public float Evaluate(Vector <float> input)
{
if (this.isDirty)
{
var logger = new FishLogger();
var useSim = true;
if (useSim)
{
//start new simulation to get trajactory
var body = GeometryFunctions.Load();
var problem = new FishSimulatorOffline.Problem(body, this.activationData);
var dt = new IterationDelta();
var sim = new FishSimulatorOffline(problem, dt);
sim.TryToRun();
// wait to finish
var sol = sim.CurrentSolution as FishSimulatorOffline.Solution;
while (sol.IsDone == false)
{
}
logger = sol.logger.DeepCopy();
sim.Dispose();
}
var e = GetCurrentE(logger, this.activationData);
this.LatestE = e;
this.isDirty = false;
// Debug.Log("end with e = " + this.LatestE);
}
//cal new E from RandomX2FDiscreteFunction and trajactory
return(this.LatestE);
}
protected void Start()
{
this.fish = this.GetComponent <FishBody>();
this.fish.Init();
this.InitActivations();
this.UpdateAnimationCurves();
this.problem = new FishSimulatorOffline.Problem(this.fish, this.GetCurrentMC());
this.delta = new IterationDelta();
this.sim = new FishSimulatorOffline(problem, this.delta);
this.sim.TryToRun();
}
protected void Start()
{
this.fish = this.GetComponent <FishBody>();
this.fish.Init();
this.runtimeList = this.fish.modelData.FishGraph.Nodes.ToList();
this.InitActivations();
this.UpdateAnimationCurves();
this.problem = new FishSimulatorOffline.Problem(this.fish.modelData, this.activationData);
this.delta = new IterationDelta();
this.sim = new FishSimulatorOffline(problem, this.delta);
this.sim.TryToRun();
}
protected void Start()
{
this.body = this.GetComponent <FishBody>();
this.body.Init();
// this.activationData = new FishActivationDataSwimming(this.interval, this.sampleNum);
//this.activationData.RandomActivation();
this.activationData = FishActivationData.Load();
this.interval = this.activationData.Interval;
this.sampleNum = this.activationData.SampleNum;
this.curves = this.activationData.ToAnimationCurves();
this.activations = this.activationData.ToActivationList();
var problem = new FishSimulatorOffline.Problem(this.body.modelData, this.activationData);
var dt = new IterationDelta();
var sim = new FishSimulatorOffline(problem, dt);
sim.TryToRun();
}