//BRAIN HELPERS
void simple_train()
{
//Nothing infront -> Don't do much.
NeuralNet.Matrix zeroin = new NeuralNet.Matrix(1, Eye_script.ret_size(), false);
NeuralNet.Matrix zerout = new NeuralNet.Matrix(1, 5, false);
zerout[0, 0] = 0.5;
for (int i = 0; i < 10; i++)
{
mind.Forward(zeroin);
mind.Backward(zerout);
}
}
//this one is a prototype
void brain()
{
NeuralNet.Matrix input = eye.gameObject.GetComponent <Eye_script> ().look(); //Dirty hack to get the input from the eye... isn't great..
//NeuralNet.Matrix input2 = NeuralNet.Matrix.AddBias (NeuralNet.Matrix.AddBias (input));
/*
* NeuralNet.Matrix input2 = new NeuralNet.Matrix(1,input.Columns+4);
* for (int i = 0; i < input.Columns; i++) { //Only 1 row.
* input2.Elements [0,i] = input.Elements[0,i];
* }*/
//input2 [0,0] = 0;
//input2 [0,1] = 1;
NeuralNet.Matrix brainRet = mind.Forward(input);
if (getLastBrainStr)
{
lastBrainStr = brainRet.ToString();
}
//Hardcoding ret to test:
//ret[0,0] = input[0,0] / Mathf.PI + 0.5 ;
//Abstract the values out of the NN.
double rotate_value = ((brainRet[0, 0] - 0.5) * 180.0) / 10.0;
double accel_value = (brainRet[0, 1] - 0.5) * 1;
//ROTATION//
transform.rotation = Quaternion.AngleAxis((float)rotate_value, Vector3.up) * transform.rotation;
//VELOCITY//
body.velocity = body.velocity * 0.9f; //Dampen vel
body.velocity += ( float)accel_value * body.transform.forward;
//Velocity = (brainoutput 1*45)*Velocity + accel
//Rotates the velocity and applies the body/etc
//body.velocity = Quaternion.AngleAxis((float)((ret[0,0]-0.5)*180.0/100), Vector3.up)*body.velocity + (body.transform.forward * (float)ret[0,1] * 0); //The rotation is based off the result.
//food -= (float)(ret[0,1]); //Accel costs.
//Rotate
// transform.rotation = Quaternion.AngleAxis((float)((ret[0,1]-ret[0,2])*10), Vector3.up)*transform.rotation ;
//transform.rotation = Quaternion.AngleAxis((float)((input[0,0])), Vector3.up)*transform.rotation ; //TRY IT RAW!
//transform.rotation = new Quaternion (((float)(ret [0, 1]+ret [0, 2]-ret [0, 3]-ret [0, 4])*2) , Vector3.up[0],Vector3.up[1],Vector3.up[2]);
//transform.rotation = new Quaternion (((float)(ret [0, 1]-ret [0, 2])) , Vector3.up[0],Vector3.up[1],Vector3.up[2]);
//Move
// if(ret[0,0] > 0)
// body.velocity = (float)(ret[0,0]-0.3)*5f*body.transform.forward;
//if (body.velocity.magnitude < 0.1) {
//food+=2;
// train_bad();
//}
//food -= (float)(ret[0,0]);
/*
* if (Random.Range(0, 100) < 10)
* {
* body.velocity = Quaternion.AngleAxis(Random.Range(-45,45), Vector3.up)*body.velocity;
* // body.velocity = new Vector3(0,0,10);
* }
* //Face velocity dir.
* if (body.velocity != new Vector3 (0, 0, 0)) {
* transform.rotation = Quaternion.LookRotation (body.velocity);
* }//*/
}