static LocoStep Mutate(LocoStep source)
{
//Spawn a new mutant
var mutant = SpawnNew(source.Joint);
//Inherit from src properties
mutant.At += Gaussian.RandomHalfHalf() * LocoStep.GaitDuration;
while (mutant.At >= LocoStep.GaitDuration)
{
mutant.At -= LocoStep.GaitDuration;
}
while (mutant.At < 0)
{
mutant.At += LocoStep.GaitDuration;
}
mutant.Force += Gaussian.RandomHalfHalf() * MaxForce;
mutant.Force = Mathf.Clamp(mutant.Force, 0, MaxForce);
mutant.Duration += Gaussian.RandomHalfHalf() * LocoStep.GaitDuration;
mutant.Duration = Mathf.Clamp(mutant.Duration, 0, MaxForce);
mutant.Rotation += new Vector3(Gaussian.RandomHalfHalf(), Gaussian.RandomHalfHalf(), Gaussian.RandomHalfHalf());
mutant.Duration = Mathf.Clamp(mutant.Duration, 0, MaxForce);
return(mutant);
}
public Locomotion(int index, Locomotion parent)
: base()
{
Index = index;
if (parent != null)
{
Color = LocoStep.Mutate(parent.Color);
}
else
{
Color = new Color(UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f));
}
const int MonsPerRow = 10;
var pos = new Vector3((index % MonsPerRow) * 3f, -1.38f, Mathf.Floor(index / MonsPerRow) * 6f);
var physicsLayer = 8 + (index % 20);
_monster = new Monster(physicsLayer, Color);
_monster.Transform.position = pos;
if (parent != null)
{
Steps = LocoStep.Mutate(parent.Steps);
}
else
{
Steps = new List <LocoStep>();
foreach (var joint in _monster.Joints.Keys)
{
var temp = joint;
Steps.Add(LocoStep.SpawnNew(temp));
Steps.Add(LocoStep.SpawnNew(temp));
}
}
for (var i = 0; i < Steps.Count; ++i)
{
Steps[i].NextAt = Steps[i].At;
}
_monster.UnityFixedUpdate += OnFixedUpdate;
}
static LocoStep Mutate(LocoStep source)
{
//Spawn a new mutant
var mutant = SpawnNew(source.Joint);
//Inherit from src properties
mutant.At += Gaussian.RandomHalfHalf() * LocoStep.GaitDuration;
while (mutant.At >= LocoStep.GaitDuration)
mutant.At -= LocoStep.GaitDuration;
while (mutant.At < 0)
mutant.At += LocoStep.GaitDuration;
mutant.Force += Gaussian.RandomHalfHalf() * MaxForce;
mutant.Force = Mathf.Clamp(mutant.Force, 0, MaxForce);
mutant.Duration += Gaussian.RandomHalfHalf() * LocoStep.GaitDuration;
mutant.Duration = Mathf.Clamp(mutant.Duration, 0, MaxForce);
mutant.Rotation += new Vector3(Gaussian.RandomHalfHalf(), Gaussian.RandomHalfHalf(), Gaussian.RandomHalfHalf());
mutant.Duration = Mathf.Clamp(mutant.Duration, 0, MaxForce);
return mutant;
}
