is active:
int childID = currentBuildSegmentList[i].sourceNode.attachedChildNodesIdList[c];
//Debug.Log("%%%%% c=" + c.ToString() + ", childID: " + childID.ToString() + ", critterNodeListCount: " + masterCritterGenome.CritterNodeList.Count.ToString());
// if(currentBuildSegmentList[i].sourceNode.attachedJointLinkList[c].childNode.parentJointLink.onlyAttachToTailNode) // OLD
if (masterCritterGenome.CritterNodeList[childID].jointLink.onlyAttachToTailNode) {
if (currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions > 0) {
if (newSegment.recursionNumber > newSegment.sourceNode.jointLink.numberOfRecursions) {
// Only build segment if it is on the end of a recursion chain:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = masterCritterGenome.CritterNodeList[childID];
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (masterCritterGenome.CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = masterCritterGenome.CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else {
// It only attaches to End nodes, but is parented to a Non-recursive segment, so proceed normally!!!
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = masterCritterGenome.CritterNodeList[childID];
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (masterCritterGenome.CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = masterCritterGenome.CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else { // proceed normally:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = masterCritterGenome.CritterNodeList[childID];
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (masterCritterGenome.CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = masterCritterGenome.CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
}
// After all buildNodes have been built, and their subsequent childNodes Enqueued, copy pendingChildQueue into buildNodesQueue
currentBuildSegmentList.Clear();
// SWAP LISTS:
if (nextBuildSegmentList.Count > 0) {
for (int j = 0; j < nextBuildSegmentList.Count; j++) {
currentBuildSegmentList.Add(nextBuildSegmentList[j]);
}
nextBuildSegmentList.Clear(); // empty this list for next depth-round
}
else {
isPendingChildren = false;
}
if (currentDepth >= maxDepth) { // SAFEGUARD!! prevents infinite loop in case I mess something up
isPendingChildren = false;
}
currentDepth++;
}
//Debug.Log("RebuildCritterFromGenomeRecursive " + inputChannelsList.Count.ToString() + ", " + outputChannelsList.Count.ToString());
//Debug.Log("RebuildCritterFromGenomeRecursive: COM_Offset: (" + masterCritterGenome.centerOfMassOffset.x.ToString() + ", " + masterCritterGenome.centerOfMassOffset.y.ToString() + ", " + masterCritterGenome.centerOfMassOffset.z.ToString() + "), totalVolume: " + critterTotalVolume.ToString());// + " RootPos: " + critterSegmentList[0].transform.position.ToString());
}
public void PreBuildCritter(float variableMass) {
//Debug.Log("RebuildCritterFromGenomeRecursive: " + masterCritterGenome.CritterNodeList.Count.ToString());
// interpret Genome and construct critter in its bind pose
bool isPendingChildren = true;
int currentDepth = 0; // start with RootNode
int maxDepth = 20; // safeguard to prevent while loop lock
int nextSegmentID = 0;
List<CritterSegment> builtSegmentsList = new List<CritterSegment>(); // keep track of segments that have been built - linear in-order array 0-n segments
List<BuildSegmentInfo> currentBuildSegmentList = new List<BuildSegmentInfo>(); // keeps track of all current-depth segment build-requests, and holds important metadata
List<BuildSegmentInfo> nextBuildSegmentList = new List<BuildSegmentInfo>(); // used to keep track of next childSegments that need to be built
float critterTotalVolume = 0f; // keep track of total volume
// *********** Will attempt to traverse the Segments to be created, keeping track of where on each graph (nodes# & segment#) the current build is on.
BuildSegmentInfo rootSegmentBuildInfo = new BuildSegmentInfo();
rootSegmentBuildInfo.sourceNode = CritterNodeList[0];
currentBuildSegmentList.Add(rootSegmentBuildInfo); // ROOT NODE IS SPECIAL!
// Do a Breadth-first traversal??
#region First WhileLoop
while (isPendingChildren) {
//int numberOfChildNodes = masterCritterGenome.CritterNodeList[currentNode].attachedJointLinkList.Count;
for (int i = 0; i < currentBuildSegmentList.Count; i++) {
//Debug.Log("currentDepth: " + currentDepth.ToString() + "builtNodesQueue.Count: " + builtSegmentsList.Count.ToString() + ", pendingNodes: " + currentBuildSegmentList.Count.ToString() + ", i: " + i.ToString());
// Iterate through pending nodes
// Build current node --> Segment
GameObject newGO = new GameObject("Node" + nextSegmentID.ToString());
CritterSegment newSegment = newGO.AddComponent<CritterSegment>();
builtSegmentsList.Add(newSegment);
if(TempCritterConstructionGroup.tempCritterConstructionGroup != null) {
newGO.transform.SetParent(TempCritterConstructionGroup.tempCritterConstructionGroup.gameObject.transform);
}
//newGO.AddComponent<BoxCollider>().isTrigger = false;
//critterSegmentList.Add(newGO); // Add to master Linear list of Segments
//newSegment.InitGamePiece(); // create the mesh and some other initialization stuff
newSegment.sourceNode = currentBuildSegmentList[i].sourceNode;
newSegment.id = nextSegmentID;
nextSegmentID++;
if (currentBuildSegmentList[i].sourceNode.ID == 0) { // is ROOT segment -- Look into doing Root build BEFORE for loop to avoid the need to do this check
newGO.transform.position = Vector3.zero;
newGO.transform.localPosition = Vector3.zero;
newGO.transform.rotation = Quaternion.identity;
newSegment.scalingFactor = newSegment.sourceNode.jointLink.recursionScalingFactor;
newGO.transform.localScale = currentBuildSegmentList[i].sourceNode.dimensions * newSegment.scalingFactor;
//newSegment.surfaceArea = new Vector3(newGO.transform.localScale.y * newGO.transform.localScale.z * 2f, newGO.transform.localScale.x * newGO.transform.localScale.z * 2f, newGO.transform.localScale.x * newGO.transform.localScale.y * 2f);
}
else { // if NOT root segment, can consider parent-related stuff:
newSegment.parentSegment = currentBuildSegmentList[i].parentSegment;
// Inherit Axis-Inversions from parent segment:
newSegment.mirrorX = newSegment.parentSegment.mirrorX;
newSegment.mirrorY = newSegment.parentSegment.mirrorY;
newSegment.mirrorZ = newSegment.parentSegment.mirrorZ;
// inherit scaling factor from parent -- this is later adjusted again if it is part of a recursion chain
newSegment.scalingFactor = newSegment.parentSegment.scalingFactor;
newSegment.scalingFactor *= currentBuildSegmentList[i].sourceNode.jointLink.recursionScalingFactor; // propagate scaling factor
// Check for if the segment currently being built is a Mirror COPY:
if (currentBuildSegmentList[i].isMirror) {
//Debug.Log("This is a MIRROR COPY segment - Wow!");
if (currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorX) {
// Invert the X-axis (this will propagate down to all this segment's children
newSegment.mirrorX = !newSegment.mirrorX;
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorY) {
newSegment.mirrorY = !newSegment.mirrorY;
}
//else if (currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorZ) {
// newSegment.mirrorZ = !newSegment.mirrorZ;
//}
}
}
// CHECK FOR RECURSION:
if (currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions > 0) { // if the node being considered has recursions:
//Debug.Log("currentNode: " + currentBuildSegmentList[i].sourceNode.ID.ToString() + "newSegmentRecursion#: " + newSegment.recursionNumber.ToString() + ", parentRecursion#: " + currentBuildSegmentList[i].parentSegment.recursionNumber.ToString());
if (newSegment.sourceNode == currentBuildSegmentList[i].parentSegment.sourceNode) { // if this segment's sourceNode is the same is its parent Segment's sourceNode, then it is not the root of the recursion chain!
