public AgentGenome GetGenomeFromFitnessLottery()
{
int numCandidates = leaderboardGenomesList.Count;
float[] rankedFitnessScoresArray = new float[numCandidates];
int[] rankedIndicesList = new int[numCandidates];
float totalFitness = 0f;
//string leaderboardGenomesListString = "LEADERBOARD GENOMES (" + speciesID.ToString() + ")";
// Rank current leaderBoard list based on score
for (int i = 0; i < numCandidates; i++) {
float fitnessScore = 0.00001f;
fitnessScore += leaderboardGenomesList[i].performanceData.totalTicksAlive;
rankedFitnessScoresArray[i] = fitnessScore;
rankedIndicesList[i] = i;
totalFitness += fitnessScore;
//leaderboardGenomesListString += "\n#" + i.ToString() + ", score= " + fitnessScore.ToString();
}
//Debug.Log(leaderboardGenomesListString);
// Sort By Fitness
for (int i = 0; i < numCandidates - 1; i++)
{
for (int j = 0; j < numCandidates - 1; j++)
{
float swapFitA = rankedFitnessScoresArray[j];
float swapFitB = rankedFitnessScoresArray[j + 1];
int swapIdA = rankedIndicesList[j];
int swapIdB = rankedIndicesList[j + 1];
// bigger is better now after inversion
if (swapFitA < swapFitB)
{
rankedFitnessScoresArray[j] = swapFitB;
rankedFitnessScoresArray[j + 1] = swapFitA;
rankedIndicesList[j] = swapIdB;
rankedIndicesList[j + 1] = swapIdA;
}
}
}
int selectedIndex = 0;
// generate random lottery value between 0f and totalFitness:
float lotteryValue = Random.Range(0f, totalFitness);
float currentValue = 0f;
for (int i = 0; i < numCandidates; i++) {
if (lotteryValue >= currentValue && lotteryValue < (currentValue + rankedFitnessScoresArray[i])) {
// Jackpot!
selectedIndex = rankedIndicesList[i];
//Debug.Log("Selected: " + selectedIndex.ToString() + "! (" + i.ToString() + ") fit= " + currentValue.ToString() + "--" + (currentValue + (1f - rankedFitnessList[i])).ToString() + " / " + totalFitness.ToString() + ", lotto# " + lotteryValue.ToString() + ", fit= " + (1f - rankedFitnessList[i]).ToString());
}
currentValue += rankedFitnessScoresArray[i]; // add this agent's fitness to current value for next check
}
//return selectedIndex;
// choose genome by lottery
AgentGenome parentGenome = leaderboardGenomesList[selectedIndex].candidateGenome;
return parentGenome;
}
public AgentGenome Mutate(AgentGenome parentGenome, bool bodySettings, bool brainSettings)
{
//AgentGenome parentGenome = leaderboardGenomesList[selectedIndex].candidateGenome;
//***EAC Creature NAME mutation here???
string parentName = parentGenome.name;
int randIndex = Random.Range(0, parentName.Length - 1);
string frontHalf = parentName.Substring(0, randIndex);
string middleChar = parentName.Substring(randIndex, 1);
string backHalf = parentName.Substring(randIndex + 1);
if (RandomStatics.CoinToss(.05f)) {
middleChar = RandomStatics.GetRandomLetter();
}
frontHalf += middleChar;
string newName = RandomStatics.CoinToss(.025f) ? backHalf + frontHalf : frontHalf + backHalf;
//--------------------------------------------------------------------------------------------------------------------
tempMutationSettings = bodySettings ? mutationSettings : cachedNoneMutationSettings;
BodyGenome newBodyGenome = new BodyGenome(parentGenome.bodyGenome, tempMutationSettings);
tempMutationSettings = brainSettings ? mutationSettings : cachedNoneMutationSettings;
BrainGenome newBrainGenome = new BrainGenome(parentGenome.brainGenome, newBodyGenome, tempMutationSettings);
return new AgentGenome(newBodyGenome, newBrainGenome, parentGenome.generationCount + 1, newName);
}
// WPP: empty constructor is redundant, compiler creates this by default
//public MasterGenomePool() { }
public void FirstTimeInitialize(MutationSettingsInstance mutationSettings)
{
debugRecentlyDeletedCandidateIDsList = new List <int>();
nextCandidateIndex = 0;
this.mutationSettings = mutationSettings;
currentlyActiveSpeciesIDList = new List <int>();
completeSpeciesPoolsList = new List <SpeciesGenomePool>();
//SpeciesGenomePool rootSpecies = new SpeciesGenomePool(0, -1, 0, 0, mutationSettingsRef);
//rootSpecies.FirstTimeInitializeROOT(numAgentGenomes, 0);
//currentlyActiveSpeciesIDList.Add(0);
//completeSpeciesPoolsList.Add(rootSpecies);
for (int i = 0; i < numInitSpecies; i++)
{
//float lerpV = Mathf.Clamp01((i + 0.1f) / (numInitSpecies + 1) + 0.06f) * 0.8f + 0.1f;
//float lerpV = 0.5f;
SpeciesGenomePool newSpecies = new SpeciesGenomePool(i, -1, 0, 0, mutationSettings);
AgentGenome seedGenome = new AgentGenome(mutationSettings.brainInitialConnectionChance, simulation.numInitialHiddenNeurons);
newSpecies.FirstTimeInitialize(new CandidateAgentData(seedGenome, i), 0);
currentlyActiveSpeciesIDList.Add(i);
completeSpeciesPoolsList.Add(newSpecies);
}
selectionManager.SetSelected(completeSpeciesPoolsList[0].candidateGenomesList[0]);
}
public void InitializeModules(AgentGenome genome, Agent agent, StartPositionGenome startPos)
{
testModule = new TestModule();
testModule.Initialize(genome.bodyGenome.testModuleGenome, agent, startPos);
/*
* healthModuleList = new List<HealthModule>();
* valueList = new List<InputValue>();
*
* for (int i = 0; i < genome.bodyGenome.healthModuleList.Count; i++) {
* HealthModule healthModule = new HealthModule();
* //agent.segmentList[genome.healthModuleList[i].parentID].AddComponent<HealthModuleComponent>();
* healthModule.Initialize(genome.bodyGenome.healthModuleList[i], agent);
* healthModuleList.Add(healthModule);
* //healthModuleList[i].Initialize(genome.healthModuleList[i]);
* }
* for (int i = 0; i < genome.bodyGenome.valueInputList.Count; i++) {
* InputValue inputValue = new InputValue();
* inputValue.Initialize(genome.bodyGenome.valueInputList[i], agent);
* valueList.Add(inputValue);
* //valueList[i].Initialize(genome.valueInputList[i]);
* }
*/
}
public LinkGenome GetLeaderboardLinkGenome(int index, int linkedListIndex)
{
AgentGenome genome = GetLeaderboardGenome(index);
if (genome.brainGenome.linkCount > linkedListIndex)
return null;
return genome.brainGenome.links[linkedListIndex];
}
public void AddNewHistoricalRepresentative(AgentGenome newGenome)
{
if (historicGenomePool.Count >= maxHistoricGenomePoolSize) // Hit max number of stored genomes
{
int randRemoveIndex = Mathf.RoundToInt(UnityEngine.Random.Range(0f, (float)historicGenomePool.Count - 1f));
historicGenomePool.RemoveAt(randRemoveIndex); // remove an existing member of the list at random to make room for new genome
}
historicGenomePool.Add(newGenome);
}
private void CreateSpeciesIcon(SpeciesGenomePool pool)
{
AgentGenome templateGenome = masterGenomePool.completeSpeciesPoolsList[pool.speciesID].leaderboardGenomesList[0].candidateGenome;
Color color = new Color(templateGenome.bodyGenome.appearanceGenome.huePrimary.x, templateGenome.bodyGenome.appearanceGenome.huePrimary.y, templateGenome.bodyGenome.appearanceGenome.huePrimary.z);
var icon = Instantiate(prefabSpeciesIcon).GetComponent <SpeciesIconUI>();
icon.Initialize(speciesIcons.Count - 1, masterGenomePool.completeSpeciesPoolsList[pool.speciesID], anchor, color);
speciesIcons.Add(icon);
}
private void BeginLifeStageGrowing(Agent parent, AgentGenome parentGenome, Vector3 startPos)
{
curLifeStage = EggLifeStage.Growing;
lifeStageTransitionTimeStepCounter = 0;
parentAgent = parent;
birthTimeStepsCounter = 0;
curNumEggs = maxNumEggs;
developmentProgress = 0f;
growthScaleNormalized = 0.01f;
decayStatus = 0f;
rigidbodyRef.mass = 5f;
rigidbodyRef.velocity = Vector2.zero;
rigidbodyRef.angularVelocity = 0f;
rigidbodyRef.drag = 7.5f;
rigidbodyRef.angularDrag = 1.5f;
isProtectedByParent = parent;
isAttachedBySpring = parent;
if (!parent)
{
transform.localPosition = startPos;
// REVISIT THIS:
var parentBoundingBox = parentGenome.bodyGenome.GetFullsizeBoundingBox();
float parentScale = (parentBoundingBox.x + parentBoundingBox.y) * 0.5f;
fullSize.x = parentScale; // golden ratio? // easter egg for math nerds?
