/// <summary>
///
/// </summary>
/// <param name="c">colonyCenter</param>
/// <param name="isQueen"></param>
private void spawnAnt(Vector2Int c, int spawnRadius, NervousSystem toHave, bool isQueen)
{
int rx = UnityEngine.Random.Range(-spawnRadius, spawnRadius);
int rz = UnityEngine.Random.Range(-spawnRadius, spawnRadius);
// Finding the highest airblock here
int y = 0;
while (Terrain.WorldManager.Instance.GetBlock(c.x + rx, y, c.y + rz).GetType() != typeof(Terrain.AirBlock))
{
y++;
}
// The offsets here for mere display of gameobject position
GameObject obj;
if (isQueen)
{
obj = UnityEngine.Object.Instantiate(Terrain.WorldManager.Instance.queenAntPrefab, new Vector3(c.x + rx, y, c.y + rz), Quaternion.identity);
this.queen = obj;
}
else
{
obj = UnityEngine.Object.Instantiate(Terrain.WorldManager.Instance.antPrefab, new Vector3(c.x + rx, y, c.y + rz), Quaternion.identity);
}
obj.GetComponent <Ant>().setColony(this);
obj.GetComponent <Ant>().setPosition(new Vector3Int(c.x + rx, y, c.y + rz));
obj.GetComponent <Ant>().setNervousSystem(toHave);
obj.GetComponent <Ant>().colonyId = this.colonyId;
toHave.antOn = obj.GetComponent <Ant>();
this.colony.Add(obj);
}
void Awake()
{
this.totalHealth = ConfigurationManager.Instance.initialHealth;
this.currhealth = this.totalHealth;
// Create the nervous system
ns = new NervousSystem();
ns.antOn = this;
}
/// <summary>
/// Return bool whether two nodes are connected in the Nervous system
/// </summary>
private static bool connectionExists(int i, int j, NervousSystem ns)
{
foreach (var c in ns.connections)
{
if ((c.id_in == i && c.id_out == j) || (c.id_in == j && c.id_out == i))
{
return(true);
}
}
return(false);
}
public SerializableNS(NervousSystem toSerialize)
{
this.nodes = new List <Node>();
this.connections = new List <Connection>();
foreach (var n in toSerialize.nodes)
{
Node newN = new Node(n.c, n.val, new List <Connection>(n.attached), n.id);
this.nodes.Add(newN);
}
foreach (var c in toSerialize.connections)
{
this.connections.Add(new Connection(c.id_in, c.id_out, c.enabled, c.innovationNum));
}
}
public void putColony(int spawnRadius, NervousSystem antNS, NervousSystem queenNS)
{
int l = ConfigurationManager.Instance.Chunk_Diameter * ConfigurationManager.Instance.World_Diameter;
Vector2Int c = new Vector2Int(UnityEngine.Random.Range(spawnRadius / 2, l / 2 - spawnRadius / 2),
UnityEngine.Random.Range(spawnRadius / 2, l / 2 - spawnRadius / 2));
// Spawn all ants
for (int i = 0; i < ConfigurationManager.Instance.antsPerColony; i++)
{
NervousSystem newNS = new NervousSystem(antNS.nodes, antNS.connections);
spawnAnt(c, spawnRadius, newNS, false);
}
// Spawning queen
NervousSystem newNSqueen = new NervousSystem(queenNS.nodes, queenNS.connections);
spawnAnt(c, spawnRadius, newNSqueen, true);
}
/// <summary>
/// Second type of NEAT structural mutation
///
/// a single new connection gene with a random weight is added connecting two previously unconnected nodes
/// </summary>
/// <returns></returns>
public static void MutateByConnection(NervousSystem toMutate)
{
// Randomly find two unconnected nodes
List <int> L1 = new List <int>();
for (int i = 0; i < toMutate.nodes.Count; i++)
{
L1.Add(i);
}
var rnd = new System.Random();
var result = L1.OrderBy(item => rnd.Next());
foreach (var i in result)
{
foreach (var j in result)
{
if (i == j)
{
continue;
}
if ((toMutate.nodes[i].c == 'i' && toMutate.nodes[j].c == 'i') || (toMutate.nodes[i].c == 'o' && toMutate.nodes[j].c == 'o'))
{
continue;
}
if (connectionExists(i, j, toMutate))
{
continue;
}
// May add new connection here on nodes i and j
Connection newC = new Connection(i, j, true, ++toMutate.innovationNumberNow);
toMutate.connections.Add(newC);
toMutate.nodes[i].attached.Add(newC);
toMutate.nodes[j].attached.Add(newC);
return;
}
}
Debug.Log("Tried to add a connection but the nervous system was fully connected");
}
/// <summary>
/// First type of NEAT structural mutation