//Debug.Log("newSegment.sourceNode == currentBuildNodeParentSegmentList[i].sourceNode!");
// Are we at the end of a recursion chain?
if (currentBuildSegmentList[i].parentSegment.recursionNumber >= currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions) {
//Debug.Log("recursion number greater than numRecursions! ( " + currentBuildSegmentList[i].parentSegment.recursionNumber.ToString() + " vs " + currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions.ToString());
newSegment.recursionNumber = currentBuildSegmentList[i].parentSegment.recursionNumber + 1; //
//newSegment.scalingFactor *= currentBuildSegmentList[i].sourceNode.jointLink.recursionScalingFactor;
}
else { // create new recursion instance!!
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = currentBuildSegmentList[i].sourceNode; // request a segment to be built again based on the current sourceNode
newSegment.recursionNumber = currentBuildSegmentList[i].parentSegment.recursionNumber + 1;
//newSegment.scalingFactor *= currentBuildSegmentList[i].sourceNode.jointLink.recursionScalingFactor; // propagate scaling factor
newSegmentInfo.parentSegment = newSegment; // parent of itself (the just-built Segment)
nextBuildSegmentList.Add(newSegmentInfo);
// If the node also has Symmetry:
if (newSegmentInfo.sourceNode.jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = currentBuildSegmentList[i].sourceNode; // uses same sourceNode, but tags as Mirror:
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else { // this is the root --- its sourceNode has recursion, and this segment is unique from its parentNode:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = currentBuildSegmentList[i].sourceNode;
newSegment.recursionNumber = 1;
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
// If the node also has Symmetry:
if (newSegmentInfo.sourceNode.jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = currentBuildSegmentList[i].sourceNode; // uses same sourceNode, but tags as Mirror:
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
// Figure out how many unique Child nodes this built node has:
//int numberOfChildNodes = currentBuildSegmentList[i].sourceNode.attachedJointLinkList.Count; // old
int numberOfChildNodes = currentBuildSegmentList[i].sourceNode.attachedChildNodesIdList.Count;
//Debug.Log("numberOfChildNodes: " + numberOfChildNodes.ToString() + "currentBuildSegmentList[i].sourceNode: " + currentBuildSegmentList[i].sourceNode.ID.ToString() + ", i: " + i.ToString());
for (int c = 0; c < numberOfChildNodes; c++) {
// if NO symmetry:
// Check if Attaching to a recursion chain && if onlyattachToTail is active:
int childID = currentBuildSegmentList[i].sourceNode.attachedChildNodesIdList[c];
//Debug.Log("%%%%% c=" + c.ToString() + ", childID: " + childID.ToString() + ", critterNodeListCount: " + masterCritterGenome.CritterNodeList.Count.ToString());
// if(currentBuildSegmentList[i].sourceNode.attachedJointLinkList[c].childNode.parentJointLink.onlyAttachToTailNode) // OLD
if (CritterNodeList[childID].jointLink.onlyAttachToTailNode) {
if (currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions > 0) {
if (newSegment.recursionNumber > newSegment.sourceNode.jointLink.numberOfRecursions) {
// Only build segment if it is on the end of a recursion chain:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = CritterNodeList[childID];
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else {
// It only attaches to End nodes, but is parented to a Non-recursive segment, so proceed normally!!!
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = CritterNodeList[childID];
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else { // proceed normally:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = CritterNodeList[childID];
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
// PositionSEGMENT GameObject!!!
if (newSegment.id == 0) { // if ROOT NODE:
}
else {
SetSegmentTransform(newGO); // Properly position the SegmentGO where it should be && scale!
}
critterTotalVolume += newGO.transform.localScale.x * newGO.transform.localScale.y * newGO.transform.localScale.z;
}
// After all buildNodes have been built, and their subsequent childNodes Enqueued, copy pendingChildQueue into buildNodesQueue
currentBuildSegmentList.Clear();
// SWAP LISTS:
if (nextBuildSegmentList.Count > 0) {
for (int j = 0; j < nextBuildSegmentList.Count; j++) {
currentBuildSegmentList.Add(nextBuildSegmentList[j]);
}
nextBuildSegmentList.Clear(); // empty this list for next depth-round
}
else {
isPendingChildren = false;
}
if (currentDepth >= maxDepth) { // SAFEGUARD!! prevents infinite loop in case I mess something up
isPendingChildren = false;
}
currentDepth++;
}
#endregion
//Debug.Log("RebuildCritterFromGenomeRecursive " + inputChannelsList.Count.ToString() + ", " + outputChannelsList.Count.ToString());
// Re-Size Critter based on target volume:
float targetTotalVolume = 4f;
float linearScaling = Mathf.Pow(targetTotalVolume / critterTotalVolume, 1f / 3f);
for (int i = 0; i < CritterNodeList.Count; i++) {
CritterNodeList[i].dimensions.x *= linearScaling;
CritterNodeList[i].dimensions.y *= linearScaling;
CritterNodeList[i].dimensions.z *= linearScaling;
}
// interpret Genome and construct critter in its bind pose
isPendingChildren = true;
currentDepth = 0; // start with RootNode
maxDepth = 20; // safeguard to prevent while loop lock
nextSegmentID = 0;
builtSegmentsList.Clear();
currentBuildSegmentList.Clear();
nextBuildSegmentList.Clear();
// *********** Will attempt to traverse the Segments to be created, keeping track of where on each graph (nodes# & segment#) the current build is on.
rootSegmentBuildInfo = new BuildSegmentInfo();
rootSegmentBuildInfo.sourceNode = CritterNodeList[0];
currentBuildSegmentList.Add(rootSegmentBuildInfo); // ROOT NODE IS SPECIAL!
