public void InitializeModules(AgentGenome genome, Agent agent, StartPositionGenome startPos)
{
testModule = new TestModule();
testModule.Initialize(genome.bodyGenome.testModuleGenome, agent, startPos);
/*
* healthModuleList = new List<HealthModule>();
* valueList = new List<InputValue>();
*
* for (int i = 0; i < genome.bodyGenome.healthModuleList.Count; i++) {
* HealthModule healthModule = new HealthModule();
* //agent.segmentList[genome.healthModuleList[i].parentID].AddComponent<HealthModuleComponent>();
* healthModule.Initialize(genome.bodyGenome.healthModuleList[i], agent);
* healthModuleList.Add(healthModule);
* //healthModuleList[i].Initialize(genome.healthModuleList[i]);
* }
* for (int i = 0; i < genome.bodyGenome.valueInputList.Count; i++) {
* InputValue inputValue = new InputValue();
* inputValue.Initialize(genome.bodyGenome.valueInputList[i], agent);
* valueList.Add(inputValue);
* //valueList[i].Initialize(genome.valueInputList[i]);
* }
*/
}
public void CopyGenomeFromTemplate(EnvironmentGenome templateGenome)
{
arenaBounds = new Vector3(templateGenome.arenaBounds.x, templateGenome.arenaBounds.y, templateGenome.arenaBounds.z);
agentStartPositionsList = new List <StartPositionGenome>();
for (int i = 0; i < templateGenome.agentStartPositionsList.Count; i++)
{
StartPositionGenome genomeCopy = new StartPositionGenome(templateGenome.agentStartPositionsList[i]);
agentStartPositionsList.Add(genomeCopy);
}
}
public void StartNewTrainingMode()
{
Destroy(playerGO);
// Create population brains
agentGenomeList = new List <AgentGenome>();
BodyGenome templateBodyGenome = new BodyGenome();
templateBodyGenome.InitializeGenomeAsDefault();
//BodyGenome bodyGenomeTemplate = new BodyGenome();
//bodyGenomeTemplate.CopyBodyGenomeFromTemplate(bodyTemplate);
for (int i = 0; i < trainingPopulationSize; i++)
{
AgentGenome newGenome = new AgentGenome(i);
newGenome.InitializeBodyGenomeFromTemplate(templateBodyGenome);
newGenome.InitializeRandomBrainFromCurrentBody(0.033f);
agentGenomeList.Add(newGenome);
}
// CrossoverSettings:
trainingSettingsManager = new TrainingSettingsManager(0.06f, 0.35f, 0.1f, 0.01f);
GameObject dummyAgentGO = new GameObject("DummyAgent");
dummyAgent = dummyAgentGO.AddComponent <Agent>();
dummyStartGenome = new StartPositionGenome(Vector3.zero, Quaternion.identity);
ResetTrainingForNewGen();
//Brain brain = new Brain()
//Debug.Log(dummyAgent.testModule.);
// Create Visible Display Agent to observe behavior
/*displayStartPos = new StartPositionGenome(Vector3.zero, Quaternion.identity);
* GameObject agentGO = Instantiate(Resources.Load("PredatorPrey/PredatorPrefab")) as GameObject; ; // GameObject.CreatePrimitive(PrimitiveType.Sphere);
* //displayAgent
* agentGO.name = "Guinea Pig";
* //agentGO.transform.parent = gameObject.transform;
* agentGO.transform.localPosition = displayStartPos.agentStartPosition;
* agentGO.transform.localRotation = displayStartPos.agentStartRotation;
* //agentGO.GetComponent<Collider>().enabled = false;
* displayAgent = agentGO.AddComponent<Agent>();
* displayAgent.isVisible = true;
* displayAgent.InitializeAgentFromTemplate(agentGenomeList[0], displayStartPos);
* // hook modules:
* displayAgent.testModule.enemyTransform = targetGO.transform;
* displayAgent.testModule.bias[0] = 1f;
* displayAgent.testModule.enemyTestModule = displayAgent.testModule; // self as target, to zero out targetvel
*/
ResetTrainingAgentAndEnvironment();
}
public void CopyGenomeFromTemplate(EnvironmentGenome templateGenome)
{
//Debug.Log("CopyGenomeFromTemplate BEFORE startPosCount: " + templateGenome.agentStartPositionsList.Count.ToString());
// This method creates a clone of the provided ScriptableObject Genome - should have no shared references!!!
