public TeamsConfig(int numPlayers, Challenge.Type challengeType, int numEnvironmentReps, int numPlayerReps)
{
this.challengeType = challengeType;
// Challenges might have required modules for environment (& agent?) genomes:
// for example, go-to-target would REQUIRE having a target object in the environment
Debug.Log("TeamsConfig() " + this.challengeType.ToString());
// Teams:
// Environment
EnvironmentGenome templateEnvironmentGenome = GetDefaultTemplateEnvironmentGenome(challengeType);
environmentPopulation = new EnvironmentPopulation(challengeType, templateEnvironmentGenome, numEnvironmentGenomes, numBaselineGenomes, numEnvironmentReps);
// Players:
playersList = new List <PlayerPopulation>();
for (int i = 0; i < numPlayers; i++)
{
// Might have to revisit how to pass agent templates per population...
AgentBodyGenomeTemplate templateAgentGenome = GetDefaultTemplateAgentGenome(challengeType);
Debug.Log("TEMPLATE: " + templateAgentGenome.bodyGenome.ToString());
// List of Agent Genomes
PlayerPopulation player = new PlayerPopulation(challengeType, templateAgentGenome.bodyGenome, numAgentGenomesPerPlayer, numBaselineGenomes, numPlayerReps);
playersList.Add(player);
}
}
private void BruteForceInit()
{
// REFACTOR THIS!!!!!!!!!!!!!!
// Clear Everything:
DeleteAllGameObjects();
currentTimeStep = 0;
gameWonOrLost = false; // <-- revisit this shit
//winnerPopIndex = -1; // <-- revisit this shit
currentAgentsArray = new Agent[currentEvalTicket.agentGenomesList.Count];
agentGameScoresArray = new float[currentEvalTicket.agentGenomesList.Count][];
for (int i = 0; i < agentGameScoresArray.Length; i++)
{
agentGameScoresArray[i] = new float[1];
}
// Create Environment:
CreateEnvironment();
// Create Agents:
for (int i = 0; i < currentAgentsArray.Length; i++)
{
// Create Agent Base Body:
GameObject agentGO = Instantiate(Resources.Load(AgentBodyGenomeTemplate.GetAgentBodyTypeURL(currentEvalTicket.agentGenomesList[i].bodyGenome.bodyType))) as GameObject;
agentGO.transform.parent = gameObject.transform;
//Debug.Log("null check: " + currentEvalTicket.environmentGenome.agentStartPositionsList.Count.ToString());
agentGO.transform.localPosition = currentEvalTicket.environmentGenome.agentStartPositionsList[i].agentStartPosition;
agentGO.transform.localRotation = currentEvalTicket.environmentGenome.agentStartPositionsList[i].agentStartRotation;
Agent agentScript = agentGO.GetComponent <Agent>();
agentScript.rootObject.GetComponent <Rigidbody>().centerOfMass = agentScript.rootCOM;
agentScript.isVisible = visible;
agentScript.InitializeAgentFromTemplate(currentEvalTicket.agentGenomesList[i]);
currentAgentsArray[i] = agentScript;
}
// Create Challenge Instance:
GameObject challengeGO = new GameObject("challenge" + challengeType.ToString());
switch (challengeType)
{
case Challenge.Type.Test:
ChallengeTest challengeTest = challengeGO.AddComponent <ChallengeTest>();
currentChallenge = challengeTest;
break;
case Challenge.Type.Racing:
ChallengeRacing challengeRacing = challengeGO.AddComponent <ChallengeRacing>();
currentChallenge = challengeRacing;
break;
case Challenge.Type.Combat:
ChallengeCombat challengeCombat = challengeGO.AddComponent <ChallengeCombat>();
currentChallenge = challengeCombat;
break;
default:
break;
}
challengeGO.transform.parent = gameObject.transform;
challengeGO.transform.localPosition = new Vector3(0f, 0f, 0f);
// !!! RETHINK ROLE OF CHALLENGE CLASS!!!
currentChallenge.agent = currentAgentsArray[0]; // hacky to prevent error, hardcoded for Test challengeType
currentChallenge.environment = currentEnvironment;
//currentChallenge.HookUpModules(); // maybe do this through the modules themselves -- by passing relevant agent/environment info through function?
/*if (isExhibition) {
* if(currentEvalTicket.environmentGenome.useAtmosphere) {
* Debug.Log("Wind: " + currentEvalTicket.environmentGenome.atmosphereGenome.windForce.ToString());
* }
* }*/
HookUpModules();
//SetInvisibleTraverse(gameObject);
if (visible)
{
currentEnvironment.AddRenderableContent(currentEvalTicket.environmentGenome);
SetVisibleTraverse(gameObject);
//Debug.Log("IS VISIBLE" + gameObject.name);
//currentEnvironment.AddRenderableContent(teamsConfig.environmentPopulation.environmentGenomeList[currentEvalTicket.genomeIndices[0]]);
//SetVisibleTraverse(gameObject);
}
else
{
SetInvisibleTraverse(gameObject);
}
if (isExhibition)
{
}
else
{
// Fitness Crap only if NON-exhibition!:
FitnessManager fitnessManager;
int genomeIndex;
if (currentEvalTicket.focusPopIndex == 0) // environment
{
fitnessManager = teamsConfig.environmentPopulation.fitnessManager;
genomeIndex = currentEvalTicket.environmentGenome.index;
}
else // a player
{
fitnessManager = teamsConfig.playersList[currentEvalTicket.focusPopIndex - 1].fitnessManager;
genomeIndex = currentEvalTicket.agentGenomesList[currentEvalTicket.focusPopIndex - 1].index;
}
fitnessComponentEvaluationGroup = new FitnessComponentEvaluationGroup();
// Creates a copy inside this, and also a copy in the FitnessManager, but they share refs to the FitComps themselves:
//Debug.Log("focusPop: " + currentEvalTicket.focusPopIndex.ToString() + ", index: " + genomeIndex.ToString());
fitnessComponentEvaluationGroup.CreateFitnessComponentEvaluationGroup(fitnessManager, genomeIndex);
//Debug.Log("currentEvalTicket.focusPopIndex: " + currentEvalTicket.focusPopIndex.ToString() + ", index: " + currentEvalTicket.genomeIndices[currentEvalTicket.focusPopIndex].ToString());
HookUpFitnessComponents();
}
}
