private static List <int> HandleMatchingAndDisjointConnectionGenes(NeatGenome childGenome, NeatGenome mostFitGenome, ConnectionGeneSequence conns1, ConnectionGeneSequence conns2, bool equalFitness, List <int> InvolvedNodes, int geneIndex)
{
ConnectionGene gene1, gene2;
gene1 = conns1[geneIndex];
gene2 = conns2[geneIndex];
bool equalID = gene1.geneID == gene2.geneID;
if (equalID)
{
var gene = Neat.random.NextBoolean() ? gene1 : gene2;
InvolvedNodes = AddInvolvedConnNodes(InvolvedNodes, gene);
childGenome.connectionGenes.Add(gene);
}
else
{
if (equalFitness)
{
var gene = Neat.random.NextBoolean() ? gene1 : gene2;
InvolvedNodes = AddInvolvedConnNodes(InvolvedNodes, gene);
childGenome.connectionGenes.Add(gene);
}
else
{
var gene = mostFitGenome.connectionGenes[geneIndex];
InvolvedNodes = AddInvolvedConnNodes(InvolvedNodes, gene);
childGenome.connectionGenes.Add(gene);
}
}
InvolvedNodes.Sort();
return(InvolvedNodes);
}
public NeatGenome(NeatGenome copyFromGenome, bool init = false)
{
nodeGenes = new NodeGeneSequence();
connectionGenes = new ConnectionGeneSequence();
foreach (NodeGene gene in copyFromGenome.nodeGenes)
{
if (gene.type == NodeType.Sensor)
{
nodeGenes.Add(new SensorNodeGene(((SensorNodeGene)gene)));
}
else if (gene.type == NodeType.Hidden)
{
nodeGenes.Add(new HiddenNodeGene(((HiddenNodeGene)gene)));
}
else if (gene.type == NodeType.Output)
{
nodeGenes.Add(new OutputNodeGene(((OutputNodeGene)gene)));
}
}
foreach (ConnectionGene gene in copyFromGenome.connectionGenes)
{
if (init)
{
connectionGenes.Add(new ConnectionGene(gene, newWeight: true));
}
else
{
connectionGenes.Add(new ConnectionGene(gene));
}
}
hasMutated = false;
}
private static NeatGenome ChangeNodeFunction(NeatGenome genome)
{
if (genome.HasInternalNodes())
{
var newType = Neat.random.ActivationFunctionType();
var nodeGene = Neat.random.InternalNodeGene(genome);
nodeGene = ((InternalNodeGene)nodeGene).ChangeFunction(newType, nodeGene.geneID);
}
return(genome);
}
public void Initialize(Population population)
{
var genome = new NeatGenome();
genome.Initialize(population);
for (int i = 0; i < EAParameters.PopulationSize; i++)
{
var indie = new NEATIndividual(genome, population.IDs, true);
populace.Add(indie);
}
//TODO remember to mutate part of this
}
public NEATIndividual(NeatGenome genome, IDCounters IDs, bool init = false) : base(IDs.IndividualID)
{
Fitness = 0.0f;
if (init)
{
this.genome = new NeatGenome(genome, init: true);
}
else
{
this.genome = new NeatGenome(genome);
}
}
public static NeatGenome Crossover(NEATIndividual indie1, NEATIndividual indie2)
{
var genome1 = indie1.genome;
var genome2 = indie2.genome;
var mostFitGenome = indie1.Fitness > indie2.Fitness ? indie1.genome : indie2.genome;
var childGenome = new NeatGenome();
int geneIndex = 0;
var InvolvedNodes = new List <int>();
var nodes1 = genome1.nodeGenes;
var conns1 = genome1.connectionGenes;
var nodes2 = genome2.nodeGenes;
var conns2 = genome2.connectionGenes;
bool moreInBoth = geneIndex < conns1.Count && geneIndex < conns2.Count;
bool equalFitness = indie1.Fitness.SameWithinReason(indie2.Fitness);
while (moreInBoth)
{
HandleMatchingAndDisjointConnectionGenes(childGenome, mostFitGenome, conns1, conns2, equalFitness, InvolvedNodes, geneIndex);
geneIndex++;
moreInBoth = geneIndex < conns1.Count && geneIndex < conns2.Count;