this.challengeType = templateGenome.challengeType;
arenaBounds = new Vector3(templateGenome.arenaBounds.x, templateGenome.arenaBounds.y, templateGenome.arenaBounds.z);
agentStartPositionsList = new List <StartPositionGenome>();
for (int i = 0; i < templateGenome.agentStartPositionsList.Count; i++)
{
//Debug.Log("CopyGenomeFromTemplate DURING i: " + i.ToString());
StartPositionGenome genomeCopy = new StartPositionGenome(templateGenome.agentStartPositionsList[i]);
agentStartPositionsList.Add(genomeCopy);
}
//Debug.Log("CopyGenomeFromTemplate AFTER startPosCount: " + agentStartPositionsList.Count.ToString());
useTerrain = templateGenome.useTerrain;
if (useTerrain)
{
terrainGenome = new TerrainGenome(templateGenome.terrainGenome);
//terrainGenome.InitializeRandomGenome();
}
useBasicObstacles = templateGenome.useBasicObstacles;
if (useBasicObstacles)
{
basicObstaclesGenome = new BasicObstaclesGenome(templateGenome.basicObstaclesGenome, this);
//basicObstaclesGenome.InitializeRandomGenome();
}
useTargetColumn = templateGenome.useTargetColumn;
if (useTargetColumn)
{
targetColumnGenome = new TargetColumnGenome();
//targetColumnGenome.InitializeRandomGenome();
}
useAtmosphere = templateGenome.useAtmosphere;
if (useAtmosphere)
{
atmosphereGenome = new AtmosphereGenome(templateGenome.atmosphereGenome);
//basicObstaclesGenome.InitializeRandomGenome();
}
useMeteorites = templateGenome.useMeteorites;
if (useMeteorites)
{
meteoritesGenome = new MeteoritesGenome(templateGenome.meteoritesGenome);
//basicObstaclesGenome.InitializeRandomGenome();
}
// For now this is fine -- but eventually might want to copy brainGenome from saved asset!
//brainGenome = new BrainGenome(); // creates neuron and axonLists
//InitializeRandomBrainGenome();
}
public void InitializeAsDefaultGenome()
{
// ARENA BOUNDS IRRELEVANT!!!
// Currently hardcoded in:
// EvaluationManager --> CreateEvaluationInstances()
arenaBounds = new Vector3(40f, 40f, 40f);
agentStartPositionsList = new List <StartPositionGenome>();
StartPositionGenome player1Start = new StartPositionGenome(new Vector3(0f, -5f, 0f), Quaternion.identity);
StartPositionGenome player2Start = new StartPositionGenome(new Vector3(0f, 5f, 0f), Quaternion.identity);
agentStartPositionsList.Add(player1Start);
agentStartPositionsList.Add(player2Start);
}
public void InitializeAgentFromTemplate(AgentGenome genome, StartPositionGenome startPos)
{
// Initialize Modules --
//Debug.Log("Agent Initialize Modules() segment count: " + segmentList.Count.ToString() + ", visCount: " + visibleObjectList.Count.ToString());
// -- Setup that used to be done in the constructors
InitializeModules(genome, this, startPos);
// Visible/Non-Visible:
//if (isVisible) {
// for (int i = 0; i < visibleObjectList.Count; i++) {
// visibleObjectList[i].SetActive(true);
// }
//}
// Construct Brain:
brain = new Brain(genome.brainGenome, this);
}
public void Initialize(TestModuleGenome genome, Agent agent, StartPositionGenome startPos)
{
//destroyed = false;
bias = new float[1];
bias[0] = 1f;
ownPosX = new float[1];
ownPosX[0] = startPos.agentStartPosition.x;
ownPosY = new float[1];
ownPosY[0] = startPos.agentStartPosition.y;
ownVelX = new float[1];
ownVelY = new float[1];
enemyPosX = new float[1];
enemyPosY = new float[1];
enemyVelX = new float[1];
enemyVelY = new float[1];
enemyDirX = new float[1];
enemyDirY = new float[1];
distLeft = new float[1];
distRight = new float[1];
distUp = new float[1];
distDown = new float[1];
throttleX = new float[1];
throttleY = new float[1];
maxSpeed = genome.maxSpeed;
accel = genome.accel;
radius = genome.radius;
//maxHealth = genome.maxHealth;
