// Constructor Method:
public MiniGameMoveToTarget1D()
{
//DebugBot.DebugFunctionCall("MiniGameMoveToTarget1D; Constructor();", debugFunctionCalls);
ownPosX[0] = 0f;
targetPosX[0] = 0f;
ownVelX[0] = 0f;
targetVelX[0] = 0f;
targetDirX[0] = 0f;
fitDotProduct[0] = 0f;
fitTimeToTarget[0] = 1f;
fitDistanceToTarget[0] = 0f;
fitReachTarget[0] = 0f;
collision = false;
// Brain Inputs!:
inputChannelsList = new List<BrainInputChannel>();
BrainInputChannel BIC_ownPosX = new BrainInputChannel(ref ownPosX, false, "ownPosX");
inputChannelsList.Add (BIC_ownPosX); // 0
BrainInputChannel BIC_targetPosX = new BrainInputChannel(ref targetPosX, false, "targetPosX");
inputChannelsList.Add (BIC_targetPosX); // 1
BrainInputChannel BIC_ownVelX = new BrainInputChannel(ref ownVelX, false, "ownVelX");
inputChannelsList.Add (BIC_ownVelX); // 2
BrainInputChannel BIC_targetVelX = new BrainInputChannel(ref targetVelX, false, "targetVelX");
inputChannelsList.Add (BIC_targetVelX); // 3
BrainInputChannel BIC_targetDirX = new BrainInputChannel(ref targetDirX, false, "targetDirX");
inputChannelsList.Add (BIC_targetDirX); // 4
// Brain Outputs!:
outputChannelsList = new List<BrainOutputChannel>();
BrainOutputChannel BOC_ownVelX = new BrainOutputChannel(ref ownVelX, false, "ownVelX");
outputChannelsList.Add (BOC_ownVelX); // 0
fitnessComponentList = new List<FitnessComponent>();
FitnessComponent FC_dotProduct = new FitnessComponent(ref fitDotProduct, false, true, 1f, 1f, "Dot Product To Target", true);
fitnessComponentList.Add (FC_dotProduct); // 0
FitnessComponent FC_timeToTarget = new FitnessComponent(ref fitTimeToTarget, false, false, 1f, 1f, "Time To Target", true);
fitnessComponentList.Add (FC_timeToTarget); // 1
FitnessComponent FC_distanceToTarget = new FitnessComponent(ref fitDistanceToTarget, false, false, 1f, 1f, "Distance To Target", true);
fitnessComponentList.Add (FC_distanceToTarget); // 2
FitnessComponent FC_reachTarget = new FitnessComponent(ref fitReachTarget, false, true, 1f, 1f, "Reaches Target", false);
fitnessComponentList.Add (FC_reachTarget); // 3
Reset();
}
// Constructor!!
public MiniGamePhysXWorm()
{
piecesBuilt = false; // This refers to if the pieces have all their components and are ready for Simulation, not simply instantiated empty GO's
gameInitialized = false; // Reset() is Initialization
gameTicked = false; // Has the game been ticked on its current TimeStep
gameUpdatedFromPhysX = false; // Did the game just get updated from PhysX Simulation?
gameCurrentTimeStep = 0; // Should only be able to increment this if the above are true (which means it went through gameLoop for this timeStep)
sa_x = new float[numberOfSegments];
sa_y = new float[numberOfSegments];
sa_z = new float[numberOfSegments];
targetPosX = new float[1];
targetPosY = new float[1];
targetPosZ = new float[1];
targetDirX = new float[1];
targetDirY = new float[1];
targetDirZ = new float[1];
targetDirX[0] = 0f;
targetDirY[0] = 0f;
targetDirZ[0] = 0f;
armTotalLength[0] = 2.0f;
GOwormSegments = new GameObject[numberOfSegments];
wormSegmentArray_PosX = new float[numberOfSegments][];
wormSegmentArray_PosY = new float[numberOfSegments][];
wormSegmentArray_PosZ = new float[numberOfSegments][];
wormSegmentArray_Angle = new float[numberOfSegments][];;
wormSegmentArray_MotorTarget = new float[numberOfSegments][];;
wormSegmentArray_Length = new float[numberOfSegments][];;
//GOtargetSphere = new GameObject("GOtargetSphere");
//GOtargetSphere.transform.localScale = new Vector3(targetRadius, targetRadius, targetRadius);
for(int i = 0; i < numberOfSegments; i++) {
//string name = "GOwormSegment" + i.ToString();
//GOwormSegments[i] = new GameObject(name);
//GOwormSegments[i].transform.localPosition = new Vector3(0f, 0f, 0f); // RE-EVALUATE!!!
