public void AddNodeGene(NodeGene toAdd)
{
if (!NodeGenes.ContainsKey(toAdd.Id))
{
NodeGenes.Add(toAdd.Id, toAdd);
}
}
public void AddNodeGene(NodeGene toAdd, int index)
{
if (!NodeGenes.ContainsKey(index))
{
NodeGenes.Add(index, toAdd);
}
}
private double CalculateValue(NodeGenes nodeGene, int timesRun)
{
timesRun++;
if (nodeGene.valueSet)
{
return(nodeGene.value);
}
if (nodeGene.nodeType == NodeType.Sensor)
{
throw new System.Exception("Sensor value error");
}
if (timesRun > 10)
{
throw new System.Exception("Looping");
}
List <ConnectGenes> connections = connectGenes.FindAll(x => x.outt == nodeGene.node);
double value = 0;
for (int j = 0; j < connections.Count; j++)
{
if (connections[j].enabled)
{
value += CalculateValue(nodeGenes.Find(x => x.node == connections[j].inn), timesRun) * connections[j].weight;
}
}
nodeGene.SetValue(Sigmoid(value, 4.9));
return(nodeGene.value);
}
public override void CreateBrain(BrainComponent brainComp, IMutatorConfig config)
{
var neatConfig = (NeatMutationConfig)config;
// Add nodes for inputs and outputs
foreach ((string namedInput, string _) in brainComp.InputMap)
{
// Note activation function on input nodes is not used.
this.AddNamedNode(namedInput, NodeType.INPUT, ActivationFunctionType.SOFTSIGN);
}
foreach ((string namedOutput, string _) in brainComp.OutputMap)
{
this.AddNamedNode(namedOutput, NodeType.OUTPUT, (ActivationFunctionType)neatConfig.OutputActivationFunction);
}
// Increase connection innovation id as we loop
int connInnovationId = 0;
Random r = new Random();
double chanceToMakeConnection = 1d;
foreach (var input in NodeGenes.FindAll((g) => g.NodeType == NodeType.INPUT || g.NodeType == NodeType.BIAS))
{
foreach (var output in NodeGenes.FindAll((g) => g.NodeType == NodeType.OUTPUT))
{
if (r.NextDouble() < chanceToMakeConnection)
{
// Add new connection gene
ConnectionGenes.Add(new ConnectionGene(connInnovationId, input.InnovationId, output.InnovationId, r.Normal(0, 1.5)));
connInnovationId++;
}
}
}
}
private void AddNodes(ConnectGenes checkGenes, Genome p2)
{
NodeGenes inNode = p2.nodeGenes.Find(x => x.node == checkGenes.inn);
NodeGenes outNode = p2.nodeGenes.Find(x => x.node == checkGenes.outt);
if (nodeGenes.FindAll(x => x.node == inNode.node).Count == 0)
{
nodeGenes.Add(new NodeGenes(inNode.node, inNode.nodeType));
}
if (nodeGenes.FindAll(x => x.node == outNode.node).Count == 0)
{
nodeGenes.Add(new NodeGenes(outNode.node, outNode.nodeType));
}
}
/// <summary>
/// Make a clone of the genome
/// </summary>
/// <returns>The new genome</returns>
public Genometype Clone()
{
// Copy the nodes
NodeGenes[] newNodeGenes = new NodeGenes[nodeGenes.Length];
for (int i = 0; i < nodeGenes.Length; i++)
{
newNodeGenes[i] = nodeGenes[i];
}
// Copy the connection
ConnectionGenens[] newConnectionGenes = new ConnectionGenens[connectionGenes.Length];
for (int i = 0; i < connectionGenes.Length; i++)
{
newConnectionGenes[i] = connectionGenes[i];
}
return(new Genometype(newNodeGenes, newConnectionGenes));
}
