void FixedUpdate()
{
if (ballCtrl.GetPosition().y - diskCtrl.GetPosition().y < -5 ||
Mathf.Abs(ballCtrl.GetPosition().x - diskCtrl.GetPosition().x) > 5 ||
Mathf.Abs(ballCtrl.GetPosition().z - diskCtrl.GetPosition().z) > 5)
{
Restart();
}
switch (mode)
{
case EvaluationMode.Neural:
OutputData neuralOutput = Neural.Evaluate(PrepareData());
diskCtrl.SetAngularVelocity(FloatToVector3(neuralOutput.outputDiskRotationSpeedVector));
break;
case EvaluationMode.Fuzzy:
OutputData fuzzyOutput = FuzzyLogic.Evaluate(PrepareData());
// fuzzyOutput.outputDiskRotationSpeedVector[2] = -fuzzyOutput.outputDiskRotationSpeedVector[2];
diskCtrl.SetAngularVelocity(FloatToVector3(fuzzyOutput.outputDiskRotationSpeedVector));
break;
/* case EvaluationMode.TrainNeural:
* OutputData neuralOutputExp = new OutputData(Vector3ToFloat(diskCtrl.GetAngularVelocity()));
* if (diskCtrl.GetAngularVelocity() != Vector3.zero)
* Neural.Train(PrepareData(), neuralOutputExp);
* break;*/
}
}
void Start()
{
diskCtrl = disk.GetComponent <diskController>();
ballCtrl = ball.GetComponent <ballController>();
manualDiskCtrl = disk.GetComponent <manualDiskControl>();
manualBallCtrl = ball.GetComponent <manualBallControl>();
diskStartPosition = diskCtrl.GetPosition();
ballStartPosition = ballCtrl.GetPosition();
CreateLineMaterial();
// Neural.learnRate = learnRate;
List <float[, ]> weights = new List <float[, ]>();
weights.Add(new float[, ] {
{ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0f }, { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
{ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0f }, { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
});
weights.Add(new float[, ] {
{ 0, 0, 0, 0, 0 },
{ 0, 0, 0, 0, 0 },
{ 0, 0, 0, 0, 0 }
});
NewNet("Empty", new int[] { 3 * 4, 4, 3 }, weights);
weights = new List <float[, ]>();
weights.Add(new float[, ] {
{ 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0.0f }, { 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 0, 0 },
{ 0, 0, -0.3f, -0.0f, 0, 0, 0, 0, 0, 1, 0, 0, 0.0f }, { -0.3f, 0, 0, 0, 0, 0.0f, 0, 0, 0, 0, 0, -1, 0 }
});
weights.Add(new float[, ] {
{ 0, 0.6f, 0, 1f, 0 },
{ 0, 0, 0, 0, 0 },
{ 0.6f, 0, 1f, 0, 0 }
});
NewNet("Centering", new int[] { 3 * 4, 4, 3 }, weights);
weights = new List <float[, ]>();
weights.Add(new float[, ] {
{ 0, 0, 0, 0, 0, 0, 0.8f, 0, 0, 0, 0, 0.4f, 0.0f }, { 0, 0, 0, 0, 0, 0, 0, 0, -0.8f, 0.4f, 0, 0, 0 },
{ 0, 0, -0.3f, -0.0f, 0, 0, 0, 0, 0, 0, 0, 0, 0.0f }, { -0.3f, 0, 0, 0, 0, 0.0f, 0, 0, 0, 0, 0, 0, 0 }
});
weights.Add(new float[, ] {
{ 0, .5f, 0, 1f, 0 },
{ 0, 0, 0, 0, 0 },