wormSegmentArray_PosX[i] = new float[1];
wormSegmentArray_PosY[i] = new float[1];
wormSegmentArray_PosZ[i] = new float[1];
wormSegmentArray_Angle[i] = new float[1];
wormSegmentArray_MotorTarget[i] = new float[1];
wormSegmentArray_Length[i] = new float[1];
// Calculate surface areas for each face:
wormSegmentArray_Length[i][0] = armTotalLength[0]/(float)numberOfSegments;
//GOwormSegments[i].transform.localScale = new Vector3(wormSegmentArray_Length[i][0], wormSegmentThickness, wormSegmentThickness*2f);
//sa_x[i] = GOwormSegments[i].transform.localScale.y * GOwormSegments[i].transform.localScale.z;
//sa_y[i] = GOwormSegments[i].transform.localScale.x * GOwormSegments[i].transform.localScale.z;
//sa_z[i] = GOwormSegments[i].transform.localScale.x * GOwormSegments[i].transform.localScale.y;
}
fitDistFromOrigin[0] = 0f;
fitEnergySpent[0] = 0f;
fitDistToTarget[0] = 0f;
fitTimeToTarget[0] = 0f;
// Brain Inputs!:
inputChannelsList = new List<BrainInputChannel>();
BrainInputChannel BIC_targetDirX = new BrainInputChannel(ref targetDirX, false, "TargetDir X");
inputChannelsList.Add (BIC_targetDirX);
BrainInputChannel BIC_targetDirY = new BrainInputChannel(ref targetDirY, false, "TargetDir Y");
inputChannelsList.Add (BIC_targetDirY);
BrainInputChannel BIC_targetDirZ = new BrainInputChannel(ref targetDirZ, false, "TargetDir Z");
inputChannelsList.Add (BIC_targetDirZ);
// Brain Outputs!:
outputChannelsList = new List<BrainOutputChannel>();
for(int bc = 0; bc < numberOfSegments; bc++) {
string inputChannelName = "Worm Segment " + bc.ToString() + " Angle";
BrainInputChannel BIC_wormSegmentAngle = new BrainInputChannel(ref wormSegmentArray_Angle[bc], false, inputChannelName);
inputChannelsList.Add (BIC_wormSegmentAngle);
string outputChannelName = "Worm Segment " + bc.ToString() + " Motor Target";
BrainOutputChannel BOC_wormSegmentAngleVel = new BrainOutputChannel(ref wormSegmentArray_MotorTarget[bc], false, outputChannelName);
outputChannelsList.Add (BOC_wormSegmentAngleVel);
}
fitnessComponentList = new List<FitnessComponent>();
FitnessComponent FC_distFromOrigin = new FitnessComponent(ref fitDistFromOrigin, true, true, 1f, 1f, "Distance From Origin", true);
fitnessComponentList.Add (FC_distFromOrigin); // 0
FitnessComponent FC_energySpent = new FitnessComponent(ref fitEnergySpent, true, false, 1f, 1f, "Energy Spent", true);
fitnessComponentList.Add (FC_energySpent); // 1
FitnessComponent FC_distToTarget = new FitnessComponent(ref fitDistToTarget, true, false, 1f, 1f, "Distance To Target", false);
fitnessComponentList.Add (FC_distToTarget); // 2
FitnessComponent FC_timeToTarget = new FitnessComponent(ref fitTimeToTarget, true, false, 1f, 1f, "Time To Target", true);
fitnessComponentList.Add (FC_timeToTarget); // 3
//Reset();
}
public void RebuildCritterFromGenomeRecursive(bool physicsOn, bool useSegments, float variableMass, bool editor) {
//Debug.Log("RebuildCritterFromGenomeRecursive: " + physicsOn.ToString() + ", " + useSegments.ToString() + ", " + variableMass.ToString() + ", " + editor.ToString());
BoundingBoxMinCorner = Vector3.zero;
BoundingBoxMaxCorner = Vector3.zero;
// IMPROVE THIS SO IT WORKS FOR BOTH CritterConstructer AND Trainer
if (!editor)
masterCritterGenome.PreBuildCritter(variableMass);
// Delete existing Segment GameObjects
if(!useSegments || editor)
DeleteSegments();
// Is this the best way to clear the lists? from a memory standpoint...
