public override float GetFitness()
{
sw.Stop();
print(String.Format("It took {0}ms from activation to fitness evaluation.", sw.ElapsedMilliseconds));
PhysicsTester.BallDropResults bdResults = PhysicsTester.MeassureBallDropExperiment(_ballDropExperiment);
print("Balldrop: " + bdResults);
//pot function of rotation, scaled to two times the possible value of ChildCount
rotationTerm = bdResults.objRotation / 180.0f * Height * Width * Length * 3.2f;
//print("rot angle: " + bdResults.objRotation);
//print("rotation term: " + rotationTerm);
//exponential function of ball travel distance
ballTravelTerm = Mathf.Min(1000, Mathf.Pow(3, 2 * bdResults.ballTravelled));
//print("ball travel term: " + ballTravelTerm);
float deltaMiddle = bdResults.ballRestHeight - ((TestExperiment.Height + 2f) / 2);
ballRestTerm = Mathf.Pow(2, -(deltaMiddle * 2));
print("ball rest term: " + ballRestTerm);
float headHeightTerm = -((bdResults.headOverHips + 6.75f) / 13.5f - 0.7f) * 2000;
//print("material cost term: " + ChildCount);
//Less is better
fitnessCost = ChildCount + rotationTerm + ballTravelTerm + ballRestTerm + headHeightTerm;
print("fitnesscost: " + fitnessCost);
float maxRotation = Height * Length * Width * 3.2f;
float maxBallTravel = 1000;
float maxBallRest = Mathf.Pow(2, (TestExperiment.Height + 2f));
float maxChildCount = Height * Length * Width;
float maxHead = 600;
if (rotationTerm > maxRotation)
{
throw new SystemException("rotation term above assumed max");
}
if (ballTravelTerm > maxBallTravel)
{
throw new SystemException("ball travel term above assumed max");
}
if (ballRestTerm > maxBallRest)
{
throw new SystemException("ball rest term above assumed max");
}
if (ChildCount > maxChildCount)
{
throw new SystemException("child count term above assumed max");
}
if (headHeightTerm > maxHead)
{
throw new SystemException("head height term above assumed max");
}
return((ChildCount == 0) ? 0 : (maxChildCount + maxRotation + maxBallTravel + maxBallRest + maxHead) - fitnessCost);
}
public override void Activate(IBlackBox box)
{
Box = box;
sw.Start();
_numVoxels = 0;
for (int x = 0; x < Width; x++)
{
for (int y = 0; y < Height; y++)
{
for (int z = 0; z < Length; z++)
{
box.ResetState();
box.InputSignalArray[0] = x;
box.InputSignalArray[1] = y;
box.InputSignalArray[2] = z;
box.Activate();
_voxels[x, y, z] = (float)box.OutputSignalArray[0];
if (_voxels[x, y, z] > _threshold)
{
_numVoxels++;
}
}
}
}
print(String.Format("Time taken to generate voxels: {0}ms", sw.ElapsedMilliseconds));
var stopWatch = new Stopwatch();
stopWatch.Start();
Geometry.FindLargestComponent(_voxels, _threshold, gameObject);
stopWatch.Stop();
ChildCount = transform.childCount;
gameObject.GetComponent <Rigidbody>().mass = ChildCount * childMass;
_ballDropExperiment = PhysicsTester.StartBallDropExperiment(gameObject);
print(String.Format("It took {0}ms to find largest component.", stopWatch.ElapsedMilliseconds));
}
public MainGame() : base("Dungeon")
{
sb = new SpriteBatch();
camera = new Camera3D();
camera.IsOrthographic = true;
camera.Orientation *= quat.FromAxisAngle(0, vec3.UnitX);
camera.Position = new vec3(0, 0, 1) * camera.Orientation;
mainTarget = new RenderTarget(Resolution.RenderWidth, Resolution.RenderHeight,
RenderTargetFlags.Color | RenderTargetFlags.Depth);
mainSprite = new Sprite(mainTarget, null, Alignments.Left | Alignments.Top);
mainSprite.Mods = SpriteModifiers.FlipVertical;
Player player = new Player();
player.UnlockSkill(PlayerSkills.Jump);
scene = new Scene();
scene.Camera = camera;
scene.Add(player);
scene.ModelBatch.LightDirection = Utilities.Normalize(new vec3(1, -0.2f, 0));
renderTargetUsers = new List <IRenderTargetUser>();
renderTargetUsers.Add(scene.ModelBatch);
physicsTester = new PhysicsTester();
MessageSystem.Subscribe(this, CoreMessageTypes.ResizeWindow, (messageType, data, dt) =>
{
mainSprite.ScaleTo(Resolution.WindowWidth, Resolution.WindowHeight);
});
MessageSystem.ProcessChanges();
MessageSystem.Send(CoreMessageTypes.ResizeRender, Resolution.RenderDimensions);
MessageSystem.Send(CoreMessageTypes.ResizeWindow, Resolution.WindowDimensions);
}
