// Update the neural network assigned to this genome with sensor input.
void Update()
{
car.isAlive = isAlive;
if (!isAlive)
{
return;
}
List <float> inputs = car.GetSensorReadings();
/*
* Two outputs for left and right thrust.
*/
List <float> outputs = phenotype.Update(inputs, UpdateType.Active);
if (outputs.Count != 2)
{
Debug.LogError("Error in neural network, output count should be two.");
return;
}
car.leftThrust = Mathf.Clamp01(outputs[0]);
car.rightThrust = Mathf.Clamp01(outputs[1]);
if (runOnlyMode && Time.time - lastImprovementTime > 15.0f && car.trackMgr.avgSpeed <= 0.33f)
{
isAlive = false;
}
fitness = car.trackMgr.progressDistance * car.trackMgr.avgSpeed;
if (fitness < 0)
{
fitness = 0;
}
// Only kill car if it crashes when doing runOnlyMode
if (runOnlyMode)
{
return;
}
// NOTICE: kill of the car after one lap so speed is evolved.
if (car.progressValue >= 1.0f)
{
isAlive = false;
return;
}
float compensation = 1.0f;
if (car.trackMgr.progressDistance >= 10)
{
compensation = 2.0f;
}
// TODO: clean up this mess
if (fitness > bestFitness + _params.ImprovementEpsilon / _params.ImprovementTimeScale)
{
if (fitness > bestFitness + _params.ImprovementEpsilon)
{
bestFitness = fitness;
lastImprovementTime = Time.time;
}
else if (Time.time - lastImprovementTime >
(compensation * _params.MaxTimeWithoutImprovement *
_params.ImprovementTimeScale))
{
isAlive = false;
}
}
else if (Time.time - lastImprovementTime > _params.MaxTimeWithoutImprovement)
{
isAlive = false;
}
}
//updates the ANN with information from the sweepers enviroment
public bool Update(List <Vector3> mines)
{
//this will store all the inputs for the NN
List <double> inputs = new List <double>();
//get List to closest mine
Vector3 vClosestMine = GetClosestMine(mines);
//normalise it
vClosestMine.Normalize();
#if false
// get the angle to the closest mine
Vector3 DeltaToMine = vClosestMine - m_vPosition;
Vector2D DeltaToMine2D = new Vector2D(DeltaToMine.x, DeltaToMine.y);
Vector2D LookAt2D = new Vector2D(m_vLookAt.x, m_vLookAt.y);
double DeltaAngle = LookAt2D.GetDeltaAngle(DeltaToMine2D);
inputs.Add(DeltaAngle);
inputs.Add(DeltaAngle);
inputs.Add(DeltaAngle);
inputs.Add(DeltaAngle);
#else
//add in List to closest mine
inputs.Add(vClosestMine.X);
inputs.Add(vClosestMine.Y);
//add in sweepers look at List
inputs.Add(m_vLookAt.X);
inputs.Add(m_vLookAt.Y);
#endif
//update the brain and get feedback
List <double> output = m_ItsBrain.Update(inputs);
//make sure there were no errors in calculating the
//output
if (output.Count < m_ItsBrain.NumOutputs)
{
return(false);
}
//assign the outputs to the sweepers left & right tracks
m_lTrack = output[0];
m_rTrack = output[1];
//calculate steering forces
double RotForce = m_lTrack - m_rTrack;
//clamp rotation
RotForce = System.Math.Min(System.Math.Max(RotForce, -m_dMaxTurnRate), m_dMaxTurnRate);
m_dRotation += RotForce;
m_dSpeed = (m_lTrack + m_rTrack);
//update Look At
m_vLookAt.X = (double)-System.Math.Sin(m_dRotation);
m_vLookAt.Y = (double)System.Math.Cos(m_dRotation);
//update position
m_vPosition += (m_vLookAt * m_dSpeed);
//wrap around window limits
if (m_vPosition.X > m_WindowWidth)
{
m_vPosition.X = 0;
}
if (m_vPosition.X < 0)
{
m_vPosition.X = m_WindowWidth;
}
if (m_vPosition.Y > m_WindowHeight)
{
m_vPosition.Y = 0;
}
if (m_vPosition.Y < 0)
{
m_vPosition.Y = m_WindowHeight;
}
return(true);
}
//updates the ANN with information from the sweepers enviroment
public bool Update(List <IVector <T> > mines)
{
//this will store all the inputs for the NN
List <T> inputs = new List <T>();
//get List to closest mine
IVector <T> vClosestMine = GetClosestMine(mines);
//normalise it
vClosestMine = vClosestMine.Normalize();
#if false
// get the angle to the closest mine
Vector3D DeltaToMine = vClosestMine - m_vPosition;
Vector2D DeltaToMine2D = new Vector2D(DeltaToMine.x, DeltaToMine.y);
Vector2D LookAt2D = new Vector2D(m_vLookAt.x, m_vLookAt.y);
double DeltaAngle = LookAt2D.GetDeltaAngle(DeltaToMine2D);
inputs.Add(DeltaAngle);
inputs.Add(DeltaAngle);
inputs.Add(DeltaAngle);
inputs.Add(DeltaAngle);
#else
//add in List to closest mine
inputs.Add(vClosestMine[0]);
inputs.Add(vClosestMine[1]);
//add in sweepers look at List
inputs.Add(m_vLookAt[0]);
inputs.Add(m_vLookAt[1]);
#endif
//update the brain and get feedback
///watch the performance here
List <double> output = m_ItsBrain.Update(inputs.Select(o => o.ToDouble()).ToList());
//make sure there were no errors in calculating the
//output
if (output.Count < m_ItsBrain.NumOutputs)
{
return(false);
}
//assign the outputs to the sweepers left & right tracks
m_lTrack = output[0];
m_rTrack = output[1];
//calculate steering forces
double RotForce = m_lTrack - m_rTrack;
//clamp rotation
RotForce = System.Math.Min(System.Math.Max(RotForce, -m_dMaxTurnRate), m_dMaxTurnRate);
m_dRotation += RotForce;
m_dSpeed = (m_lTrack + m_rTrack);
//update Look At
m_vLookAt[0] = M.New <T>((double)-System.Math.Sin(m_dRotation));
m_vLookAt[1] = M.New <T>((double)System.Math.Cos(m_dRotation));
//update position
m_vPosition.Add(m_vLookAt.Multiply(m_dSpeed));
//wrap around window limits
if (m_vPosition[0].GreaterThan(m_WindowWidth))
{
m_vPosition[0] = M.Zero <T>();
}
if (m_vPosition[0].LessThan(0))
{
m_vPosition[0] = M.New <T>(m_WindowWidth);
}
if (m_vPosition[1].GreaterThan(m_WindowHeight))
{
m_vPosition[1] = M.Zero <T>();
}
if (m_vPosition[1].LessThan(0))
{
m_vPosition[1] = M.New <T>(m_WindowHeight);
}
return(true);
}