fullSize.y = parentScale;
}
else
{
//currentBiomass = 0.05f;
//parentAgentRef.currentBiomass -= 0.05f; // *** Handled within agent initPregnancy
rigidbodyRef.transform.position = parent.bodyRigidbody.position;
fixedJoint.connectedBody = parent.bodyRigidbody;
fixedJoint.autoConfigureConnectedAnchor = false;
fixedJoint.anchor = new Vector2(0f, parent.fullSizeBoundingBox.y * 0.25f);
fixedJoint.connectedAnchor = new Vector2(0f, parent.fullSizeBoundingBox.y * -0.25f);
fixedJoint.enableCollision = false;
fixedJoint.enabled = true;
fixedJoint.frequency = springJointMaxStrength;
}
mainCollider.enabled = true;
isDepleted = false;
isBeingBorn = false;
prevPos = transform.position;
UpdateEggSackSize(0.05f, true);
}
public void Refresh()
{
genome = cand.candidateGenome;
brain = genome.brainGenome;
core = genome.bodyGenome.coreGenome;
float lifespan = cand.performanceData.totalTicksAlive;
textGeneration.text = "Gen: " + genome.generationCount;
textBodySize.text = "Size: " + (100f * core.creatureBaseLength).ToString("F0") + ", Aspect 1:" + (1f / core.creatureAspectRatio).ToString("F0");
textBrainSize.text = "Brain Size: " + brain.inOutNeurons.Count + "--" + brain.links.Count;
}
public void StartNewTrainingMode()
{
Destroy(playerGO);
// Create population brains
agentGenomeList = new List <AgentGenome>();
BodyGenome templateBodyGenome = new BodyGenome();
templateBodyGenome.InitializeGenomeAsDefault();
//BodyGenome bodyGenomeTemplate = new BodyGenome();
//bodyGenomeTemplate.CopyBodyGenomeFromTemplate(bodyTemplate);
for (int i = 0; i < trainingPopulationSize; i++)
{
AgentGenome newGenome = new AgentGenome(i);
newGenome.InitializeBodyGenomeFromTemplate(templateBodyGenome);
newGenome.InitializeRandomBrainFromCurrentBody(0.033f);
agentGenomeList.Add(newGenome);
}
// CrossoverSettings:
trainingSettingsManager = new TrainingSettingsManager(0.06f, 0.35f, 0.1f, 0.01f);
GameObject dummyAgentGO = new GameObject("DummyAgent");
dummyAgent = dummyAgentGO.AddComponent <Agent>();
dummyStartGenome = new StartPositionGenome(Vector3.zero, Quaternion.identity);
ResetTrainingForNewGen();
//Brain brain = new Brain()
//Debug.Log(dummyAgent.testModule.);
// Create Visible Display Agent to observe behavior
/*displayStartPos = new StartPositionGenome(Vector3.zero, Quaternion.identity);
* GameObject agentGO = Instantiate(Resources.Load("PredatorPrey/PredatorPrefab")) as GameObject; ; // GameObject.CreatePrimitive(PrimitiveType.Sphere);
* //displayAgent
* agentGO.name = "Guinea Pig";
* //agentGO.transform.parent = gameObject.transform;
* agentGO.transform.localPosition = displayStartPos.agentStartPosition;
* agentGO.transform.localRotation = displayStartPos.agentStartRotation;
* //agentGO.GetComponent<Collider>().enabled = false;
* displayAgent = agentGO.AddComponent<Agent>();
* displayAgent.isVisible = true;
* displayAgent.InitializeAgentFromTemplate(agentGenomeList[0], displayStartPos);
* // hook modules:
* displayAgent.testModule.enemyTransform = targetGO.transform;
* displayAgent.testModule.bias[0] = 1f;
* displayAgent.testModule.enemyTestModule = displayAgent.testModule; // self as target, to zero out targetvel
*/
ResetTrainingAgentAndEnvironment();
}
public void InitializeEggSackFromGenome(int index, AgentGenome agentGenome, Agent parentAgent, Vector3 startPos)
{
//currentBiomass = 0.01f; // immaculate eggsacks given free mass?
if (parentAgent)
{
parentAgentIndex = parentAgent.index;
}
this.index = index;
fullSize = Vector2.one * (agentGenome.bodyGenome.GetFullsizeBoundingBox().x + agentGenome.bodyGenome.GetFullsizeBoundingBox().y) * 0.5f; // new Vector2(agentGenome.bodyGenome.fullsizeBoundingBox.x, agentGenome.bodyGenome.fullsizeBoundingBox.y) * 1f;
BeginLifeStageGrowing(parentAgent, agentGenome, startPos);
}
public CritterModuleMovement(AgentGenome agentGenome)
{
ownVelX = new float[1];
ownVelY = new float[1];
facingDirX = new float[1];
facingDirY = new float[1];
throttleX = new float[1];
throttleY = new float[1];
dash = new float[1];
float invAspectRatio = agentGenome.bodyGenome.coreGenome.creatureAspectRatio;
speedBonus = Mathf.Lerp(0.7f, 1.4f, 1f - invAspectRatio);
}
public void InitializeAgentFromTemplate(AgentGenome genome, StartPositionGenome startPos)
{
// Initialize Modules --
//Debug.Log("Agent Initialize Modules() segment count: " + segmentList.Count.ToString() + ", visCount: " + visibleObjectList.Count.ToString());
// -- Setup that used to be done in the constructors
InitializeModules(genome, this, startPos);
// Visible/Non-Visible:
//if (isVisible) {
// for (int i = 0; i < visibleObjectList.Count; i++) {
// visibleObjectList[i].SetActive(true);
// }
//}
// Construct Brain:
brain = new Brain(genome.brainGenome, this);
}
// Representative system will be expanded later - for now, just defaults to Top # of performers
public PlayerPopulation(int index, BodyGenome bodyTemplate, int numGenomes, int numPerfReps)
{
this.index = index;
// Re-Factor:
bodyGenomeTemplate = new BodyGenome();
bodyGenomeTemplate.CopyBodyGenomeFromTemplate(bodyTemplate);
//graphKing = new TheGraphKing();
popSize = numGenomes;
//this.numBaseline = numBaseline;
// Create blank AgentGenomes for the standard population
agentGenomeList = new List <AgentGenome>();
historicGenomePool = new List <AgentGenome>();
//baselineGenomePool = new List<AgentGenome>();
for (int j = 0; j < numGenomes; j++)
{
AgentGenome agentGenome = new AgentGenome(j);
agentGenome.InitializeBodyGenomeFromTemplate(bodyGenomeTemplate);
agentGenome.InitializeRandomBrainFromCurrentBody(0.2f);
agentGenomeList.Add(agentGenome);
}
//RepopulateBaselineGenomes();
//AppendBaselineGenomes();
// Representatives:
numPerformanceReps = numPerfReps;
//Debug.Log("historicGenomePool count b4: " + historicGenomePool.Count.ToString());
int numStartingHistoricalReps = 20;
for (int h = 0; h < numStartingHistoricalReps; h++)
{
historicGenomePool.Add(agentGenomeList[h]); // init
}
//Debug.Log("historicGenomePool count after: " + historicGenomePool.Count.ToString());
ResetRepresentativesList();
fitnessManager = new FitnessManager();
SetUpDefaultFitnessComponents(fitnessManager, this.index);
//fitnessManager.ResetHistoricalData();
//fitnessManager.ResetCurrentHistoricalDataLists();
fitnessManager.InitializeForNewGeneration(agentGenomeList.Count);
trainingSettingsManager = new TrainingSettingsManager(0.075f, 0.04f, 0.015f, 0.003f);
}
private void InitializeCritter()
{
// Delete existing children GameObjects:
foreach (Transform child in transform)
{
Destroy(child.gameObject);
}
// Create dummy genome
testAgentGenome = new AgentGenome(0f, 0);
// Create container Agent:
GameObject agentGO = new GameObject("Agent" + 0);
agentGO.transform.parent = transform;
testAgent = agentGO.AddComponent <Agent>();
//testAgent.humanControlLerp = 1f;
//testAgent.humanControlled = true;
//testAgentGenome.bodyGenome.coreGenome.numSegments = numSegments;
//testAgentGenome.bodyGenome.coreGenome.fullBodyLength = bodyLength;
testAgent.speed = speed;
/*
* testAgent.frequency = frequency;
* testAgent.amplitude = amplitude;
* testAgent.offsetDelay = offsetDelay;
* testAgent.headDrag = headDrag;
* testAgent.bodyDrag = bodyDrag;
* testAgent.headMass = headMass;
* testAgent.bodyMass = bodyMass;
* testAgent.jointSpeed = jointSpeed;
* testAgent.jointMaxTorque = jointMaxTorque;
* testAgent.swimAnimationCycleSpeed = swimAnimationCycleSpeed;
* testAgent.smoothedThrottleLerp = smoothedThrottleLerp;
* testAgent.restingJointTorque = restingJointTorque;
* testAgent.bendRatioHead = bendRatioHead;
* testAgent.bendRatioTailTip = bendRatioTailTip;
*/
// initialize Agent based on genome:
//StartPositionGenome startPosGenome = new StartPositionGenome(Vector3.zero, Quaternion.identity);
//testAgent.InitializeAgentFromGenome(0, testAgentGenome, startPosGenome); // This also rebuilds GameObjects
}
public CandidateAgentData(AgentGenome genome, int speciesID)
{
//Debug.Log("NewCandidateData: " + MasterGenomePool.nextCandidateIndex.ToString());
MasterGenomePool.nextCandidateIndex++;
causeOfDeath = "Alive!";
candidateID = MasterGenomePool.nextCandidateIndex;
this.speciesID = speciesID;
candidateGenome = genome;
numCompletedEvaluations = 0;
//evaluationScoresList = new List<float>();
allEvaluationsComplete = false;
isBeingEvaluated = false;
//name = GenerateTempCritterName();
candidateEventDataList = new List <CandidateEventData>();
performanceData = new PerformanceData();
}
// static helper methods :::: ?