segaddonPhysicalAttributesList.Clear();
segaddonJointAngleSensorList.Clear();
segaddonContactSensorList.Clear();
segaddonRaycastSensorList.Clear();
segaddonCompassSensor1DList.Clear();
segaddonCompassSensor3DList.Clear();
segaddonPositionSensor1DList.Clear();
segaddonPositionSensor3DList.Clear();
segaddonRotationSensor1DList.Clear();
segaddonRotationSensor3DList.Clear();
segaddonVelocitySensor1DList.Clear();
segaddonVelocitySensor3DList.Clear();
segaddonAltimeterList.Clear();
segaddonEarBasicList.Clear();
segaddonGravitySensorList.Clear();
segaddonOscillatorInputList.Clear();
segaddonValueInputList.Clear();
segaddonTimerInputList.Clear();
segaddonJointMotorList.Clear();
segaddonThrusterEffector1DList.Clear();
segaddonThrusterEffector3DList.Clear();
segaddonTorqueEffector1DList.Clear();
segaddonTorqueEffector3DList.Clear();
segaddonMouthBasicList.Clear();
segaddonNoiseMakerBasicList.Clear();
segaddonStickyList.Clear();
segaddonWeaponBasicList.Clear();
InitializeSegmentMaterial();
if (critterSegmentList != null) {
critterSegmentList.Clear();
}
if(inputChannelsList != null) {
inputChannelsList.Clear();
}
else {
inputChannelsList = new List<BrainInputChannel>();
}
if (outputChannelsList != null) {
outputChannelsList.Clear();
}
else {
outputChannelsList = new List<BrainOutputChannel>();
}
// interpret Genome and construct critter in its bind pose
bool isPendingChildren = true;
int currentDepth = 0; // start with RootNode
int maxDepth = 20; // safeguard to prevent while loop lock
int nextSegmentID = 0;
float critterTotalVolume = 0f;
List<CritterSegment> builtSegmentsList = new List<CritterSegment>(); // keep track of segments that have been built - linear in-order array 0-n segments
List<BuildSegmentInfo> currentBuildSegmentList = new List<BuildSegmentInfo>(); // keeps track of all current-depth segment build-requests, and holds important metadata
List<BuildSegmentInfo> nextBuildSegmentList = new List<BuildSegmentInfo>(); // used to keep track of next childSegments that need to be built
// *********** Will attempt to traverse the Segments to be created, keeping track of where on each graph (nodes# & segment#) the current build is on.
BuildSegmentInfo rootSegmentBuildInfo = new BuildSegmentInfo();
rootSegmentBuildInfo.sourceNode = masterCritterGenome.CritterNodeList[0];
currentBuildSegmentList.Add(rootSegmentBuildInfo); // ROOT NODE IS SPECIAL!
// Do a Breadth-first traversal??
while (isPendingChildren) {
//int numberOfChildNodes = masterCritterGenome.CritterNodeList[currentNode].attachedJointLinkList.Count;
for (int i = 0; i < currentBuildSegmentList.Count; i++) {
//Debug.Log("currentDepth: " + currentDepth.ToString() + "builtNodesQueue.Count: " + builtSegmentsList.Count.ToString() + ", pendingNodes: " + currentBuildSegmentList.Count.ToString() + ", i: " + i.ToString());
// Iterate through pending nodes
// Build current node --> Segment
GameObject newGO = new GameObject("Node" + nextSegmentID.ToString());
CritterSegment newSegment = newGO.AddComponent<CritterSegment>();
builtSegmentsList.Add(newSegment);
newGO.layer = LayerMask.NameToLayer("editorSegment"); ; // set segmentGO layer to editorSegment, to distinguish it from Gizmos
newGO.transform.SetParent(this.gameObject.transform);
if (useSegments) {
newGO.GetComponent<MeshRenderer>().material = critterSegmentMaterial;
newGO.GetComponent<MeshRenderer>().material.SetFloat("_DisplayTarget", 0f);
newGO.GetComponent<MeshRenderer>().material.SetFloat("_Selected", 0f);
newGO.AddComponent<BoxCollider>().isTrigger = false;
critterSegmentList.Add(newGO); // Add to master Linear list of Segments
}
else {
newGO.SetActive(false);
}
newSegment.InitGamePiece(); // create the mesh and some other initialization stuff
newSegment.sourceNode = currentBuildSegmentList[i].sourceNode;
newSegment.id = nextSegmentID;
nextSegmentID++;
if (currentBuildSegmentList[i].sourceNode.ID == 0) { // is ROOT segment -- Look into doing Root build BEFORE for loop to avoid the need to do this check
newGO.transform.position = masterCritterGenome.centerOfMassOffset;
newGO.transform.rotation = Quaternion.identity;
newSegment.scalingFactor = newSegment.sourceNode.jointLink.recursionScalingFactor;
newGO.transform.localScale = currentBuildSegmentList[i].sourceNode.dimensions * newSegment.scalingFactor;
critterTotalVolume += newGO.transform.localScale.x * newGO.transform.localScale.y * newGO.transform.localScale.z;
