public float DetermineFitness(CarState state)
{
//return UnityEngine.Random.value * 1000;
//state.AngleToGoal Drehung 0 0.6 0.1
//state.CurrentVelocity Geschwindiket 0 0.8 0.3
//state.DistanceFromGoal Entfernung 0 0.9 0.2
//state.NumberOfCollisions Unfall 0 9 1
float angle = state.AngleToGoal();
float velocity = state.CurrentVelocity();
float distance = state.DistanceFromGoal();
int collisions = state.NumberOfCollisions();
if (angle < 0.1)
{
fAngle = 0.1F;
}
if (angle >= 0.1)
{
fAngle = 0.9F;
}
if (velocity < 0.1)
{
fVelocity = 0.1F;
}
if (velocity > 0.5)
{
fVelocity = 0.9F;
}
if (distance < 0.5)
{
fDistance = 0.1F;
}
if (distance >= 0.5)
{
fDistance = 0.9F;
}
if (collisions == 0)
{
fCollision = 0.1F;
}
if (collisions > 0 && collisions <= 3)
{
fCollision = 0.5F;
}
if (collisions > 3)
{
fCollision = 0.99F;
}
float fitness = 1 - (fAngle * fVelocity * fDistance * fCollision);
return((distance / 100) - 5);
}
//Should be beteween 0..1
public float DetermineFitness(CarState state)
{
//Debug.Log(state.DistanceFromGoal() + " -- " + state.AngleToGoal());
int maxDistance = 40;
float angle = state.AngleToGoal(); //transform: angle = 1 --> Optimal; angle = 0 --> so bad
float distance = state.DistanceFromGoal();
float weightDistance = 0.50f;
float weightAngle = 0.30f;
float weightCollision = 0.1f;
float weightSpeed = 0.1f;
// 0 ... car ... max --> lerp
Debug.Log("the angle is: " + angle);
float partDistance = weightDistance * (float)Math.Pow((1f - Math.Min(distance, maxDistance) / maxDistance), 2);
float partCollision = weightCollision * (float)Math.Pow((1f - Math.Min(state.NumberOfCollisions(), 4) / 4), 2);
float partSpeed = weightSpeed * (float)Math.Pow((1f - Math.Min(state.CurrentVelocity(), 1)), 2);
float partAngle = weightAngle * (float)Math.Pow((1f - (Math.Abs(angle / 4))), 2); // why
//float partAngle = weightAngle * ((float)Math.Pow(1f - Math.Min(angle, (4 - angle)) / 2f, 2f));
//float partAngle = weightAngle * (float)Math.Pow((1 - (Math.Abs ( 2 - angle) / 2)),1f);
//Debug.Log("Angle: " + angle + " rel: " + relAngle + " with faktor:" + partAngle);
float sum = partDistance + partAngle + partCollision + partSpeed;
return(sum);
//else return sum;
}
public float DetermineFitness(CarState state)
{
var angle = state.AngleToGoal();
var velocity = state.CurrentVelocity();
var distance = state.DistanceFromGoal();
var collisions = state.NumberOfCollisions();
var goalTransform = GameObject.Find("GoalPosition").transform;
var spawnPoint = GameObject.Find("SpawnPoint").transform;
var relAngle = angle * WEIGHT_ANGLE;
var relVelocity = velocity * WEIGHT_VELOCITY;
var relDistance = distance * WEIGHT_DISTANCE;
var relCollisions = collisions * WEIGHT_COLLISION;
var fitness = relAngle + relVelocity + relDistance + relCollisions;
return(1 / fitness);
}
public float DetermineFitness(CarState state)
{
int maxDistance = 40;
float angle = state.AngleToGoal();
float distance = state.DistanceFromGoal();
float weightDistance = 0.3f;
float weightAngle = 0.1f;
float weightCollision = 0.5f;
float weightSpeed = 0.1f;
float partDistance = weightDistance * (float)Math.Pow((1f - Math.Min(distance, maxDistance) / maxDistance), 2);
float partCollision = weightCollision * (float)Math.Pow((1f - Math.Min(state.NumberOfCollisions(), 4) / 4), 2);
float partSpeed = weightSpeed * (float)Math.Pow((1f - Math.Min(state.CurrentVelocity(), 1)), 2);
float partAngle = weightAngle * (float)Math.Pow((1f - (Math.Abs(angle / 4))), 2);
float sum = partDistance + partAngle + partCollision + partSpeed * 100;
return(sum);
}
public float DetermineFitness(CarState state)
{
float angle = state.AngleToGoal() / 4;
float distance = state.DistanceFromGoal();
float speed = state.CurrentVelocity();
float collisions = state.NumberOfCollisions();
// Debug.Log("angle: " + angle);
// Debug.Log("distance: " + distance);
// Debug.Log("speed: " + speed);
// Debug.Log("collisions: " + collisions);
float scaledAngle;
if (angle >= maxAngle)
{
scaledAngle = 100;
}
else
{
scaledAngle = angle * 100;
}
// Debug.Log("scaledAngle: " + scaledAngle);
float weightedAngle = scaledAngle * wheightAngle;
float scaledDistance;
if (distance >= maxDist)
{
scaledDistance = 100;
}
else
{
scaledDistance = distance / maxDist * 100;
}
// Debug.Log("scaledDistance: " + scaledDistance);
float wheightedDistance = scaledDistance * wheightDistance;
float scaledSpeed;
if (speed >= maxSpeed)
{
scaledSpeed = 100;
}
else
{
scaledSpeed = speed / maxSpeed * 100;
}
// Debug.Log("scaledSpeed: " + scaledSpeed);
float wheightedSpeed = scaledSpeed * wheightSpeed;
float scaledCollisions;
if (collisions >= maxCollisions)
{
scaledCollisions = 100;
}
else
{
scaledCollisions = collisions / maxCollisions * 100;
}
// Debug.Log("scaledCollisions: " + scaledCollisions);
float wheightedCollisions = scaledCollisions * wheightCollisions;
// float sum = 100 - ((scaledAngle + scaledDistance + scaledSpeed + scaledCollisions)/4);
float sum = 100 - (weightedAngle + wheightedDistance + wheightedSpeed + wheightedCollisions);
if (sum > 99)
{
Debug.Log("angle: " + angle);
Debug.Log("distance: " + distance);
Debug.Log("speed: " + speed);
Debug.Log("collisions: " + collisions);
Debug.Log("weightedAngle: " + weightedAngle);
Debug.Log("wheightedDistance: " + wheightedDistance);
Debug.Log("wheightedSpeed: " + wheightedSpeed);
Debug.Log("wheightedCollisions: " + wheightedCollisions);
Debug.Log("sum: " + sum);
}
return(sum);
}
public float DetermineFitness(CarState state)
{
return(state.DistanceFromGoal() + state.AngleToGoal() * 10 + state.CurrentVelocity() * 10 + state.NumberOfCollisions() * 1000);
}
public float DetermineFitness(CarState state)
{
return(100 - state.DistanceFromGoal() * 4 - state.AngleToGoal() * 2 - (state.NumberOfCollisions() * 20) - Mathf.Abs(state.CurrentVelocity()) * 10);
}