float[][] mate(MissileControlMed parent1, MissileControlMed parent2)
{
float[] childThrusterLeft = new float[numGenes];
float[] childThrusterRight = new float[numGenes];
float parent1Percentage = (float)parent1.fitness / (float)(parent1.fitness + parent2.fitness);
float parent2Percentage = (float)parent2.fitness / (float)(parent1.fitness + parent2.fitness);
for (int i = 0; i < numGenes; i++)
{
childThrusterLeft[i] = (parent1.thrusterLeftForces[i] * parent1Percentage) + (parent2.thrusterLeftForces[i] * parent2Percentage);
childThrusterRight[i] = (parent1.thrusterRightForces[i] * parent1Percentage) + (parent2.thrusterRightForces[i] * parent2Percentage);
}
return(new float[][] { mutate(childThrusterLeft), mutate(childThrusterRight) });
}
void destroyAndCreate(List <MissileControlMed> matingpool, MissileControlMed mostFit)
{
Quaternion rotation = new Quaternion(0, 0, 0, 1);
//assign random mass?
Destroy(rockets[0]);
rockets[0] = Instantiate(rocketPrefab, startPos.position, rotation) as GameObject;
rocketsControl[0] = rockets[0].GetComponentInChildren <MissileControlMed>();
rocketsControl[0].thrusterLeftForces = mostFit.thrusterLeftForces;
rocketsControl[0].thrusterRightForces = mostFit.thrusterRightForces;
rocketsControl[0].goalTransform = goalTransform;
rocketsControl[0].speed = speed;
rocketsControl[0].mileStones = mileStones;
rocketsControl[0].numGenes = numGenes;
rocketsControl[0].slerpRate = slerpRate;
Destroy(rockets[1]);
rockets[1] = Instantiate(rocketPrefab, startPos.position, rotation) as GameObject;
rocketsControl[1] = rockets[1].GetComponentInChildren <MissileControlMed>();
rocketsControl[1].thrusterLeftForces = mostFit.thrusterLeftForces;
rocketsControl[1].thrusterRightForces = mostFit.thrusterRightForces;
rocketsControl[1].goalTransform = goalTransform;
rocketsControl[1].speed = speed;
rocketsControl[1].mileStones = mileStones;
rocketsControl[1].numGenes = numGenes;
rocketsControl[1].slerpRate = slerpRate;
for (int i = 2; i < numRockets; i++)
{
int parent1 = UnityEngine.Random.Range(0, matingpool.Count);
int parent2 = UnityEngine.Random.Range(0, matingpool.Count);
float[][] forces = mate(matingpool[parent1], matingpool[parent2]);
Destroy(rockets[i]);
rockets[i] = Instantiate(rocketPrefab, startPos.position, rotation) as GameObject;
rocketsControl[i] = rockets[i].GetComponentInChildren <MissileControlMed>();
rocketsControl[i].thrusterLeftForces = forces[0];
rocketsControl[i].thrusterRightForces = forces[1];
rocketsControl[i].goalTransform = goalTransform;
rocketsControl[i].speed = speed;
rocketsControl[i].mileStones = mileStones;
rocketsControl[i].numGenes = numGenes;
rocketsControl[i].slerpRate = slerpRate;
}
for (int i = 0; i < numRockets; i++)
{
rocketsControl[i].isReady = true;
}
}
