//ramped half-and-half: grow method
public BehaviourNode innerGrowTree(int maxDepth, List <System.Type> Functions, List <System.Type> terminals, bool isTerminal)
{
if (maxDepth < 0)
{
return(null);
}
if (maxDepth == 0)
{
isTerminal = true;
}
int nextNode = UnityEngine.Random.Range(0, (isTerminal == true? terminals.Count : Functions.Count));
List <BehaviourNode> l = new List <BehaviourNode>();
BehaviourNode rootNode = (BehaviourNode)System.Activator.CreateInstance(isTerminal == true? terminals[nextNode] : Functions[nextNode]);
if (!isTerminal)
{
int numberOfBranches = ((IFunction)rootNode).parameters;
for (int i = 0; i < Mathf.Max(numberOfBranches, 2); i++)
{
bool isTerm = UnityEngine.Random.Range(0, 100) > depthIncreaseProb;
l.Add(innerGrowTree(maxDepth - 1, Functions, terminals, isTerm));
}
}
rootNode.setNextNodes(l);
return(rootNode);
}
//Recursive method used by constructRandom()
//full method
private BehaviourNode constructRandomInner(int depth, List <System.Type> types, int branchingFactor)
{
if (depth <= 0)
{
return(null);
}
List <BehaviourNode> l = new List <BehaviourNode>();
int nextNode = Random.Range(0, types.Count);
BehaviourNode newNode = (BehaviourNode)System.Activator.CreateInstance(types[nextNode]);
//Debug.Log("created node: " + types[nextNode]);
for (int i = 0; i < branchingFactor; i++)
{
l.Add(constructRandomInner(depth - 1, types, branchingFactor));
}
newNode.setNextNodes(l);
return(newNode);
}
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);
}
}
