private void SpawnCreature(JointGenerator generator)
{
var pos = new Vector3(
x: _size.xMin + Random.value * _size.width,
y: 3,
z: _size.yMin + Random.value * _size.height
);
var rootObject = generator.Instantiate(pos);
var centralBody = rootObject.transform.GetChild(0).gameObject;
Sensor.CreateComponent(centralBody, typeof(Food), State.BasicKeys.RelativeFoodPosition, range: 100f);
var mouth = Mouth.CreateComponent(centralBody, typeof(Food));
var actions = LocomotionAction.EightDirections();
var sequenceMaker = new EvolutionarySequenceMaker(epsilon: 0.3f, minimumCandidates: 30);
var brain = new Brain(
new FollowPointDecisionMaker(State.BasicKeys.RelativeFoodPosition),
sequenceMaker
);
var agent = Agent.CreateComponent(rootObject, brain, new Body(rootObject), actions);
agent.name = RandomName();
var info = GameUI.AddAgent(agent);
StartCoroutine(EntryPointUtility.Rename(info, agent, mouth));
}
private GameObject SpawnCreature()
{
var rootObject = GameObject.CreatePrimitive(PrimitiveType.Cube);
SuperFlexibleMove.CreateComponent(rootObject, speed: 1f);
rootObject.AddComponent <Rigidbody>().freezeRotation = true;
rootObject.GetComponent <Renderer>().material.color = Color.red;
Sensor.CreateComponent(rootObject, typeof(Food), State.BasicKeys.RelativeFoodPosition, range: 100f);
Mouth.CreateComponent(rootObject, typeof(Food));
var actions = LocomotionAction.EightDirections();
var sequenceMaker = new EvolutionarySequenceMaker(epsilon: 0.3f, minimumCandidates: 30);
var brain = new Brain(
new FollowPointDecisionMaker(State.BasicKeys.RelativeFoodPosition),
sequenceMaker
);
Agent.CreateComponent(rootObject, brain, new Body(rootObject), actions);
return(rootObject);
}
public void JustSampleUsage()
{
var actions = LocomotionAction.EightDirections();
var sequenceMaker = new EvolutionarySequenceMaker(epsilon: 0.3f, minimumCandidates: 30);
var decisionMaker = new ReinforcementDecisionMaker();
var brain = new MotionGenerator.Brain(
decisionMaker,
sequenceMaker
);
brain.Init(
new Dictionary <Guid, int> {
{ Guid.NewGuid(), (new ManipulatableMock()).GetManipulatableDimention() }
},
actions,
new List <ISoul>()
{
new GluttonySoul()
}
);
// Position, Rotation is required to update LocomotionAction
// GluttonySoul.Key is required to update GluttonySoul
// others are used to decide action
brain.GenerateMotionSequence(new State(new Dictionary <string, Vector>()
{
{ State.BasicKeys.RelativeFoodPosition, DenseVector.OfArray(new double[] { 0.5f, 0.5f, 0.5f }) },
{ State.BasicKeys.BirthPosition, DenseVector.OfArray(new double[] { 0f, 0f, 0f }) },
{ State.BasicKeys.Position, DenseVector.OfArray(new double[] { 0f, 0f, 0f }) },
{ State.BasicKeys.Rotation, DenseVector.OfArray(new double[] { 0f, 0f, 0f, 0f }) },
{ GluttonySoul.Key, DenseVector.OfArray(new double[] { 0f }) }
}));
brain.GenerateMotionSequence(new State(new Dictionary <string, Vector>()
{
{ State.BasicKeys.RelativeFoodPosition, DenseVector.OfArray(new double[] { 0.5f, 0.5f, 0.5f }) },
{ State.BasicKeys.BirthPosition, DenseVector.OfArray(new double[] { 0f, 0f, 0f }) },
{ State.BasicKeys.Position, DenseVector.OfArray(new double[] { 0.1f, 0f, 0f }) },
{ State.BasicKeys.Rotation, DenseVector.OfArray(new double[] { 0f, 0f, 0f, 0f }) },
{ GluttonySoul.Key, DenseVector.OfArray(new double[] { 1f }) }
}));
}
private GameObject SpawnCreature()
{
var prefab = (GameObject)Resources.Load("Prefabs/Car");
var car = Instantiate(prefab, Vector3.zero, Quaternion.identity);
CarControlManipulatable.CreateComponent(car);
Sensor.CreateComponent(car, typeof(Food), State.BasicKeys.RelativeFoodPosition, range: 100f);
Mouth.CreateComponent(car, typeof(Food));
var actions = LocomotionAction.EightDirections();
var sequenceMaker = new EvolutionarySequenceMaker(epsilon: 0.3f, minimumCandidates: 30);
var brain = new Brain(
new FollowPointDecisionMaker(State.BasicKeys.RelativeFoodPosition),
sequenceMaker
);
Agent.CreateComponent(car, brain, new Body(car), actions);
return(car);
}
public static Car CreateComponent(Vector3 vector3, Camera main)
{
var prefab = (GameObject)Resources.Load("Prefabs/Car");
var car = Instantiate(prefab, vector3, Quaternion.identity);
CarControlManipulatable.CreateComponent(car);
SurroundSensor.CreateComponent(car);
Sensor.CreateComponent(car, typeof(Food), State.BasicKeys.RelativeFoodPosition, range: 300f);
Mouth.CreateComponent(car, typeof(Food));
CrashSensor.CreateComponent(car);
var actions = LocomotionAction.EightDirections();
var sequenceMaker = new EvolutionarySequenceMaker(epsilon: 0.3f, minimumCandidates: 30);
IDecisionMaker decisionMaker = new ReinforcementDecisionMaker(
keyOrder: new[]
{
State.BasicKeys.Forward,
State.BasicKeys.RelativeFoodPosition,