public static BrushPoint ProcessBrushPoint(BrushPoint inPoint, AgentGenome genome)
{
ProcessBrushPointBaseBody(ref inPoint, genome); // basic proportions
// calculate normals & stuff:
// Smooth & fix overly jagged/weird spots/shapes:
// Colors?
// Extras:
// fins, etc.
// OLD:
//Vector2 CSScale = GetInitCrossSectionScale(inPoint.initCoordsNormalized.z, genome);
//Vector3 bindPos = new Vector3(inPoint.initCoordsNormalized.x * CSScale.x, inPoint.initCoordsNormalized.y * CSScale.y, inPoint.initCoordsNormalized.z * fullsizeCritterLength - fullsizeCritterLength * 0.5f); //coords;
//inPoint.bindPos = bindPos;
return(inPoint);
}
public void PrepareTournament(AgentGenome playerGenome)
{
List <EnvironmentGenome> environmentGenomeList = new List <EnvironmentGenome>();
List <AgentGenome> competitorGenomeList = new List <AgentGenome>();
// Load environments and competitors?
for (int e = 0; e < environmentsFileList.Count; e++)
{
string path = Application.dataPath + "/IndividualSaves/Environments/" + environmentsFileList[e] + ".json";
string dataAsJson = File.ReadAllText(path);
EnvironmentGenome genome = JsonUtility.FromJson <EnvironmentGenome>(dataAsJson);
environmentGenomeList.Add(genome);
}
// might need to check for null!
if (competitorsFileList != null)
{
// Load competitor Agent Genomes!
for (int a = 0; a < competitorsFileList.Count; a++)
{
string path = Application.dataPath + "/IndividualSaves/Agents/" + competitorsFileList[a] + ".json";
string dataAsJson = File.ReadAllText(path);
AgentGenome genome = JsonUtility.FromJson <AgentGenome>(dataAsJson);
competitorGenomeList.Add(genome);
}
}
// Fill in Rounds & Matchups!
this.winnerID = -1;
this.tournamentFinished = false;
for (int i = 0; i < tournamentRoundList.Count; i++)
{
tournamentRoundList[i].winnerID = -1;
tournamentRoundList[i].roundFinished = false;
for (int j = 0; j < tournamentRoundList[i].matchupList.Count; j++)
{
// Creates and fills in EvaluationTicket for this matchup with actual Genomes (before it was just coded with IDs)
tournamentRoundList[i].matchupList[j].PrepareMatchup(environmentGenomeList, competitorGenomeList, playerGenome, (numOpponents + 1), tournamentRoundList[i].maxTimeSteps);
}
}
}
private string GetTextAgentBrain()
{
string txt = "";
int focusPop = gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].focusPopIndex;
if (focusPop > 0)
{
AgentGenome currentAgentGenome = gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].agentGenomesList[gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].focusPopIndex - 1];
Agent currentAgent = gameManager.trainerRef.evaluationManager.exhibitionInstance.currentAgentsArray[gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].focusPopIndex - 1];
// AGENT:
// Index:
txt += "Player: " + gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].focusPopIndex.ToString();
txt += ", Genome: " + currentAgentGenome.index.ToString() + "\n";
txt += "Genome BodyNeurons: " + currentAgentGenome.brainGenome.bodyNeuronList.Count.ToString() + "\n";
txt += "Genome HiddenNeurons: " + currentAgentGenome.brainGenome.hiddenNeuronList.Count.ToString() + "\n";
txt += "Genome Links: " + currentAgentGenome.brainGenome.linkList.Count.ToString() + "\n";
txt += "Agent: \n";
txt += "Neurons: " + currentAgent.brain.neuronList.Count.ToString() + "\n";
txt += "Axons: " + currentAgent.brain.axonList.Count.ToString() + "\n";
//txt += "Genome Links: " + currentAgentGenome.brainGenome.linkList.Count.ToString() + "\n";
// Brain List:
txt += "\nNeurons:\n";
for (int i = 0; i < currentAgent.brain.neuronList.Count; i++)
{
txt += "Neuron[" + i.ToString() + "] (" + currentAgent.brain.neuronList[i].neuronType.ToString() + ") prevVal: " + currentAgent.brain.neuronList[i].previousValue.ToString() + " || curVal: " + currentAgent.brain.neuronList[i].currentValue[0].ToString() + " || inputTotal: " + currentAgent.brain.neuronList[i].inputTotal.ToString() + "\n";
}
txt += "\nAxons:\n";
for (int i = 0; i < currentAgent.brain.axonList.Count; i++)
{
txt += "Axon[" + i.ToString() + "] (" + currentAgent.brain.axonList[i].weight.ToString() + ") from: " + currentAgent.brain.axonList[i].fromID.ToString() + " to: " + currentAgent.brain.axonList[i].toID.ToString() + "\n";
}
}
return(txt);
}
private string GetTextAgentBrainGenome()
{
string txt = "";
int focusPop = gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].focusPopIndex;
if (focusPop > 0)
{
AgentGenome currentAgentGenome = gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].agentGenomesList[gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].focusPopIndex - 1];
//Agent currentAgent = gameManager.trainerRef.evaluationManager.exhibitionInstance.currentAgentsArray[gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].focusPopIndex - 1];
// AGENT:
// Index:
txt += "Player: " + gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].focusPopIndex.ToString();
txt += ", Genome: " + currentAgentGenome.index.ToString() + "\n";
txt += "Genome BodyNeurons: " + currentAgentGenome.brainGenome.bodyNeuronList.Count.ToString() + "\n";
txt += "Genome HiddenNeurons: " + currentAgentGenome.brainGenome.hiddenNeuronList.Count.ToString() + "\n";
txt += "Genome Links: " + currentAgentGenome.brainGenome.linkList.Count.ToString() + "\n";
// Brain List:
txt += "\nBodyNeurons:\n";
for (int i = 0; i < currentAgentGenome.brainGenome.bodyNeuronList.Count; i++)
{
txt += "Neuron[" + i.ToString() + "] (" + currentAgentGenome.brainGenome.bodyNeuronList[i].neuronType.ToString() + ") NID Module#: " + currentAgentGenome.brainGenome.bodyNeuronList[i].nid.moduleID.ToString() + ", NID Neuron#: " + currentAgentGenome.brainGenome.bodyNeuronList[i].nid.neuronID.ToString() + "\n";
}
txt += "\nHiddenNeurons:\n";
for (int i = 0; i < currentAgentGenome.brainGenome.hiddenNeuronList.Count; i++)
{
txt += "Neuron[" + i.ToString() + "] (" + currentAgentGenome.brainGenome.hiddenNeuronList[i].neuronType.ToString() + ") NID Module#: " + currentAgentGenome.brainGenome.hiddenNeuronList[i].nid.moduleID.ToString() + ", NID Neuron#: " + currentAgentGenome.brainGenome.hiddenNeuronList[i].nid.neuronID.ToString() + "\n";
}
txt += "\nLinks:\n";
for (int i = 0; i < currentAgentGenome.brainGenome.linkList.Count; i++)
{
txt += "Link[" + i.ToString() + "] (" + currentAgentGenome.brainGenome.linkList[i].weight.ToString() + ") FROM NID: [" + currentAgentGenome.brainGenome.linkList[i].fromModuleID.ToString() + ", " + currentAgentGenome.brainGenome.linkList[i].fromNeuronID.ToString() + "] --> TO NID: [" + currentAgentGenome.brainGenome.linkList[i].toModuleID.ToString() + ", " + currentAgentGenome.brainGenome.linkList[i].toNeuronID.ToString() + "]\n";
}
}
return(txt);
}
public void RepopulateBaselineGenomes()
{
if (baselineGenomePool == null)
{
baselineGenomePool = new List <AgentGenome>();
}
else
{
baselineGenomePool.Clear();
}
for (int j = 0; j < numBaseline; j++)
{
AgentGenome baselineGenome = new AgentGenome(j);
baselineGenome.InitializeBodyGenomeFromTemplate(bodyGenomeTemplate);
