private float calcScore(FlockControl.UnityState us, BirdControl me)
{
float score = 0;
float gd = (us.goal.transform.position - transform.position).magnitude;
score += GOAL_CONST * Mathf.Min(ASYMPTOTE, 1 / Mathf.Sqrt(gd));
if (!me.Moving)
{
return(score);
}
foreach (BirdControl b in us.birds)
{
if (b.Equals(me) || !b.Moving)
{
continue;
}
float d = me.GetDistance(b).dist;
score += BIRD_CONST * Mathf.Min(ASYMPTOTE, 1 / Mathf.Sqrt(d));
}
for (int i = 0; i < us.walls.Length; i++)
{
float d = me.WallDistance(i).dist;
score += WALL_CONST * Mathf.Min(ASYMPTOTE, 1 / Mathf.Sqrt(d));
}
return(score);
}
private Vector2 cohesion(BirdControl[] birds, BirdControl me)
{
Vector2 force = Vector2.zero;
foreach (BirdControl b in birds)
{
if (b.Equals(me) || !b.Moving)
{
continue;
}
BirdControl.CachedDelta cd = me.GetDistance(b);
if (cd.dist > genome.Cohesion.Distance)
{
continue;
}
force += calcForce(cd.norm, cd.dist, genome.Cohesion);
}
return(force);
}
private Vector2 repulsion(BirdControl[] birds, float[] forces, BirdControl me)
{
Vector2 force = Vector2.zero;
foreach (BirdControl b in birds)
{
if (b.Equals(me) || !b.Moving)
{
continue;
}
BirdControl.CachedDelta cd = me.GetDistance(b);
if (cd.dist > genome.Repulse.Distance)
{
continue;
}
force += calcForce(-1 * cd.norm, cd.dist, genome.Repulse); // * forces[b.Number];
}
return(force);
}
private Vector2 aligment(BirdControl[] birds, float[] forces, BirdControl me)
{
Vector2 force = Vector2.zero;
foreach (BirdControl b in birds)
{
if (b.Equals(me) || !b.Moving)
{
continue;
}
BirdControl.CachedDelta cd = me.GetDistance(b);
if (cd.dist > genome.Align.Distance)
{
continue;
}
float mag = calcForce(cd.norm, cd.dist, genome.Align).magnitude; // * forces[b.Number];
force += b.Velocity.normalized * mag;
}
return(force);
}
private void generateRewards(FlockControl.UnityState us)
{
int pathfindTokens = PATHFIND_TOKENS;
rewardForces = new Vector2[us.birds.Length];
bool[] nextGotToken = new bool[us.birds.Length];
/* In this function, we give away a number of tokens equal to PATHFIND_TOKENS to birds so that they use the more computational expensive pathfinding.
* We prioritize the birds that previously received tokens, then birds with no leaders, but we want to make sure that as the number of active birds falls,
* we still give away all of our tokens to birds that are active. If we have more tokens than active birds, every bird should use pathfinding.
*/
// First we give priority to birds that are already holding tokens
for (int bird = 0; bird < us.birds.Length; bird++)
{
BirdControl me = us.birds [bird];
if (!gotRewardToken [bird] || !me.Moving)
{
continue;
}
if (Random.value > genome.Pathfind.Carryover)
{
continue;
}
// This bird had a token and carries it over in this frame
pathfindTokens = giveToken(us, bird, pathfindTokens, nextGotToken);
}
// Then we prioritize birds with no leaders
int[] birdIndex = range(us.birds.Length);
shuffle(birdIndex);
for (int i = 0; i < birdIndex.Length && pathfindTokens > 0; i++)
{
int bird = birdIndex [i];
BirdControl me = us.birds [bird];
if (!me.Moving || nextGotToken [bird])
{
continue;
}
bool hasLeader = false;
foreach (BirdControl b in us.birds)
{
if (b.Equals(me) || !b.Moving)
{
continue;
}
float dist = me.GetDistance(b).dist;
// Distance here is used a bit differently than in other cases, but it is trained just the same and does not result in any issues.
if (dist > genome.Pathfind.Distance)
{
continue;
}
hasLeader = hasLeader || inView(b, me);
}
if (hasLeader)
{
continue;
}
// This bird has no leader so use a token
pathfindTokens = giveToken(us, bird, pathfindTokens, nextGotToken);
}
// Now we give out the rest of the tokens randomly
birdIndex = range(us.birds.Length);
shuffle(birdIndex);
for (int i = 0; i < birdIndex.Length && pathfindTokens > 0; i++)
{
int bird = birdIndex [i];
BirdControl me = us.birds [bird];
if (!me.Moving || nextGotToken [bird])
{
continue;
}
// This bird has received a token through random chance
pathfindTokens = giveToken(us, bird, pathfindTokens, nextGotToken);
}
// The remainder of the birds do not receive tokens and so just do simple pathfinding towards the goal
for (int bird = 0; bird < us.birds.Length; bird++)
{
BirdControl me = us.birds [bird];
if (!me.Moving)
{
continue;
}
if (nextGotToken [bird])
{
// This bird already received a token
continue;
}
rewardForces [bird] = rewardSimple(us.goal.transform.position, me);
}
gotRewardToken = nextGotToken;
}