{ .5f, 0, 1f, 0, 0 }
});
NewNet("Looping", new int[] { 3 * 4, 4, 3 }, weights);
weights = new List <float[, ]>();
weights.Add(new float[, ] {
{ 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1.0f }, { 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 0, 1.0f },
{ 0, 0, -0.3f, -0.0f, 0, 0, 0, 0, 0, 1, 0, 0, 0.5f }, { -0.3f, 0, 0, 0, 0, 0.0f, 0, 0, 0, 0, 0, -1, 0.5f }
});
weights.Add(new float[, ] {
{ 0, 0.6f, 0, 1f, 0 },
{ 0, 0, 0, 0, 0 },
{ 0.6f, 0, 1f, 0, 0 }
});
NewNet("OnEdge", new int[] { 3 * 4, 4, 3 }, weights);
ChangeNet(true);
FuzzyLogic.AddRule(new Rule
{
usedFunctions = new int[] { 0, 0, 1, 0, 0, 0, 10, 0, 0, 18, 0, 0 },
weight = 0.2f
}, true);
FuzzyLogic.AddRule(new Rule
{
usedFunctions = new int[] { 0, 0, 3, 0, 0, 0, 10, 0, 0, 16, 0, 0 },
weight = -0.2f
}, true);
FuzzyLogic.AddRule(new Rule
{
usedFunctions = new int[] { 3, 0, 0, 0, 0, 0, 0, 0, 10, 0, 0, 18 },
weight = -0.2f
}, false);
FuzzyLogic.AddRule(new Rule
{
usedFunctions = new int[] { 1, 0, 0, 0, 0, 0, 0, 0, 10, 0, 0, 16 },
weight = 0.2f
}, false);
FuzzyLogic.AddRule(new Rule
{
usedFunctions = new int[] { 0, 0, 1, 0, 0, 0, 13, 0, 0, 18, 0, 0 },
weight = 0.2f
}, true);
FuzzyLogic.AddRule(new Rule
{
usedFunctions = new int[] { 0, 0, 3, 0, 0, 0, 11, 0, 0, 16, 0, 0 },
weight = -0.2f
}, true);
FuzzyLogic.AddRule(new Rule
{
usedFunctions = new int[] { 3, 0, 0, 0, 0, 0, 0, 0, 13, 0, 0, 18 },
weight = -0.2f
}, false);
FuzzyLogic.AddRule(new Rule
{
usedFunctions = new int[] { 1, 0, 0, 0, 0, 0, 0, 0, 11, 0, 0, 16 },
weight = 0.2f
}, false);
FuzzyLogic.AddRule(new Rule
{
usedFunctions = new int[] { 0, 0, 1, 0, 0, 0, 14, 0, 0, 18, 0, 0 },
weight = 2.9f
}, true);
FuzzyLogic.AddRule(new Rule
{
usedFunctions = new int[] { 0, 0, 3, 0, 0, 0, 10, 0, 0, 16, 0, 0 },
weight = -2.9f
}, true);
FuzzyLogic.AddRule(new Rule
{
usedFunctions = new int[] { 3, 0, 0, 0, 0, 0, 0, 0, 14, 0, 0, 18 },
weight = -2.9f
}, false);
FuzzyLogic.AddRule(new Rule
{
usedFunctions = new int[] { 1, 0, 0, 0, 0, 0, 0, 0, 10, 0, 0, 16 },
weight = 2.9f
}, false);
return;
Color[] colors = new Color[] { Color.red, Color.yellow, Color.gray, Color.blue, Color.green };
for (int z = 0; z < 4; z++)
{
for (int i = -50; i < 50; i++)
{
for (int j = 0; j < 5; j++)
{
//if (j % 2 == 0) continue;
float i2 = i / 4f;
float x = MembershipFunctions.functionCollection[j + 5 * z](i2), x2 = MembershipFunctions.functionCollection[j + 5 * z](i2 - 1 / 4f);
Debug.DrawLine(Vector3.up * (1.5f * z + 3 + x) + Vector3.right * i2 / 10f, Vector3.up * (1.5f * z + 3 + x2) + Vector3.right * (i2 / 10f - 1 / 40f), colors[j], 100);
}
}
}
}