void QuickOptimization(int goal_generation)
{
if (simulation_Running && Robot_Optimization.activated)
{
if (!Robot_Optimization.started)
{
Robot_Optimization.Load(robot);
}
CancelInvoke();
Visualization.enabled = false;
simulation_Running = true;
Robot_Optimization.quickOpti = true;
//Optimize fast:
while (Robot_Optimization.currentGeneration < goal_generation)
{
OptimizationUpdate_Sim();
}
Debug.Log("Reached Generation: " + Robot_Optimization.currentGeneration);
//simulation_Running = false;
Robot_Optimization.quickOpti = false;
//reenable normal optimization:
Visualization.enabled = true;
InvokeRepeating("OptimizationUpdate_Sim", 0.01f, Robot_Optimization.deltaTime);
}
}
void CreateOptimizations()
{
//Loadrobot for each robot
//Loadvis for each robot
Robot_Optimization.Load(robot);
Robot_Optimization.deltaTime = dt;
//Robot_Optimization.IterTime = 10;
//Robot_Optimization.timeStep = 0.01f ;// dt;
InvokeRepeating("OptimizationUpdate_Sim", 0.01f, Robot_Optimization.deltaTime);
}
void OptimizationUpdate_Sim()
{
if (simulation_Running)//Check if simulation is paused
{
//OPTIMIZATION:
if (Robot_Optimization.Update(robot, simulationTime, Opti_Iterator, Robot_Optimization.IterTime))
{
simulationTime = 0;
//deletes and recreates robot
ResetRobot();
//resets robot position:(gotta create AgX assembly first)
//robot.setPos(oldpos?);
Opti_Iterator++;
if (!Robot_Optimization.quickOpti)
{
Debug.Log("Generation: " + Robot_Optimization.currentGeneration + "| Entity: " + Opti_Iterator);
}
if (Opti_Iterator >= Robot_Optimization.population)//If all iterations have ran
{
//start new iterations with new population
Robot_Optimization.UpdatePopulation(robot);//Update the populations
//ResetRobot();
Opti_Iterator = 0;
genom = Robot_Optimization.currentBestGenome;
currDynamics.text = genom[0].ToString("0.###") + "," + genom[1].ToString("0.###") + "," + genom[2].ToString("0.###") + "," + genom[3].ToString("0.###")
+ "," + genom[4].ToString("0.###") + "," + genom[5].ToString("0.###") + "," + genom[6].ToString("0.###");
}
}
//VISUALIZATION:
if (Visualization.enabled)
{
Update_Vis(robot);
}
//this should be the Physics time
simulationTime += Robot_Optimization.deltaTime;//timestep = dt = each step time.
}
}
void Reset_Opti()
{
Robot_Optimization.Reset();
Robot_Optimization.currentGeneration = 0;
}