// Do a Breadth-first traversal??
#region Second WhileLoop
while (isPendingChildren) {
//int numberOfChildNodes = masterCritterGenome.CritterNodeList[currentNode].attachedJointLinkList.Count;
for (int i = 0; i < currentBuildSegmentList.Count; i++) {
//Debug.Log("currentDepth: " + currentDepth.ToString() + "builtNodesQueue.Count: " + builtSegmentsList.Count.ToString() + ", pendingNodes: " + currentBuildSegmentList.Count.ToString() + ", i: " + i.ToString());
// Iterate through pending nodes
// Build current node --> Segment
GameObject newGO = new GameObject("Node" + nextSegmentID.ToString());
CritterSegment newSegment = newGO.AddComponent<CritterSegment>();
builtSegmentsList.Add(newSegment);
newGO.transform.SetParent(TempCritterConstructionGroup.tempCritterConstructionGroup.gameObject.transform);
//newGO.AddComponent<BoxCollider>().isTrigger = false;
//critterSegmentList.Add(newGO); // Add to master Linear list of Segments
//newSegment.InitGamePiece(); // create the mesh and some other initialization stuff
newSegment.sourceNode = currentBuildSegmentList[i].sourceNode;
newSegment.id = nextSegmentID;
nextSegmentID++;
if (currentBuildSegmentList[i].sourceNode.ID == 0) { // is ROOT segment -- Look into doing Root build BEFORE for loop to avoid the need to do this check
newGO.transform.position = Vector3.zero;
newGO.transform.rotation = Quaternion.identity;
newSegment.scalingFactor = newSegment.sourceNode.jointLink.recursionScalingFactor;
newGO.transform.localScale = currentBuildSegmentList[i].sourceNode.dimensions * newSegment.scalingFactor;
//newSegment.surfaceArea = new Vector3(newGO.transform.localScale.y * newGO.transform.localScale.z * 2f, newGO.transform.localScale.x * newGO.transform.localScale.z * 2f, newGO.transform.localScale.x * newGO.transform.localScale.y * 2f);
}
else { // if NOT root segment, can consider parent-related stuff:
newSegment.parentSegment = currentBuildSegmentList[i].parentSegment;
// Inherit Axis-Inversions from parent segment:
newSegment.mirrorX = newSegment.parentSegment.mirrorX;
newSegment.mirrorY = newSegment.parentSegment.mirrorY;
newSegment.mirrorZ = newSegment.parentSegment.mirrorZ;
// inherit scaling factor from parent -- this is later adjusted again if it is part of a recursion chain
newSegment.scalingFactor = newSegment.parentSegment.scalingFactor;
newSegment.scalingFactor *= currentBuildSegmentList[i].sourceNode.jointLink.recursionScalingFactor; // propagate scaling factor
// Check for if the segment currently being built is a Mirror COPY:
if (currentBuildSegmentList[i].isMirror) {
//Debug.Log("This is a MIRROR COPY segment - Wow!");
if (currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorX) {
// Invert the X-axis (this will propagate down to all this segment's children
newSegment.mirrorX = !newSegment.mirrorX;
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorY) {
newSegment.mirrorY = !newSegment.mirrorY;
}
//else if (currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorZ) {
// newSegment.mirrorZ = !newSegment.mirrorZ;
//}
}
}
// CHECK FOR RECURSION:
if (currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions > 0) { // if the node being considered has recursions:
//Debug.Log("currentNode: " + currentBuildSegmentList[i].sourceNode.ID.ToString() + "newSegmentRecursion#: " + newSegment.recursionNumber.ToString() + ", parentRecursion#: " + currentBuildSegmentList[i].parentSegment.recursionNumber.ToString());
if (newSegment.sourceNode == currentBuildSegmentList[i].parentSegment.sourceNode) { // if this segment's sourceNode is the same is its parent Segment's sourceNode, then it is not the root of the recursion chain!
//Debug.Log("newSegment.sourceNode == currentBuildNodeParentSegmentList[i].sourceNode!");
// Are we at the end of a recursion chain?
if (currentBuildSegmentList[i].parentSegment.recursionNumber >= currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions) {
//Debug.Log("recursion number greater than numRecursions! ( " + currentBuildSegmentList[i].parentSegment.recursionNumber.ToString() + " vs " + currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions.ToString());
newSegment.recursionNumber = currentBuildSegmentList[i].parentSegment.recursionNumber + 1; //
//newSegment.scalingFactor *= currentBuildSegmentList[i].sourceNode.jointLink.recursionScalingFactor;
}
else { // create new recursion instance!!
