public override void draw(Graphics g, CoordinateFrame scale)
{
if (collisionManager is GridCollision)
{
GridCollision gc = (GridCollision)collisionManager;
gc.draw(g, scale);
}
if (environment != null)
{
environment.draw(g, scale);
}
foreach (Robot robot in robots)
{
robot.draw(g, scale);
}
double[] obj = null;
instance_pack ip = new instance_pack();
ip.robots = robots;
ip.env = environment;
ip.timeSteps = this.timeSteps;
ip.agentBrain = agentBrain;
ip.collisionManager = collisionManager;
ip.elapsed = this.elapsed;
ip.ff = this.fitnessFunction;
ip.bc = this.behaviorCharacterization;
ip.timestep = timestep;
g.DrawString("Fitness: " + this.fitnessFunction.calculate(this, this.environment, ip, out obj), new Font("Tahoma", 12), Brushes.Black, 10, 90);
g.DrawString("Elapsed time: " + this.elapsed, new Font("Tahoma", 12), Brushes.Black, 10, 60);
}
protected void setupVariables()
{
robots = new List <Robot>();
substrateDescription = new SubstrateDescription(substrateDescriptionFilename);
GenomeVisualizerForm.substrate = substrateDescription;
agentBrain = new AgentBrain(homogeneousTeam, numberRobots, substrateDescription, genome != null ? genome.Decode(null) : null, normalizeWeights, adaptableANN, modulatoryANN, multibrain, evolveSubstrate);
//if(homogeneousTeam)
//Console.WriteLine("inc:"+agentBrain.getBrain(0).InputNeuronCount);
loadEnvironments(this);
//agentsCollide=environment.agentsCollide;
//agentsVisible=environment.agentsVisible;
//Substrate sensor density
initializeRobots(agentBrain, environment, headingNoise, sensorNoise, effectorNoise, null);
setFitnessFunction(fitnessFunctionName);
setBehavioralCharacterization(behaviorCharacterizationName);
if (gridCollision)
{
collisionManager = new GridCollision();
}
else
{
collisionManager = new StandardCollision();
}
collisionManager.Initialize(environment, this, this.robots);
timeSteps = 0;
elapsed = 0;
}
protected void setupVariables()
{
//Console.WriteLine("setupVariables");
robots = new List <Robot>();
// Schrum: more special handling: Don't want to overwrite substrate in visual mode
if (!(fitnessFunction is FourTasksFitness))
{
substrateDescription = new SubstrateDescription(substrateDescriptionFilename);
}
agentBrain = new AgentBrain(homogeneousTeam, numberRobots, substrateDescription, genome != null ? genome.Decode(null) : null, normalizeWeights, adaptableANN, modulatoryANN, multibrain, numBrains, evolveSubstrate, preferenceNeurons, forcedSituationalPolicyGeometry);
//if(homogeneousTeam)
//Console.WriteLine("inc:"+agentBrain.getBrain(0).InputNeuronCount);
loadEnvironments(this);
//agentsCollide=environment.agentsCollide;
//agentsVisible=environment.agentsVisible;
//Substrate sensor density
initializeRobots(agentBrain, environment, headingNoise, sensorNoise, effectorNoise, null);
// Schrum: more special handling: Don't want to overwrite fitness function in visual mode
if (!(fitnessFunction is FourTasksFitness))
{
setFitnessFunction(fitnessFunctionName);
}
else // sufficient if FourTasks is already loaded
{
//Console.WriteLine("setupVariables: environmentName = " + environmentName);
((FourTasksFitness)fitnessFunction).setExperiment(this);
fitnessFunction.reset();
((FourTasksFitness)fitnessFunction).setupFitness(FourTasksFitness.environmentID(environmentName));
}
setBehavioralCharacterization(behaviorCharacterizationName);
if (gridCollision)
{
collisionManager = new GridCollision();
}
else
{
collisionManager = new StandardCollision();
}
collisionManager.Initialize(environment, this, this.robots);
timeSteps = 0;
elapsed = 0;
}
protected void setupVariables()
{
robots = new List<Robot>();
substrateDescription = new SubstrateDescription(substrateDescriptionFilename);
agentBrain = new AgentBrain(homogeneousTeam, numberRobots, substrateDescription, genome != null ? genome.Decode(null) : null, normalizeWeights, adaptableANN, modulatoryANN, multibrain, evolveSubstrate, dirComm);
//if(homogeneousTeam)
//Console.WriteLine("inc:"+agentBrain.getBrain(0).InputNeuronCount);
loadEnvironments(this);
//agentsCollide=environment.agentsCollide;
//agentsVisible=environment.agentsVisible;
//Substrate sensor density
initializeRobots(agentBrain, environment, headingNoise, sensorNoise, effectorNoise, null);
setFitnessFunction(fitnessFunctionName);
setBehavioralCharacterization(behaviorCharacterizationName);
if (gridCollision)
collisionManager = new GridCollision();
else
collisionManager = new StandardCollision();
collisionManager.Initialize(environment, this, this.robots);
timeSteps = 0;
elapsed = 0;
if (initialized)
foreach (Prey p in environment.preys)
{
p.reset();
}
preyCaught = 0;
}