private void RespawnAllCars()
{
for (int carIndex = 0; carIndex < popSize; carIndex++)
{
GameObject carS = carSpecies[carIndex];
Respawn r = carS.GetComponent <Respawn>();
Car2DController c2Dc = carS.GetComponent <Car2DController>();
//float distanceFitness = Mathf.Pow(1.1f, c2Dc.TravelledDistance) + Mathf.Pow(1.1f, Vector2.Distance(rbCar[carIndex].position, r.respawnPoint.position));
float distanceFitness = c2Dc.TravelledDistance + Vector2.Distance(rbCar[carIndex].position, r.respawnPoint.position);
population.Members[carIndex].Fitness += distanceFitness;
if (!r.isAlive && level.penalizeDeath)
{
//double timeFactor = c2Dc.TimeAlive / (1.05 * level.MaxTime);
//population.Members[carIndex].Fitness *= timeFactor;
//double timeFactor = Functions.Map(c2Dc.TimeAlive, 0, level.MaxTime, 0.9, 0.95);
//population.Members[carIndex].Fitness *= timeFactor;
//double linearCoefficientOfTime = Functions.Line(c2Dc.TimeAlive, 10.0 / level.MaxTime, -5.0);
//double constraintlinearCoefficientOfTime = Functions.Logistic(linearCoefficientOfTime);
//population.Members[carIndex].Fitness *= constraintlinearCoefficientOfTime;
population.Members[carIndex].Fitness *= TimeEffectWithRespectToCurrentGeneration(c2Dc.TimeAlive, population.CurrentGeneration, level.MaxTime, level.thresholdGeneration, level.timeMattersAtTheBeginning, level.lessTimeIsBetter); //Currently works!
//double sensorCoefficient = 1 / c2Dc.CumulativeSensoryData;
}
//Debug.Log(population.Members[carIndex].Fitness + " of car #" + carIndex.ToString());
carS.GetComponent <SpriteRenderer>().color = new Color32(255, 255, 255, 255);
r.RespawnCar();
}
bestCar.GetComponent <Respawn>().RespawnCar();
bestCar.GetComponent <SpriteRenderer>().color = new Color32(0, 255, 0, 255);
carsHaveRespawned = true;
population.SortSpeciesByFitness();
population.NormalizeFitness();
population.FilterByPerformance();
double bestFitness = population.ToBreed(); // make mutation rate dynamic
guiManager.startTime = Time.time;
guiManager.numOfGenerations = population.CurrentGeneration;
guiManager.bestFitness = bestFitness;
elapsedTime = 0.0f;
AssignBrains();
//Every 50 generation saves progress
if (level.ToggleFileIO)
{
if (population.CurrentGeneration % 50 == 0)
{
SaveBestBrain("bestBrain.txt", population.BestMember);
SavePopulationToFile("population.bin");
}
Debug.Log(bestFitness);
}
}