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = currentBuildSegmentList[i].sourceNode; // request a segment to be built again based on the current sourceNode
newSegment.recursionNumber = currentBuildSegmentList[i].parentSegment.recursionNumber + 1;
//newSegment.scalingFactor *= currentBuildSegmentList[i].sourceNode.jointLink.recursionScalingFactor; // propagate scaling factor
newSegmentInfo.parentSegment = newSegment; // parent of itself (the just-built Segment)
nextBuildSegmentList.Add(newSegmentInfo);
// If the node also has Symmetry:
if (newSegmentInfo.sourceNode.jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = currentBuildSegmentList[i].sourceNode; // uses same sourceNode, but tags as Mirror:
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else { // this is the root --- its sourceNode has recursion, and this segment is unique from its parentNode:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = currentBuildSegmentList[i].sourceNode;
newSegment.recursionNumber = 1;
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
// If the node also has Symmetry:
if (newSegmentInfo.sourceNode.jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = currentBuildSegmentList[i].sourceNode; // uses same sourceNode, but tags as Mirror:
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
// Figure out how many unique Child nodes this built node has:
//int numberOfChildNodes = currentBuildSegmentList[i].sourceNode.attachedJointLinkList.Count; // old
int numberOfChildNodes = currentBuildSegmentList[i].sourceNode.attachedChildNodesIdList.Count;
//Debug.Log("numberOfChildNodes: " + numberOfChildNodes.ToString() + "currentBuildSegmentList[i].sourceNode: " + currentBuildSegmentList[i].sourceNode.ID.ToString() + ", i: " + i.ToString());
for (int c = 0; c < numberOfChildNodes; c++) {
// if NO symmetry:
// Check if Attaching to a recursion chain && if onlyattachToTail is active:
int childID = currentBuildSegmentList[i].sourceNode.attachedChildNodesIdList[c];
//Debug.Log("%%%%% c=" + c.ToString() + ", childID: " + childID.ToString() + ", critterNodeListCount: " + masterCritterGenome.CritterNodeList.Count.ToString());
// if(currentBuildSegmentList[i].sourceNode.attachedJointLinkList[c].childNode.parentJointLink.onlyAttachToTailNode) // OLD
if (CritterNodeList[childID].jointLink.onlyAttachToTailNode) {
if (currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions > 0) {
if (newSegment.recursionNumber > newSegment.sourceNode.jointLink.numberOfRecursions) {
// Only build segment if it is on the end of a recursion chain:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = CritterNodeList[childID];
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else {
// It only attaches to End nodes, but is parented to a Non-recursive segment, so proceed normally!!!
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = CritterNodeList[childID];
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else { // proceed normally:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = CritterNodeList[childID];
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
// PositionSEGMENT GameObject!!!
if (newSegment.id == 0) { // if ROOT NODE:
}
else {
SetSegmentTransform(newGO); // Properly position the SegmentGO where it should be && scale!
}
}
// After all buildNodes have been built, and their subsequent childNodes Enqueued, copy pendingChildQueue into buildNodesQueue
currentBuildSegmentList.Clear();
// SWAP LISTS:
if (nextBuildSegmentList.Count > 0) {
for (int j = 0; j < nextBuildSegmentList.Count; j++) {
currentBuildSegmentList.Add(nextBuildSegmentList[j]);
}
nextBuildSegmentList.Clear(); // empty this list for next depth-round
}
else {
isPendingChildren = false;
}
if (currentDepth >= maxDepth) { // SAFEGUARD!! prevents infinite loop in case I mess something up
isPendingChildren = false;
}
currentDepth++;
}
#endregion
//Debug.Log("RebuildCritterFromGenomeRecursive " + inputChannelsList.Count.ToString() + ", " + outputChannelsList.Count.ToString());
centerOfMassOffset.x = 0f;
centerOfMassOffset.y = 0f;
centerOfMassOffset.z = 0f;
Vector3 avgPos = new Vector3(0f, 0f, 0f);
List<float> segmentMassesList = new List<float>();
float critterTotalMass = 0f;
// Fill data arrays with Critter stats for CritterSEGMENTS:
for (int i = 0; i < builtSegmentsList.Count; i++) { // iterate through every segment
float segmentVolume = builtSegmentsList[i].transform.localScale.x * builtSegmentsList[i].transform.localScale.y * builtSegmentsList[i].transform.localScale.z;
float segmentMass = Mathf.Lerp(1f, segmentVolume, variableMass);
segmentMassesList.Add(segmentMass);
critterTotalMass += segmentMass;
}
float avgMass = critterTotalMass / builtSegmentsList.Count; //
string segmentPositions = "CritterPreBuild SegmentPositions: \n";
critterTotalMass /= avgMass; // Adjust to center around 1f;
for (int j = 0; j < builtSegmentsList.Count; j++) {
// Finalize Segment Mass Value:
segmentMassesList[j] /= avgMass; // Center the segment Masses around 1f, to avoid precision errors
//critterBeingTested.critterSegmentList[j].GetComponent<Rigidbody>().mass = wormSegmentArray_Mass[j];
float shareOfTotalMass = segmentMassesList[j] / critterTotalMass;
avgPos.x += builtSegmentsList[j].transform.position.x * shareOfTotalMass; // multiply position by proportional share of total mass
avgPos.y += builtSegmentsList[j].transform.position.y * shareOfTotalMass;
avgPos.z += builtSegmentsList[j].transform.position.z * shareOfTotalMass;
segmentPositions += "(" + builtSegmentsList[j].transform.position.x.ToString() + ", " + builtSegmentsList[j].transform.position.y.ToString() + ", " + builtSegmentsList[j].transform.position.z.ToString() + ")\n";
}
centerOfMassOffset.x = -avgPos.x;
centerOfMassOffset.y = -avgPos.y;
centerOfMassOffset.z = -avgPos.z;
//Debug.Log(segmentPositions + "\nC.O.M: (" + avgPos.x.ToString() + ", " + avgPos.y.ToString() + ", " + avgPos.z.ToString() + ")");
// Delete created Segment GameObjects:
// Do I need to delete Components first?
TempCritterConstructionGroup.tempCritterConstructionGroup.DeleteSegments();
}
public List<GeneNodeNEAT> GetBlankBrainNodesFromBody() {
List<GeneNodeNEAT> newNodeList = new List<GeneNodeNEAT>();
// Split into Input/Output list and put together afterward?
List<GeneNodeNEAT> inputNodeList = new List<GeneNodeNEAT>();
List<GeneNodeNEAT> outputNodeList = new List<GeneNodeNEAT>();
int numSegments = 0;
int numInputs = 0;
int numOutputs = 0;
bool isPendingChildren = true;
int currentDepth = 0; // start with RootNode
int maxDepth = 20; // safeguard to prevent while loop lock
int nextSegmentID = 0;
int currentBrainNodeID = 0;
List<BuildSegmentInfo> currentBuildSegmentList = new List<BuildSegmentInfo>(); // keeps track of all current-depth segment build-requests, and holds important metadata
List<BuildSegmentInfo> nextBuildSegmentList = new List<BuildSegmentInfo>(); // used to keep track of next childSegments that need to be built
// *********** Will attempt to traverse the Segments to be created, keeping track of where on each graph (nodes# & segment#) the current build is on.