}
AddExcessGenes(childGenome, conns1, conns2, InvolvedNodes, geneIndex);
childGenome.nodeGenes.AddRange(GetInvolvedNodesFromConnections(InvolvedNodes, nodes1, nodes2));
var seenBefore = new List <int>();
foreach (var node in childGenome.nodeGenes)
{
if (!seenBefore.Contains(node.nodeID))
{
seenBefore.Add(node.nodeID);
}
else
{
Console.WriteLine();
foreach (var n in childGenome.nodeGenes)
{
Console.Write("nID:{0} ", n.nodeID);
}
Console.WriteLine();
throw new Exception("Crossover same nodeID in network!");
}
}
return(childGenome);
}
private static NeatGenome ChangeWeight(NeatGenome genome)
{
var oldConnGene = Neat.random.ConnectionGene(genome);
float newWeight = (oldConnGene.connectionWeight + Neat.random.NextFloat() * 2.0f * MutationChances.MutatWeightAmount
- MutationChances.MutatWeightAmount).ClampWeight();
oldConnGene.connectionWeight = newWeight;
var newConnGene = new ConnectionGene(oldConnGene);
genome.connectionGenes.Remove(oldConnGene);
genome.connectionGenes.Add(newConnGene);
return(genome);
}
public static NeatGenome Mutate(NeatGenome genome, Population population)
{
NeatGenome newGenome = new NeatGenome(genome);
foreach (MutationType type in Enum.GetValues(typeof(MutationType)))
{
if (Neat.random.DoMutation(type))
{
newGenome = MutateOfType(type, newGenome, population);
newGenome.hasMutated = true;
}
}
return(newGenome);
}
private static List <int> AddExcessGenes(NeatGenome childGenome, ConnectionGeneSequence conns1, ConnectionGeneSequence conns2, List <int> InvolvedNodes, int geneIndex)
{
if (geneIndex == conns1.Count)
{
HandleExcessGenes(conns2, InvolvedNodes, geneIndex, childGenome);
}
else if (geneIndex == conns2.Count)
{
HandleExcessGenes(conns1, InvolvedNodes, geneIndex, childGenome);
}
else
{
throw new Exception("genIndex did not catch up to either parent genome!");
}
return(InvolvedNodes);
}
private static NeatGenome MutateOfType(MutationType type, NeatGenome genome, Population population)
{
switch (type)
{
case MutationType.MutateWeight:
return(ChangeWeight(genome));
case MutationType.AddConnection:
return(AddConnection(genome, population));
case MutationType.AddNode:
return(AddNode(genome, population));
case MutationType.ChangeFunction: //and then maybe "mutateCurrentFunction type"
return(ChangeNodeFunction(genome));
default:
return(genome);
}
}
private static NeatGenome AddNode(NeatGenome genome, Population population)
{
var connectionToSplitt = Neat.random.ConnectionGene(genome);
int fromGeneID = -1;
int newNodeGeneID = -1;
int newNodeID = -1;
int toGeneID = -1;
if (population.PreviouslySplitConnectionGeneIDs.Contains(connectionToSplitt.geneID))
{
var IDs = population.PreviouslySplitConnections[connectionToSplitt.geneID];
fromGeneID = IDs.Item1;
newNodeGeneID = IDs.Item2;
newNodeID = IDs.Item3;
toGeneID = IDs.Item4;
if (genome.nodeGenes.Contains(newNodeGeneID))
{
Console.WriteLine();
foreach (var n in genome.nodeGenes)
{
Console.Write("nID:{0} ", n.nodeID);
}
Console.WriteLine();
throw new Exception("already this generation same nodeID in network!");
}
}
else
{
population.PreviouslySplitConnectionGeneIDs.Add(connectionToSplitt.geneID);
fromGeneID = population.IDs.ConnectionGeneID;
newNodeGeneID = population.IDs.NodeGeneID;
newNodeID = genome.nodeGenes.Count + 1; //not ok!
