public Genome(Chromosome ali, Chromosome coh, Chromosome rep, Chromosome obs, Chromosome bou, Chromosome rew, PathChrom pf)
{
Align = ali;
Cohesion = coh;
Repulse = rep;
Obstacle = obs;
Boundary = bou;
Reward = rew;
Pathfind = pf;
}
public Genome()
{
Align = new Chromosome();
Cohesion = new Chromosome();
Repulse = new Chromosome();
Obstacle = new Chromosome();
Boundary = new Chromosome();
Reward = new Chromosome();
Pathfind = new PathChrom();
}
public Genome Crossover(Genome g1, Genome g2)
{
Chromosome ali = Crossover(g1.Align, g2.Align);
Chromosome coh = Crossover(g1.Cohesion, g2.Cohesion);
Chromosome rep = Crossover(g1.Repulse, g2.Repulse);
Chromosome obs = Crossover(g1.Obstacle, g2.Obstacle);
Chromosome bou = Crossover(g1.Boundary, g2.Boundary);
Chromosome rew = Crossover(g1.Reward, g2.Reward);
PathChrom pf = Crossover(g1.Pathfind, g2.Pathfind);
return(new Genome(ali, coh, rep, obs, bou, rew, pf));
}
public ForceTrained(int numBirds, FlockControl.RandomDelegate rp)
{
randomizePositions = rp;
Chromosome ali = new Chromosome(17.845380783081056f, 4.233492851257324f, 125.07916259765625f);
Chromosome coh = new Chromosome(18.35961151123047f, 6.671069145202637f, 240.59176635742188f);
Chromosome rep = new Chromosome(71.6546401977539f, 8.883309364318848f, 152.1246337890625f);
Chromosome obs = new Chromosome(100.060951232910159f, 7.151443481445313f, 167.235451232f);
Chromosome bou = new Chromosome(0.0f, 6.893937110900879f, 159.00930786132813f);
Chromosome rew = new Chromosome(66.051513671875f, 1.0f, 354.618896484375f);
PathChrom pf = new PathChrom(); // Not using pathfinding
trainedGenome = new Genome(ali, coh, rep, obs, bou, rew, pf);
}
public PathChrom Crossover(PathChrom p1, PathChrom p2)
{
float sm = Random.Range(-STEP_MUT, STEP_MUT) * mutationRate;
float s = (Random.value > .5f ? p1.Steps : p2.Steps) + sm;
float cm = Random.Range(-CARRY_MUT, CARRY_MUT) * mutationRate;
float c = (Random.value > .5f ? p1.Carryover : p2.Carryover) + cm;
float vm = Random.Range(-VIEW_MUT, VIEW_MUT) * mutationRate;
float v = (Random.value > .5f ? p1.View : p2.View) + vm;
Chromosome cr = Crossover(p1.Chrom, p2.Chrom);
return(new PathChrom(cr, s, c, v));
}
