public void Initialize(TargetColumnGenome genome, EnvironmentGenome envGenomeRef)
{
this.genome = genome;
gameObject.GetComponent <Collider>().enabled = false;
//Vector2 randDir = UnityEngine.Random.insideUnitCircle;
//float radius = 20f;
//float x = UnityEngine.Random.Range(genome.minX, genome.maxX) * Challenge.GetChallengeArenaBounds(Challenge.Type.Test).x - (Challenge.GetChallengeArenaBounds(Challenge.Type.Test).x * 0.5f);
//float z = UnityEngine.Random.Range(genome.minZ, genome.maxZ) * Challenge.GetChallengeArenaBounds(Challenge.Type.Test).z - (Challenge.GetChallengeArenaBounds(Challenge.Type.Test).z * 0.5f);
float x = genome.minX * Challenge.GetChallengeArenaBounds(Challenge.Type.Test).x - (Challenge.GetChallengeArenaBounds(Challenge.Type.Test).x * 0.5f);
float z = genome.minZ * Challenge.GetChallengeArenaBounds(Challenge.Type.Test).z - (Challenge.GetChallengeArenaBounds(Challenge.Type.Test).z * 0.5f);
Vector3 targetPos = new Vector3(x, 0.5f, z);
Vector3 startToTarget = targetPos - envGenomeRef.agentStartPositionsList[0].agentStartPosition;
if (startToTarget.magnitude <= 3f)
{
targetPos = new Vector3(envGenomeRef.agentStartPositionsList[0].agentStartPosition.x, 0.5f, envGenomeRef.agentStartPositionsList[0].agentStartPosition.z + 6f);
//Debug.Log("Moved TargetPos to avoid collision!!!");
}
gameObject.transform.localPosition = targetPos;
gameObject.transform.localScale = new Vector3(genome.targetRadius, 10f, genome.targetRadius);
}
public TargetColumnGenome(TargetColumnGenome templateGenome)
{
targetRadius = templateGenome.targetRadius;
minX = templateGenome.minX;
maxX = templateGenome.maxX;
minZ = templateGenome.minZ;
maxZ = templateGenome.maxZ;
minDistanceFromAgent = templateGenome.minDistanceFromAgent;
}
public void CopyGenomeFromTemplate(EnvironmentGenome templateGenome)
{
//Debug.Log("CopyGenomeFromTemplate BEFORE startPosCount: " + templateGenome.agentStartPositionsList.Count.ToString());
// This method creates a clone of the provided ScriptableObject Genome - should have no shared references!!!
this.challengeType = templateGenome.challengeType;
arenaBounds = new Vector3(templateGenome.arenaBounds.x, templateGenome.arenaBounds.y, templateGenome.arenaBounds.z);
agentStartPositionsList = new List <StartPositionGenome>();
for (int i = 0; i < templateGenome.agentStartPositionsList.Count; i++)
{
//Debug.Log("CopyGenomeFromTemplate DURING i: " + i.ToString());
StartPositionGenome genomeCopy = new StartPositionGenome(templateGenome.agentStartPositionsList[i]);
agentStartPositionsList.Add(genomeCopy);
}
//Debug.Log("CopyGenomeFromTemplate AFTER startPosCount: " + agentStartPositionsList.Count.ToString());
useTerrain = templateGenome.useTerrain;
if (useTerrain)
{
terrainGenome = new TerrainGenome(templateGenome.terrainGenome);
//terrainGenome.InitializeRandomGenome();
}
useBasicObstacles = templateGenome.useBasicObstacles;
if (useBasicObstacles)
{
basicObstaclesGenome = new BasicObstaclesGenome(templateGenome.basicObstaclesGenome, this);
//basicObstaclesGenome.InitializeRandomGenome();
}
useTargetColumn = templateGenome.useTargetColumn;
if (useTargetColumn)
{
targetColumnGenome = new TargetColumnGenome();
//targetColumnGenome.InitializeRandomGenome();
}
useAtmosphere = templateGenome.useAtmosphere;
if (useAtmosphere)
{
atmosphereGenome = new AtmosphereGenome(templateGenome.atmosphereGenome);
//basicObstaclesGenome.InitializeRandomGenome();
}
useMeteorites = templateGenome.useMeteorites;
if (useMeteorites)
{
meteoritesGenome = new MeteoritesGenome(templateGenome.meteoritesGenome);
//basicObstaclesGenome.InitializeRandomGenome();
}
// For now this is fine -- but eventually might want to copy brainGenome from saved asset!