toGeneID = population.IDs.ConnectionGeneID;
population.PreviouslySplitConnections.Add(connectionToSplitt.geneID, Tuple.Create(fromGeneID, newNodeGeneID, newNodeID, toGeneID));
var seeneBefore = new List <int>();
if (genome.nodeGenes.Contains(newNodeGeneID))
{
Console.WriteLine();
foreach (var n in genome.nodeGenes)
{
Console.Write("nID:{0} ", n.nodeID);
}
Console.WriteLine();
throw new Exception("new this generation same nodeID in network!");
}
}
connectionToSplitt.isEnabled = false;
var newNode = new HiddenNodeGene(newNodeGeneID,
newNodeID,
Neat.random.ActivationFunctionType());
var firstHalfGene = new ConnectionGene(fromGeneID,
connectionToSplitt.fromNodeID,
newNode.nodeID,
true,
1.0f);
var secondHalfGene = new ConnectionGene(toGeneID,
newNode.nodeID,
connectionToSplitt.toNodeID,
true,
(float)Neat.random.NextRangedDouble(0.0, CPPNParameters.InitialMaxConnectionWeight));
if (genome.nodeGenes.Contains(newNode.nodeID))
{
Console.WriteLine();
foreach (var n in genome.nodeGenes)
{
Console.Write("nID:{0} ", n.nodeID);
}
Console.WriteLine("newID:{0} - newNodeID:{1}", newNode.nodeID, newNodeGeneID);
Console.WriteLine();
throw new Exception("addNode NewNode same nodeID in network!");
}
genome.nodeGenes.Add(newNode);
genome.connectionGenes.Add(firstHalfGene);
genome.connectionGenes.Add(secondHalfGene);
var seenBefore = new List <int>();
foreach (var node in genome.nodeGenes)
{
if (!seenBefore.Contains(node.nodeID))
{
seenBefore.Add(node.nodeID);
}
else
{
Console.WriteLine();
foreach (var n in genome.nodeGenes)
{
Console.Write("nID:{0} ", n.nodeID);
}
Console.WriteLine();
throw new Exception("addNode same nodeID in network!");
}
}
return(genome);
}
private static void HandleExcessGenes(ConnectionGeneSequence connsLong, List <int> InvolvedNodes, int geneIndex, NeatGenome childGenome)
{
for (int i = geneIndex; i < connsLong.Count; i++)
{
InvolvedNodes = AddInvolvedConnNodes(InvolvedNodes, connsLong[i]);
childGenome.connectionGenes.Add(connsLong[i]);
}
}
private static NeatGenome AddConnection(NeatGenome genome, Population population)
{
var toNode = Neat.random.NotInputNodeGene(genome);
var connGenes = genome.connectionGenes;
var fromNode = Neat.random.NotOutputNodeGene(genome);
bool baseCase = fromNode.type == NodeType.Sensor && toNode.type == NodeType.Output; //already exist all of these
baseCase |= connGenes.Contains(fromNode.nodeID, toNode.nodeID); //existing "internal" connection
if (baseCase)
{
return(genome);
}
int allottedTries = genome.nodeGenes.Count - Neat.parameters.CPPN.InputSize - 1; //allowed to try every other node that's not input or itself.
//making a minimal linked-list graph for checking
var graph = new Dictionary <int, List <int> >();
foreach (var node in genome.nodeGenes)
{
graph.Add(node.nodeID, new List <int>());
}
foreach (var connection in genome.connectionGenes)
{
graph[connection.fromNodeID].Add(connection.toNodeID);
}
while (allottedTries > 0)
{
if (graph.CanReachGoalFromRoot(toNode.nodeID, fromNode.nodeID))
{
allottedTries--;
toNode = Neat.random.NotInputNodeGene(genome);
if (toNode.type == NodeType.Output)
{
if (fromNode.type == NodeType.Sensor)
{
return(genome);
}
else if (connGenes.Contains(fromNode.nodeID, toNode.nodeID))
{
continue;
}
else
{
break;
}
}
}
else
{
break; //the connection is none-cyclic
}
}
int id = -1;
var key = Tuple.Create(fromNode.nodeID, toNode.nodeID);
if (population.PreviouslyAddedConnections.ContainsKey(key)) //TODO finish the gene tracking stuff!
{
id = population.PreviouslyAddedConnections[key];
}
else
{
id = population.IDs.ConnectionGeneID;
population.PreviouslyAddedConnections.Add(key, id);
}
var conGene = new ConnectionGene(id,
fromNode.nodeID,
toNode.nodeID,
true, //was this supposed to be weighted random for new ones?
Neat.random.InitialConnectionWeight());
genome.connectionGenes.Add(conGene);
return(genome);
}
public static NeatGenome GetLeastConnected(NeatGenome genome1, NeatGenome genome2)
{
return(genome1.IsMoreConnectedThan(genome2) ? genome2 : genome1);
}
public NEATIndividual(NEATIndividual indie) : base(indie.individualID)
{
Fitness = 0.0f;
genome = new NeatGenome(indie.genome);
}
