public void AdvanceGeneration()//This assumes that the score has been updated externally from this process
{
UnityEngine.Random.InitState((int)Time.realtimeSinceStartup);
//Sort list by score and take top x
var newGenerationParents =
_currentPopulation.OrderByDescending((x) => x.CurrentScore)
.Take(_generationArguments.KeepTopCount)
.ToList();
//use this to re-populate the population
var newGeneration = new List <GeneticInstance>(_generationArguments.GenerationSize);
if (_generationArguments.KeepExactParents)
{
newGeneration.AddRange(newGenerationParents);
}
while (newGeneration.Count < _generationArguments.GenerationSize)
{
var parent = newGenerationParents[UnityEngine.Random.Range(0, newGenerationParents.Count)];
var child = new GeneticInstance(parent, _mutator);
newGeneration.Add(child);
}
_currentPopulation = newGeneration;
CurrentGeneration++;
}
private void InitPopulation(PIDTunerRequirements requirements, GenerationArguments generationArguments)
{
//TODO:Create init mutator
var mutator = new RandomMutator();
while (_currentPopulation.Count < generationArguments.GenerationSize)
{
var newInstance = new GeneticInstance(requirements, mutator);
_currentPopulation.Add(newInstance);
}
}
public GeneticInstance(GeneticInstance parent, MutationArguments mutator)
{
CurrentScore = 0.0f;
ControllerGeneticData = new List <TuneableController>(parent.ControllerGeneticData.Count);
foreach (var controller in parent.ControllerGeneticData)
{
var childController = controller.DeepCopy();
childController.Mutate(mutator);
ControllerGeneticData.Add(childController);
}
}