BuildSegmentInfo rootSegmentBuildInfo = new BuildSegmentInfo();
rootSegmentBuildInfo.sourceNode = CritterNodeList[0];
currentBuildSegmentList.Add(rootSegmentBuildInfo); // ROOT NODE IS SPECIAL!
// Do a Breadth-first traversal??
while (isPendingChildren) {
for (int i = 0; i < currentBuildSegmentList.Count; i++) {
numSegments++;
nextSegmentID++;
// PhysicalAttributes no inputs/outputs
#region INPUTS
// Joint Angle Sensors:
if (currentBuildSegmentList[i].sourceNode.ID != 0) { // is NOT ROOT segment -- Look into doing Root build BEFORE for loop to avoid the need to do this check
List<AddonJointAngleSensor> jointAngleSensorList = CheckForAddonJointAngleSensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < jointAngleSensorList.Count; j++) {
// HINGE X X X X X
if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeX) {
if (jointAngleSensorList[j].measureVel[0]) { // ALSO MEASURES ANGULAR VELOCITY:
numInputs++;
GeneNodeNEAT newNodeNEAT1 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT1);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT2 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 1);
inputNodeList.Add(newNodeNEAT2);
currentBrainNodeID++;
}
else { // Only Angle, no velocity:
numInputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeY) {
if (jointAngleSensorList[j].measureVel[0]) {
numInputs++;
GeneNodeNEAT newNodeNEAT1 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT1);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT2 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 1);
inputNodeList.Add(newNodeNEAT2);
currentBrainNodeID++;
}
else {
numInputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeZ) {
if (jointAngleSensorList[j].measureVel[0]) {
numInputs++;
GeneNodeNEAT newNodeNEAT1 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT1);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT2 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 1);
inputNodeList.Add(newNodeNEAT2);
currentBrainNodeID++;
}
else {
numInputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.DualXY) {
if (jointAngleSensorList[j].measureVel[0]) {
numInputs++;
GeneNodeNEAT newNodeNEAT1 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT1);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT2 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 1);
inputNodeList.Add(newNodeNEAT2);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT3 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 2);
inputNodeList.Add(newNodeNEAT3);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT4 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 3);
inputNodeList.Add(newNodeNEAT4);
currentBrainNodeID++;
}
else {
numInputs++;
GeneNodeNEAT newNodeNEAT1 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT1);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT2 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, jointAngleSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 1);
inputNodeList.Add(newNodeNEAT2);
currentBrainNodeID++;
}
}
}
}
List<AddonContactSensor> contactSensorList = CheckForAddonContactSensor(currentBuildSegmentList[i].sourceNode.ID);
for(int j = 0; j < contactSensorList.Count; j++) {
numInputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, contactSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
List<AddonRaycastSensor> raycastSensorList = CheckForAddonRaycastSensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < raycastSensorList.Count; j++) {
numInputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, raycastSensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
List<AddonCompassSensor1D> compassSensor1DList = CheckForAddonCompassSensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < compassSensor1DList.Count; j++) {
numInputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, compassSensor1DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
List<AddonCompassSensor3D> compassSensor3DList = CheckForAddonCompassSensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < compassSensor3DList.Count; j++) {
numInputs++;
GeneNodeNEAT newNodeNEAT1 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, compassSensor3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT1);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT2 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, compassSensor3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 1);
inputNodeList.Add(newNodeNEAT2);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT3 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, compassSensor3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 2);
inputNodeList.Add(newNodeNEAT3);
currentBrainNodeID++;
}
List<AddonPositionSensor1D> positionSensor1DList = CheckForAddonPositionSensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < positionSensor1DList.Count; j++) {
numInputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, positionSensor1DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
List<AddonPositionSensor3D> positionSensor3DList = CheckForAddonPositionSensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < positionSensor3DList.Count; j++) {
numInputs++;
GeneNodeNEAT newNodeNEAT1 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, positionSensor3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT1);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT2 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, positionSensor3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 1);
inputNodeList.Add(newNodeNEAT2);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT3 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, positionSensor3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 2);
inputNodeList.Add(newNodeNEAT3);
currentBrainNodeID++;
}
List<AddonRotationSensor1D> rotationSensor1DList = CheckForAddonRotationSensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < rotationSensor1DList.Count; j++) {
numInputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, rotationSensor1DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
List<AddonRotationSensor3D> rotationSensor3DList = CheckForAddonRotationSensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < rotationSensor3DList.Count; j++) {
numInputs++;
GeneNodeNEAT newNodeNEAT1 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, rotationSensor3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT1);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT2 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, rotationSensor3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 1);
inputNodeList.Add(newNodeNEAT2);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT3 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, rotationSensor3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 2);
inputNodeList.Add(newNodeNEAT3);
currentBrainNodeID++;
}
List<AddonVelocitySensor1D> velocitySensor1DList = CheckForAddonVelocitySensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < velocitySensor1DList.Count; j++) {
numInputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, velocitySensor1DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
List<AddonVelocitySensor3D> velocitySensor3DList = CheckForAddonVelocitySensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < velocitySensor3DList.Count; j++) {
numInputs++;
GeneNodeNEAT newNodeNEAT1 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, velocitySensor3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT1);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT2 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, velocitySensor3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 1);
inputNodeList.Add(newNodeNEAT2);
currentBrainNodeID++;
numInputs++;
GeneNodeNEAT newNodeNEAT3 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, velocitySensor3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 2);
inputNodeList.Add(newNodeNEAT3);
currentBrainNodeID++;
}
List<AddonAltimeter> altimeterList = CheckForAddonAltimeter(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < altimeterList.Count; j++) {
numInputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, altimeterList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
List<AddonEarBasic> earBasicList = CheckForAddonEarBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < earBasicList.Count; j++) {
numInputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, earBasicList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
List<AddonGravitySensor> gravitySensorList = CheckForAddonGravitySensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < gravitySensorList.Count; j++) {
numInputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, gravitySensorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
List<AddonOscillatorInput> oscillatorInputList = CheckForAddonOscillatorInput(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < oscillatorInputList.Count; j++) {
numInputs++;
//Debug.Log("Oscillator: nodeIndex: " + currentBrainNodeID.ToString() + ", " + new Int3(oscillatorInputList[j].innov, currentBuildSegmentList[i].recursionNumber, 0).ToString());
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, oscillatorInputList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
List<AddonValueInput> valueInputList = CheckForAddonValueInput(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < valueInputList.Count; j++) {
numInputs++;
//Debug.Log("Value: nodeIndex: " + currentBrainNodeID.ToString() + ", " + new Int3(valueInputList[j].innov, currentBuildSegmentList[i].recursionNumber, 0).ToString());
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, valueInputList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
//Debug.Log(currentBuildSegmentList[i].sourceNode.ID.ToString() + " oscillatorInputList Count: " + oscillatorInputList.Count.ToString() + ", valueInputList Count: " + valueInputList.Count.ToString());
List<AddonTimerInput> timerInputList = CheckForAddonTimerInput(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < timerInputList.Count; j++) {
numInputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.In, TransferFunctions.TransferFunction.Linear, timerInputList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
inputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
#endregion
#region OUTPUTS:
if (currentBuildSegmentList[i].sourceNode.ID != 0) { // is NOT ROOT segment -- Look into doing Root build BEFORE for loop to avoid the need to do this check
List<AddonJointMotor> jointMotorList = CheckForAddonJointMotor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < jointMotorList.Count; j++) {
if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeX) {
numOutputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, jointMotorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
outputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeY) {
numOutputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, jointMotorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
outputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeZ) {
numOutputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, jointMotorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
outputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.DualXY) {
numOutputs++;
GeneNodeNEAT newNodeNEAT1 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, jointMotorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
outputNodeList.Add(newNodeNEAT1);
currentBrainNodeID++;
numOutputs++;
GeneNodeNEAT newNodeNEAT2 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, jointMotorList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 1);
outputNodeList.Add(newNodeNEAT2);
currentBrainNodeID++;
}
}
// %%%%%% DO I STILL NEED THIS SECTION???
