void LateUpdate()
{
if (active)
{
if (!AIControlled)
{
torque = Input.GetAxis("Vertical") * maxPower * 250 * Time.deltaTime;
steer = Input.GetAxis("Horizontal") * maxSteer;
brake = Input.GetKey("space") ? GetComponent <Rigidbody>().mass * 0.25f : 0.0f;
}
else
{
steering = neuralNet.CalculateNN(CalculateRaycasts());
steer = steering * maxSteer;
torque = aiAcceleration * maxPower * 250 * Time.deltaTime;
brake = 0;
if (Vector3.Distance(transform.position, objective) < 5)
{
Inactive(true);
}
}
rearLeftWheel.motorTorque = torque;
rearRightWheel.motorTorque = torque;
frontRightWheel.steerAngle = steer;
frontLeftWheel.steerAngle = steer;
frontLeftWheel.brakeTorque = brake;
frontRightWheel.brakeTorque = brake;
rearLeftWheel.brakeTorque = brake;
rearRightWheel.brakeTorque = brake;
cSamplesInterval += Time.fixedDeltaTime;
if (cSamplesInterval > fitSamplesInterval)
{
CalculateFitness();
UpdateUI();
cSamplesInterval = 0;
}
}
}
// Update is called once per frame
void FixedUpdate()
{
brain = nn.ReadBrain();
// Rotate the charater based on Horizonal Input & later NN Output
transform.rotation = Quaternion.Euler(transform.eulerAngles + Vector3.up * movement * 2.5f);
// If attempt has ended
if (!ended)
{
// Auto move Forrest forward
rb.MovePosition(transform.position + transform.forward * (Time.deltaTime * 10));
}
// Set up a raycast hit for knowing what we hit
RaycastHit hit;
// Set up out 5 feelers for undertanding the world
Vector3[] feeler = new Vector3[]
{
// 0 = L
transform.TransformDirection(Vector3.left),
// 1 - FL
transform.TransformDirection(Vector3.left + Vector3.forward),
// 2 - F
transform.TransformDirection(Vector3.forward),
// 3 = FR
transform.TransformDirection(Vector3.right + Vector3.forward),
// 4 = R
transform.TransformDirection(Vector3.right),
};
// Use this to collect all feeler distances, then well pass them through our NN for an output
inp = new float[feeler.Length];
// Loop through all feelers
for (int i = 0; i < feeler.Length; i++)
{
// See what all feelers feel
if (Physics.Raycast(transform.position, feeler[i], out hit))
{
// If feelers feel something other than Forrest & nothing
if (hit.collider != null && hit.collider != col)
{
// Set the input[i] to be the distance of feeler[i]
inp[i] = hit.distance;
}
}
// Draw the feelers in the Scene mode
Debug.DrawRay(transform.position, feeler[i] * 10, Color.red);
}
// Add to our fitness every frame
fitness += (ended) ? 0 : inp2fit(inp);
// This sets the output text display to be the output of our NN
if (!menu)
{
movement = ended ? 0 : ((C.intelli == ctrl.IntelMode.Human) ? Input.GetAxis("Horizontal") : nn.CalculateNN(inp));
}
else
{
movement = ended ? 0 : (nn.CalculateNN(inp));
}
//
if (!menu && !ended && lap.x > lap.y)
{
Freeze();
CheckIfLast();
}
}