float increment = (float)j / (float)(numBaseline - 1);
float weightScale = 0f; // how much to scale initial random weights
baselineGenome.InitializeRandomBrainFromCurrentBody(increment * (float)j * weightScale);
baselineGenomePool.Add(baselineGenome);
}
}
// Representative system will be expanded later - for now, just defaults to Top # of performers
public PlayerPopulation(Challenge.Type challengeType, BodyGenome bodyTemplate, int numGenomes, int numBaseline, int numReps)
{
bodyGenomeTemplate = new BodyGenome();
bodyGenomeTemplate.CopyBodyGenomeFromTemplate(bodyTemplate);
graphKing = new TheGraphKing();
popSize = numGenomes;
this.numBaseline = numBaseline;
// Create blank AgentGenomes for the standard population
agentGenomeList = new List <AgentGenome>();
historicGenomePool = new List <AgentGenome>();
baselineGenomePool = new List <AgentGenome>();
for (int j = 0; j < numGenomes; j++)
{
AgentGenome agentGenome = new AgentGenome(j);
agentGenome.InitializeBodyGenomeFromTemplate(bodyGenomeTemplate);
agentGenome.InitializeRandomBrainFromCurrentBody(0.0f);
agentGenomeList.Add(agentGenome);
}
RepopulateBaselineGenomes();
AppendBaselineGenomes();
// Representatives:
numPerformanceReps = numReps;
ResetRepresentativesList();
historicGenomePool.Add(agentGenomeList[0]); // init
fitnessManager = new FitnessManager();
SetUpDefaultFitnessComponents(challengeType, fitnessManager);
fitnessManager.ResetHistoricalData();
fitnessManager.ResetCurrentHistoricalDataLists();
fitnessManager.InitializeForNewGeneration(agentGenomeList.Count);
trainingSettingsManager = new TrainingSettingsManager(0.01f, 0.8f, 0.2f, 0.005f);
}
public void FirstTimeInitialize(CandidateAgentData foundingGenome, int depth)
{
foundingCandidate = foundingGenome;
longestLivedCandidate = foundingGenome;
mostEatenCandidate = foundingGenome;
InitShared();
depthLevel = depth;
Vector3 newHue = Random.insideUnitSphere;
foundingGenome.candidateGenome.name = MutateName(foundingGenome.candidateGenome.name);
foundingGenome.candidateGenome.bodyGenome.appearanceGenome.BlendHue(newHue, 0.75f);
//string debugTxt = "";
for (int i = 0; i < 16; i++) {
AgentGenome agentGenome = Mutate(foundingGenome.candidateGenome, true, true);
CandidateAgentData candidate = new CandidateAgentData(agentGenome, speciesID);
candidateGenomesList.Add(candidate);
leaderboardGenomesList.Add(candidate);
//debugTxt += "" + candidate.candidateGenome.brainGenome.linkList[0].weight.ToString("F2") + " ";
}
//Debug.Log("SPECIES CREATED! " + debugTxt);
representativeCandidate = foundingGenome;
coatOfArmsMat = new Material(TheRenderKing.instance.coatOfArmsShader);
//coatOfArmsTex = TheRenderKing.instance.GenerateSpeciesCoatOfArms(foundingGenome.candidateGenome.bodyGenome.appearanceGenome);
coatOfArmsMat.SetPass(0);
coatOfArmsMat.SetTexture("_MainTex", TheRenderKing.instance.shapeTex);
coatOfArmsMat.SetTexture("_PatternTex", TheRenderKing.instance.patternTex);
coatOfArmsMat.SetFloat("_PatternX", foundingGenome.candidateGenome.bodyGenome.appearanceGenome.bodyStrokeBrushTypeX);
coatOfArmsMat.SetFloat("_PatternX", foundingGenome.candidateGenome.bodyGenome.appearanceGenome.bodyStrokeBrushTypeY);
Vector3 huePri = foundingGenome.candidateGenome.bodyGenome.appearanceGenome.huePrimary;
Vector3 hueSec = foundingGenome.candidateGenome.bodyGenome.appearanceGenome.hueSecondary;
coatOfArmsMat.SetColor("_TintPri", new Color(huePri.x, huePri.y, huePri.z));
coatOfArmsMat.SetColor("_TintSec", new Color(hueSec.x, hueSec.y, hueSec.z));
coatOfArmsMat.SetFloat("_IsSelected", 0f);
}
private string GetTextAgentModules()
{
string txt = "";
if (gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].focusPopIndex < 1)
{
// ENVIRONMENT:
//EnvironmentGenome currentEnvironmentGenome = trainerRef.teamsConfig.environmentPopulation.environmentGenomeList[trainerRef.evaluationManager.exhibitionTicketList[trainerRef.evaluationManager.exhibitionTicketCurrentIndex].genomeIndices[0]];
EnvironmentGenome currentEnvironmentGenome = gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].environmentGenome;
txt += "Environment Genome: " + currentEnvironmentGenome.index + "\n\n";
if (currentEnvironmentGenome.useAtmosphere)
{
txt += "ATMOSPHERE\nWind: " + currentEnvironmentGenome.atmosphereGenome.windForce.ToString();
//txt += "\n";
}
if (currentEnvironmentGenome.useBasicObstacles)
{
txt += "\nOBSTACLES ON\n";
}
if (currentEnvironmentGenome.useMeteorites)
{
txt += "\nMETEORITES ON\n";
}
if (currentEnvironmentGenome.useTargetColumn)
{
txt += "\nTARGET LOCATION ON\n";
}
if (currentEnvironmentGenome.terrainGenome.useAltitude)
{
txt += "\nALTITUDE ON\n";
}
}
else
{
// AGENT:
//AgentGenome currentAgentGenome = trainerRef.teamsConfig.playersList[trainerRef.evaluationManager.exhibitionTicketList[trainerRef.evaluationManager.exhibitionTicketCurrentIndex].focusPopIndex - 1].agentGenomeList[trainerRef.evaluationManager.exhibitionTicketList[trainerRef.evaluationManager.exhibitionTicketCurrentIndex].genomeIndices[trainerRef.evaluationManager.exhibitionTicketList[trainerRef.evaluationManager.exhibitionTicketCurrentIndex].focusPopIndex]];
AgentGenome currentAgentGenome = gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].agentGenomesList[gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].focusPopIndex - 1];
// Index:
txt += "Player: " + gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].focusPopIndex.ToString();
txt += ", Genome: " + currentAgentGenome.index.ToString() + "\n";
txt += "BodyNeurons: " + currentAgentGenome.brainGenome.bodyNeuronList.Count.ToString() + "\n";
txt += "HiddenNeurons: " + currentAgentGenome.brainGenome.hiddenNeuronList.Count.ToString() + "\n";
txt += "Links: " + currentAgentGenome.brainGenome.linkList.Count.ToString() + "\n";
// Modules:
Agent curAgent = gameManager.trainerRef.evaluationManager.exhibitionInstance.currentAgentsArray[gameManager.trainerRef.evaluationManager.exhibitionTicketList[gameManager.trainerRef.evaluationManager.exhibitionTicketCurrentIndex].focusPopIndex - 1];
if (curAgent.healthModuleList.Count > 0)
{
txt += "HEALTH: " + curAgent.healthModuleList[0].health.ToString() + " / " + curAgent.healthModuleList[0].maxHealth.ToString() + "\n";
}
if (curAgent.oscillatorList.Count > 0)
{
txt += "\nOSCILLATOR INPUTS: ";
for (int i = 0; i < curAgent.oscillatorList.Count; i++)
{
txt += "\n" + i.ToString() + ": current value= " + curAgent.oscillatorList[i].value[0].ToString();
}
txt += "\n";
}
if (curAgent.targetSensorList.Count > 0)
{
txt += "\nTARGET SENSOR: ";
if (curAgent.targetSensorList[0].targetPosition != null)
{
txt += curAgent.targetSensorList[0].targetPosition.position.ToString() + "\n";
if (currentAgentGenome.bodyGenome.targetSensorList[0].useX)
{
txt += "DotX = " + curAgent.targetSensorList[0].dotX[0].ToString() + "\n";
}
if (currentAgentGenome.bodyGenome.targetSensorList[0].useY)
{
txt += "DotY = " + curAgent.targetSensorList[0].dotY[0].ToString() + "\n";
}
if (currentAgentGenome.bodyGenome.targetSensorList[0].useZ)
