private void InitInnovation(Genome basicGenome)
{
if (basicGenome.ConnectionGenes.Count > 0)
{
Innovation.SetCurrentID(basicGenome.ConnectionGenes[basicGenome.ConnectionGenes.Count - 1].Innovation);
}
else
{
Innovation.SetCurrentID(0);
}
}
// Mutation that creates new node in the genome.
public void AddNodeMutation(List <Innovation> innovations)
{
if (innovations == null)
{
throw new ArgumentNullException(nameof(innovations));
}
// If there are no genes at all, return
if (connectionGenes.Count == 0)
{
return;
}
bool found = false;
int connectionIndex = -1;
found = this.FindConnectionGeneToSplit(out connectionIndex);
// We haven't found any proper gene to split, so exit
if (!found)
{
return;
}
ConnectionGene oldConnection = this.connectionGenes[connectionIndex];
oldConnection.IsEnabled = false;
// Check if this is new innovation, or whether it already exists somewhere in the population
bool innovationFound = false;
Node newNode = null;
ConnectionGene newGene1 = null;
ConnectionGene newGene2 = null;
foreach (Innovation innov in innovations)
{
if (innov.InnovationType == Innovation.EInnovationType.NEWNODE &&
innov.InNode.ID == oldConnection.InNodeGene.ID &&
innov.OutNode.ID == oldConnection.OutNodeGene.ID &&
oldConnection.Innovation == innov.OldID)
{
innovationFound = true;
newNode = new Node(Node.ENodeType.HIDDEN, innov.NewNode.ID);
newGene1 = new ConnectionGene(oldConnection.InNodeGene, newNode, oldConnection.IsRecurrent, 1.0f, true, innov.ID);
newGene2 = new ConnectionGene(newNode, oldConnection.OutNodeGene, false, oldConnection.Weight, true, innov.ID2);
break;
}
}
// Create new hidden node between old nodes and link it with the network
if (!innovationFound)
{
newNode = new Node(Node.ENodeType.HIDDEN, this.nodes.Count + 1);
int id1 = Innovation.GetNextID();
int id2 = Innovation.GetNextID();
Innovation newInnov = new Innovation(Innovation.EInnovationType.NEWNODE, oldConnection.InNodeGene, oldConnection.OutNodeGene, newNode, id1, id2, 0.0f, oldConnection.Innovation);
innovations.Add(newInnov);
newGene1 = new ConnectionGene(oldConnection.InNodeGene, newNode, oldConnection.IsRecurrent, 1.0f, true, id1);
newGene2 = new ConnectionGene(newNode, oldConnection.OutNodeGene, false, oldConnection.Weight, true, id2);
}
this.AddNode(newNode);
this.AddConnectionGene(newGene1);
this.AddConnectionGene(newGene2);
this.phenotypeChanged = true;
}
// Mutation that creates new connection between 2 nodes.
public void AddConnectionMutation(List <Innovation> innovations)
{
if (innovations == null)
{
throw new ArgumentNullException(nameof(innovations));
}
// Find first non-sensor node, so the target is never a sensor
int minTargetNode = this.FindFirstNonInputNode();
bool doRecurrency = this.random.NextDouble() < this.ParentSimulation.Parameters.RecurrencyProbability;
bool recurFlag = false;
bool found = false;
Node node1 = null, node2 = null;
if (doRecurrency)
{
int counter = 0;
while (counter++ < maxTries && !found)
{
bool recurrentLoop = this.random.NextDouble() > 0.5;
int startNode = this.random.Next(0, this.nodes.Count);
int targetNode = recurrentLoop ? startNode : this.random.Next(minTargetNode, this.nodes.Count);
// Check if connection exists between the nodes
int i = 0;
node1 = this.nodes[startNode];
node2 = this.nodes[targetNode];
for (i = 0; i < this.connectionGenes.Count; ++i)
{
if ((node2.NodeType == Node.ENodeType.SENSOR || node2.NodeType == Node.ENodeType.BIAS) ||
(connectionGenes[i].InNodeGene.ID == node1.ID && connectionGenes[i].OutNodeGene.ID == node2.ID && connectionGenes[i].IsRecurrent))
{
break;
}
}
if (i == this.connectionGenes.Count)
{
recurFlag = this.IsRecurrentConnectioBetweenNodes(node1, node2);
if (!recurFlag)
{
continue;
}
else
{
found = true;
}
}
}
}
else
{
int counter = 0;
while (counter++ < maxTries && !found)
{
int startNode = this.random.Next(0, this.nodes.Count);
int targetNode = this.random.Next(minTargetNode, this.nodes.Count);
if (startNode != targetNode)
{
// Check if connection exists between the nodes
int i = 0;
node1 = this.nodes[startNode];
// Don't allow recurrencies for now
if (node1.NodeType == Node.ENodeType.OUTPUT)
{
continue;
}
node2 = this.nodes[targetNode];
for (i = 0; i < this.connectionGenes.Count; ++i)
{
if (connectionGenes[i].InNodeGene.ID == node1.ID && connectionGenes[i].OutNodeGene.ID == node2.ID && !connectionGenes[i].IsRecurrent)
{
break;
}
}
if (i == this.connectionGenes.Count)
{
recurFlag = this.IsRecurrentConnectioBetweenNodes(node1, node2);
if (recurFlag)
{
continue;
}
else
{
found = true;
}
}
}
}
}
// Check if this is new innovation, or if it already existed somewhere in the population
if (found)
{
if (doRecurrency)
{
recurFlag = true;
}
bool innovationFound = false;
ConnectionGene newGene = null;
foreach (Innovation innov in innovations)
{
if (innov.InnovationType == Innovation.EInnovationType.NEWLINK && innov.InNode.ID == node1.ID && innov.OutNode.ID == node2.ID)
{
innovationFound = true;
newGene = new ConnectionGene(innov.InNode, innov.OutNode, recurFlag, innov.Weight, true, innov.ID);
break;
}
}
// This is completely new innovation
if (!innovationFound)
{
float newRandomWeight = (float)(this.random.NextDouble() * 2.0f - 1.0f);
Innovation newInnov = new Innovation(Innovation.EInnovationType.NEWLINK, node1, node2, null, Innovation.GetNextID(), 0, newRandomWeight, 0);
innovations.Add(newInnov);
newGene = new ConnectionGene(node1, node2, recurFlag, newRandomWeight, true, newInnov.ID);
}
this.AddConnectionGene(newGene);
this.phenotypeChanged = true;
}
}
