private float fitness(CPPN cppn, int evaluationIterations)
{
Vector2 vel = new Vector2();
Vector2 prevVel = new Vector2();
Vector2 pos = new Vector2();
float traveledDistance = 0;
for (int i = 0; i < evaluationIterations; i++)
{
prevVel = new Vector2(vel.x, vel.y);
float[] input = { vel[0], vel[1], traveledDistance };
float[] result = cppn.setInputGetoutput(input);
Vector2 res = new Vector2(result[0], result[1]);
if (res.magnitude > maxSpeed)
{
res *= maxSpeed / res.magnitude;
}
vel[0] += Mathf.Clamp(res[0], -maxSpeed * Time.deltaTime, maxSpeed * Time.deltaTime);
vel[1] += Mathf.Clamp(res[1], -maxSpeed * Time.deltaTime, maxSpeed * Time.deltaTime);
traveledDistance += vel.magnitude;
pos += vel;
}
return(traveledDistance / (pos.magnitude * 0.5f));
}
private void FixedUpdate()
{
float[] input = { vel[0], vel[1], traveledDistance };
float[] result = cppn.setInputGetoutput(input);
vel[0] = Mathf.Clamp(result[0], -maxSpeed * Time.deltaTime, maxSpeed * Time.deltaTime);
vel[1] = Mathf.Clamp(result[1], -maxSpeed * Time.deltaTime, maxSpeed * Time.deltaTime);
traveledDistance += vel.magnitude;
transform.Translate(vel[0], 0, vel[1], Space.Self);
}
private void FixedUpdate()
{
float[] input = { vel[0], vel[1], traveledDistance };
float[] result = cppn.setInputGetoutput(input);
Vector2 res = new Vector2(result[0], result[1]);
if (res.magnitude > maxSpeed)
{
res *= maxSpeed / res.magnitude;
}
vel[0] += Mathf.Clamp(res[0], -maxSpeed * Time.deltaTime, maxSpeed * Time.deltaTime);
vel[1] += Mathf.Clamp(res[1], -maxSpeed * Time.deltaTime, maxSpeed * Time.deltaTime);
traveledDistance += vel.magnitude;
transform.Translate(vel[0], 0, vel[1], Space.Self);
}
public float Fitness(CPPN cppn, int evaluationIterations)
{
//float output = 0;
Vector2 vel = new Vector2();
Vector2 pos = new Vector2();
float traveledDistance = 0;
for (int i = 0; i < evaluationIterations; i++)
{
float[] input = { vel[0], vel[1], traveledDistance };
float[] result = cppn.setInputGetoutput(input);
vel[0] = Mathf.Clamp(result[0], -maxSpeed * Time.deltaTime, maxSpeed * Time.deltaTime);
vel[1] = Mathf.Clamp(result[1], -maxSpeed * Time.deltaTime, maxSpeed * Time.deltaTime);
traveledDistance += vel.magnitude;
pos += vel;
}
return(pos.magnitude + traveledDistance);
}
