/*
* Same thing here. Builds the right joint connecting two nodes and applies the gene parameters.
*/
private void BuildMuscle(MuscleGene gene)
{
if (gene.enableMode == Gene.EnableMode.Disabled)
{
return;
}
muscleDensity += 2f / nodes.Length;
Rigidbody node1 = nodes[gene.originNode];
Rigidbody node2 = nodes [gene.connectedNode];
switch (gene.jointType)
{
case Gene.JointType.Fixed:
// node1.transform.position = node2.transform.position;
FixedJoint fixedJoint = node1.gameObject.AddComponent <FixedJoint> ();
fixedJoint.connectedBody = node2;
break;
case Gene.JointType.Spring:
AxisMuscle muscle = node1.gameObject.AddComponent <AxisMuscle> ();
muscle.connectedBody = node2;
node2.transform.position = (node1.transform.position + gene.axis * 2);
muscle.Spawn(gene);
break;
}
}
private void UseGene(MuscleGene gene)
{
this.heartBeat = gene.heartBeat;
this.contractTime = gene.contractTime;
this.contractedLength = gene.contractedLength;
this.extensionDistance = gene.extensionDistance;
this.movementAxis = gene.axis;
this.enableMode = gene.enableMode;
}
public void Spawn(MuscleGene gene)
{
if (gene != null)
{
this.UseGene(gene);
}
else
{
this.RandomizeParams();
}
this.Spawn();
}
/* p2 fitness > p1fitness */
public void SetParents(
ProunGenome p1,
ProunGenome p2,
float p1Fitness,
float p2Fitness,
MutationParams mutationParams)
{
int p1Size = p1.body.Length;
int p2Size = p2.body.Length;
int smallerSize = p2Size > p1Size ? p1Size : p2Size;
int largerSize = p1Size > p2Size ? p1Size : p2Size;
float fitnessRatio = p2Fitness / (p1Fitness + p2Fitness);
int newSize = 0;
NodeGene[] _newBody = new NodeGene[largerSize];
for (int i = 0; i < smallerSize; i++, newSize++)
{
_newBody [i] = Utility.genFloat() < fitnessRatio ? p2.body [i] : p1.body [i];
}
if (p2Size > p1Size)
{
for (int i = smallerSize; i < largerSize; i++, newSize++)
{
_newBody [i] = p2.body [i];
}
}
NodeGene[] newBody = new NodeGene[newSize];
for (int i = 0; i < newSize; i++)
{
newBody [i] = _newBody [i];
newBody [i].index = i;
}
AdjacencyMatrix <MuscleGene> newMind = new AdjacencyMatrix <MuscleGene> (newSize);
for (int i = 0; i < smallerSize; i++)
{
for (int j = 0; j < smallerSize; j++)
{
MuscleGene muscleGene = p1.mind.GetNeighbor(i, j);
if (muscleGene != null)
{
newMind.SetNeighbor(i, j, muscleGene.Disable());
}
}
}
for (int i = 0; i < p2Size; i++)
{
for (int j = 0; j < p2Size; j++)
{
MuscleGene muscleGene = p2.mind.GetNeighbor(i, j);
if (muscleGene != null)
{
newMind.SetNeighbor(i, j, (MuscleGene)muscleGene.Mutate(mutationParams.muscleGeneMutationParams));
}
}
}
this.body = newBody;
this.mind = newMind;
}
