void FixedUpdate()
{
if (frame == 0)
{
// Wait for problem before destroying objects and advancing frame. Unable to destroy and reset in same frame for some reason.
if (!_signal.WaitOne(5000))
{
Debug.LogError("Time out waiting for problem");
ecj.Abort ();
Debug.Break();
}
destroyAll();
frame++;
return;
} else if (frame == 1)
{
resetAll();
} else if (frame == 3000)
{
fitness = Mathf.Abs(Vector3.Distance(ball.gameObject.transform.position, target.gameObject.transform.position));
problem._signal.Set();
Debug.Log("End of simulation (frame " + frame + ") time " + (Time.time - time));
time = Time.time;
Time.timeScale = scale;
frame = 0;
return;
}
if ((frame - 1) % 10 == 0)
{
problem.currentValue = (float)frame;
try {
problem.evaluate();
} catch (Exception e) {
ecj.Abort ();
Debug.Break();
}
result = (float)((RegressionData)problem.input).x;
leftJoint = GameObject.Find("LeftWheel").GetComponent<HingeJoint>();
rightJoint = GameObject.Find("RightWheel").GetComponent<HingeJoint>();
if (float.IsInfinity(result) || float.IsNaN(result))
{
result = 0;
}
if (result > 100f)
result = 100f;
else if (result < -100f)
result = -100f;
JointMotor leftMotor = leftJoint.motor;
leftMotor.force = Math.Abs(result);
leftMotor.targetVelocity = -100f + result * 1.1f;
leftJoint.motor = leftMotor;
JointMotor rightMotor = rightJoint.motor;
rightMotor.targetVelocity = -100f + -result * 1.1f;
rightMotor.force = Math.Abs(result);
rightJoint.motor = rightMotor;
//Debug.Log("Result " + result);
}
if (ecj != null)
{
if (ecj.Update())
{
ecj = null;
Debug.Log ("Evolution complete");
Debug.Break();
}
}
frame++;
}
void Start()
{
Application.runInBackground = true;
bat = new GameObjectHelper(GameObject.Find("Bat"));
ball = new GameObjectHelper(GameObject.Find("Ball"));
target = new GameObjectHelper(GameObject.Find("Target"));
this.car = new GameObjectHelper(GameObject.Find("Car"));
Time.timeScale = scale;
ecj = new EcjJob(this);
ecj.Start();
}