//health = maxHealth;
//prevHealth = health;
parentID = genome.parentID;
inno = genome.inno;
//isVisible = agent.isVisible;
//component = agent.segmentList[parentID].AddComponent<HealthModuleComponent>();
//if (component == null) {
// Debug.LogAssertion("No existing HealthModuleComponent on segment " + parentID.ToString());
//}
//component.healthModule = this;
}
void Start()
{
if (spawnZonesList == null)
{
return;
}
foodStartGenomesArray = new StartPositionGenome[spawnZonesList.Count];
for (int i = 0; i < spawnZonesList.Count; i++)
{
Vector3 parentForward = spawnZonesList[i].transform.up;
Vector3 startPos = new Vector3(spawnZonesList[i].transform.position.x, spawnZonesList[i].transform.position.y, 0f) + parentForward * 0.5f;
StartPositionGenome startPosGenome = new StartPositionGenome(startPos, Quaternion.identity);
foodStartGenomesArray[i] = startPosGenome;
}
}
private void EnvironmentCrossover()
{
/*int randStart = UnityEngine.Random.Range(0, 4);
* if(randStart == 0) {
* StartPositionGenome newStart0 = new StartPositionGenome(new Vector3(-5f, 0f, 0f), Quaternion.identity);
* StartPositionGenome newStart1 = new StartPositionGenome(new Vector3(5f, 0f, 0f), Quaternion.identity);
* teamsConfig.environmentPopulation.environmentGenomeList[0].agentStartPositionsList[0] = newStart0;
* teamsConfig.environmentPopulation.environmentGenomeList[0].agentStartPositionsList[1] = newStart1;
* }
* else if(randStart == 1) {
* StartPositionGenome newStart0 = new StartPositionGenome(new Vector3(5f, 0f, 0f), Quaternion.identity);
* StartPositionGenome newStart1 = new StartPositionGenome(new Vector3(-5f, 0f, 0f), Quaternion.identity);
* teamsConfig.environmentPopulation.environmentGenomeList[0].agentStartPositionsList[0] = newStart0;
* teamsConfig.environmentPopulation.environmentGenomeList[0].agentStartPositionsList[1] = newStart1;
* }
* else if (randStart == 2) {
* StartPositionGenome newStart0 = new StartPositionGenome(new Vector3(0f, -5f, 0f), Quaternion.identity);
* StartPositionGenome newStart1 = new StartPositionGenome(new Vector3(0f, 5f, 0f), Quaternion.identity);
* teamsConfig.environmentPopulation.environmentGenomeList[0].agentStartPositionsList[0] = newStart0;
* teamsConfig.environmentPopulation.environmentGenomeList[0].agentStartPositionsList[1] = newStart1;
* }
* else {
* StartPositionGenome newStart0 = new StartPositionGenome(new Vector3(0f, 5f, 0f), Quaternion.identity);
* StartPositionGenome newStart1 = new StartPositionGenome(new Vector3(0f, -5f, 0f), Quaternion.identity);
* teamsConfig.environmentPopulation.environmentGenomeList[0].agentStartPositionsList[0] = newStart0;
* teamsConfig.environmentPopulation.environmentGenomeList[0].agentStartPositionsList[1] = newStart1;
* }*/
for (int e = 0; e < teamsConfig.environmentPopulation.environmentGenomeList.Count; e++)
{
float randAngleRad = UnityEngine.Random.Range(-Mathf.PI, Mathf.PI);
float randRadius = UnityEngine.Random.Range(2.5f, 7.5f);
StartPositionGenome newStart0 = new StartPositionGenome(new Vector3(Mathf.Cos(randAngleRad) * randRadius, Mathf.Sin(randAngleRad) * randRadius, 0f), Quaternion.identity);
StartPositionGenome newStart1 = new StartPositionGenome(new Vector3(Mathf.Cos(randAngleRad + Mathf.PI) * randRadius, Mathf.Sin(randAngleRad + Mathf.PI) * randRadius, 0f), Quaternion.identity);
teamsConfig.environmentPopulation.environmentGenomeList[e].agentStartPositionsList[0] = newStart0;
teamsConfig.environmentPopulation.environmentGenomeList[e].agentStartPositionsList[1] = newStart1;
}
/*
* List<EnvironmentGenome> newGenGenomeList = new List<EnvironmentGenome>(); // new population!
