public void Generate()
{
generation++;
highestFitness = 0;
for (int i = 0; i < population.Count; i++)
{
if (population[i].fitness > highestFitness)
{
highestFitness = population[i].fitness;
}
}
CollectStats();
List <Car_Class> newPopulation = new List <Car_Class>();
for (int i = 0; i < population.Count; i++)
{
Car_Class partnerA = AcceptReject();
Car_Class partnerB = AcceptReject();
Car_Class child = partnerA.CrossOver(partnerB);
child.Mutate();
newPopulation.Add(child);
}
tempPopulation = newPopulation;
DestroyPreviousGeneration();
population = newPopulation;
}
// This function will randomly combine the genes of two Car_Classes.
public Car_Class CrossOver(Car_Class partner)
{
GameObject parent = new GameObject("ParentDel");
GameObject body = new GameObject("BodyDel");
parent.tag = "Delete";
body.tag = "Delete";
Car_Class child = new Car_Class(
parent, // Parent GameObject
body, // Reference to body object
new Vector3(0.5f, 0.5f, 0), // Size of car
new List <Wheel> {
}, // Array of wheels
new Engine(1000f, 10000f, 1000f), // Cars engine. Engine speed | Max torque | Rotation speed
new Driver(0f, 0f) // Driver. CorrectionCone | AccelerationCone
);
int midPoint = Random.Range(0, DNA.Count);
for (int i = 0; i < DNA.Count; i++)
{
if (i > midPoint)
{
child.DNA[i] = DNA[i];
}
else
{
child.DNA[i] = partner.DNA[i];
}
}
List <Wheel> wheels = (List <Wheel>)child.DNA[3];
List <object> temp = child.DNA;
child = new Car_Class(
(GameObject)child.DNA[0], // Parent GameObject
(GameObject)child.DNA[1], // Reference to body object
(Vector3)child.DNA[2], // Size of car
wheels, // Array of wheels
(Engine)child.DNA[4], // Cars engine. Engine speed | Max torque | Rotation speed
(Driver)child.DNA[5] // Driver. CorrectionCone | AccelerationCone
);
return(child);
}
// This function will return a Car_Class, but it will disproportionally favor Car_Classes with higher fitness.
// It means the best cars are more likely to have their genes make up the next generation of cars.
private Car_Class AcceptReject()
{
int useProtection = 0;
while (true)
{
int index = UnityEngine.Random.Range(0, population.Count - 1);
float r = UnityEngine.Random.Range(0f, highestFitness);
Car_Class partner = population[index];
if (r < partner.fitness)
{
return(partner);
}
useProtection++;
if (useProtection > 10000)
{
print("HAD TO USE PROTECTIOn"); return(null);
}
}
}
// This function is responsible for spawning a car based on a Car_Class input. It will return a Car_Class
// with references to the spawned objects of that car.
public Car_Class SpawnCar(Car_Class car)
{
// If wheel amount is not affected by evolution, make sure every car has 2 wheels
if (!main.wheelAmountAffectedByEvolution)
{
car.Wheels = car.Wheels.GetRange(0, 2);
for (int i = 0; i < 2; i++)
{
if (car.Wheels.Count <= 1)
{
car.Wheels.Add(new Wheel(new GameObject("Wheel WTF"), new Vector2(-1, -1), new Suspension(5, 0.5f), 1));
}
}
}
// Create a parent object that all other objects can be listed under in the hierarchy
string carParentName = car.CarParent.name;
Destroy(car.CarParent);
if (carParentName == "")
{
carParentName = "Car";
}
car.CarParent = new GameObject(carParentName);
car.DNA[0] = car.CarParent;
// Create the car body
Destroy(car.Body);
car.Body = Instantiate(bodyPrefab, emptyVector3, emptyQuaternion, car.CarParent.transform);
car.DNA[1] = car.Body;
car.Body.transform.localScale = car.Size;
// Make sure the body has a body tag, so we can exclude it from colliding with other cars.
car.Body.layer = 8;
// Determine the cars weight based on scale
float mass = car.Size.x * car.Size.y * 100 * main.percentageOfCalculatedMass;
if (mass < main.lowestMass)
{
mass = main.lowestMass;
}
car.Body.GetComponent <Rigidbody2D>().mass = mass;
// Initialize the car controller component on the car body
Car_Controller car_controller = car.Body.GetComponent <Car_Controller>();
// Setup the engine
car_controller.EngineSpeed = car.Engine.EngineSpeed;
car_controller.MaxMotorTorque = car.Engine.MaxMotorTorque;
car_controller.CarRotationTorque = car.Engine.CarRotationTorque;
// Prepare the car driver
car_controller.CorrectionCone = car.Driver.CorrectionCone;
car_controller.AccelerationCone = car.Driver.AccelerationCone;
if (car.Driver.CorrectionCone != 0 || car.Driver.AccelerationCone != 0)
{
car_controller.hasDriver = true;
}
// Add the wheels
float carLengthX = car.Body.GetComponent <SpriteRenderer>().bounds.size.x *(1 / car.Size.x) / 2;
float carLengthY = car.Body.GetComponent <SpriteRenderer>().bounds.size.y *(1 / car.Size.y) / 2;
foreach (Wheel wheel in car.Wheels)
{
// Get the position and instantiate the wheel object
Vector3 wheelPos = new Vector3(Map(wheel.Position.x, -1, 1, carLengthX * -1, carLengthX), Map(wheel.Position.y, -1, 1, carLengthY * -1, carLengthY), 0);
wheel.WheelGO = Instantiate(wheelPrefab, wheelPos, emptyQuaternion, car.CarParent.transform);
// Add the wheel join
WheelJoint2D wheelJoint = car.Body.AddComponent <WheelJoint2D>();
wheelJoint.connectedBody = wheel.WheelGO.GetComponent <Rigidbody2D>();
wheelJoint.anchor = wheelPos;
// Set wheels graphical size
wheel.WheelGO.GetComponent <SpriteRenderer>().size = new Vector3(wheel.SizeX, wheel.SizeX);
// Add wheel to the car tag, to avoid cars colliding with each other
wheel.WheelGO.layer = 8;
// Setup the suspension
wheelJoint.suspension = new JointSuspension2D {
frequency = wheel.Suspension.Stiffness, dampingRatio = wheel.Suspension.DampingRatio, angle = 90
};
}
car.Body.GetComponent <Car_Controller>().wheels = car.Body.GetComponents <WheelJoint2D>();
car.DNA[3] = car.Wheels;
return(car);
}
