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);
}