//brainGenome = new BrainGenome(); // creates neuron and axonLists
//InitializeRandomBrainGenome();
}
public EnvironmentGenome BirthNewGenome(EnvironmentGenome parentGenome, int index, Challenge.Type challengeType, float mutationRate, float mutationDriftAmount)
{
EnvironmentGenome newGenome = new EnvironmentGenome(index);
newGenome.challengeType = parentGenome.challengeType;
newGenome.arenaBounds = new Vector3(parentGenome.arenaBounds.x, parentGenome.arenaBounds.y, parentGenome.arenaBounds.z);
newGenome.useTerrain = parentGenome.useTerrain;
if (parentGenome.useTerrain)
{
newGenome.terrainGenome = TerrainGenome.BirthNewGenome(parentGenome.terrainGenome, mutationRate, mutationDriftAmount);
}
newGenome.useBasicObstacles = parentGenome.useBasicObstacles;
if (parentGenome.useBasicObstacles)
{
newGenome.basicObstaclesGenome = BasicObstaclesGenome.BirthNewGenome(parentGenome.basicObstaclesGenome, mutationRate, mutationDriftAmount, this);
}
newGenome.useTargetColumn = parentGenome.useTargetColumn;
if (parentGenome.useTargetColumn)
{
newGenome.targetColumnGenome = TargetColumnGenome.BirthNewGenome(parentGenome.targetColumnGenome, mutationRate, mutationDriftAmount);
}
newGenome.useAtmosphere = parentGenome.useAtmosphere;
if (parentGenome.useAtmosphere)
{
newGenome.atmosphereGenome = AtmosphereGenome.BirthNewGenome(parentGenome.atmosphereGenome, mutationRate, mutationDriftAmount);
}
newGenome.useMeteorites = parentGenome.useMeteorites;
if (parentGenome.useMeteorites)
{
newGenome.meteoritesGenome = MeteoritesGenome.BirthNewGenome(parentGenome.meteoritesGenome, mutationRate, mutationDriftAmount);
}
// StartPositions:
// HACKY! DOES NOT SUPPORT EVOLVING START POSITIONS! ALL THE SAME!!!!
newGenome.agentStartPositionsList = parentGenome.agentStartPositionsList;
/*newGenome.agentStartPositionsList = new List<Vector3>();
* //Debug.Log("(parentGenome.agentStartPositionsList.Count" + parentGenome.agentStartPositionsList.Count.ToString());
* for (int i = 0; i < parentGenome.agentStartPositionsList.Count; i++) {
* newGenome.agentStartPositionsList.Add(new Vector3(parentGenome.agentStartPositionsList[i].x, parentGenome.agentStartPositionsList[i].y, parentGenome.agentStartPositionsList[i].z));
* }
* newGenome.agentStartRotationsList = new List<Quaternion>();
* for (int i = 0; i < parentGenome.agentStartRotationsList.Count; i++) {
* newGenome.agentStartRotationsList.Add(new Quaternion(parentGenome.agentStartRotationsList[i].x, parentGenome.agentStartRotationsList[i].y, parentGenome.agentStartRotationsList[i].z, parentGenome.agentStartRotationsList[i].w));
* }*/
return(newGenome);
}
public static TargetColumnGenome BirthNewGenome(TargetColumnGenome parentGenome, float mutationRate, float mutationDriftAmount)
{
// TARGET:
TargetColumnGenome newGenome = new TargetColumnGenome();
newGenome.targetRadius = parentGenome.targetRadius;
newGenome.minX = parentGenome.minX;
newGenome.maxX = parentGenome.maxX;
newGenome.minZ = parentGenome.minZ;
newGenome.maxZ = parentGenome.maxZ;
float rand = UnityEngine.Random.Range(0f, 1f);
if (rand < mutationRate)
{
float newX = Mathf.Lerp(newGenome.minX, UnityEngine.Random.Range(0f, 1f), mutationDriftAmount);
newGenome.minX = Mathf.Min(newX, parentGenome.maxX); // prevent min being bigger than max
}
rand = UnityEngine.Random.Range(0f, 1f);
if (rand < mutationRate)
{
float newX = Mathf.Lerp(newGenome.maxX, UnityEngine.Random.Range(0f, 1f), mutationDriftAmount);
newGenome.maxX = Mathf.Max(newX, parentGenome.minX);
}
rand = UnityEngine.Random.Range(0f, 1f);
if (rand < mutationRate)
{
float newZ = Mathf.Lerp(newGenome.minZ, UnityEngine.Random.Range(0f, 1f), mutationDriftAmount);
newGenome.minZ = Mathf.Min(newZ, parentGenome.maxZ); // prevent min being bigger than max
}
rand = UnityEngine.Random.Range(0f, 1f);
if (rand < mutationRate)
{
float newZ = Mathf.Lerp(newGenome.maxZ, UnityEngine.Random.Range(0f, 1f), mutationDriftAmount);
newGenome.maxZ = Mathf.Max(newZ, parentGenome.minZ);
}
return(newGenome);
}
