static QGraph SmartMutateQGraph(QGraph graph)
{
QGraph mutant = new QGraph(ref graph);
mutant.edgeMutationChance += mutant.mutationIncrement * (0.5f - UnityEngine.Random.value);
mutant.actionMutationChance += mutant.mutationIncrement * (0.5f - UnityEngine.Random.value);
mutant.addNodeChance += mutant.mutationIncrement * (0.5f - UnityEngine.Random.value);
mutant.changeInterruptWeightChance += mutant.mutationIncrement * (0.5f - UnityEngine.Random.value);
// float mutationIncrement = 0.001f;
//
// float edgeMutationChance = 0.1f;
// float actionMutationChance = 0.1f;
// float addNodeChance = 0.8f;
// float changeInterruptWeightChance = 0.01f;
//mutate edges
List <QGraphNode> t_nodes = new List <QGraphNode> (mutant.nodes);
float n_c = t_nodes.Count;
float numChanges = n_c;
t_nodes = Utils.ShuffleList <QGraphNode> (t_nodes);
float max_delta_reward = 0;
float min_delta_reward = 0;
//calculate max and min change in reward between two nodes
for (int i = 0; i < n_c; ++i)
{
for (int j = 0; j < mutant.nodes [i].outgoingEdges.Count; ++j)
{
float delta = (mutant.nodes [mutant.nodes [i].outgoingEdges [j].targetNode].Reward - mutant.nodes [i].Reward);
if (max_delta_reward < delta)
{
max_delta_reward = delta;
}
if (min_delta_reward > delta)
{
min_delta_reward = delta;
}
}
}
for (int i = 0; i < numChanges; ++i)
{
for (int j = 0; j < mutant.nodes [i].outgoingEdges.Count; ++j)
{
float mutationChance = (mutant.nodes [mutant.nodes [i].outgoingEdges [j].targetNode].Reward - mutant.nodes [i].Reward) / (max_delta_reward - min_delta_reward);
if (UnityEngine.Random.value > mutationChance * 0.8f)
{
mutant.nodes [i].outgoingEdges [j] = QGraphEdge.MutateEdge(mutant.nodes [i].outgoingEdges [j], mutant.possibleStates, mutant.mutationIncrement, mutant.stateConstraints);
}
}
}
//mutate nodes
//numChanges = mutant.nodes.Count * mutant.actionMutationChance;
t_nodes = Utils.ShuffleList <QGraphNode> (t_nodes);
for (int i = 0; i < numChanges; ++i)
{
int nodeToChange = UnityEngine.Random.Range(0, t_nodes.Count);
t_nodes [nodeToChange] = QGraphNode.MutateNode(t_nodes [nodeToChange], mutant.possibleActions, mutant.actionConstraints);
}
//add nodes
numChanges = mutant.nodes.Count * mutant.addNodeChance;
t_nodes = Utils.ShuffleList <QGraphNode> (t_nodes);
if (numChanges < 1)
{
numChanges = 1f;
}
for (int i = 0; i < numChanges; ++i)
{
QGraphNode newNode = new QGraphNode(t_nodes [UnityEngine.Random.Range(0, t_nodes.Count - 1)]);
newNode = QGraphNode.MutateNode(newNode, mutant.possibleActions, mutant.actionConstraints);
int numNodesToConnectTo = (int)(n_c * mutant.numNodesToConnectToNewNode);
if (numNodesToConnectTo < 1)
{
numNodesToConnectTo = 1;
}
List <QGraphNode> nodesToRandomlyConnectToTemp = new List <QGraphNode> (mutant.nodes);
nodesToRandomlyConnectToTemp = Utils.ShuffleList(nodesToRandomlyConnectToTemp);
//connect nodes to the new node
for (int j = 0; j < numNodesToConnectTo; ++j)
{
QGraphEdge temp_edge = new QGraphEdge(mutant.nodes.Count);
if (mutant.possibleStates.Count > 0)
{
temp_edge.RequiredStates = new List <string> {
mutant.possibleStates [j % mutant.possibleStates.Count]
};
}
temp_edge.Float_restrictions = new List <float> (mutant.float_restriction_range.Count);
for (int k = 0; k < temp_edge.Float_restrictions.Count; ++k)
{
temp_edge.Float_restrictions.Add(UnityEngine.Random.Range(mutant.float_restriction_range [k].min, mutant.float_restriction_range [k].max));
}
temp_edge.Float_mult = new List <float> (mutant.float_mult);
temp_edge.Comparison_operators = new List <ComparisonOperator> (mutant.comparison_operators);
nodesToRandomlyConnectToTemp [j].AddEdge(temp_edge);
}
numNodesToConnectTo = (int)(n_c * mutant.numNodesToConnectNewNodeTo);
if (numNodesToConnectTo < 1)
{
numNodesToConnectTo = 1;
}
//connect the new node to other nodes;
nodesToRandomlyConnectToTemp = Utils.ShuffleList(nodesToRandomlyConnectToTemp);
for (int j = 0; j < numNodesToConnectTo; ++j)
{
QGraphEdge temp_edge = new QGraphEdge(mutant.nodes.IndexOf(nodesToRandomlyConnectToTemp [j]));
if (mutant.possibleStates.Count > 0)
{
temp_edge.RequiredStates = new List <string> {
mutant.possibleStates [j % mutant.possibleStates.Count]
};
}
temp_edge.Float_restrictions = new List <float> (mutant.float_restriction_range.Count);
for (int k = 0; k < temp_edge.Float_restrictions.Count; ++k)
{
temp_edge.Float_restrictions.Add(UnityEngine.Random.Range(mutant.float_restriction_range [k].min, mutant.float_restriction_range [k].max));
}
temp_edge.Float_mult = new List <float> (mutant.float_mult);
temp_edge.Comparison_operators = new List <ComparisonOperator> (mutant.comparison_operators);
newNode.AddEdge(temp_edge);
}
mutant.nodes.Add(newNode);
}
mutant.ResetCurrentNodeToRoot();
mutant.memoryWindow = new List <QGraphNode> (graph.memoryWindow.Count);
mutant.windowSize = graph.windowSize;
mutant.windowIndex = 0;
mutant.memoryWindow.Add(mutant.currentNode);
return(mutant);
}
