public TeamsConfig(int numPlayers, int numEnvironmentReps, int numPlayerReps)
{
//EnvironmentGenome templateEnvironmentGenome = GetDefaultTemplateEnvironmentGenome(challengeType);
EnvironmentGenome templateEnvironmentGenome = new EnvironmentGenome(-1);
templateEnvironmentGenome.InitializeAsDefaultGenome(); // Temporary hacky solution
environmentPopulation = new EnvironmentPopulation(templateEnvironmentGenome, numEnvironmentGenomes, numEnvironmentReps);
// Players:
playersList = new List <PlayerPopulation>();
for (int i = 0; i < numPlayers; i++)
{
// Might have to revisit how to pass agent templates per population...
//AgentBodyGenomeTemplate templateAgentGenome = GetDefaultTemplateAgentGenome(challengeType);
// Temporary hack solution:
BodyGenome templateBodyGenome = new BodyGenome();
templateBodyGenome.InitializeGenomeAsDefault();
if (i == 0f)
{
templateBodyGenome.testModuleGenome.maxSpeed = 0.25f;
templateBodyGenome.testModuleGenome.accel = 0.025f;
}
else
{
templateBodyGenome.testModuleGenome.maxSpeed = 1f;
templateBodyGenome.testModuleGenome.accel = 0.35f;
}
// List of Agent Genomes
PlayerPopulation player = new PlayerPopulation(i, templateBodyGenome, numAgentGenomesPerPlayer, numPlayerReps);
playersList.Add(player);
}
}
public void StartNewTrainingMode()
{
Destroy(playerGO);
// Create population brains
agentGenomeList = new List <AgentGenome>();
BodyGenome templateBodyGenome = new BodyGenome();
templateBodyGenome.InitializeGenomeAsDefault();
//BodyGenome bodyGenomeTemplate = new BodyGenome();
//bodyGenomeTemplate.CopyBodyGenomeFromTemplate(bodyTemplate);
for (int i = 0; i < trainingPopulationSize; i++)
{
AgentGenome newGenome = new AgentGenome(i);
newGenome.InitializeBodyGenomeFromTemplate(templateBodyGenome);
newGenome.InitializeRandomBrainFromCurrentBody(0.033f);
agentGenomeList.Add(newGenome);
}
// CrossoverSettings:
trainingSettingsManager = new TrainingSettingsManager(0.06f, 0.35f, 0.1f, 0.01f);
GameObject dummyAgentGO = new GameObject("DummyAgent");
dummyAgent = dummyAgentGO.AddComponent <Agent>();
dummyStartGenome = new StartPositionGenome(Vector3.zero, Quaternion.identity);
ResetTrainingForNewGen();
//Brain brain = new Brain()
//Debug.Log(dummyAgent.testModule.);
// Create Visible Display Agent to observe behavior
/*displayStartPos = new StartPositionGenome(Vector3.zero, Quaternion.identity);
* GameObject agentGO = Instantiate(Resources.Load("PredatorPrey/PredatorPrefab")) as GameObject; ; // GameObject.CreatePrimitive(PrimitiveType.Sphere);
* //displayAgent
* agentGO.name = "Guinea Pig";
* //agentGO.transform.parent = gameObject.transform;
* agentGO.transform.localPosition = displayStartPos.agentStartPosition;
* agentGO.transform.localRotation = displayStartPos.agentStartRotation;
* //agentGO.GetComponent<Collider>().enabled = false;
* displayAgent = agentGO.AddComponent<Agent>();
* displayAgent.isVisible = true;
* displayAgent.InitializeAgentFromTemplate(agentGenomeList[0], displayStartPos);
* // hook modules:
* displayAgent.testModule.enemyTransform = targetGO.transform;
* displayAgent.testModule.bias[0] = 1f;
* displayAgent.testModule.enemyTestModule = displayAgent.testModule; // self as target, to zero out targetvel
*/
ResetTrainingAgentAndEnvironment();
}