{
txt += "DotZ = " + curAgent.targetSensorList[0].dotZ[0].ToString() + "\n";
}
if (currentAgentGenome.bodyGenome.targetSensorList[0].useX && currentAgentGenome.bodyGenome.targetSensorList[0].useVel)
{
txt += "DotVelX = " + curAgent.targetSensorList[0].dotVelX[0].ToString() + "\n";
}
if (currentAgentGenome.bodyGenome.targetSensorList[0].useY && currentAgentGenome.bodyGenome.targetSensorList[0].useVel)
{
txt += "DotVelY = " + curAgent.targetSensorList[0].dotVelY[0].ToString() + "\n";
}
if (currentAgentGenome.bodyGenome.targetSensorList[0].useZ && currentAgentGenome.bodyGenome.targetSensorList[0].useVel)
{
txt += "DotVelZ = " + curAgent.targetSensorList[0].dotVelZ[0].ToString() + "\n";
}
if (currentAgentGenome.bodyGenome.targetSensorList[0].useDist)
{
txt += "Dist = " + curAgent.targetSensorList[0].dist[0].ToString() + "\n";
}
if (currentAgentGenome.bodyGenome.targetSensorList[0].useInvDist)
{
txt += "InvDist = " + curAgent.targetSensorList[0].invDist[0].ToString() + "\n";
}
}
}
if (curAgent.raycastSensorList.Count > 0)
{
txt += "\nRAYCAST SENSOR:\n";
txt += "Left = " + curAgent.raycastSensorList[0].distanceLeft[0].ToString() + "\n";
txt += "LeftCenter = " + curAgent.raycastSensorList[0].distanceLeftCenter[0].ToString() + "\n";
txt += "CenterShort = " + curAgent.raycastSensorList[0].distanceCenterShort[0].ToString() + "\n";
txt += "RightCenter = " + curAgent.raycastSensorList[0].distanceRightCenter[0].ToString() + "\n";
txt += "Right = " + curAgent.raycastSensorList[0].distanceRight[0].ToString() + "\n";
txt += "CenterLong = " + curAgent.raycastSensorList[0].distanceCenter[0].ToString() + "\n";
txt += "Back = " + curAgent.raycastSensorList[0].distanceBack[0].ToString() + "\n";
}
if (curAgent.thrusterEffectorList.Count > 0)
{
txt += "\nTHRUSTER: ";
for (int i = 0; i < curAgent.thrusterEffectorList.Count; i++)
{
//txt += "\n" + i.ToString() + ": current value= " + curAgent.thrusterEffectorList[i].throttleY[0].ToString();
if (currentAgentGenome.bodyGenome.thrusterList[0].useX)
{
txt += "X = " + curAgent.torqueEffectorList[0].throttleX[0].ToString() + ", ";
}
if (currentAgentGenome.bodyGenome.thrusterList[0].useY)
{
txt += "Y = " + curAgent.torqueEffectorList[0].throttleY[0].ToString() + ", ";
}
if (currentAgentGenome.bodyGenome.thrusterList[0].useZ)
{
txt += "Z = " + curAgent.torqueEffectorList[0].throttleZ[0].ToString() + "\n";
}
}
//txt += "\n";
//txt += curAgent.thrusterEffectorList[0].throttleZ[0].ToString() + "\n";
}
if (curAgent.torqueEffectorList.Count > 0)
{
//txt += "TORQUE: ";
txt += "\nTORQUE: ";
if (currentAgentGenome.bodyGenome.torqueList[0].useX)
{
txt += "X = " + curAgent.torqueEffectorList[0].throttleX[0].ToString() + ", ";
}
if (currentAgentGenome.bodyGenome.torqueList[0].useY)
{
txt += "Y = " + curAgent.torqueEffectorList[0].throttleY[0].ToString() + ", ";
}
if (currentAgentGenome.bodyGenome.torqueList[0].useZ)
{
txt += "Z = " + curAgent.torqueEffectorList[0].throttleZ[0].ToString() + "\n";
}
//txt += curAgent.torqueEffectorList[0].throttleY[0].ToString() + "\n";
}
if (curAgent.weaponProjectileList.Count > 0)
{
txt += "\nWEAPON-PROJECTILE:\n";
txt += "Throttle = " + curAgent.weaponProjectileList[0].throttle[0].ToString() + "\n";
txt += "Damage Inflicted = " + curAgent.weaponProjectileList[0].damageInflicted[0].ToString() + "\n";
txt += "Energy = " + curAgent.weaponProjectileList[0].energy[0].ToString() + "\n";
}
if (curAgent.weaponTazerList.Count > 0)
{
txt += "\nWEAPON-TAZER:\n";
txt += "Throttle = " + curAgent.weaponTazerList[0].throttle[0].ToString() + "\n";
txt += "Damage Inflicted = " + curAgent.weaponTazerList[0].damageInflicted[0].ToString() + "\n";
txt += "Energy = " + curAgent.weaponTazerList[0].energy[0].ToString() + "\n";
}
if (curAgent.contactSensorList.Count > 0)
{
txt += "\nCONTACT:\n";
txt += "Contact = " + curAgent.contactSensorList[0].contactSensor[0].ToString() + "\n";
}
if (curAgent.gravitySensorList.Count > 0)
{
txt += "\nGRAVITY SENSOR:\n";
if (currentAgentGenome.bodyGenome.gravitySensorList[0].useGravityDir)
{
txt += "DotX = " + curAgent.gravitySensorList[0].dotX[0].ToString() + "\n";
txt += "DotY = " + curAgent.gravitySensorList[0].dotY[0].ToString() + "\n";
txt += "DotZ = " + curAgent.gravitySensorList[0].dotZ[0].ToString() + "\n";
}
if (currentAgentGenome.bodyGenome.gravitySensorList[0].useVel)
{
txt += "VelX = " + curAgent.gravitySensorList[0].velX[0].ToString() + "\n";
txt += "VelY = " + curAgent.gravitySensorList[0].velY[0].ToString() + "\n";
txt += "VelZ = " + curAgent.gravitySensorList[0].velZ[0].ToString() + "\n";
}
if (currentAgentGenome.bodyGenome.gravitySensorList[0].useAltitude)
{
txt += "Altitude = " + curAgent.gravitySensorList[0].altitude[0].ToString() + "\n";
}
}
if (curAgent.healthModuleList.Count > 0)
{
txt += "\nHEALTH:\n";
txt += "Health = " + curAgent.healthModuleList[0].healthSensor[0].ToString() + "\n";
txt += "Damage = " + curAgent.healthModuleList[0].takingDamage[0].ToString() + "\n";
}
if (curAgent.basicWheelList.Count > 0)
{
txt += "\nBASIC AXLE:\n";
for (int i = 0; i < curAgent.basicWheelList.Count; i++)
{
txt += "Throttle = " + curAgent.basicWheelList[i].throttle[0].ToString() + "\n";
txt += "SteerAngle = " + curAgent.basicWheelList[i].steerAngle[0].ToString() + "\n";
txt += "Brake = " + curAgent.basicWheelList[i].brake[0].ToString() + "\n";
txt += "Speed = " + curAgent.basicWheelList[i].speed[0].ToString() + "\n\n";
}
//txt += "Throttle = " + curAgent.basicWheelList[0].throttle[0].ToString() + "\n";
//txt += "SteerAngle = " + curAgent.basicWheelList[0].steerAngle[0].ToString() + "\n";
//txt += "Brake = " + curAgent.basicWheelList[0].brake[0].ToString() + "\n";
//txt += "Speed = " + curAgent.basicWheelList[0].speed[0].ToString() + "\n";
}
if (curAgent.atmosphereSensorList.Count > 0)
{
txt += "\nATMOSPHERE SENSOR:\n";
txt += "WindX = " + curAgent.atmosphereSensorList[0].windDotX[0].ToString() + "\n";
txt += "WindY = " + curAgent.atmosphereSensorList[0].windDotY[0].ToString() + "\n";
txt += "WindZ = " + curAgent.atmosphereSensorList[0].windDotZ[0].ToString() + "\n";
}
}
return(txt);
}
public void SetRepresentativeGenome(AgentGenome rep)
{
representativeGenome = rep;
UpdateDisplayColor();
}
public void PrepareMatchup(List <EnvironmentGenome> environmentGenomeList, List <AgentGenome> competitorGenomeList, AgentGenome playerGenome, int numEntrants, int maxTimeSteps)
{
winnerID = -1;
matchupFinished = false;
//EnvironmentGenome loadedGenome1 = JsonUtility.FromJson<EnvironmentGenome>(dataAsJson);
List <AgentGenome> agentGenomesList = new List <AgentGenome>();
for (int i = 0; i < competitorIDs.Length; i++)
{
// -1 value is code to use player's genome here
if (competitorIDs[i] == -1)
{
agentGenomesList.Add(playerGenome);
}
else
{
agentGenomesList.Add(competitorGenomeList[competitorIDs[i]]);
}
}
evalTicket = new EvaluationTicket(environmentGenomeList[environmentID], agentGenomesList, 1, maxTimeSteps);
contestantScoresArray = new float[1]; // ASSUMES ! PLAYER AT A TIME!!!!