// Check for if the segment currently being built is a Mirror COPY:
/*if (currentBuildSegmentList[i].isMirror) {
//Debug.Log("This is a MIRROR COPY segment - Wow!");
if (currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorX) {
// Invert the X-axis (this will propagate down to all this segment's children
//newSegment.mirrorX = !newSegment.mirrorX;
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorY) {
//newSegment.mirrorY = !newSegment.mirrorY;
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorZ) {
//newSegment.mirrorZ = !newSegment.mirrorZ;
}
}*/
}
List<AddonThrusterEffector1D> thrusterEffector1DList = CheckForAddonThrusterEffector1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < thrusterEffector1DList.Count; j++) {
numOutputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, thrusterEffector1DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
outputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
List<AddonThrusterEffector3D> thrusterEffector3DList = CheckForAddonThrusterEffector3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < thrusterEffector3DList.Count; j++) {
numOutputs++;
GeneNodeNEAT newNodeNEAT1 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, thrusterEffector3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
outputNodeList.Add(newNodeNEAT1);
currentBrainNodeID++;
numOutputs++;
GeneNodeNEAT newNodeNEAT2 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, thrusterEffector3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 1);
outputNodeList.Add(newNodeNEAT2);
currentBrainNodeID++;
numOutputs++;
GeneNodeNEAT newNodeNEAT3 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, thrusterEffector3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 2);
outputNodeList.Add(newNodeNEAT3);
currentBrainNodeID++;
}
List<AddonTorqueEffector1D> torqueEffector1DList = CheckForAddonTorqueEffector1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < torqueEffector1DList.Count; j++) {
numOutputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, torqueEffector1DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
outputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
List<AddonTorqueEffector3D> torqueEffector3DList = CheckForAddonTorqueEffector3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < torqueEffector3DList.Count; j++) {
numOutputs++;
GeneNodeNEAT newNodeNEAT1 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, torqueEffector3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
outputNodeList.Add(newNodeNEAT1);
currentBrainNodeID++;
numOutputs++;
GeneNodeNEAT newNodeNEAT2 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, torqueEffector3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 1);
outputNodeList.Add(newNodeNEAT2);
currentBrainNodeID++;
numOutputs++;
GeneNodeNEAT newNodeNEAT3 = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, torqueEffector3DList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 2);
outputNodeList.Add(newNodeNEAT3);
currentBrainNodeID++;
}
List<AddonMouthBasic> mouthBasicList = CheckForAddonMouthBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < mouthBasicList.Count; j++) {
// BLANK FOR NOW!!!
}
List<AddonNoiseMakerBasic> noiseMakerBasicList = CheckForAddonNoiseMakerBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < noiseMakerBasicList.Count; j++) {
numOutputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, noiseMakerBasicList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
outputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
List<AddonSticky> stickyList = CheckForAddonSticky(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < stickyList.Count; j++) {
numOutputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, stickyList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
outputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
List<AddonWeaponBasic> weaponBasicList = CheckForAddonWeaponBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < weaponBasicList.Count; j++) {
numOutputs++;
GeneNodeNEAT newNodeNEAT = new GeneNodeNEAT(currentBrainNodeID, GeneNodeNEAT.GeneNodeType.Out, TransferFunctions.TransferFunction.RationalSigmoid, weaponBasicList[j].innov, currentBuildSegmentList[i].recursionNumber, currentBuildSegmentList[i].isMirror, 0);
outputNodeList.Add(newNodeNEAT);
currentBrainNodeID++;
}
#endregion
// CHECK FOR RECURSION:
if (currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions > 0) { // if the node being considered has recursions:
if (currentBuildSegmentList[i].recursionNumber < currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions) {
// if the current buildOrder's recursion number is less than the numRecursions there should be:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = currentBuildSegmentList[i].sourceNode; // request a segment to be built again based on the current sourceNode
newSegmentInfo.recursionNumber = currentBuildSegmentList[i].recursionNumber + 1; // increment num recursions
newSegmentInfo.isMirror = currentBuildSegmentList[i].isMirror;
nextBuildSegmentList.Add(newSegmentInfo);
//Debug.Log("newSegmentInfo recursion# " + newSegmentInfo.recursionNumber.ToString() + ", currentBuildList[i].recNum: " + currentBuildSegmentList[i].recursionNumber.ToString());
// If the node also has Symmetry:
if (newSegmentInfo.sourceNode.jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = currentBuildSegmentList[i].sourceNode; // uses same sourceNode, but tags as Mirror:
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.recursionNumber = newSegmentInfo.recursionNumber; // !!!!!!!!!!!!! HIGHLY SUSPECT!!!!
