private void FixedUpdate()
{
if (!sleep)
{
Feelers_RayGenerator feelerNum = this.GetComponentInChildren <Feelers_RayGenerator>();
float[] inputs = new float[size + 3 + (outputs - 2)]; // initialised size of inputs as the num of feelers + 2 vars(speed and angle),inputs from Output and bias
int j = 0;
for (int i = 0; i < feelerNum.feelerDists.Length; i++)
{
inputs[i] = feelerNum.feelerDists[i];
j++;
}
// j is to keep track of the counter used to add to the inputs list
int io = 0; // to iterate through the outputs, with the first 2 items passed as input to the car
for (int i = j; i < j + outInput.Length; i++)
{
inputs[i] = outInput[io];
++io;
}
inputs[inputs.GetLength(0) - 3] = m_Car.CurrentSpeed;
inputs[inputs.GetLength(0) - 2] = m_Car.CurrentSteerAngle;
inputs[inputs.GetLength(0) - 1] = -1;//bias value
Feedforward(inputs);
//Get outputs to be used for recurrent NN
for (int i = 2; i < outputs; i++)
{
outInput[i - 2] = getOutputs()[i];
}
// pass the input to the car!
steering = getOutputs()[0];
throttle = getOutputs()[1];
float h = getOutputs()[0];
float v = getOutputs()[1];
m_Car.Move(h, v, v, 0f);
}
else
{
m_Car.Move(0, 0, 0, 0 /*h, v, v, 0f*/);
m_Car.gameObject.GetComponent <Rigidbody>().angularVelocity = Vector3.zero;
m_Car.gameObject.GetComponent <Rigidbody>().velocity = Vector3.zero;
m_Car.Move(0, 0, 0, 0 /*h, v, v, 0f*/);
}
}
void Awake()
{
m_Car = GetComponent <CarController>();
Feelers_RayGenerator feelerNum = this.GetComponentInChildren <Feelers_RayGenerator>();
size = feelerNum.feelerDists.GetLength(0);
inputs = size + 3 + (outputs - 2); //bias, carspeed and angle included in input layer, and the inputs for the recurrentNN from output
layers = hiddenLayers + 2; // total layers including input and output layers
weights = new List <float[][]>(); //weight initialisation
neurons = new List <List <float> >();
outInput = new float[outputs - 2];
// Assign Values to neurons
for (int i = 0; i < layers; i++)
{
float[][] layerWeights;
List <float> layer = new List <float>();
int layerSize = getSizeLayer(i);
if (i != hiddenLayers + 1) // checking that not the last layer (it is + 1, rather than + 2 because i is zero-based)
{
layerWeights = new float[layerSize][];
int nextSize = getSizeLayer(i + 1); // size of the next layer
for (int j = 0; j < layerSize; j++)
{
layerWeights[j] = new float[nextSize];
for (int k = 0; k < nextSize; k++)
{
layerWeights[j][k] = getRandom();
}
}
weights.Add(layerWeights);
}
//What is this for? Geoff = Think it stores the Neuron's value (Input/lastestResultantFNet)
for (int j = 0; j < layerSize; j++)
{
layer.Add(0);
}
neurons.Add(layer);
}
}
// Start is called before the first frame update
void Start()
{
// Open logging files
if (logOutputs)
{
lastPrintedDist = -1;
startTime = Time.time;
Feelers_RayGenerator feelerSettings = this.gameObject.transform.GetChild(0).gameObject.GetComponent <Feelers_RayGenerator>();
NeuralNetwork NN = this.gameObject.GetComponent <NeuralNetwork>();
// Initialize naming conventions (open/create all the files) add a time stamp line to each
if (folderToSaveTo.Length != 0)
{
folderToSaveTo = folderToSaveTo + "/";
}
string filepath = String.Format("{0}{5}-Log(Feelr#={1}len{2};#recur={3};#hid={4})"
, folderToSaveTo, feelerSettings.feelerDists.Length, feelerSettings.feelerLength, NN.outputs - 2, NN.hLayer_size, customLabel);
outputStream = new StreamWriter("Assets/logs/" + filepath + ".txt", true);
outputStream.WriteLine("/////////////////// START ///////////////////");
outputStream.WriteLine("///// " + DateTime.Now);
outputStream.WriteLine("///// " + filepath);
}
}
// Create genes(weights) property and instantiate and position cars
void Start()
{
// Initialize some variables
curGeneration = 0;
leadCounter = 0;
// Open logging files
if (logOutputs && sessionStartTime == 0)
{
sessionStartTime = Time.time;
Feelers_RayGenerator feelerSettings = cars.carPopulation[0].transform.GetChild(0).gameObject.GetComponent <Feelers_RayGenerator>();
NeuralNetwork NN = cars.carPopulation[0].GetComponent <NeuralNetwork>();
// Initialize naming conventions (open/create all the files) add a time stamp line to each
if (folderToSaveTo.Length != 0)
{
folderToSaveTo = folderToSaveTo + "/";
}
string filepath = String.Format("{0}Log(Feelr#={1}len{2};NN-w={3}socC={4}cognC={5};#recur={6};#hid={7})"
, folderToSaveTo, feelerSettings.feelerDists.Length, feelerSettings.feelerLength, w, socialConst, cognitiveConst, NN.outputs - 2, NN.hLayer_size);
outputStream = new StreamWriter("Assets/logs/" + filepath + ".txt", true);
outputStream.WriteLine("/////////////////// START ///////////////////");
outputStream.WriteLine("///// " + DateTime.Now);
outputStream.WriteLine("///// " + filepath);
}
//Initialize Velocity Vectors to Zero
ParticleVelocityVectors = new List <List <float[][]> >();
for (int x = 0; x < POPULATION_SIZE; x++)
{
ParticleVelocityVectors.Add(InitializeParticleVelocityToZero());
}
// Can't evaluate fitness until raced at least once...
// So can build that in on Update()
}