Debug.Log("contestantScoresArray.Length: " + contestantScoresArray.Length.ToString());
}
public void InitializeModules(AgentGenome genome, Agent agent)
{
atmosphereSensorList = new List <AtmosphereSensor>();
basicJointList = new List <BasicJoint>();
basicWheelList = new List <BasicWheel>();
contactSensorList = new List <ContactSensor>();
gravitySensorList = new List <GravitySensor>();
healthModuleList = new List <HealthModule>();
oscillatorList = new List <InputOscillator>();
raycastSensorList = new List <RaycastSensor>();
shieldList = new List <Shield>();
targetSensorList = new List <TargetSensor>();
thrusterEffectorList = new List <ThrusterEffector>();
torqueEffectorList = new List <TorqueEffector>();
trajectorySensorList = new List <TrajectorySensor>();
valueList = new List <InputValue>();
weaponProjectileList = new List <WeaponProjectile>();
weaponTazerList = new List <WeaponTazer>();
for (int i = 0; i < genome.bodyGenome.atmosphereSensorList.Count; i++)
{
AtmosphereSensor atmosphereSensor = new AtmosphereSensor();
atmosphereSensor.Initialize(genome.bodyGenome.atmosphereSensorList[i], agent);
atmosphereSensorList.Add(atmosphereSensor);
}
for (int i = 0; i < genome.bodyGenome.basicJointList.Count; i++)
{
BasicJoint basicJoint = new BasicJoint();
basicJoint.Initialize(genome.bodyGenome.basicJointList[i], agent);
basicJointList.Add(basicJoint);
//basicJointList[i].Initialize(genome.basicJointList[i]);
}
for (int i = 0; i < genome.bodyGenome.basicWheelList.Count; i++)
{
BasicWheel basicWheel = new BasicWheel();
basicWheel.Initialize(genome.bodyGenome.basicWheelList[i], agent);
basicWheelList.Add(basicWheel);
//OLD:
//basicWheelList[i].Initialize(genome.basicWheelList[i]);
}
for (int i = 0; i < genome.bodyGenome.contactSensorList.Count; i++)
{
ContactSensor contactSensor = new ContactSensor();
//agent.segmentList[genome.contactSensorList[i].parentID].AddComponent<ContactSensorComponent>();
contactSensor.Initialize(genome.bodyGenome.contactSensorList[i], agent);
contactSensorList.Add(contactSensor);
//contactSensorList[i].Initialize(genome.contactSensorList[i]);
}
for (int i = 0; i < genome.bodyGenome.gravitySensorList.Count; i++)
{
GravitySensor gravitySensor = new GravitySensor();
gravitySensor.Initialize(genome.bodyGenome.gravitySensorList[i], agent);
gravitySensorList.Add(gravitySensor);
}
for (int i = 0; i < genome.bodyGenome.healthModuleList.Count; i++)
{
HealthModule healthModule = new HealthModule();
//agent.segmentList[genome.healthModuleList[i].parentID].AddComponent<HealthModuleComponent>();
healthModule.Initialize(genome.bodyGenome.healthModuleList[i], agent);
healthModuleList.Add(healthModule);
//healthModuleList[i].Initialize(genome.healthModuleList[i]);
}
for (int i = 0; i < genome.bodyGenome.oscillatorInputList.Count; i++)
{
InputOscillator inputOscillator = new InputOscillator();
inputOscillator.Initialize(genome.bodyGenome.oscillatorInputList[i], agent);
oscillatorList.Add(inputOscillator);
//oscillatorList[i].Initialize(genome.oscillatorInputList[i]);
}
for (int i = 0; i < genome.bodyGenome.raycastSensorList.Count; i++)
{
RaycastSensor raycastSensor = new RaycastSensor();
raycastSensor.Initialize(genome.bodyGenome.raycastSensorList[i], agent);
raycastSensorList.Add(raycastSensor);
//raycastSensorList[i].Initialize(genome.raycastSensorList[i]);
}
for (int i = 0; i < genome.bodyGenome.shieldList.Count; i++)
{
Shield shield = new Shield();
shield.Initialize(genome.bodyGenome.shieldList[i], agent);
shieldList.Add(shield);
}
for (int i = 0; i < genome.bodyGenome.targetSensorList.Count; i++)
{
TargetSensor targetSensor = new TargetSensor();
targetSensor.Initialize(genome.bodyGenome.targetSensorList[i], agent);
targetSensorList.Add(targetSensor);
//targetSensorList[i].Initialize(genome.targetSensorList[i]);
}
for (int i = 0; i < genome.bodyGenome.thrusterList.Count; i++)
{
// Create Functional GameObjects & Components:
// none in this case
// Create Logic Module:
ThrusterEffector thrusterEffector = new ThrusterEffector();
// Initialize and HookUp Logic Module:
thrusterEffector.Initialize(genome.bodyGenome.thrusterList[i], agent);
// If Visible, Create Renderable GameObjects & Components:
if (isVisible)
{
// Find appropriate Prefab based on Agent & Module Genome:
GameObject thrusterGO = Instantiate(Resources.Load("Prefabs/Modules/Thrusters/thrusterTest")) as GameObject;
thrusterGO.transform.parent = agent.segmentList[genome.bodyGenome.thrusterList[i].parentID].transform;
thrusterGO.transform.localPosition = genome.bodyGenome.thrusterList[i].forcePoint;
thrusterGO.transform.localRotation = Quaternion.identity;
// Hook into Logic Module
thrusterEffector.thrusterComponent = thrusterGO.GetComponent <ThrusterComponent>();
}
// Add Logic Module to Agent's Master List
thrusterEffectorList.Add(thrusterEffector);
}
for (int i = 0; i < genome.bodyGenome.torqueList.Count; i++)
{
TorqueEffector torqueEffector = new TorqueEffector();
torqueEffector.Initialize(genome.bodyGenome.torqueList[i], agent);
torqueEffectorList.Add(torqueEffector);
//torqueEffectorList[i].Initialize(genome.torqueList[i]);
}
for (int i = 0; i < genome.bodyGenome.trajectorySensorList.Count; i++)
{
TrajectorySensor trajectorySensor = new TrajectorySensor();
trajectorySensor.Initialize(genome.bodyGenome.trajectorySensorList[i], agent);
trajectorySensorList.Add(trajectorySensor);
}
for (int i = 0; i < genome.bodyGenome.valueInputList.Count; i++)
{
InputValue inputValue = new InputValue();
inputValue.Initialize(genome.bodyGenome.valueInputList[i], agent);
valueList.Add(inputValue);
//valueList[i].Initialize(genome.valueInputList[i]);
}
for (int i = 0; i < genome.bodyGenome.weaponProjectileList.Count; i++)
{
WeaponProjectile weaponProjectile = new WeaponProjectile();
weaponProjectile.Initialize(genome.bodyGenome.weaponProjectileList[i], agent);
if (isVisible)
{
// Find appropriate Prefab based on Agent & Module Genome:
GameObject weaponGO = Instantiate(Resources.Load("Prefabs/Modules/WeaponProjectiles/projectileTest")) as GameObject;
weaponGO.transform.parent = agent.segmentList[genome.bodyGenome.weaponProjectileList[i].parentID].transform;
weaponGO.transform.localPosition = genome.bodyGenome.weaponProjectileList[i].muzzleLocation;
weaponGO.transform.localRotation = Quaternion.identity;
// Hook into Logic Module
weaponProjectile.weaponProjectileComponent = weaponGO.GetComponent <WeaponProjectileComponent>();
}
weaponProjectileList.Add(weaponProjectile);
/*weaponProjectileList[i].Initialize(genome.weaponProjectileList[i]);
*
* if (isVisible) {
* GameObject particleGO = Instantiate(Resources.Load(weaponProjectileList[i].GetParticleSystemURL())) as GameObject;
* ParticleSystem particle = particleGO.GetComponent<ParticleSystem>();
* ParticleSystem.EmissionModule emission = particle.emission;
* emission.enabled = false;
* particle.gameObject.transform.parent = rootObject.transform;
* particle.gameObject.transform.localPosition = new Vector3(0f, 0.5f, 0f);
* particle.gameObject.transform.localRotation = Quaternion.identity;
* weaponProjectileList[i].particles = particle; // save reference
* }
*/
}
for (int i = 0; i < genome.bodyGenome.weaponTazerList.Count; i++)
{
WeaponTazer weaponTazer = new WeaponTazer();
weaponTazer.Initialize(genome.bodyGenome.weaponTazerList[i], agent);
if (isVisible)
{
// Find appropriate Prefab based on Agent & Module Genome:
GameObject weaponGO = Instantiate(Resources.Load("Prefabs/Modules/WeaponTazers/tazerTest")) as GameObject;
weaponGO.transform.parent = agent.segmentList[genome.bodyGenome.weaponTazerList[i].parentID].transform;
weaponGO.transform.localPosition = genome.bodyGenome.weaponTazerList[i].muzzleLocation;
weaponGO.transform.localRotation = Quaternion.identity;
// Hook into Logic Module
weaponTazer.weaponTazerComponent = weaponGO.GetComponent <WeaponTazerComponent>();
}
weaponTazerList.Add(weaponTazer);
/*weaponTazerList[i].Initialize(genome.weaponTazerList[i]);