newSegment.surfaceArea = new Vector3(newGO.transform.localScale.y * newGO.transform.localScale.z * 2f, newGO.transform.localScale.x * newGO.transform.localScale.z * 2f, newGO.transform.localScale.x * newGO.transform.localScale.y * 2f);
}
else { // if NOT root segment, can consider parent-related stuff:
newSegment.parentSegment = currentBuildSegmentList[i].parentSegment;
// Inherit Axis-Inversions from parent segment:
newSegment.mirrorX = newSegment.parentSegment.mirrorX;
newSegment.mirrorY = newSegment.parentSegment.mirrorY;
newSegment.mirrorZ = newSegment.parentSegment.mirrorZ;
// inherit scaling factor from parent -- this is later adjusted again if it is part of a recursion chain
newSegment.scalingFactor = newSegment.parentSegment.scalingFactor;
newSegment.scalingFactor *= currentBuildSegmentList[i].sourceNode.jointLink.recursionScalingFactor; // propagate scaling factor
// Check for if the segment currently being built is a Mirror COPY:
if (currentBuildSegmentList[i].isMirror) {
//Debug.Log("This is a MIRROR COPY segment - Wow!");
if(currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorX) {
// Invert the X-axis (this will propagate down to all this segment's children
newSegment.mirrorX = !newSegment.mirrorX;
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorY) {
newSegment.mirrorY = !newSegment.mirrorY;
}
//else if (currentBuildSegmentList[i].sourceNode.jointLink.symmetryType == CritterJointLink.SymmetryType.MirrorZ) {
// newSegment.mirrorZ = !newSegment.mirrorZ;
//}
}
}
if (physicsOn) {
newGO.AddComponent<Rigidbody>().isKinematic = false;
if(editor && currentBuildSegmentList[i].sourceNode.ID == 0)
newGO.GetComponent<Rigidbody>().isKinematic = true;
if(editor) { // TEMPORARY!!!! if editor && physX, build critterMesh so hide segments!
//newGO.GetComponent<MeshRenderer>().enabled = false;
}
//newGO.GetComponent<Rigidbody>().drag = 20f;
//newGO.GetComponent<Rigidbody>().angularDrag = 20f;
// Bouncy Root:
//GameObject anchorGO = new GameObject("Anchor");
//anchorGO.transform.SetParent(this.gameObject.transform);
//anchorGO.AddComponent<Rigidbody>().isKinematic = true;
/*ConfigurableJoint configJoint = newGO.AddComponent<ConfigurableJoint>();
configJoint.autoConfigureConnectedAnchor = false;
configJoint.connectedBody = anchorGO.GetComponent<Rigidbody>();
configJoint.anchor = new Vector3(0f, 0f, 0f);
configJoint.connectedAnchor = new Vector3(0f, 0f, 0f);
configJoint.xMotion = ConfigurableJointMotion.Locked;
configJoint.yMotion = ConfigurableJointMotion.Locked;
configJoint.zMotion = ConfigurableJointMotion.Locked;
configJoint.angularXMotion = ConfigurableJointMotion.Locked;
configJoint.angularYMotion = ConfigurableJointMotion.Locked;
configJoint.angularZMotion = ConfigurableJointMotion.Locked;
SoftJointLimitSpring limitSpring = configJoint.linearLimitSpring;
limitSpring.spring = 80f;
limitSpring.damper = 800f;
configJoint.linearLimitSpring = limitSpring;
SoftJointLimit jointLimit = configJoint.linearLimit;
jointLimit.limit = 0.01f;
jointLimit.bounciness = 0.01f;
configJoint.linearLimit = jointLimit;
configJoint.angularXLimitSpring = limitSpring;
configJoint.angularYZLimitSpring = limitSpring;
*/
}
// CHECK FOR RECURSION:
if (currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions > 0) { // if the node being considered has recursions:
//Debug.Log("currentNode: " + currentBuildSegmentList[i].sourceNode.ID.ToString() + "newSegmentRecursion#: " + newSegment.recursionNumber.ToString() + ", parentRecursion#: " + currentBuildSegmentList[i].parentSegment.recursionNumber.ToString());
if (newSegment.sourceNode == currentBuildSegmentList[i].parentSegment.sourceNode) { // if this segment's sourceNode is the same is its parent Segment's sourceNode, then it is not the root of the recursion chain!
//Debug.Log("newSegment.sourceNode == currentBuildNodeParentSegmentList[i].sourceNode!");
// Are we at the end of a recursion chain?
if (currentBuildSegmentList[i].parentSegment.recursionNumber >= currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions) {
//Debug.Log("recursion number greater than numRecursions! ( " + currentBuildSegmentList[i].parentSegment.recursionNumber.ToString() + " vs " + currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions.ToString());
newSegment.recursionNumber = currentBuildSegmentList[i].parentSegment.recursionNumber + 1; //
//newSegment.scalingFactor *= currentBuildSegmentList[i].sourceNode.jointLink.recursionScalingFactor;
}
else { // create new recursion instance!!
