public static void PrintTree(BehaviourNode tree, string indent, bool last)
{
Debug.Log(indent + "+- " + tree.GetType());
indent += last ? " " : "| ";
if (tree.getNextNodes() != null)
{
for (int i = 0; i < tree.getNextNodes().Count; i++)
{
if (tree.getNextNodes()[i] != null)
{
PrintTree(tree.getNextNodes()[i], indent, i == tree.getNextNodes().Count - 1);
}
}
}
}
private void iterate(BehaviourNode bn)
{
if (bn.getNextNodes() != null && bn.getNextNodes().Count > 0)
{
for (int i = 0; i < bn.getNextNodes().Count; i++)
{
if (bn.getNextNodes()[i] != null)
{
iterate(bn.getNextNodes()[i]);
}
if (UnityEngine.Random.Range(0.0f, 1.0f) > mutationRate)
{
bn.mutate();
}
}
}
}
public BehaviourNode getNodeAtDepth(int depthOfRandomNode)
{
BehaviourNode currentNode = root;
for (int i = 0; i < depth; i++)
{
currentNode = currentNode.getNextNodes() [Random.Range(0, 1)];
}
return(currentNode);
}
//iterate over tree
public void iterate(BehaviourNode bn, BehaviourNode parent, BotController bc)
{
if (bn.getNextNodes() != null)
{
//Debug.Log("iterating over children");
foreach (BehaviourNode child in bn.getNextNodes())
{
if (child != null)
{
iterate(child, bn, bc);
}
}
}
if (parent != null && parent is IFunction)
{
((FunctionNode)parent).fillParams(bn.fire(bc)); // should not be like this!
//--> if everything is write rewrite fire => fire(bc)
}
}
private int calculateHeight(BehaviourNode root)
{
int max = 0;
if (root != null && root.getNextNodes() != null)
{
foreach (BehaviourNode childNode in root.getNextNodes())
{
if (childNode != null)
{
int height = calculateHeight(childNode);
if (height > max)
{
max = height;
}
}
}
}
return(max + 1);
}
public override List <BotBehavior> mutate(List <BotBehavior> individuals, float mutationProbability)
{
foreach (BotBehavior bh in individuals)
{
bool proceedDepth = UnityEngine.Random.Range(0.0f, 1.0f) <= depthOfMutation;
bool excuteMutation = UnityEngine.Random.Range(0.0f, 1.0f) <= mutationRate;
BehaviourNode childNode = bh.getRoot();
if (excuteMutation)
{
int indexOfRemoval = 0;
BehaviourNode parent = null;
int depthOfCurrentNode = 0;
while (proceedDepth && childNode.getNextNodes() != null && childNode.getNextNodes().Count != 0)
{
//Debug.Log ("Childnode count " + childNode.getNextNodes ().Count);
indexOfRemoval = UnityEngine.Random.Range(0, childNode.getNextNodes().Count);
parent = childNode;
//Debug.Log ("indexOfRemoval " + indexOfRemoval);
childNode = parent.getNextNodes()[indexOfRemoval];
depthOfCurrentNode++;
proceedDepth = UnityEngine.Random.Range(0.0f, 1.0f) <= depthOfMutation;
}
if (parent != null)
{
// remove node and grow new tree starting from this new node
int depth = calculateDepth();
if (depth > (bh.getDepth() - depthOfCurrentNode) * maxDepthIncrease)
{
depth = Mathf.FloorToInt((float)((bh.getDepth() - depthOfCurrentNode) * maxDepthIncrease));
}
bool isTerminal = UnityEngine.Random.Range(0.0f, 1.0f) <= chanceOfTerminal;
parent.getNextNodes()[indexOfRemoval] = bh.innerGrowTree(depth, functions, terminals, isTerminal);
}
}
}
return(individuals);
}
public void mutate(BehaviourNode current, BehaviourNode parent, int i)
{
if (current is IFunction && Random.Range(0, 1) < functionMutationRate && parent != null)
{
int randomFunction = Random.Range(0, functions.Count - 1);
BehaviourNode function = (BehaviourNode)System.Activator.CreateInstance(functions[randomFunction]);
function.setNextNodes(current.getNextNodes());
parent.getNextNodes()[i] = function;
}
else if (Random.Range(0, 1) < terminalMutationRate)
{
current.mutate();
}
int index = 0;
foreach (BehaviourNode
child in current.getNextNodes())
{
index++;
mutate(child, current, index);
}
}
private void iterate(BehaviourNode bn, int indexInParent, BehaviourNode parent, ref BehaviourNode res, ref int resIndex, int count)
{
// add self as possible sample
// check if their are childeren
// first itterate over childeren
count++;// new element discovered
double factor = bn is IFunction == true ? probabilityFunctionNode : 1 - probabilityFunctionNode;
bool replace = UnityEngine.Random.Range(0, count) < factor;
if (replace)
{
res = parent;
resIndex = indexInParent;
}
if (bn.getNextNodes().Count > 0)
{
for (int i = 0; i < bn.getNextNodes().Count; i++)
{
iterate(bn.getNextNodes()[i], i, bn, ref res, ref resIndex, count);
}
}
}
public void mutate(float mutationProb)
{
Queue <BehaviourNode> toLoop = new Queue <BehaviourNode> ();
while (toLoop.Count != 0)
{
BehaviourNode bn = toLoop.Dequeue();
if (rollDice(mutationProb))
{
bn.mutate();
}
foreach (BehaviourNode bhvn in bn.getNextNodes())
{
toLoop.Enqueue(bhvn);
}
}
}