*
* FitnessManager fitnessManager = teamsConfig.environmentPopulation.fitnessManager;
* TrainingSettingsManager trainingSettingsManager = teamsConfig.environmentPopulation.trainingSettingsManager;
* float mutationChance = trainingSettingsManager.mutationChance;
* float mutationStepSize = trainingSettingsManager.mutationStepSize;
*
* // Keep top-half peformers + mutations:
* for (int x = 0; x < teamsConfig.environmentPopulation.environmentGenomeList.Count; x++) {
* if (false) { //x == 0) {
* // Top performer stays
* EnvironmentGenome parentGenome = teamsConfig.environmentPopulation.environmentGenomeList[fitnessManager.rankedIndicesList[x]];
* parentGenome.index = 0;
* newGenGenomeList.Add(parentGenome);
* }
* else {
* int parentIndex = fitnessManager.GetAgentIndexByLottery();
*
* EnvironmentGenome parentGenome = teamsConfig.environmentPopulation.environmentGenomeList[parentIndex];
* EnvironmentGenome newGenome = parentGenome.BirthNewGenome(parentGenome, newGenGenomeList.Count, teamsConfig.challengeType, mutationChance, mutationStepSize);
*
* newGenGenomeList.Add(newGenome);
* }
* }
*
* for (int i = 0; i < teamsConfig.environmentPopulation.environmentGenomeList.Count; i++) {
* teamsConfig.environmentPopulation.environmentGenomeList[i] = newGenGenomeList[i];
* }
*/
}
public void Initialize(TestModuleGenome genome, Agent agent, StartPositionGenome startPos)
{
ownRigidBody2D = agent.GetComponent <Rigidbody2D>();
bias = new float[1]; //0
foodPosX = new float[1]; //1
foodPosY = new float[1]; // 2
foodDirX = new float[1]; // 3
foodDirY = new float[1]; // 4
foodTypeR = new float[1]; // 5
foodTypeG = new float[1]; // 6
foodTypeB = new float[1]; // 7
friendPosX = new float[1]; // 8
friendPosY = new float[1]; // 9
friendVelX = new float[1]; // 10
friendVelY = new float[1]; // 11
friendDirX = new float[1]; // 12
friendDirY = new float[1]; // 13
enemyPosX = new float[1]; // 14
enemyPosY = new float[1]; // 15
enemyVelX = new float[1]; // 16
enemyVelY = new float[1]; // 17
enemyDirX = new float[1]; // 18
enemyDirY = new float[1]; // 19
ownVelX = new float[1]; // 20
ownVelY = new float[1]; // 21
temperature = new float[1]; // 22
pressure = new float[1]; // 23
isContact = new float[1]; // 24
contactForceX = new float[1]; // 25
contactForceY = new float[1]; // 26
hitPoints = new float[1]; // 27
stamina = new float[1]; // 28
foodAmountR = new float[1]; // 29
foodAmountG = new float[1]; // 30
foodAmountB = new float[1]; // 31
distUp = new float[1]; // 32 // start up and go clockwise!
distTopRight = new float[1]; // 33
distRight = new float[1]; // 34
distBottomRight = new float[1]; // 35
distDown = new float[1]; // 36
distBottomLeft = new float[1]; // 37
distLeft = new float[1]; // 38
distTopLeft = new float[1]; // 39
inComm0 = new float[1]; // 40
inComm1 = new float[1]; // 41
inComm2 = new float[1]; // 42
inComm3 = new float[1]; // 43
// 44 Total Inputs
throttleX = new float[1]; // 0
throttleY = new float[1]; // 1
dash = new float[1]; // 2
outComm0 = new float[1]; // 3
outComm1 = new float[1]; // 4
outComm2 = new float[1]; // 5
outComm3 = new float[1]; // 6
// 7 Total Outputs
//maxHealth = genome.maxHealth;
//health = maxHealth;
//prevHealth = health;
bias[0] = 1f;
foodAmountR[0] = 0.5f;
foodAmountG[0] = 0.5f;
foodAmountB[0] = 0.5f;
hitPoints[0] = 1f;
stamina[0] = 1f;
//if(genome!= null) {
// Debug.Log("!null -- genome.parentID" + genome.parentID.ToString());
//}
//Debug.Log("genome.parentID" + genome.parentID.ToString());
parentID = genome.parentID;
inno = genome.inno;
//isVisible = agent.isVisible;
