private IEnumerator SimulateGeneration()
{
var solutions = new Solution[Settings.PopulationSize];
var solutionIndex = 0;
// Prepare batch simulation
int actualBatchSize = Settings.SimulateInBatches ? Settings.BatchSize : Settings.PopulationSize;
int numberOfBatches = (int)Math.Ceiling((double)this.Settings.PopulationSize / actualBatchSize);
int firstChromosomeIndex = 0;
// Cache values that can be changed during the simulation
this.cachedSettings = this.Settings;
if (NewGenerationDidBegin != null)
{
NewGenerationDidBegin();
}
for (int i = 0; i < numberOfBatches; i++)
{
this.currentBatchNumber = i + 1;
int remainingCreatures = Settings.PopulationSize - (i * actualBatchSize);
int currentBatchSize = Math.Min(actualBatchSize, remainingCreatures);
var sceneLoadConfig = new SceneController.SimulationSceneLoadConfig(
this.SimulationData.CreatureDesign,
currentBatchSize,
this.SimulationData.SceneDescription,
SceneController.SimulationSceneType.Simulation,
GetLegacySimulationOptions()
);
var context = new SceneController.SimulationSceneLoadContext();
var sceneContext = new SimulationSceneContext(this.SimulationData);
yield return(SceneController.LoadSimulationScene(sceneLoadConfig, context, sceneContext));
this.batchPhysicsScene = context.PhysicsScene;
var batch = context.Creatures;
this.currentCreatureBatch = batch;
var chromosomeCount = Math.Min(this.SimulationData.CurrentChromosomes.Length, batch.Length);
var chromosomes = new float[chromosomeCount][];
for (int c = 0; c < chromosomeCount; c++)
{
chromosomes[c] = this.SimulationData.CurrentChromosomes[c + firstChromosomeIndex];
}
firstChromosomeIndex += batch.Length;
ApplyBrains(batch, chromosomes);
yield return(SimulateBatch());
// Evaluate creatures and destroy the scene after extracting all
// required performance statistics
for (int j = 0; j < batch.Length; j++)
{
var creature = batch[j];
solutions[solutionIndex++] = new Solution()
{
Encodable = creature.brain.Network,
Stats = creature.GetStatistics(this.cachedSettings.SimulationTime)
};
}
yield return(SceneManager.UnloadSceneAsync(context.Scene));
}
EvaluateSolutions(solutions);
}
