/// <summary>
/// Check speed, and if below a certain amount for too long, the car is marked to be stuck and should stop wasting simulation time.
/// </summary>
private void CheckIfStillRunning()
{
// Get speed
var speed = BaseOfCar.GetComponent <Rigidbody2D>().velocity.magnitude;
// Update max speed (for fitness)
if (speed > MaxSpeedReached)
{
MaxSpeedReached = speed;
}
// If below threshhold count amount of checks below threshhold
if (speed < MinSpeed)
{
AmountOfTimesUnderSpeed++;
// If amount of times below threshold exceeds specified amount, stop running.
if (AmountOfTimesUnderSpeed >= MaxAmountOfTimesUnderSpeed)
{
EndSimulation();
}
}
else
{
AmountOfTimesUnderSpeed = 0;
}
}
/// <summary>
/// Update physical car (transform, properties, scale of game objects) from variables.
/// </summary>
public void UpdateFromVariables()
{
// Apply values from dictionary
LeftWheelRadius = GenesToValues[GeneType.LeftWheelRadius];
RightWheelRadius = GenesToValues[GeneType.RightWheelRadius];
LeftWheelPosition = new Vector2(GenesToValues[GeneType.LeftWheelPosX], GenesToValues[GeneType.LeftWheelPosY]);
RightWheelPosition = new Vector2(GenesToValues[GeneType.RightWheelPosX], GenesToValues[GeneType.RightWheelPosY]);
Speed = GenesToValues[GeneType.Speed];
BaseDimensions = new Vector2(GenesToValues[GeneType.BaseDimensionsX], GenesToValues[GeneType.BaseDimensionsY]);
// Reset transform
BaseOfCar.transform.localPosition = Vector3.zero;
BaseOfCar.transform.localRotation = Quaternion.Euler(Vector3.zero);
// Apply values to base.
//BaseDimensions.x *= 2f; // TO HELP FIX THE CAR JUST BEING WHEELS
BaseOfCar.transform.localScale = new Vector3(BaseDimensions.x, BaseDimensions.y, 1f);
Vector2 sizeOfBase = new Vector2(BaseOfCar.GetComponent <BoxCollider2D>().size.x *BaseOfCar.transform.localScale.x,
BaseOfCar.GetComponent <BoxCollider2D>().size.y *BaseOfCar.transform.localScale.y);
// Apply values to left wheel
LeftWheel.transform.localScale = new Vector3(LeftWheelRadius, LeftWheelRadius, 1f);
var leftWheelPos = new Vector2(
Mathf.Clamp01(LeftWheelPosition.x) - 0.5f,
Mathf.Clamp01(LeftWheelPosition.y) - 0.5f);
leftWheelPos.x *= (sizeOfBase.x);
leftWheelPos.y *= (sizeOfBase.y);
LeftWheel.transform.localPosition = new Vector3(leftWheelPos.x, leftWheelPos.y, 1f);
// Apply values to right wheel
RightWheel.transform.localScale = new Vector3(RightWheelRadius, RightWheelRadius, 1f);
var rightWheelPos = new Vector2(
Mathf.Clamp01(RightWheelPosition.x) - 0.5f,
Mathf.Clamp01(RightWheelPosition.y) - 0.5f);
rightWheelPos.x *= (sizeOfBase.x);
rightWheelPos.y *= (sizeOfBase.y);
RightWheel.transform.localPosition = new Vector3(rightWheelPos.x, rightWheelPos.y, 1f);
// Apply speed values to left and right wheels.
var newMotor = new JointMotor2D {
maxMotorTorque = 1000000f, motorSpeed = Speed
};
LeftWheel.GetComponent <HingeJoint2D>().useMotor = true;
LeftWheel.GetComponent <HingeJoint2D>().motor = newMotor;
RightWheel.GetComponent <HingeJoint2D>().useMotor = true;
RightWheel.GetComponent <HingeJoint2D>().motor = newMotor;
}
/// <summary>
/// Finish simulating, save relevant values and freeze rigid bodies.
/// </summary>
public void EndSimulation()
{
if (!HasRanSimulation)
{
HasRanSimulation = true;
// Freeze all ridid bodies.
foreach (var childRigidBodies in GetComponentsInChildren <Rigidbody2D>())
{
childRigidBodies.constraints = RigidbodyConstraints2D.FreezeAll;
}
// Set end position.
EndPosition = BaseOfCar.GetComponent <Rigidbody2D>().position;
}
}