//component = agent.segmentList[parentID].AddComponent<HealthModuleComponent>();
//if (component == null) {
// Debug.LogAssertion("No existing HealthModuleComponent on segment " + parentID.ToString());
//}
//component.healthModule = this;
}
public StartPositionGenome(StartPositionGenome templateGenome)
{
agentStartPosition = new Vector3(templateGenome.agentStartPosition.x, templateGenome.agentStartPosition.y, templateGenome.agentStartPosition.z);
agentStartRotation = new Quaternion(templateGenome.agentStartRotation.x, templateGenome.agentStartRotation.y, templateGenome.agentStartRotation.z, templateGenome.agentStartRotation.w);
}
public void ResetTrainingAgentAndEnvironment()
{
// Spawn Player & Target Randomly
float randomAngle = UnityEngine.Random.Range(-Mathf.PI, Mathf.PI);
float randomRadius = UnityEngine.Random.Range(minSpawnRadius, maxSpawnRadius);
Vector3 displayPos = new Vector3(Mathf.Cos(randomAngle) * randomRadius, Mathf.Sin(randomAngle) * randomRadius, 0f);
Vector3 targetPos = new Vector3(Mathf.Cos(randomAngle + Mathf.PI) * randomRadius, Mathf.Sin(randomAngle + Mathf.PI) * randomRadius, 0f);
BodyGenome templateBodyGenome = new BodyGenome();
templateBodyGenome.InitializeGenomeAsDefault();
AgentGenome newGenome = new AgentGenome(-1);
newGenome.InitializeBodyGenomeFromTemplate(templateBodyGenome);
newGenome.InitializeRandomBrainFromCurrentBody(0.0f);
if (displayGO != null)
{
Destroy(displayGO); // NOT IDEAL
}
displayGO = Instantiate(Resources.Load("PredatorPrey/PredatorPrefab")) as GameObject;
displayAgent = displayGO.AddComponent <Agent>();
displayAgent.humanControlled = false;
StartPositionGenome displayStartPos = new StartPositionGenome(displayPos, Quaternion.identity);
displayGO.transform.position = displayPos;
if (targetGO != null)
{
Destroy(targetGO); // NOT IDEAL
}
targetGO = Instantiate(Resources.Load("PredatorPrey/PreyPrefab")) as GameObject;
targetAgent = targetGO.AddComponent <Agent>();
targetAgent.humanControlled = false;
StartPositionGenome targetStartPos = new StartPositionGenome(targetPos, Quaternion.identity);
targetGO.transform.position = targetPos;
// Hook-Ups PLAYER:
displayAgent.isVisible = true;
displayAgent.InitializeAgentFromTemplate(agentGenomeList[0], displayStartPos); // creates TestModule
// Hook-Ups TARGET:
targetAgent.isVisible = true;
targetAgent.InitializeAgentFromTemplate(newGenome, targetStartPos); // creates TestModule
// hook modules PLAYER:
displayAgent.testModule.ownRigidBody2D = displayGO.GetComponent <Rigidbody2D>();
displayAgent.testModule.bias[0] = 1f;
displayAgent.testModule.enemyTestModule = targetAgent.testModule; // self as target, to zero out targetvel
// hook modules TARGET:
targetAgent.testModule.ownRigidBody2D = targetGO.GetComponent <Rigidbody2D>();
targetAgent.testModule.bias[0] = 1f;
targetAgent.testModule.enemyTestModule = displayAgent.testModule; // self as target, to zero out targetvel
/*
* // Spawn Player & Target Randomly
* float randomAngle = UnityEngine.Random.Range(-Mathf.PI, Mathf.PI);
* float randomRadius = UnityEngine.Random.Range(minSpawnRadius, maxSpawnRadius);
* Vector3 playerPos = new Vector3(Mathf.Cos(randomAngle) * randomRadius, Mathf.Sin(randomAngle) * randomRadius, 0f);
* Vector3 targetPos = new Vector3(Mathf.Cos(randomAngle + Mathf.PI) * randomRadius, Mathf.Sin(randomAngle + Mathf.PI) * randomRadius, 0f);
* targetGO.transform.position = targetPos;
*
* displayStartPos = new StartPositionGenome(playerPos, Quaternion.identity);
* GameObject agentGO;
* if (displayAgent == null) {
* agentGO = GameObject.CreatePrimitive(PrimitiveType.Sphere);
