void FixedUpdate()
{
if (popM.isRunning() && alive)
{
float raysum = 0;
for (int i = 0; i < ray_dir.Count; i++)
{
RaycastHit hit;
if (Physics.Raycast(transform.position, transform.TransformDirection(ray_dir[i]), out hit))
{
if (hit.collider.tag == "Obstacle")
{
input_values[i, 0] = hit.distance;
raysum += hit.distance;
}
}
//Test Raycasting directions
Debug.DrawRay(transform.position, transform.TransformDirection(ray_dir[i]) * 30, Color.green);
}
fitness += Mathf.Pow(2, (raysum / n_input) / 100);
//fitness += (raysum/n_input)/100 ;
//fitness += 1 / Mathf.Pow(2,( Vector3.Distance(transform.position,target_pos))/10);
//fitness = Mathf.Clamp(fitness,0,9999999);
}
}
// Update is called once per frame
void FixedUpdate()
{
if (popM.isRunning())
{
float dir = dna_obj.predict();
if (!float.IsNaN(dir) && dna_obj.isAlive())
{
rb.MovePosition(transform.position + (transform.forward * Time.fixedDeltaTime * 70));
transform.rotation = Quaternion.Euler(transform.eulerAngles + Vector3.up * dir * 100f * Time.fixedDeltaTime);
}
}
}