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
else { // at the end of a recursion chain, so do not add any other pendingChild builds
}
}
// Figure out how many unique Child nodes this built node has:
int numberOfChildNodes = currentBuildSegmentList[i].sourceNode.attachedChildNodesIdList.Count;
//Debug.Log("numberOfChildNodes: " + numberOfChildNodes.ToString() + "currentBuildSegmentList[i].sourceNode: " + currentBuildSegmentList[i].sourceNode.ID.ToString() + ", i: " + i.ToString());
for (int c = 0; c < numberOfChildNodes; c++) {
// if NO symmetry:
// Check if Attaching to a recursion chain && if onlyattachToTail is active:
int childID = currentBuildSegmentList[i].sourceNode.attachedChildNodesIdList[c];
if (CritterNodeList[childID].jointLink.onlyAttachToTailNode) {
if (currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions > 0) {
if (currentBuildSegmentList[i].recursionNumber >= currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions) {
// Only build segment if it is on the end of a recursion chain:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = CritterNodeList[childID];
newSegmentInfo.isMirror = currentBuildSegmentList[i].isMirror;
//newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
//newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else {
// It only attaches to End nodes, but is parented to a Non-recursive segment, so proceed normally!!!
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = CritterNodeList[childID];
newSegmentInfo.isMirror = currentBuildSegmentList[i].isMirror;
//newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
//newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else { // proceed normally:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = CritterNodeList[childID];
newSegmentInfo.isMirror = currentBuildSegmentList[i].isMirror;
//newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
//newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
}
// After all buildNodes have been built, and their subsequent childNodes Enqueued, copy pendingChildQueue into buildNodesQueue
currentBuildSegmentList.Clear();
// SWAP LISTS:
if (nextBuildSegmentList.Count > 0) {
for (int j = 0; j < nextBuildSegmentList.Count; j++) {
currentBuildSegmentList.Add(nextBuildSegmentList[j]);
}
nextBuildSegmentList.Clear(); // empty this list for next depth-round
}
else {
isPendingChildren = false;
}
if (currentDepth >= maxDepth) { // SAFEGUARD!! prevents infinite loop in case I mess something up
isPendingChildren = false;
}
currentDepth++;
}
for(int i = 0; i < inputNodeList.Count; i++) {
newNodeList.Add(inputNodeList[i]);
}
for (int i = 0; i < outputNodeList.Count; i++) {
newNodeList.Add(outputNodeList[i]);
}
for (int i = 0; i < newNodeList.Count; i++) {
newNodeList[i].id = i; // Re-number nodes so that their list Index is always the same as their ID
}
return newNodeList;
}
public int[] CalculateNumberOfSegmentsInputsOutputs() {
int numSegments = 0;
int numInputs = 0;
int numOutputs = 0;
int[] retVal = new int[3];
bool isPendingChildren = true;
int currentDepth = 0; // start with RootNode
int maxDepth = 20; // safeguard to prevent while loop lock
int nextSegmentID = 0;
List<BuildSegmentInfo> currentBuildSegmentList = new List<BuildSegmentInfo>(); // keeps track of all current-depth segment build-requests, and holds important metadata
List<BuildSegmentInfo> nextBuildSegmentList = new List<BuildSegmentInfo>(); // used to keep track of next childSegments that need to be built
// *********** Will attempt to traverse the Segments to be created, keeping track of where on each graph (nodes# & segment#) the current build is on.
BuildSegmentInfo rootSegmentBuildInfo = new BuildSegmentInfo();
rootSegmentBuildInfo.sourceNode = CritterNodeList[0];
currentBuildSegmentList.Add(rootSegmentBuildInfo); // ROOT NODE IS SPECIAL!
// Do a Breadth-first traversal??
while (isPendingChildren) {
for (int i = 0; i < currentBuildSegmentList.Count; i++) {
numSegments++;
nextSegmentID++;
#region INPUTS
// PhysAttrs would be here, but it has no inputs/outputs
if (currentBuildSegmentList[i].sourceNode.ID != 0) { // is NOT ROOT segment -- Look into doing Root build BEFORE for loop to avoid the need to do this check
List<AddonJointAngleSensor> jointAngleSensorList = CheckForAddonJointAngleSensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < jointAngleSensorList.Count; j++) {
// HINGE X X X X X
if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeX) {
if (jointAngleSensorList[j].measureVel[0]) { // ALSO MEASURES ANGULAR VELOCITY:
numInputs = numInputs + 2;
}
else { // Only Angle, no velocity:
numInputs++;
}
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeY) {
if (jointAngleSensorList[j].measureVel[0]) {
numInputs = numInputs + 2;
}
else {
numInputs++;
}
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeZ) {
if (jointAngleSensorList[j].measureVel[0]) {
numInputs = numInputs + 2;
}
else {
numInputs++;
}
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.DualXY) {
if (jointAngleSensorList[j].measureVel[0]) {
numInputs = numInputs + 4;
}
else {
numInputs = numInputs + 2;
}
}
}
}
List<AddonContactSensor> contactSensorList = CheckForAddonContactSensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < contactSensorList.Count; j++) {
numInputs++;
}
List<AddonRaycastSensor> raycastSensorList = CheckForAddonRaycastSensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < raycastSensorList.Count; j++) {
numInputs++;
}
List<AddonCompassSensor1D> compassSensor1DList = CheckForAddonCompassSensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < compassSensor1DList.Count; j++) {
numInputs++;
}
List<AddonCompassSensor3D> compassSensor3DList = CheckForAddonCompassSensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < compassSensor3DList.Count; j++) {
numInputs = numInputs + 3;
}
List<AddonPositionSensor1D> positionSensor1DList = CheckForAddonPositionSensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < positionSensor1DList.Count; j++) {
numInputs++;
}
List<AddonPositionSensor3D> positionSensor3DList = CheckForAddonPositionSensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < positionSensor3DList.Count; j++) {
numInputs = numInputs + 3;
}
List<AddonRotationSensor1D> rotationSensor1DList = CheckForAddonRotationSensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < rotationSensor1DList.Count; j++) {
numInputs++;
}
List<AddonRotationSensor3D> rotationSensor3DList = CheckForAddonRotationSensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < rotationSensor3DList.Count; j++) {
numInputs = numInputs + 3;
}
List<AddonVelocitySensor1D> velocitySensor1DList = CheckForAddonVelocitySensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < velocitySensor1DList.Count; j++) {
numInputs++;
}