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = currentBuildSegmentList[i].sourceNode; // request a segment to be built again based on the current sourceNode
newSegment.recursionNumber = currentBuildSegmentList[i].parentSegment.recursionNumber + 1;
//newSegment.scalingFactor *= currentBuildSegmentList[i].sourceNode.jointLink.recursionScalingFactor; // propagate scaling factor
newSegmentInfo.parentSegment = newSegment; // parent of itself (the just-built Segment)
nextBuildSegmentList.Add(newSegmentInfo);
// If the node also has Symmetry:
if (newSegmentInfo.sourceNode.jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = currentBuildSegmentList[i].sourceNode; // uses same sourceNode, but tags as Mirror:
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else { // this is the root --- its sourceNode has recursion, and this segment is unique from its parentNode:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = currentBuildSegmentList[i].sourceNode;
newSegment.recursionNumber = 1;
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
// If the node also has Symmetry:
if (newSegmentInfo.sourceNode.jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = currentBuildSegmentList[i].sourceNode; // uses same sourceNode, but tags as Mirror:
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
// PositionSEGMENT GameObject!!!
if (newSegment.id == 0) { // if ROOT NODE:
}
else {
SetSegmentTransform(newGO); // Properly position the SegmentGO where it should be && scale!
critterTotalVolume += newGO.transform.localScale.x * newGO.transform.localScale.y * newGO.transform.localScale.z;
if (physicsOn) {
//newGO.GetComponent<Rigidbody>().isKinematic = false;
newGO.GetComponent<Rigidbody>().ResetInertiaTensor();
ConfigurableJoint configJoint = newGO.AddComponent<ConfigurableJoint>();
configJoint.autoConfigureConnectedAnchor = false;
configJoint.connectedBody = newSegment.parentSegment.gameObject.GetComponent<Rigidbody>();
configJoint.anchor = GetJointAnchor(newSegment);
configJoint.connectedAnchor = GetJointConnectedAnchor(newSegment); // <-- Might be Unnecessary
ConfigureJointSettings(newSegment, ref configJoint); // UPDATE THIS TO USE segaddonJointMotorSettings!?!?
}
}
// Check boundingBox:
//BoundingBox
CheckBoundingBox(newGO);
// SEGMENT ADDONS:
if (physicsOn) {
// Check for Physical Attributes:
List<AddonPhysicalAttributes> physicalAttributesList = masterCritterGenome.CheckForAddonPhysicalAttributes(currentBuildSegmentList[i].sourceNode.ID);
for(int a = 0; a < physicalAttributesList.Count; a++) {
SegaddonPhysicalAttributes newPhysicalAttributes = new SegaddonPhysicalAttributes(physicalAttributesList[a]);
newPhysicalAttributes.segmentID = newSegment.id;
segaddonPhysicalAttributesList.Add(newPhysicalAttributes);
segmentPhysicMaterial.dynamicFriction = newPhysicalAttributes.dynamicFriction[0];
segmentPhysicMaterial.staticFriction = newPhysicalAttributes.staticFriction[0];
segmentPhysicMaterial.bounciness = newPhysicalAttributes.bounciness[0];
RigidbodyConstraints rbConstraints = newGO.GetComponent<Rigidbody>().constraints;
if (newPhysicalAttributes.freezePositionX[0]) {
rbConstraints = rbConstraints | RigidbodyConstraints.FreezePositionX;
}
if (newPhysicalAttributes.freezePositionY[0]) {
rbConstraints = rbConstraints | RigidbodyConstraints.FreezePositionY;
}
if (newPhysicalAttributes.freezePositionZ[0]) {
rbConstraints = rbConstraints | RigidbodyConstraints.FreezePositionZ;
}
if (newPhysicalAttributes.freezeRotationX[0]) {
rbConstraints = rbConstraints | RigidbodyConstraints.FreezeRotationX;
}
if (newPhysicalAttributes.freezeRotationY[0]) {
rbConstraints = rbConstraints | RigidbodyConstraints.FreezeRotationY;
}
if (newPhysicalAttributes.freezeRotationZ[0]) {
rbConstraints = rbConstraints | RigidbodyConstraints.FreezeRotationZ;
}
newGO.GetComponent<Rigidbody>().constraints = rbConstraints;
newGO.GetComponent<BoxCollider>().material = segmentPhysicMaterial;
}
#region INPUTS
List<AddonJointAngleSensor> jointAngleSensorList = masterCritterGenome.CheckForAddonJointAngleSensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < jointAngleSensorList.Count; j++) {
SegaddonJointAngleSensor newJointAngleSensor = new SegaddonJointAngleSensor(jointAngleSensorList[j]);
newJointAngleSensor.segmentID = newSegment.id;
segaddonJointAngleSensorList.Add(newJointAngleSensor);
if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeX) {
string inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleX";
BrainInputChannel BIC_SegmentAngle = new BrainInputChannel(ref newJointAngleSensor.angleX, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngle);
if (newJointAngleSensor.measureVel) {
inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleVelX";
