public void Deploy(CarSampleConfig config, Transform road, Vector2 point)
{
transform.position = point;
transform.SetParent(road, false);
m_originalPosition = transform.position;
}
private void Awake()
{
if (s_config != null)
{
Config = s_config;
}
}
public CarWheelRadiusPhenotype(CarSampleConfig config, int entityIndex)
: base("WheelRadius", WheelRadiusBits)
{
MinValue = 0;
// If entityIndex is greater than wheels count, then should not
// generate any wheel.
MaxValue = entityIndex < config.WheelsCount
? MaxValue = config.MaxWheelRadius
: 0;
}
public CarWheelIndexPhenotype(CarSampleConfig config, int entityIndex)
: base("WheelIndex", WheelIndexBits)
{
MinValue = 0;
// If entityIndex is greater than wheels count, then should not
// generate any wheel.
MaxValue = entityIndex < config.WheelsCount
? config.VectorsCount - 1
: 0;
}
public CarChromosome(CarSampleConfig config)
{
m_config = config;
var phenotypeEntities = new CarVectorPhenotypeEntity[config.VectorsCount];
for (int i = 0; i < phenotypeEntities.Length; i++)
{
phenotypeEntities[i] = new CarVectorPhenotypeEntity(config, i);
}
SetPhenotypes(phenotypeEntities);
CreateGenes();
}
public Vector2 Build(CarSampleConfig config, RoadController road, Vector2 start, int pointsCount, int startPointIndex)
{
if (m_config == null)
{
m_config = config;
// Creates the path game object.
var path = Object.Instantiate(road.PathPrefab) as GameObject;
path.layer = LayerMask.NameToLayer("Floor");
path.transform.SetParent(road.transform, false);
path.transform.rotation = Quaternion.Euler(0, 0, m_config.ZRotation);
// Gets the polygon component.
m_polygon = path.GetComponent <PolygonCollider2D>();
m_polygon.pathCount = pointsCount;
var xIndex = startPointIndex;
// Gets the obstacles container game object.
m_obstacles = path.transform.Find("Obstacles").gameObject;
m_obstacles.transform.parent = path.transform;
var points = new Vector2[pointsCount * 2];
for (int i = 0; i < pointsCount; i++)
{
var x = start.x + m_config.MaxPointsDistance * xIndex++;
points[i] = new Vector2(x, CalculateY(x, xIndex));
DeployObstacle(i, points[i], xIndex);
}
// Closes the polygon.
for (int i = pointsCount; i < points.Length; i++)
{
var point = points[points.Length - i - 1];
points[i] = new Vector2(point.x, point.y - Height);
}
m_polygon.points = points;
}
else
{
RedeployObstacles();
}
return(m_polygon.points[pointsCount - 1]);
}
public CarVectorPhenotypeEntity(CarSampleConfig config, int entityIndex)
{
Phenotypes = new IPhenotype[]
{
new Phenotype("VectorSize", VectorSizeBits)
{
MinValue = 1,
MaxValue = config.MaxVectorSize
},
new Phenotype("VectorAngle", VectorAngleBits)
{
MinValue = 0,
MaxValue = 359
},
new CarWheelIndexPhenotype(config, entityIndex),
new CarWheelRadiusPhenotype(config, entityIndex)
};
}
public void Build(CarSampleConfig config)
{
// Creates the path builders.
if (m_pathBuilders == null)
{
var pathsCount = 1;
if (config.GapsEachPoints > 0)
{
pathsCount = Mathf.CeilToInt(config.PointsCount / config.GapsEachPoints) * 2;
m_pointsPerPath = config.GapsEachPoints;
}
else
{
m_pointsPerPath = config.PointsCount / pathsCount;
}
m_pathBuilders = new PathBuilder[pathsCount];
for (int i = 0; i < pathsCount; i++)
{
m_pathBuilders[i] = new PathBuilder();
}
// Call each path builder to build the path.
var start = (Vector2)transform.position;
var end = start;
var startPointIndex = 0;
for (int i = 0; i < m_pathBuilders.Length; i++)
{
end = m_pathBuilders[i].Build(config, this, start, m_pointsPerPath, startPointIndex);
start += new Vector2(config.MaxGapWidth * (i + 1) / m_pathBuilders.Length, 0);
startPointIndex += m_pointsPerPath - 1;
}
// Creates the dead-end.
var deadEnd = Instantiate(DeadEndPrefab, end, Quaternion.identity) as GameObject;
deadEnd.transform.SetParent(transform, false);
deadEnd.name = "dead-end";
}
}
public void SetChromosome(CarChromosome chromosome, CarSampleConfig config)
{
Chromosome = chromosome;
Chromosome.MaxDistance = 0;
chromosome.MaxDistanceTime = 0;
Distance = 0;
DistanceTime = 0;
m_startTime = Time.time;
transform.rotation = Quaternion.identity;
m_config = config;
m_rb.isKinematic = false;
m_rb.velocity = Vector2.zero;
m_rb.angularVelocity = 0;
var phenotypes = chromosome.GetPhenotypes();
m_polygon.points = phenotypes.Select(p => p.Vector).ToArray();
var wheelsMass = 0f;
for (int i = 0; i < phenotypes.Length; i++)
{
var p = phenotypes[i];
PrepareWheel(i, m_polygon.points[p.WheelIndex], p.WheelRadius);
wheelsMass += p.WheelRadius;
}
// The car mass should be greater than wheels sum mass, because the WheelJoint2d get crazy otherwise.
// If we comment the line bellow and enable the car mass should be greater than wheels sum mass, because the WheelJoint2d get crazy otherwise.
m_rb.mass = 1 + m_polygon.points.Sum(p => p.magnitude) * VectorMagnitudeMass + wheelsMass;
if (m_cam != null)
{
m_cam.StartFollowing(gameObject);
}
StartCoroutine("CheckTimeout");
}
public static void SetConfig(CarSampleConfig config)
{
s_config = config;
}
