// Use this for initialization
void Start()
{
senorPos = new Vector3[sensorNumber];
/*
* senorPos[0] = -Vector3.up;
* senorPos[1] = -Vector3.right;
* senorPos[2] = Vector3.right;
* senorPos[3] = new Vector3(1, -1, 0);
* senorPos[4] = new Vector3(-1, -1, 0);
*
* senorPos[0] = -Vector3.forward;
* senorPos[1] = -Vector3.right;
* senorPos[2] = Vector3.right;
* senorPos[3] = new Vector3(1, 0, -1);
* senorPos[4] = new Vector3(-1, 0, -1);
*/
senorPos[0] = -Vector3.forward;
senorPos[1] = Quaternion.Euler(0, -5, 0) * -Vector3.forward;
senorPos[2] = Quaternion.Euler(0, 5, 0) * -Vector3.forward;
senorPos[3] = Quaternion.Euler(0, -10, 0) * -Vector3.forward;
senorPos[4] = Quaternion.Euler(0, 10, 0) * -Vector3.forward;
senorPos[5] = Quaternion.Euler(0, -15, 0) * -Vector3.forward;
senorPos[6] = Quaternion.Euler(0, 15, 0) * -Vector3.forward;
pf = GameObject.Find("Scripts").GetComponent <Generate>().GetPF();
limbObjects = new List <GameObject>();
FindLimbs(transform);
hits = new float[sensorNumber];
//time += Random.Range(-0.001f, 0.001f);//vary time a little so all the agents dont run the network at once
gen = GameObject.Find("Scripts").GetComponent <Generate>();
gap = gen.GetGap();
agent = gameObject;
//GeneTracker gt = new GeneTracker();
neat = GameObject.Find("Scripts").GetComponent <Neat>();
inputSize = neat.GetInputSize();
outputSize = neat.GetOutputSize();
g1 = neat.InitGenome();
if (neat.speciation)
{
GameObject.Find("Scripts").GetComponent <ImplementFunctions>().SetSpecies(gameObject);
}
Debug.Log(g1);
oldVelocities = new float[limbs * 3 + 3];
oldVelocities[0] = 0.0f;
oldVelocities[1] = 0.0f;
oldVelocities[2] = 0.0f;
for (int i = 0; i < oldVelocities.Length; i++)
{
oldVelocities[i] = 0.0f;
}
//Debug.Log( oldVelocities[0]);
outputs = new float[outputSize];
}