BrainInputChannel BIC_SegmentAngleVel = new BrainInputChannel(ref newJointAngleSensor.angleVelX, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngleVel);
}
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeY) {
string inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleY";
BrainInputChannel BIC_SegmentAngle = new BrainInputChannel(ref newJointAngleSensor.angleY, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngle);
if (newJointAngleSensor.measureVel) {
inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleVelY";
BrainInputChannel BIC_SegmentAngleVel = new BrainInputChannel(ref newJointAngleSensor.angleVelY, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngleVel);
}
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeZ) {
string inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleZ";
BrainInputChannel BIC_SegmentAngle = new BrainInputChannel(ref newJointAngleSensor.angleZ, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngle);
if (newJointAngleSensor.measureVel) {
inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleVelZ";
BrainInputChannel BIC_SegmentAngleVel = new BrainInputChannel(ref newJointAngleSensor.angleVelZ, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngleVel);
}
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.DualXY) {
string inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleX";
BrainInputChannel BIC_SegmentAngleX = new BrainInputChannel(ref newJointAngleSensor.angleX, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngleX);
inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleY";
BrainInputChannel BIC_SegmentAngleY = new BrainInputChannel(ref newJointAngleSensor.angleY, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngleY);
if (newJointAngleSensor.measureVel) {
inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleVelX";
BrainInputChannel BIC_SegmentAngleVelX = new BrainInputChannel(ref newJointAngleSensor.angleVelX, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngleVelX);
inputChannelName = "Segment " + newJointAngleSensor.segmentID.ToString() + " AngleVelY";
BrainInputChannel BIC_SegmentAngleVelY = new BrainInputChannel(ref newJointAngleSensor.angleVelY, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAngleVelY);
}
}
}
List<AddonContactSensor> contactSensorList = masterCritterGenome.CheckForAddonContactSensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < contactSensorList.Count; j++) {
SegaddonContactSensor newContactSensor = new SegaddonContactSensor(contactSensorList[j]);
newContactSensor.segmentID = newSegment.id;
segaddonContactSensorList.Add(newContactSensor);
SegaddonCollisionDetector collisionDetector = newGO.AddComponent<SegaddonCollisionDetector>();
collisionDetector.referencedContactSensor = newContactSensor;
string inputChannelName = "Segment " + newContactSensor.segmentID.ToString() + " Contact Sensor";
BrainInputChannel BIC_SegmentContactInput = new BrainInputChannel(ref newContactSensor.contactStatus, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentContactInput);
}
List<AddonRaycastSensor> raycastSensorList = masterCritterGenome.CheckForAddonRaycastSensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < raycastSensorList.Count; j++) {
SegaddonRaycastSensor newRaycastSensor = new SegaddonRaycastSensor(raycastSensorList[j]);
newRaycastSensor.segmentID = newSegment.id;
segaddonRaycastSensorList.Add(newRaycastSensor);
string inputChannelName = "Segment " + newRaycastSensor.segmentID.ToString() + " Raycast Sensor(dist)";
BrainInputChannel BIC_SegmentRaycastInput = new BrainInputChannel(ref newRaycastSensor.distance, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentRaycastInput);
}
List<AddonCompassSensor1D> compassSensor1DList = masterCritterGenome.CheckForAddonCompassSensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < compassSensor1DList.Count; j++) {
SegaddonCompassSensor1D newCompassSensor1D = new SegaddonCompassSensor1D(compassSensor1DList[j]);
newCompassSensor1D.segmentID = newSegment.id;
segaddonCompassSensor1DList.Add(newCompassSensor1D);
string inputChannelName = "Segment " + newCompassSensor1D.segmentID.ToString() + " Compass1D";
BrainInputChannel BIC_SegmentCompass1DInput = new BrainInputChannel(ref newCompassSensor1D.dotProduct, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentCompass1DInput);
}
List<AddonCompassSensor3D> compassSensor3DList = masterCritterGenome.CheckForAddonCompassSensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < compassSensor3DList.Count; j++) {
SegaddonCompassSensor3D newCompassSensor3D = new SegaddonCompassSensor3D(compassSensor3DList[j]);
newCompassSensor3D.segmentID = newSegment.id;
segaddonCompassSensor3DList.Add(newCompassSensor3D);
