// Update is called once per frame
void Update()
{
if (!selfDrive)
{
UpdateFitness();
if (CheckFailure())
{
return;
}
}
if (genome == null)
{
return;
}
if (selfDrive || !hasFailed)
{
genome.net.SetInput(raycast.GetProbes());
genome.net.refresh();
leftForce = genome.net.GetOutput(0);
rightForce = genome.net.GetOutput(1);
leftTheta = MAX_ROTATION * leftForce;
rightTheta = MAX_ROTATION * rightForce;
headingAngle += (leftTheta - rightTheta) * Time.fixedDeltaTime;
float speed = (Mathf.Abs(leftForce + rightForce)) / 2;
speed *= _SPEED;
speed = Clamp(speed, -_SPEED, _SPEED);
}
}