public void ResetTrainingAgentAndEnvironment()
{
// Spawn Player & Target Randomly
float randomAngle = UnityEngine.Random.Range(-Mathf.PI, Mathf.PI);
float randomRadius = UnityEngine.Random.Range(minSpawnRadius, maxSpawnRadius);
Vector3 displayPos = new Vector3(Mathf.Cos(randomAngle) * randomRadius, Mathf.Sin(randomAngle) * randomRadius, 0f);
Vector3 targetPos = new Vector3(Mathf.Cos(randomAngle + Mathf.PI) * randomRadius, Mathf.Sin(randomAngle + Mathf.PI) * randomRadius, 0f);
BodyGenome templateBodyGenome = new BodyGenome();
templateBodyGenome.InitializeGenomeAsDefault();
AgentGenome newGenome = new AgentGenome(-1);
newGenome.InitializeBodyGenomeFromTemplate(templateBodyGenome);
newGenome.InitializeRandomBrainFromCurrentBody(0.0f);
if (displayGO != null)
{
Destroy(displayGO); // NOT IDEAL
}
displayGO = Instantiate(Resources.Load("PredatorPrey/PredatorPrefab")) as GameObject;
displayAgent = displayGO.AddComponent <Agent>();
displayAgent.humanControlled = false;
StartPositionGenome displayStartPos = new StartPositionGenome(displayPos, Quaternion.identity);
displayGO.transform.position = displayPos;
if (targetGO != null)
{
Destroy(targetGO); // NOT IDEAL
}
targetGO = Instantiate(Resources.Load("PredatorPrey/PreyPrefab")) as GameObject;
targetAgent = targetGO.AddComponent <Agent>();
targetAgent.humanControlled = false;
StartPositionGenome targetStartPos = new StartPositionGenome(targetPos, Quaternion.identity);
targetGO.transform.position = targetPos;
// Hook-Ups PLAYER:
displayAgent.isVisible = true;
displayAgent.InitializeAgentFromTemplate(agentGenomeList[0], displayStartPos); // creates TestModule
// Hook-Ups TARGET:
targetAgent.isVisible = true;
targetAgent.InitializeAgentFromTemplate(newGenome, targetStartPos); // creates TestModule
// hook modules PLAYER:
displayAgent.testModule.ownRigidBody2D = displayGO.GetComponent <Rigidbody2D>();
displayAgent.testModule.bias[0] = 1f;
displayAgent.testModule.enemyTestModule = targetAgent.testModule; // self as target, to zero out targetvel
// hook modules TARGET:
targetAgent.testModule.ownRigidBody2D = targetGO.GetComponent <Rigidbody2D>();
targetAgent.testModule.bias[0] = 1f;
targetAgent.testModule.enemyTestModule = displayAgent.testModule; // self as target, to zero out targetvel
/*
* // Spawn Player & Target Randomly
* float randomAngle = UnityEngine.Random.Range(-Mathf.PI, Mathf.PI);
* float randomRadius = UnityEngine.Random.Range(minSpawnRadius, maxSpawnRadius);
* Vector3 playerPos = new Vector3(Mathf.Cos(randomAngle) * randomRadius, Mathf.Sin(randomAngle) * randomRadius, 0f);
* Vector3 targetPos = new Vector3(Mathf.Cos(randomAngle + Mathf.PI) * randomRadius, Mathf.Sin(randomAngle + Mathf.PI) * randomRadius, 0f);
* targetGO.transform.position = targetPos;
*
* displayStartPos = new StartPositionGenome(playerPos, Quaternion.identity);
* GameObject agentGO;
* if (displayAgent == null) {
* agentGO = GameObject.CreatePrimitive(PrimitiveType.Sphere);
* displayAgent = agentGO.AddComponent<Agent>();
* }
* else {
* agentGO = displayAgent.gameObject;
* }
* //displayAgent
* agentGO.name = "Guinea Pig";
* agentGO.transform.parent = gameObject.transform;
* agentGO.transform.localPosition = displayStartPos.agentStartPosition;
* agentGO.transform.localRotation = displayStartPos.agentStartRotation;