string inputChannelName = "Segment " + newCompassSensor3D.segmentID.ToString() + " Compass3D Right";
BrainInputChannel BIC_SegmentCompass3DInputRight = new BrainInputChannel(ref newCompassSensor3D.dotProductRight, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentCompass3DInputRight);
inputChannelName = "Segment " + newCompassSensor3D.segmentID.ToString() + " Compass3D Up";
BrainInputChannel BIC_SegmentCompass3DInputUp = new BrainInputChannel(ref newCompassSensor3D.dotProductUp, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentCompass3DInputUp);
inputChannelName = "Segment " + newCompassSensor3D.segmentID.ToString() + " Compass3D Forward";
BrainInputChannel BIC_SegmentCompass3DInputForward = new BrainInputChannel(ref newCompassSensor3D.dotProductForward, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentCompass3DInputForward);
}
List<AddonPositionSensor1D> positionSensor1DList = masterCritterGenome.CheckForAddonPositionSensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < positionSensor1DList.Count; j++) {
SegaddonPositionSensor1D newPositionSensor1D = new SegaddonPositionSensor1D(positionSensor1DList[j]);
newPositionSensor1D.segmentID = newSegment.id;
segaddonPositionSensor1DList.Add(newPositionSensor1D);
string inputChannelName = "Segment " + newPositionSensor1D.segmentID.ToString() + " Position1D Forward";
BrainInputChannel BIC_SegmentPosition1DInput = new BrainInputChannel(ref newPositionSensor1D.linearDistance, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentPosition1DInput);
}
List<AddonPositionSensor3D> positionSensor3DList = masterCritterGenome.CheckForAddonPositionSensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < positionSensor3DList.Count; j++) {
SegaddonPositionSensor3D newPositionSensor3D = new SegaddonPositionSensor3D(positionSensor3DList[j]);
newPositionSensor3D.segmentID = newSegment.id;
segaddonPositionSensor3DList.Add(newPositionSensor3D);
string inputChannelName = "Segment " + newPositionSensor3D.segmentID.ToString() + " Position3D Right";
BrainInputChannel BIC_SegmentPosition3DInputRight = new BrainInputChannel(ref newPositionSensor3D.distanceRight, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentPosition3DInputRight);
inputChannelName = "Segment " + newPositionSensor3D.segmentID.ToString() + " Position3D Up";
BrainInputChannel BIC_SegmentPosition3DInputUp = new BrainInputChannel(ref newPositionSensor3D.distanceUp, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentPosition3DInputUp);
inputChannelName = "Segment " + newPositionSensor3D.segmentID.ToString() + " Position3D Forward";
BrainInputChannel BIC_SegmentPosition3DInputForward = new BrainInputChannel(ref newPositionSensor3D.distanceForward, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentPosition3DInputForward);
}
List<AddonRotationSensor1D> rotationSensor1DList = masterCritterGenome.CheckForAddonRotationSensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < rotationSensor1DList.Count; j++) {
SegaddonRotationSensor1D newRotationSensor1D = new SegaddonRotationSensor1D(rotationSensor1DList[j]);
newRotationSensor1D.segmentID = newSegment.id;
segaddonRotationSensor1DList.Add(newRotationSensor1D);
string inputChannelName = "Segment " + newRotationSensor1D.segmentID.ToString() + " Rotation1D";
BrainInputChannel BIC_SegmentRotation1DInput = new BrainInputChannel(ref newRotationSensor1D.rotationRate, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentRotation1DInput);
}
List<AddonRotationSensor3D> rotationSensor3DList = masterCritterGenome.CheckForAddonRotationSensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < rotationSensor3DList.Count; j++) {
SegaddonRotationSensor3D newRotationSensor3D = new SegaddonRotationSensor3D(rotationSensor3DList[j]);
newRotationSensor3D.segmentID = newSegment.id;
segaddonRotationSensor3DList.Add(newRotationSensor3D);
string inputChannelName = "Segment " + newRotationSensor3D.segmentID.ToString() + " Rotation3D X";
BrainInputChannel BIC_SegmentRotation3DInputX = new BrainInputChannel(ref newRotationSensor3D.rotationRateX, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentRotation3DInputX);
inputChannelName = "Segment " + newRotationSensor3D.segmentID.ToString() + " Rotation3D Y";
BrainInputChannel BIC_SegmentRotation3DInputY = new BrainInputChannel(ref newRotationSensor3D.rotationRateY, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentRotation3DInputY);
inputChannelName = "Segment " + newRotationSensor3D.segmentID.ToString() + " Rotation3D Z";
BrainInputChannel BIC_SegmentRotation3DInputZ = new BrainInputChannel(ref newRotationSensor3D.rotationRateZ, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentRotation3DInputZ);
}
