// -- END OF: Feed forward --
// HOW BREEDING WORKS:
// 1. Two parents
// 2. If both have connection then random
// 3. If one have then take from strongest
public GNNNet Breed(GNNNet parthner)
{
GNNNet child = new GNNNet();
int[] range = UTYL.InnovRange(connections, parthner.connections);
bool isAsFit = fitnessScore == parthner.fitnessScore;
GNNNet[] parents = new GNNNet[] { this, parthner };
Connect?[,] table = new Connect?[2, range[1] - range[0]];
for (int i = 0; i < 2; i++)
{
for (int c = 0; c < parents[i].connections.Count; c++)
{
table[i, parents[i].connections[c].innov - range[0]] = parents[i].connections[c];
}
}
for (int c = 0; c < range[1] - range[0]; c++)
{
// If both cells are empty, or parhner is less fit then skip connection
if ((table[0, c] == null && table[1, c] == null) || (!isAsFit && table[0, c] == null))
{
continue;
}
// If both have same fitness adds parthners connection
if (table[0, c] == null)
{
child.connections.Add(table[1, c].Value);
}
// Adds my connection if prev is empty
else if (table[1, c] == null)
{
child.connections.Add(table[0, c].Value);
}
// If both have connections select random
else
{
child.connections.Add(table[Random.Range(0, 2), c].Value);
}
}
child.BuildNodes();
return(child);
}
private double[,] GetSensorData()
{
double[,] output = new double[2, DIR_COUNT];
RaycastHit2D hit;
for (int i = 0; i < DIR_COUNT; i++)
{
Vector3 to = transform.TransformDirection(sensorDir[i]);
hit = Physics2D.Raycast(transform.position, to);
output[0, i] = -1;
output[1, i] = 1;
if (hit.collider != null)
{
string hitTag = hit.collider.tag;
output[1, i] = hit.distance / 430.0;
if (hitTag == "Food")
{
output[0, i] = 1;
if (hit.distance < 2)
{
UTYL.RemoveFood(hit.collider.gameObject);
Destroy(hit.collider.gameObject);
score++;
health += 10;
if (health > 100)
{
health = 100;
}
}
}
else if (hitTag == "AI")
{
output[0, i] = 0.5;
}
else if (hitTag == "Box")
{
output[0, i] = -0.5;
}
}
}
return(output);
}
void InitGeneration()
{
// Step 0: Cleanup after prev GEN
CleanUp();
// STEP 0.25 Backup
SaveLoadManager.Save(GEN, unisignedNet);
// STEP 0.5: Init food
UTYL.InitBox();
// Step 1: Sort unisigned networks into spiecies
// Step 2: Build simulations
SpieciefyNetworks();
// Step 3: Run simmulations
StartCoroutine("UpdateSimulation");
}
private void SpieciefyNetworks()
{
activeSimulations = new List <GNNSimulation>();
spiecies = new List <GNNSpiecies>();
foreach (GNNNet net in unisignedNet)
{
activeSimulations.Add(new GNNSimulation()
{
agent = UTYL.InitAgent(),
network = net
});
activeSimulations.Last().SetName();
bool isNewSpiecies = true;
for (int i = 0; i < spiecies.Count; i++)
{
double dist = UTYL.GetDistance(spiecies[i].head, net);
//Debug.Log("Dist:" + dist);
if (dist <= 3)
{
spiecies[i].family.Add(net);
isNewSpiecies = false;
break;
}
}
if (isNewSpiecies)
{
spiecies.Add(new GNNSpiecies(net));
}
}
for (int i = spiecies.Count - 1; i >= 0; i--)
{
if (spiecies[i].family.Count == 0)
{
spiecies.RemoveAt(i);
}
}
}
private void Start()
{
UTYL.agentPrefab = Resources.Load("prefabs/AI") as GameObject;
UTYL.foodPrefab = Resources.Load("prefabs/Food") as GameObject;
UTYL.boxPrefab = Resources.Load("prefabs/Box") as GameObject;
unisignedNet = new List <GNNNet>();
SaveObject so = SaveLoadManager.Load();
if (so == null) // No save file new sim
{
DB.SendData("clean_up", new Dictionary <string, string>());
for (int i = 0; i < CONFIG.POPULATION; i++)
{
GNNNet net = new GNNNet();
for (ushort o = 0; o < 4; o++)
{
net.MutateLink();
}
net.connections = net.connections.OrderBy(x => x.innov).ToList();
unisignedNet.Add(net);
}
}
else
{
unisignedNet.AddRange(so.networks);
GEN = so.GEN;
InnovController.innovations = new List <Innovation>(so.innovations);
unisignedNet.RemoveAt(0);
InnovController.innov = so.innovID;
}
UTYL.InitFood();
InitGeneration();
}
// δ = E/N + D/N + W/M | + U/N, where U - is count of difrence in disabled
public static double GetDistance(GNNNet a, GNNNet b)
{
if (a.connections.Count == 0 && b.connections.Count == 0)
{
return(0);
}
double W;
int M, D, E, N, U;
M = 1;
W = D = E = U = 0;
N = a.connections.Count;
if (N < b.connections.Count)
{
N = b.connections.Count;
}
if (N < 10)
{
N = 3;
}
GNNNet[] nets = new GNNNet[] { a, b };
int[] range = UTYL.InnovRange(a.connections, b.connections);
Connect?[,] table = new Connect?[2, range[1] - range[0]];
for (int i = 0; i < 2; i++)
{
for (int c = 0; c < nets[i].connections.Count; c++)
{
table[i, nets[i].connections[c].innov - range[0]] = nets[i].connections[c];
}
}
bool isDisjoint = true;
for (int c = range[1] - range[0] - 1; c >= 0; c--)
{
// End of
if (table[0, c] != null || table[1, c] != null)
{
isDisjoint = false;
}
if (isDisjoint)
{
D++;
continue;
}
if (table[0, c] == null && table[1, c] != null || table[0, c] != null && table[1, c] == null)
{
E++;
continue;
}
if (table[0, c] != null && table[1, c] != null)
{
if (table[0, c].Value.isDisabled != table[1, c].Value.isDisabled)
{
U++;
}
M++;
W += System.Math.Abs(table[0, c].Value.weight - table[1, c].Value.weight);
}
}
return((double)E / (double)N +
(double)D / (double)N +
(double)U / (double)N +
W / M);
}
private void Update()
{
UTYL.KeepFood();
}
