private void SetHighest()
{
// We'll need a reference to the highest Forrest in our finished Forrest list
ForrestCTRL tF = startFatt[ReturnHighest(startFatt)];
float avgFitTemp = GetAverageFitness(startFatt);
// This saves a record of the fitness performances
fits.Add(tF.fitness);
// This saves a record of the fitness average performances
avgs.Add(avgFitTemp);
// If this new Forrest beat the Highest Forrest make him the new highest
if (tF.fitness > highestFit.fitness)
{
// Create a new NN to store the highest brain from the training session
highestFit = new NN(tF.nn.inputs, tF.nn.hL);
// Set that fitness to the new record Forrest which is tF
highestFit.SetFitness(tF.fitness);
// Then set the weights to the new record Forrest tF
highestFit.IniWeights(tF.nn.GetBrain());
// Finally change the highest fit brain string to our new record weights
highestFitBrain = highestFit.ReadBrain();
}
// If this new Forrest beat the Highest Forrest make him the new highest
if (avgFitTemp > highestAvg)
{
highestAvg = avgFitTemp;
}
}
// Update is called once per frame
void FixedUpdate()
{
brain = nn.ReadBrain();
// Rotate the charater based on Horizonal Input & later NN Output
transform.rotation = Quaternion.Euler(transform.eulerAngles + Vector3.up * movement * 2.5f);
// If attempt has ended
if (!ended)
{
// Auto move Forrest forward
rb.MovePosition(transform.position + transform.forward * (Time.deltaTime * 10));
}
// Set up a raycast hit for knowing what we hit
RaycastHit hit;
// Set up out 5 feelers for undertanding the world
Vector3[] feeler = new Vector3[]
{
// 0 = L
transform.TransformDirection(Vector3.left),
// 1 - FL
transform.TransformDirection(Vector3.left + Vector3.forward),
// 2 - F
transform.TransformDirection(Vector3.forward),
// 3 = FR
transform.TransformDirection(Vector3.right + Vector3.forward),
// 4 = R
transform.TransformDirection(Vector3.right),
};
// Use this to collect all feeler distances, then well pass them through our NN for an output
inp = new float[feeler.Length];
// Loop through all feelers
for (int i = 0; i < feeler.Length; i++)
{
// See what all feelers feel
if (Physics.Raycast(transform.position, feeler[i], out hit))
{
// If feelers feel something other than Forrest & nothing
if (hit.collider != null && hit.collider != col)
{
// Set the input[i] to be the distance of feeler[i]
inp[i] = hit.distance;
}
}
// Draw the feelers in the Scene mode
Debug.DrawRay(transform.position, feeler[i] * 10, Color.red);
}
// Add to our fitness every frame
fitness += (ended) ? 0 : inp2fit(inp);
// This sets the output text display to be the output of our NN
if (!menu)
{
movement = ended ? 0 : ((C.intelli == ctrl.IntelMode.Human) ? Input.GetAxis("Horizontal") : nn.CalculateNN(inp));
}
else
{
movement = ended ? 0 : (nn.CalculateNN(inp));
}
//
if (!menu && !ended && lap.x > lap.y)
{
Freeze();
CheckIfLast();
}
}