* //agentGO.GetComponent<Collider>().enabled = false;
* displayAgent.isVisible = true;
* displayAgent.InitializeAgentFromTemplate(agentGenomeList[0], displayStartPos);
* // hook modules:
* displayAgent.testModule.enemyTransform = targetGO.transform;
* displayAgent.testModule.bias[0] = 1f;
* displayAgent.testModule.enemyTestModule = displayAgent.testModule;
*/
}
public void StartNewDataCollectionRound()
{
curTimeStep = 0;
imitationUI.TogglePause();
// Spawn Player & Target Randomly
float randomAngle = UnityEngine.Random.Range(-Mathf.PI, Mathf.PI);
float randomRadius = UnityEngine.Random.Range(minSpawnRadius, maxSpawnRadius);
Vector3 playerPos = new Vector3(Mathf.Cos(randomAngle) * randomRadius, Mathf.Sin(randomAngle) * randomRadius, 0f);
Vector3 targetPos = new Vector3(Mathf.Cos(randomAngle + Mathf.PI) * randomRadius, Mathf.Sin(randomAngle + Mathf.PI) * randomRadius, 0f);
BodyGenome templateBodyGenome = new BodyGenome();
templateBodyGenome.InitializeGenomeAsDefault();
AgentGenome newGenome = new AgentGenome(-1);
newGenome.InitializeBodyGenomeFromTemplate(templateBodyGenome);
newGenome.InitializeRandomBrainFromCurrentBody(0.0f);
if (playerGO == null)
{
//ResetTrainingForNewGen();
// Create Visible Display Agent to observe behavior
//displayStartPos = new StartPositionGenome(Vector3.zero, Quaternion.identity);
//playerGO.transform.localPosition = displayStartPos.agentStartPosition;
//playerGO.transform.localRotation = displayStartPos.agentStartRotation;
}
else
{
//playerGO.transform.position = playerPos;
Destroy(playerGO); // NOT IDEAL
}
// Instantiate Player (Predator) Human-Controlled:
playerGO = Instantiate(Resources.Load("PredatorPrey/PredatorPrefab")) as GameObject;
playerAgent = playerGO.AddComponent <Agent>();
playerAgent.humanControlled = true;
StartPositionGenome playerStartPos = new StartPositionGenome(playerPos, Quaternion.identity);
playerGO.transform.position = playerPos;
if (targetGO == null)
{
//targetGO = Instantiate(Resources.Load("PredatorPrey/PreyPrefab")) as GameObject;
//targetGO.transform.position = targetPos;
}
else
{
//targetGO.transform.position = targetPos;
Destroy(targetGO); // NOT IDEAL
}
targetGO = Instantiate(Resources.Load("PredatorPrey/PreyPrefab")) as GameObject;
targetAgent = targetGO.AddComponent <Agent>();
targetAgent.humanControlled = false;
StartPositionGenome targetStartPos = new StartPositionGenome(targetPos, Quaternion.identity);
targetGO.transform.position = targetPos;
// Hook-Ups PLAYER:
playerAgent.isVisible = true;
playerAgent.InitializeAgentFromTemplate(newGenome, playerStartPos); // creates TestModule
// Hook-Ups TARGET:
targetAgent.isVisible = true;
targetAgent.InitializeAgentFromTemplate(newGenome, targetStartPos); // creates TestModule
// hook modules PLAYER:
playerAgent.testModule.ownRigidBody2D = playerGO.GetComponent <Rigidbody2D>();
playerAgent.testModule.bias[0] = 1f;
playerAgent.testModule.enemyTestModule = targetAgent.testModule; // self as target, to zero out targetvel
// hook modules TARGET:
targetAgent.testModule.ownRigidBody2D = targetGO.GetComponent <Rigidbody2D>();
targetAgent.testModule.bias[0] = 1f;
targetAgent.testModule.enemyTestModule = playerAgent.testModule; // self as target, to zero out targetvel
}