* if (isVisible) {
* GameObject particleGO = Instantiate(Resources.Load(weaponTazerList[i].GetParticleSystemURL())) as GameObject;
* ParticleSystem particle = particleGO.GetComponent<ParticleSystem>();
* ParticleSystem.EmissionModule emission = particle.emission;
* emission.enabled = false;
* particle.gameObject.transform.parent = weaponTazerList[i].parentBody.transform;
* particle.gameObject.transform.localPosition = weaponTazerList[i].muzzleLocation;
* particle.gameObject.transform.localRotation = Quaternion.identity;
* weaponTazerList[i].particles = particle; // save reference
* }
*/
}
}
private void CreateNewAverageCandidate()
{
AgentGenome blankGenome = new AgentGenome(.1f, 0);
avgCandidateData = new CandidateAgentData(blankGenome, speciesID);
avgCandidateData.SetToAverage(leaderboardGenomesList);
}
//CritterModuleFoodSensorsGenome foodGenome;
// * WPP: break code sections into methods, call from here
private void UpdateUI()
{
if (!agent)
{
return;
}
agentIndex = agent.index;
candidate = agent.candidateRef;
coreModule = agent.coreModule;
brain = agent.brain;
candidateGenome = candidate.candidateGenome;
brainGenome = candidateGenome.brainGenome;
bodyGenome = candidateGenome.bodyGenome;
coreGenome = bodyGenome.coreGenome;
foodModule = agent.foodModule;
movementModule = agent.movementModule;
//foodGenome = bodyGenome.foodGenome;
if (!agent.isInert)
{
// DebugTxt1 : use this for selected creature stats:
int curCount = 0;
int maxCount = 1;
if (agent.isEgg)
{
curCount = agent.lifeStageTransitionTimeStepCounter;
maxCount = agent.gestationDurationTimeSteps;
}
if (agent.isMature)
{
curCount = agent.ageCounter;
maxCount = agent.maxAgeTimeSteps;
}
if (agent.isDead)
{
curCount = agent.lifeStageTransitionTimeStepCounter;
maxCount = curCount; // agentRef._DecayDurationTimeSteps;
}
int progressPercent = Mathf.RoundToInt((float)curCount / (float)maxCount * 100f);
string lifeStageProgressTxt = " " + agent.curLifeStage + " " + curCount + "/" + maxCount + " " + progressPercent + "% ";
// &&&& INDIVIDUAL AGENT: &&&&
string debugTxtAgent = "";
debugTxtAgent += "CRITTER# [" + agentIndex + "] SPECIES# [" + agent.speciesIndex + "]\n\n";
// Init Attributes:
// Body:
debugTxtAgent += "Base Size: " + coreGenome.creatureBaseLength.ToString("F2") + ", Aspect: " + coreGenome.creatureAspectRatio.ToString("F2") + "\n";
debugTxtAgent += "Fullsize Dimensions: ( " + agent.fullSizeBoundingBox.x.ToString("F2") + ", " + agent.fullSizeBoundingBox.y.ToString("F2") + ", " + agent.fullSizeBoundingBox.z.ToString("F2") + " )\n";
debugTxtAgent += "BONUS - Damage: " + coreModule.damageBonus.ToString("F2") + ", Speed: " + coreModule.speedBonus.ToString("F2") + ", Health: " + coreModule.healthBonus.ToString("F2") + ", Energy: " + coreModule.energyBonus.ToString("F2") + "\n";
debugTxtAgent += "DIET - Decay: " + coreModule.digestEfficiencyDecay.ToString("F2") + ", Plant: " + coreModule.digestEfficiencyPlant.ToString("F2") + ", Meat: " + coreModule.digestEfficiencyMeat.ToString("F2") + "\n";
//string mouthType = "Active";
//if (agentRef.mouthRef.isPassive) { mouthType = "Passive"; }
//debugTxtAgent += "Mouth: [" + mouthType + "]\n";
debugTxtAgent += "# Neurons: " + brain.neurons.Count + ", # Axons: " + brain.axons.Count + "\n";
debugTxtAgent += "# In/Out Nodes: " + brainGenome.inOutNeurons.Count + ", # Hidden Nodes: " + brainGenome.hiddenNeurons.Count + ", # Links: " + brainGenome.links.Count + "\n";
debugTxtAgent += "\nSENSORS:\n";
debugTxtAgent += "Comms= " + bodyGenome.data.hasComms + "\n";
debugTxtAgent += "Enviro: WaterStats: " + bodyGenome.data.useWaterStats + ", Cardinals= " + bodyGenome.data.useCardinals + ", Diagonals= " + bodyGenome.data.useDiagonals + "\n";
//debugTxtAgent += "Food: Nutrients= " + foodGenome.useNutrients + ", Pos= " + foodGenome.usePos + ", Dir= " + foodGenome.useDir + ", Stats= " + foodGenome.useStats + ", useEggs: " + foodGenome.useEggs + ", useCorpse: " + foodGenome.useCorpse + "\n";
//debugTxtAgent += "Friend: Pos= " + bodyGenome.friendGenome.usePos + ", Dir= " + bodyGenome.friendGenome.useDir + ", Vel= " + bodyGenome.friendGenome.useVel + "\n";
//debugTxtAgent += "Threat: Pos= " + bodyGenome.threatGenome.usePos + ", Dir= " + bodyGenome.threatGenome.useDir + ", Vel= " + bodyGenome.threatGenome.useVel + ", Stats= " + bodyGenome.threatGenome.useStats + "\n";
// Realtime Values:
debugTxtAgent += "\nREALTIME DATA:";
//debugTxtAgent += "\nExp: " + agentRef.totalExperience.ToString("F2") + ", fitnessScore: " + agentRef.masterFitnessScore.ToString("F2") + ", LVL: " + agentRef.curLevel.ToString();
debugTxtAgent += "\n(" + lifeStageProgressTxt + ") Growth: " + (agent.sizePercentage * 100f).ToString("F0") + "%, Age: " + agent.ageCounter + " Frames\n\n";
debugTxtAgent += "Nearest Food: [" + foodModule.nearestFoodParticleIndex +
"] Amount: " + foodModule.nearestFoodParticleAmount.ToString("F4") +
"\nPos: ( " + foodModule.nearestFoodParticlePos.x.ToString("F2") +
", " + foodModule.nearestFoodParticlePos.y.ToString("F2") +
" ), Dir: ( " + foodModule.foodPlantDirX[0].ToString("F2") +
", " + foodModule.foodPlantDirY[0].ToString("F2") + " )" +
"\n";
debugTxtAgent += "\nNutrients: " + foodModule.nutrientDensity[0].ToString("F4") + ", Stamina: " + coreModule.stamina[0].ToString("F3") + "\n";
debugTxtAgent += "Gradient Dir: (" + foodModule.nutrientGradX[0].ToString("F2") + ", " + foodModule.nutrientGradY[0].ToString("F2") + ")\n";
//debugTxtAgent += "Total Food Eaten -- Decay: n/a, Plant: " + agentRef.totalFoodEatenPlant.ToString("F2") + ", Meat: " + agentRef.totalFoodEatenZoop.ToString("F2") + "\nFood Stored: " + agentRef.coreModule.foodStored[0].ToString() + ", Corpse Food Amount: " + agentRef.currentBiomass.ToString("F3") + "\n";
//debugTxtAgent += "\nFullSize: " + agentRef.fullSizeBoundingBox.ToString() + ", Volume: " + agentRef.fullSizeBodyVolume.ToString() + "\n";
//debugTxtAgent += "( " + (agentRef.sizePercentage * 100f).ToString("F0") + "% )\n";
debugTxtAgent += "\nCurVel: " + agent.curVel.ToString("F3") + ", CurAccel: " + agent.curAccel.ToString("F3") + ", AvgVel: " + agent.avgVel.ToString("F3") + "\n";
debugTxtAgent += "\nWater Depth: " + agent.waterDepth.ToString("F3") + ", Vel: " + (agent.avgFluidVel * 10f).ToString("F3") + "\n";
debugTxtAgent += "Throttle: [ " + movementModule.throttleX[0].ToString("F3") + ", " + movementModule.throttleY[0].ToString("F3") + " ]\n";
debugTxtAgent += "FeedEffector: " + coreModule.mouthFeedEffector[0].ToString("F2") + "\n";
debugTxtAgent += "AttackEffector: " + coreModule.mouthAttackEffector[0].ToString("F2") + "\n";
debugTxtAgent += "DefendEffector: " + coreModule.defendEffector[0].ToString("F2") + "\n";
debugTxtAgent += "DashEffector: " + coreModule.dashEffector[0].ToString("F2") + "\n";
debugTxtAgent += "HealEffector: " + coreModule.healEffector[0].ToString("F2") + "\n";
//+++++++++++++++++++++++++++++++++++++ CRITTER: ++++++++++++++++++++++++++++++++++++++++++++
string debugTxtGlobalSim = "";
debugTxtGlobalSim += "\n\nNumChildrenBorn: " + simulation.numAgentsBorn + ", numDied: " + simulation.numAgentsDied + ", ~Gen: " + ((float)simulation.numAgentsBorn / (float)simulation.numAgents);
debugTxtGlobalSim += "\nSimulation Age: " + simulation.simAgeTimeSteps;
debugTxtGlobalSim += "\nYear " + simulation.curSimYear + "\n\n";
int numActiveSpecies = masterGenomePool.currentlyActiveSpeciesIDList.Count;
debugTxtGlobalSim += numActiveSpecies + " Active Species:\n";
for (int s = 0; s < numActiveSpecies; s++)
{
int speciesID = masterGenomePool.currentlyActiveSpeciesIDList[s];
//int parentSpeciesID = simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].parentSpeciesID;
int numCandidates = masterGenomePool.completeSpeciesPoolsList[speciesID].candidateGenomesList.Count;
int numLeaders = masterGenomePool.completeSpeciesPoolsList[speciesID].leaderboardGenomesList.Count;
