protected override YAMLMappingNode ExportYAMLRoot(IExportContainer container)
{
YAMLMappingNode node = base.ExportYAMLRoot(container);
TransformLayout layout = container.Layout.Transform;
node.Add(layout.LocalRotationName, LocalRotation.ExportYAML(container));
node.Add(layout.LocalPositionName, LocalPosition.ExportYAML(container));
node.Add(layout.LocalScaleName, LocalScale.ExportYAML(container));
node.Add(layout.ChildrenName, Children.ExportYAML(container));
node.Add(layout.FatherName, Father.ExportYAML(container));
node.Add(layout.RootOrderName, RootOrder);
node.Add(layout.LocalEulerAnglesHintName, LocalEulerAnglesHint.ExportYAML(container));
return(node);
}
IEnumerator EvaluateBatch(int batchIndex, Phenotype[] batch, Orientations orientation)
{
IList <EvaluationBehaviour> evaluations = new List <EvaluationBehaviour>();
var layout = new TransformLayout(28.0f, 18.0f, batchSize, Mathf.FloorToInt(Mathf.Sqrt(batchSize)))
.GetEnumerator();
foreach (var phenotype in batch)
{
layout.MoveNext();
var t = PoolManager.Pools["Evaluations"].Spawn(prefab, layout.Current, Quaternion.identity, transform);
var controllerBehaviour = t.GetComponent <ControllerBehaviour>();
controllerBehaviour.Network = NetworkPorts.FromGenotype(phenotype.Genotype);
var evaluationBehaviour = t.GetComponent <EvaluationBehaviour>();
evaluationBehaviour.Phenotype = phenotype;
evaluationBehaviour.BeginTrial(orientation, Time.time);
evaluations.Add(evaluationBehaviour);
}
// Wait for evaluations to complete
while (evaluations.Any(ev => !ev.IsComplete))
{
if (BestEvaluation != null)
{
var ordered = evaluations.OrderByDescending(ev => ev.CurrentTrial.Fitness);
var best = ordered.First();
BestEvaluation(best);
}
yield return(new WaitForFixedUpdate());
}
// Cleanup
List <Transform> children = new List <Transform>(transform.childCount);
foreach (Transform child in transform)
{
if (child.gameObject.activeInHierarchy)
{
children.Add(child);
}
}
foreach (Transform child in children)
{
PoolManager.Pools["Evaluations"].Despawn(child, null);
}
}
public override IEnumerable <PPtr <Object> > FetchDependencies(DependencyContext context)
{
foreach (PPtr <Object> asset in base.FetchDependencies(context))
{
yield return(asset);
}
TransformLayout layout = context.Layout.Transform;
foreach (PPtr <Object> asset in context.FetchDependencies(Children, layout.ChildrenName))
{
yield return(asset);
}
yield return(context.FetchDependency(Father, layout.FatherName));
}
IEnumerator EvaluateBatch(int batchIndex, Phenotype[] batch, Orientations orientation)
{
IList<EvaluationBehaviour> evaluations = new List<EvaluationBehaviour>();
var layout = new TransformLayout(28.0f, 18.0f, batchSize, Mathf.FloorToInt(Mathf.Sqrt(batchSize)))
.GetEnumerator();
foreach (var phenotype in batch) {
layout.MoveNext();
var t = PoolManager.Pools["Evaluations"].Spawn(prefab, layout.Current, Quaternion.identity, transform);
var controllerBehaviour = t.GetComponent<ControllerBehaviour>();
controllerBehaviour.Network = NetworkPorts.FromGenotype(phenotype.Genotype);
var evaluationBehaviour = t.GetComponent<EvaluationBehaviour>();
evaluationBehaviour.Phenotype = phenotype;
evaluationBehaviour.BeginTrial(orientation, Time.time);
evaluations.Add(evaluationBehaviour);
}
// Wait for evaluations to complete
while (evaluations.Any(ev => !ev.IsComplete)) {
if (BestEvaluation != null) {
var ordered = evaluations.OrderByDescending(ev => ev.CurrentTrial.Fitness);
var best = ordered.First();
BestEvaluation(best);
}
yield return new WaitForFixedUpdate();
}
// Cleanup
List<Transform> children = new List<Transform>(transform.childCount);
foreach (Transform child in transform) {
if (child.gameObject.activeInHierarchy) {
children.Add(child);
}
}
foreach (Transform child in children) {
PoolManager.Pools["Evaluations"].Despawn(child, null);
}
}
public static void Convert(IExportContainer container, Transform origin, Transform instance)
{
ComponentConverter.Convert(container, origin, instance);
instance.LocalRotation = origin.LocalRotation;
instance.LocalPosition = origin.LocalPosition;
instance.LocalScale = origin.LocalScale;
instance.Children = origin.Children.ToArray();
instance.Father = origin.Father;
#if UNIVERSAL
TransformLayout exlayout = container.ExportLayout.Transform;
if (exlayout.HasRootOrder)
{
instance.RootOrder = GetRootOrder(container, origin);
}
if (exlayout.HasLocalEulerAnglesHint)
{
instance.LocalEulerAnglesHint = GetLocalEulerAnglesHint(container, origin);
}
#endif
}
public override void Write(AssetWriter writer)
{
base.Write(writer);
LocalRotation.Write(writer);
LocalPosition.Write(writer);
LocalScale.Write(writer);
Children.Write(writer);
Father.Write(writer);
#if UNIVERSAL
TransformLayout layout = writer.Layout.Transform;
if (layout.HasRootOrder)
{
writer.Write(RootOrder);
}
if (layout.HasLocalEulerAnglesHint)
{
LocalEulerAnglesHint.Write(writer);
}
#endif
}
public override void Read(AssetReader reader)
{
base.Read(reader);
LocalRotation.Read(reader);
LocalPosition.Read(reader);
LocalScale.Read(reader);
Children = reader.ReadAssetArray <PPtr <Transform> >();
Father.Read(reader);
#if UNIVERSAL
TransformLayout layout = reader.Layout.Transform;
if (layout.HasRootOrder)
{
RootOrder = reader.ReadInt32();
}
if (layout.HasLocalEulerAnglesHint)
{
LocalEulerAnglesHint.Read(reader);
}
#endif
}