* displayAgent = agentGO.AddComponent<Agent>();
* }
* else {
* agentGO = displayAgent.gameObject;
* }
* //displayAgent
* agentGO.name = "Guinea Pig";
* agentGO.transform.parent = gameObject.transform;
* agentGO.transform.localPosition = displayStartPos.agentStartPosition;
* agentGO.transform.localRotation = displayStartPos.agentStartRotation;
* //agentGO.GetComponent<Collider>().enabled = false;
* displayAgent.isVisible = true;
* displayAgent.InitializeAgentFromTemplate(agentGenomeList[0], displayStartPos);
* // hook modules:
* displayAgent.testModule.enemyTransform = targetGO.transform;
* displayAgent.testModule.bias[0] = 1f;
* displayAgent.testModule.enemyTestModule = displayAgent.testModule;
*/
}
public void StartNewDataCollectionRound()
{
curTimeStep = 0;
imitationUI.TogglePause();
// Spawn Player & Target Randomly
float randomAngle = UnityEngine.Random.Range(-Mathf.PI, Mathf.PI);
float randomRadius = UnityEngine.Random.Range(minSpawnRadius, maxSpawnRadius);
Vector3 playerPos = new Vector3(Mathf.Cos(randomAngle) * randomRadius, Mathf.Sin(randomAngle) * randomRadius, 0f);
Vector3 targetPos = new Vector3(Mathf.Cos(randomAngle + Mathf.PI) * randomRadius, Mathf.Sin(randomAngle + Mathf.PI) * randomRadius, 0f);
BodyGenome templateBodyGenome = new BodyGenome();
templateBodyGenome.InitializeGenomeAsDefault();
AgentGenome newGenome = new AgentGenome(-1);
newGenome.InitializeBodyGenomeFromTemplate(templateBodyGenome);
newGenome.InitializeRandomBrainFromCurrentBody(0.0f);
if (playerGO == null)
{
//ResetTrainingForNewGen();
// Create Visible Display Agent to observe behavior
//displayStartPos = new StartPositionGenome(Vector3.zero, Quaternion.identity);
//playerGO.transform.localPosition = displayStartPos.agentStartPosition;
//playerGO.transform.localRotation = displayStartPos.agentStartRotation;
}
else
{
//playerGO.transform.position = playerPos;
Destroy(playerGO); // NOT IDEAL
}
// Instantiate Player (Predator) Human-Controlled:
playerGO = Instantiate(Resources.Load("PredatorPrey/PredatorPrefab")) as GameObject;
playerAgent = playerGO.AddComponent <Agent>();
playerAgent.humanControlled = true;
StartPositionGenome playerStartPos = new StartPositionGenome(playerPos, Quaternion.identity);
playerGO.transform.position = playerPos;
if (targetGO == null)
{
//targetGO = Instantiate(Resources.Load("PredatorPrey/PreyPrefab")) as GameObject;
//targetGO.transform.position = targetPos;
}
else
{
//targetGO.transform.position = targetPos;
Destroy(targetGO); // NOT IDEAL
}
targetGO = Instantiate(Resources.Load("PredatorPrey/PreyPrefab")) as GameObject;
targetAgent = targetGO.AddComponent <Agent>();
targetAgent.humanControlled = false;
StartPositionGenome targetStartPos = new StartPositionGenome(targetPos, Quaternion.identity);
targetGO.transform.position = targetPos;
// Hook-Ups PLAYER:
playerAgent.isVisible = true;
playerAgent.InitializeAgentFromTemplate(newGenome, playerStartPos); // creates TestModule
// Hook-Ups TARGET:
targetAgent.isVisible = true;
targetAgent.InitializeAgentFromTemplate(newGenome, targetStartPos); // creates TestModule
// hook modules PLAYER:
playerAgent.testModule.ownRigidBody2D = playerGO.GetComponent <Rigidbody2D>();
playerAgent.testModule.bias[0] = 1f;
playerAgent.testModule.enemyTestModule = targetAgent.testModule; // self as target, to zero out targetvel
// hook modules TARGET:
targetAgent.testModule.ownRigidBody2D = targetGO.GetComponent <Rigidbody2D>();
targetAgent.testModule.bias[0] = 1f;
targetAgent.testModule.enemyTestModule = playerAgent.testModule; // self as target, to zero out targetvel
}