SurroundSensor.Key
}, soulWeights: new[]
{
1f, 1f
});
decisionMaker = new LoggingDecisionMaker(decisionMaker);
var brain = new Brain(
decisionMaker,
sequenceMaker
);
Agent.CreateComponent(car, brain, new Body(car), actions, souls: new List <ISoul>()
{
new SnufflingDifferencialSoul(),
new AvoidCrashSoul()
});
return(car.AddComponent <Car>()._CreateComponent(main, vector3));
}
private Agent StartCreature(GameObject creatureRootGameObject, GameObject centralBody)
{
// Add Sensor and Mouth for food
Sensor.CreateComponent(centralBody, typeof(Food), State.BasicKeys.RelativeFoodPosition, range: 100f);
var mouth = Mouth.CreateComponent(centralBody, typeof(Food));
// Initialize Brain
var actions = LocomotionAction.EightDirections();
var sequenceMaker = new EvolutionarySequenceMaker(epsilon: 0.1f, minimumCandidates: 30);
var decisionMaker = new FollowPointDecisionMaker(State.BasicKeys.RelativeFoodPosition);
var souls = new List <ISoul>()
{
new GluttonySoul()
};
var brain = new Brain(decisionMaker, sequenceMaker);
var agent = Agent.CreateComponent(creatureRootGameObject, brain, new Body(centralBody), actions, souls);
var info = GameUI.AddAgent(agent);
StartCoroutine(EntryPointUtility.Rename(info, agent, mouth));
return(agent);
}
private GameObject SpawnCreature(bool reinforcement = true)
{
var rootObject = new GameObject();
var creature = GameObject.CreatePrimitive(PrimitiveType.Cube);
creature.transform.position = new Vector3(
x: _size.xMin + Random.value * _size.width,
y: 1,
z: _size.yMin + Random.value * _size.height
);
creature.transform.parent = rootObject.transform;
SuperFlexibleMove.CreateComponent(creature, speed: 1f);
creature.AddComponent <Rigidbody>().freezeRotation = true;
creature.GetComponent <Renderer>().material.color = reinforcement ? Color.red : Color.yellow;
Sensor.CreateComponent(creature, typeof(Food), State.BasicKeys.RelativeFoodPosition, range: 100f);
var mouth = Mouth.CreateComponent(creature, typeof(Food));
var actions = LocomotionAction.EightDirections();
var sequenceMaker = new EvolutionarySequenceMaker(epsilon: 0.3f, minimumCandidates: 30);
if (reinforcement)
{
}
var decisonMaker = reinforcement
? (IDecisionMaker) new ReinforcementDecisionMaker()
: (IDecisionMaker) new FollowPointDecisionMaker(State.BasicKeys.RelativeFoodPosition);
var brain = new Brain(
decisonMaker,
sequenceMaker
);
var agent = Agent.CreateComponent(rootObject, brain, new Body(creature), actions);
var info = GameUI.AddAgent(agent);
agent.name = reinforcement ? "Reinforce" : "Rule";
StartCoroutine(EntryPointUtility.Rename(info, agent, mouth));
return(creature);
}
public static Agent CreateComponent(Vector3 vector3, Camera main)
{
// var prefab = (GameObject) Resources.Load("Prefabs/Car");
// prefab.transform.localScale = prefab.transform.localScale * 5;
// var creature = Instantiate(prefab, vector3, Quaternion.identity);
// CarControlManipulatable.CreateComponent(creature);
var prefab = (GameObject)Resources.Load("CreaturePrefabs/GymAnt");
prefab.transform.localScale = prefab.transform.localScale * 1;
var creature = Instantiate(prefab, vector3, Quaternion.identity);
foreach (var rigid in creature.GetComponentsInChildren <Rigidbody>())
{
rigid.mass *= 300;
rigid.solverIterations = 1000;
rigid.collisionDetectionMode = CollisionDetectionMode.Continuous;
}
foreach (var collider in creature.GetComponentsInChildren <Collider>())
{
collider.material = (Resources.Load <PhysicMaterial>("Ground"));
}
creature.transform.GetChild(0).GetComponent <Rigidbody>().mass *= 5;
creature.transform.GetChild(0).GetComponent <Rigidbody>().angularDrag *= 15;
UnityEngine.Debug.Log(creature.name);
foreach (Transform part in creature.transform)
{
var obj = part.gameObject;
if (obj == null)
{
continue;
}
obj.AddComponent <CrasherBehaviour>();
}
BuildingSensor.CreateComponent(creature.transform.GetChild(0).gameObject, 500);
var actions = LocomotionAction.EightDirections();
var sequenceMaker = new EvolutionarySequenceMaker(epsilon: 0.3f, minimumCandidates: 30);
// IDecisionMaker decisionMaker = new ReinforcementDecisionMaker(
// keyOrder: new[]
// {
// State.BasicKeys.Forward,
// State.BasicKeys.RelativeFoodPosition
// }, soulWeights: new[]
// {
// 1f
// });
// decisionMaker = new LoggingDecisionMaker(decisionMaker);
IDecisionMaker decisionMaker = new FollowPointDecisionMaker(State.BasicKeys.RelativeFoodPosition);
var brain = new Brain(
decisionMaker,
sequenceMaker
);
var agent = Agent.CreateComponent(creature, brain, new Body(creature.transform.GetChild(0).gameObject),
actions,
souls: new List <ISoul>()
{
new SnufflingDifferencialSoul()
});
creature.AddComponent <CrasherCreature>()._CreateComponent(main, vector3);
return(agent);
}