//int numBorn = simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].numAgentsEvaluated;
int speciesPopSize = 0;
//float avgFitness = simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgPerformanceData.totalTicksAlive;
for (int a = 0; a < simulation.numAgents; a++)
{
if (simulation.agents[a].speciesIndex == speciesID)
{
speciesPopSize++;
}
}
if (masterGenomePool.completeSpeciesPoolsList[speciesID].isFlaggedForExtinction)
{
debugTxtGlobalSim += "xxx ";
}
/*debugTxtGlobalSim += "Species[" + speciesID.ToString() + "] p(" + parentSpeciesID.ToString() + "), size: " + speciesPopSize.ToString() + ", #cands: " + numCandidates.ToString() + ", numEvals: " + numBorn.ToString() +
* ", avgFitness: " + avgFitness.ToString("F2") +
* ", avgConsumption: (" + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgFoodEatenCorpse.ToString("F4") + ", " + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgFoodEatenPlant.ToString("F4") + ", " + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgFoodEatenZoop.ToString("F4") + ", " + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgFoodEatenEgg.ToString("F4") + ", " + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgFoodEatenCreature.ToString("F4") +
* "), avgBodySize: " + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgBodySize.ToString("F3") +
* ", avgTalentSpec: (" + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgSpecAttack.ToString("F2") + ", " + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgSpecDefend.ToString("F2") + ", " + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgSpecSpeed.ToString("F2") + ", " + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgSpecUtility.ToString("F2") +
* "), avgDiet: (" + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgFoodSpecDecay.ToString("F2") + ", " + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgFoodSpecPlant.ToString("F2") + ", " + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgFoodSpecMeat.ToString("F2") +
* "), avgNumNeurons: " + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgNumNeurons.ToString("F1") +
* ", avgNumAxons: " + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgNumAxons.ToString("F1") +
* ", total: " + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgFitnessScore.ToString("F2") +
* ", avgExp: " + simManager.masterGenomePool.completeSpeciesPoolsList[speciesID].avgExperience.ToString() + "\n\n";*/
}
/*debugTxtGlobalSim += "\n\nAll-Time Species List:\n";
* for (int p = 0; p < simManager.masterGenomePool.completeSpeciesPoolsList.Count; p++) {
* string extString = "Active!";
* if (simManager.masterGenomePool.completeSpeciesPoolsList[p].isExtinct) {
* extString = "Extinct!";
* }
* debugTxtGlobalSim += "Species[" + p.ToString() + "] p(" + simManager.masterGenomePool.completeSpeciesPoolsList[p].parentSpeciesID.ToString() + ") " + extString + "\n";
* }*/
textDebugTrainingInfo1.text = debugTxtAgent;
textDebugTrainingInfo3.text = debugTxtGlobalSim;
}
string debugTxtResources = "";
debugTxtResources += "GLOBAL RESOURCES:\n";
debugTxtResources += "\nSunlight: " + environmentSettings._BaseSolarEnergy;
debugTxtResources += "\nOxygen: " + simResourceManager.curGlobalOxygen;
debugTxtResources += "\n + " + simResourceManager.oxygenProducedByAlgaeReservoirLastFrame + " ( algae reservoir )";
debugTxtResources += "\n + " + simResourceManager.oxygenProducedByPlantParticlesLastFrame + " ( algae particles )";
debugTxtResources += "\n - " + simResourceManager.oxygenUsedByDecomposersLastFrame + " ( decomposers )";
debugTxtResources += "\n - " + simResourceManager.oxygenUsedByAnimalParticlesLastFrame + " ( zooplankton )";
debugTxtResources += "\n - " + simResourceManager.oxygenUsedByAgentsLastFrame + " ( agents )";
debugTxtResources += "\nNutrients: " + simResourceManager.curGlobalNutrients;
debugTxtResources += "\n + " + simResourceManager.nutrientsProducedByDecomposersLastFrame + " ( decomposers )";
debugTxtResources += "\n - " + simResourceManager.nutrientsUsedByAlgaeReservoirLastFrame + " ( algae reservoir )";
debugTxtResources += "\n - " + simResourceManager.nutrientsUsedByPlantParticlesLastFrame + " ( algae particles )";
debugTxtResources += "\nDetritus: " + simResourceManager.curGlobalDetritus;
debugTxtResources += "\n + " + simResourceManager.wasteProducedByAlgaeReservoirLastFrame + " ( algae reservoir )";
debugTxtResources += "\n + " + simResourceManager.wasteProducedByPlantParticlesLastFrame + " ( algae particles )";
debugTxtResources += "\n + " + simResourceManager.wasteProducedByAnimalParticlesLastFrame + " ( zooplankton )";
debugTxtResources += "\n + " + simResourceManager.wasteProducedByAgentsLastFrame + " ( agents )";
debugTxtResources += "\n - " + simResourceManager.detritusRemovedByDecomposersLastFrame + " ( decomposers )";
debugTxtResources += "\nDecomposers: " + simResourceManager.curGlobalDecomposers;
debugTxtResources += "\nAlgae (Reservoir): " + simResourceManager.curGlobalAlgaeReservoir;
debugTxtResources += "\nAlgae (Particles): " + simResourceManager.curGlobalPlantParticles;
debugTxtResources += "\nZooplankton: " + simResourceManager.curGlobalAnimalParticles;
debugTxtResources += "\nLive Agents: " + simResourceManager.curGlobalAgentBiomass;
debugTxtResources += "\nDead Agents: " + simResourceManager.curGlobalCarrionVolume;
debugTxtResources += "\nEggSacks: " + simResourceManager.curGlobalEggSackVolume;
debugTxtResources += "\nGlobal Mass: " + simResourceManager.curTotalMass;
Vector4 resourceGridSample = simulation.SampleTexture(vegetationManager.resourceGridRT1, theCursorCzar.curMousePositionOnWaterPlane / SimulationManager._MapSize);
Vector4 simTansferSample = simulation.SampleTexture(vegetationManager.resourceSimTransferRT, theCursorCzar.curMousePositionOnWaterPlane / SimulationManager._MapSize) * 100f;
//Debug.Log("curMousePositionOnWaterPlane: " + curMousePositionOnWaterPlane.ToString());
debugTxtResources += "\nresourceGridSample: (" + resourceGridSample.x.ToString("F4") + ", " + resourceGridSample.y.ToString("F4") + ", " + resourceGridSample.z.ToString("F4") + ", " + resourceGridSample.w.ToString("F4") + ")";
debugTxtResources += "\nsimTansferSample: (" + simTansferSample.x.ToString("F4") + ", " + simTansferSample.y.ToString("F4") + ", " + simTansferSample.z.ToString("F4") + ", " + simTansferSample.w.ToString("F4") + ")";
textDebugTrainingInfo2.text = debugTxtResources;
if (debugTextureViewerArray == null)
{
CreateDebugRenderViewerArray();
}
debugTextureViewerMat.SetPass(0);
debugTextureViewerMat.SetVector("_Zoom", _Zoom);
debugTextureViewerMat.SetFloat("_Amplitude", _Amplitude);
debugTextureViewerMat.SetVector("_ChannelMask", _ChannelMask);
debugTextureViewerMat.SetInt("_ChannelSoloIndex", _ChannelSoloIndex);
debugTextureViewerMat.SetFloat("_IsChannelSolo", _IsChannelSolo);
debugTextureViewerMat.SetFloat("_Gamma", _Gamma);
//debugTextureViewerMat.
if (debugTextureViewerArray[_DebugTextureIndex])
{
debugTextureViewerMat.SetTexture("_MainTex", debugTextureViewerArray[_DebugTextureIndex]);
int channelID = 4;
string[] channelLabelTxt = new string[5];
channelLabelTxt[0] = " (X Solo)";
channelLabelTxt[1] = " (Y Solo)";
channelLabelTxt[2] = " (Z Solo)";
channelLabelTxt[3] = " (W Solo)";
channelLabelTxt[4] = " (Color)";
if (_IsChannelSolo > 0.5f)
{
channelID = _ChannelSoloIndex;
}
textDebugTextureName.text = debugTextureViewerArray[_DebugTextureIndex].name + channelLabelTxt[channelID];
}
textDebugTextureZoomX.text = _Zoom.x.ToString();
textDebugTextureZoomY.text = _Zoom.y.ToString();
textDebugTextureAmplitude.text = _Amplitude.ToString();
textDebugTextureSoloChannelIndex.text = _ChannelSoloIndex.ToString();
textDebugTextureGamma.text = _Gamma.ToString();
}
public void AddNewCandidateGenome(AgentGenome newGenome)
{
//Debug.Log("AddedNewCandidate! " + candidateGenomesList.Count.ToString());
CandidateAgentData newCandidateData = new CandidateAgentData(newGenome, speciesID);
candidateGenomesList.Add(newCandidateData);
}