///
/// An existing connection is split and the new node placed where the old connection was
/// </summary>
/// <returns></returns>
public static void MutateByNode(NervousSystem toMutate)
{
// Randomly choose a connection
int randomI = Random.Range(0, toMutate.connections.Count);
// Disable this connection
Connection gone = toMutate.connections[randomI];
toMutate.connections.Remove(gone);
// Add two new connections
Connection c1 = new Connection(gone.id_in, toMutate.nodes.Count, 1, true, ++toMutate.innovationNumberNow);
Connection c2 = new Connection(toMutate.nodes.Count, gone.id_out, gone.weight, true, ++toMutate.innovationNumberNow);
toMutate.connections.Add(c1);
toMutate.connections.Add(c2);
List <Connection> newNodeC = new List <Connection>();
newNodeC.Add(c1);
newNodeC.Add(c2);
// Add the new node
toMutate.nodes.Add(new Node('h', 0, newNodeC, toMutate.nodes.Count));
}
public void setNervousSystem(NervousSystem n)
{
this.ns = n;
}
/// <summary>
/// Return the compatibility distance between two nervous systems, used for speciation
///
/// See section 3.3 Protecting Innovation through Speciation in (Stanley et. al)
/// </summary>
/// <param name="n1"></param>
/// <param name="n2"></param>
/// <returns></returns>
private float compatDistiance(NervousSystem n1, NervousSystem n2)
{
return(0);
}
/// <summary>
/// Used when loading the top colony
/// </summary>
public Colony(NervousSystem antNS, NervousSystem queenNS)
{
colony = new List <GameObject>();
putColony(ConfigurationManager.Instance.spawnRadius, antNS, queenNS);
}
/// <summary>
/// Create a new colony based off a single parent for now.
///
/// Mutate each nervous system by the proper probabilities before passing it on.
/// </summary>
/// <param name="spawnRadius"></param>
/// <param name="singleParent"></param>
/// <param name="randomChoice"></param>
public void spawnColony(int spawnRadius, Colony singleParent, bool randomChoice = false)
{
int l = ConfigurationManager.Instance.Chunk_Diameter * ConfigurationManager.Instance.World_Diameter;
Vector2Int c;
// Choose a center location in this colony
if (randomChoice)
{
c = new Vector2Int(UnityEngine.Random.Range(spawnRadius / 2, l / 2 - spawnRadius / 2),
UnityEngine.Random.Range(spawnRadius / 2, l / 2 - spawnRadius / 2));
}
else
{
c = new Vector2Int(l / 4, l / 4);
if (colonyId == 1)
{
c.y += l / 2;
}
else if (colonyId == 2)
{
c.y += l / 2;
c.x += l / 2;
}
else if (colonyId == 3)
{
c.x += l / 2;
}
}
// Spawn all ants
for (int i = 0; i < ConfigurationManager.Instance.antsPerColony; i++)
{
NervousSystem newNS;
if (singleParent.bestAnt == null)
{
newNS = new NervousSystem(singleParent.colony[i].GetComponent <Ant>().getNervousSystem().nodes,
singleParent.colony[i].GetComponent <Ant>().getNervousSystem().connections);
}
else
{
newNS = new NervousSystem(singleParent.bestAnt.GetComponent <Ant>().getNervousSystem().nodes,
singleParent.bestAnt.GetComponent <Ant>().getNervousSystem().connections);
}
for (int k = 0; k < UnityEngine.Random.Range(1, 5); k++)
{
if (UnityEngine.Random.Range(0f, 1f) < ConfigurationManager.Instance.connectionMutationRate)
{
NeuroEvolution.MutateByConnection(newNS);
}
if (UnityEngine.Random.Range(0f, 1f) < ConfigurationManager.Instance.nodeMutationRate)
{
NeuroEvolution.MutateByConnection(newNS);
}
}
spawnAnt(c, spawnRadius, newNS, false);
}
NervousSystem newNSqueen = new NervousSystem(singleParent.queen.GetComponent <Ant>().getNervousSystem().nodes,
singleParent.queen.GetComponent <Ant>().getNervousSystem().connections);
for (int k = 0; k < UnityEngine.Random.Range(1, 5); k++)
{
// Spawning the queen
if (UnityEngine.Random.Range(0f, 1f) < ConfigurationManager.Instance.connectionMutationRate)
{
NeuroEvolution.MutateByConnection(newNSqueen);
}
if (UnityEngine.Random.Range(0f, 1f) < ConfigurationManager.Instance.nodeMutationRate)
{
NeuroEvolution.MutateByNode(newNSqueen);
}
}
spawnAnt(c, spawnRadius, newNSqueen, true);
}