List<AddonVelocitySensor3D> velocitySensor3DList = CheckForAddonVelocitySensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < velocitySensor3DList.Count; j++) {
numInputs = numInputs + 3;
}
List<AddonAltimeter> altimeterList = CheckForAddonAltimeter(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < altimeterList.Count; j++) {
numInputs++;
}
List<AddonEarBasic> earBasicList = CheckForAddonEarBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < earBasicList.Count; j++) {
numInputs++;
}
List<AddonGravitySensor> gravitySensorList = CheckForAddonGravitySensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < gravitySensorList.Count; j++) {
numInputs++;
}
List<AddonOscillatorInput> oscillatorInputList = CheckForAddonOscillatorInput(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < oscillatorInputList.Count; j++) {
numInputs++;
}
List<AddonValueInput> valueInputList = CheckForAddonValueInput(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < valueInputList.Count; j++) {
numInputs++;
}
List<AddonTimerInput> timerInputList = CheckForAddonTimerInput(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < timerInputList.Count; j++) {
numInputs++;
}
#endregion
#region OUTPUTS:
if (currentBuildSegmentList[i].sourceNode.ID != 0) { // is NOT ROOT segment -- Look into doing Root build BEFORE for loop to avoid the need to do this check
List<AddonJointMotor> jointMotorList = CheckForAddonJointMotor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < jointMotorList.Count; j++) {
if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeX) {
numOutputs++;
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeY) {
numOutputs++;
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeZ) {
numOutputs++;
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.DualXY) {
numOutputs = numOutputs + 2;
}
}
}
List<AddonThrusterEffector1D> thrusterEffector1DList = CheckForAddonThrusterEffector1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < thrusterEffector1DList.Count; j++) {
numOutputs++;
}
List<AddonThrusterEffector3D> thrusterEffector3DList = CheckForAddonThrusterEffector3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < thrusterEffector3DList.Count; j++) {
numOutputs = numOutputs + 3;
}
List<AddonTorqueEffector1D> torqueEffector1DList = CheckForAddonTorqueEffector1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < torqueEffector1DList.Count; j++) {
numOutputs++;
}
List<AddonTorqueEffector3D> torqueEffector3DList = CheckForAddonTorqueEffector3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < torqueEffector3DList.Count; j++) {
numOutputs = numOutputs + 3;
}
List<AddonMouthBasic> mouthBasicList = CheckForAddonMouthBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < mouthBasicList.Count; j++) {
// BLANK FOR NOW!!!
}
List<AddonNoiseMakerBasic> noiseMakerBasicList = CheckForAddonNoiseMakerBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < noiseMakerBasicList.Count; j++) {
numOutputs++;
}
List<AddonSticky> stickyList = CheckForAddonSticky(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < stickyList.Count; j++) {
numOutputs++;
}
List<AddonWeaponBasic> weaponBasicList = CheckForAddonWeaponBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < weaponBasicList.Count; j++) {
numOutputs++;
}
#endregion
// CHECK FOR RECURSION:
if (currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions > 0) { // if the node being considered has recursions:
if(currentBuildSegmentList[i].recursionNumber < currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions) {
// if the current buildOrder's recursion number is less than the numRecursions there should be:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = currentBuildSegmentList[i].sourceNode; // request a segment to be built again based on the current sourceNode
newSegmentInfo.recursionNumber = currentBuildSegmentList[i].recursionNumber + 1; // increment num recursions
nextBuildSegmentList.Add(newSegmentInfo);
//Debug.Log("newSegmentInfo recursion# " + newSegmentInfo.recursionNumber.ToString() + ", currentBuildList[i].recNum: " + currentBuildSegmentList[i].recursionNumber.ToString());
// If the node also has Symmetry:
if (newSegmentInfo.sourceNode.jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = currentBuildSegmentList[i].sourceNode; // uses same sourceNode, but tags as Mirror:
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.recursionNumber = newSegmentInfo.recursionNumber; // !!!!!!!!!!!!! HIGHLY SUSPECT!!!!
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
else { // at the end of a recursion chain, so do not add any other pendingChild builds
}
}
// Figure out how many unique Child nodes this built node has:
int numberOfChildNodes = currentBuildSegmentList[i].sourceNode.attachedChildNodesIdList.Count;
//Debug.Log("numberOfChildNodes: " + numberOfChildNodes.ToString() + "currentBuildSegmentList[i].sourceNode: " + currentBuildSegmentList[i].sourceNode.ID.ToString() + ", i: " + i.ToString());
for (int c = 0; c < numberOfChildNodes; c++) {
// if NO symmetry:
// Check if Attaching to a recursion chain && if onlyattachToTail is active:
int childID = currentBuildSegmentList[i].sourceNode.attachedChildNodesIdList[c];
if (CritterNodeList[childID].jointLink.onlyAttachToTailNode) {
if (currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions > 0) {
if (currentBuildSegmentList[i].recursionNumber >= currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions) {
// Only build segment if it is on the end of a recursion chain:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = CritterNodeList[childID];
//newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
//newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else {
// It only attaches to End nodes, but is parented to a Non-recursive segment, so proceed normally!!!
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = CritterNodeList[childID];
//newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
//newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else { // proceed normally:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = CritterNodeList[childID];
//newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
//newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
}
// After all buildNodes have been built, and their subsequent childNodes Enqueued, copy pendingChildQueue into buildNodesQueue
currentBuildSegmentList.Clear();
// SWAP LISTS:
if (nextBuildSegmentList.Count > 0) {
for (int j = 0; j < nextBuildSegmentList.Count; j++) {
currentBuildSegmentList.Add(nextBuildSegmentList[j]);
}
nextBuildSegmentList.Clear(); // empty this list for next depth-round
}
else {
isPendingChildren = false;
}
if (currentDepth >= maxDepth) { // SAFEGUARD!! prevents infinite loop in case I mess something up
isPendingChildren = false;
}
currentDepth++;
}
retVal[0] = numSegments;
retVal[1] = numInputs;
retVal[2] = numOutputs;
return retVal;
}