List<AddonVelocitySensor1D> velocitySensor1DList = masterCritterGenome.CheckForAddonVelocitySensor1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < velocitySensor1DList.Count; j++) {
SegaddonVelocitySensor1D newVelocitySensor1D = new SegaddonVelocitySensor1D(velocitySensor1DList[j]);
newVelocitySensor1D.segmentID = newSegment.id;
segaddonVelocitySensor1DList.Add(newVelocitySensor1D);
string inputChannelName = "Segment " + newVelocitySensor1D.segmentID.ToString() + " Velocity1D";
BrainInputChannel BIC_SegmentVelocity1DInput = new BrainInputChannel(ref newVelocitySensor1D.componentVelocity, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentVelocity1DInput);
}
List<AddonVelocitySensor3D> velocitySensor3DList = masterCritterGenome.CheckForAddonVelocitySensor3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < velocitySensor3DList.Count; j++) {
SegaddonVelocitySensor3D newVelocitySensor3D = new SegaddonVelocitySensor3D(velocitySensor3DList[j]);
newVelocitySensor3D.segmentID = newSegment.id;
segaddonVelocitySensor3DList.Add(newVelocitySensor3D);
string inputChannelName = "Segment " + newVelocitySensor3D.segmentID.ToString() + " Velocity3D Right";
BrainInputChannel BIC_SegmentVelocity3DInputRight = new BrainInputChannel(ref newVelocitySensor3D.velocityRight, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentVelocity3DInputRight);
inputChannelName = "Segment " + newVelocitySensor3D.segmentID.ToString() + " Velocity3D Up";
BrainInputChannel BIC_SegmentVelocity3DInputUp = new BrainInputChannel(ref newVelocitySensor3D.velocityUp, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentVelocity3DInputUp);
inputChannelName = "Segment " + newVelocitySensor3D.segmentID.ToString() + " Velocity3D Forward";
BrainInputChannel BIC_SegmentVelocity3DInputForward = new BrainInputChannel(ref newVelocitySensor3D.velocityForward, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentVelocity3DInputForward);
}
List<AddonAltimeter> altimeterList = masterCritterGenome.CheckForAddonAltimeter(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < altimeterList.Count; j++) {
SegaddonAltimeter newAltimeter = new SegaddonAltimeter(altimeterList[j]);
newAltimeter.segmentID = newSegment.id;
segaddonAltimeterList.Add(newAltimeter);
string inputChannelName = "Segment " + newAltimeter.segmentID.ToString() + " Altimeter";
BrainInputChannel BIC_SegmentAltimeterInput = new BrainInputChannel(ref newAltimeter.altitude, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentAltimeterInput);
}
List<AddonEarBasic> earBasicList = masterCritterGenome.CheckForAddonEarBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < earBasicList.Count; j++) {
SegaddonEarBasic newEarBasic = new SegaddonEarBasic(earBasicList[j]);
newEarBasic.segmentID = newSegment.id;
segaddonEarBasicList.Add(newEarBasic);
string inputChannelName = "Segment " + newEarBasic.segmentID.ToString() + " Ear Basic";
BrainInputChannel BIC_SegmentEarBasicInput = new BrainInputChannel(ref newEarBasic.activation, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentEarBasicInput);
}
List<AddonGravitySensor> gravitySensorList = masterCritterGenome.CheckForAddonGravitySensor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < gravitySensorList.Count; j++) {
SegaddonGravitySensor newGravitySensor = new SegaddonGravitySensor(gravitySensorList[j]);
newGravitySensor.segmentID = newSegment.id;
segaddonGravitySensorList.Add(newGravitySensor);
string inputChannelName = "Segment " + newGravitySensor.segmentID.ToString() + " Gravity Sensor";
BrainInputChannel BIC_SegmentGravityInput = new BrainInputChannel(ref newGravitySensor.gravityDot, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentGravityInput);
}
List<AddonOscillatorInput> oscillatorInputList = masterCritterGenome.CheckForAddonOscillatorInput(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < oscillatorInputList.Count; j++) {
SegaddonOscillatorInput newOscillatorInput = new SegaddonOscillatorInput(oscillatorInputList[j]);
newOscillatorInput.segmentID = newSegment.id;
segaddonOscillatorInputList.Add(newOscillatorInput);
//SegaddonOscillatorInput oscillatorInput = critterBeingTested.segaddonOscillatorInputList[oscillatorInputIndex];
string inputChannelName = "Segment " + newOscillatorInput.segmentID.ToString() + " Oscillator Input";
BrainInputChannel BIC_SegmentOscillatorInput = new BrainInputChannel(ref newOscillatorInput.value, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentOscillatorInput);
}
List<AddonValueInput> valueInputList = masterCritterGenome.CheckForAddonValueInput(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < valueInputList.Count; j++) {
SegaddonValueInput newValueInput = new SegaddonValueInput(valueInputList[j]);
newValueInput.segmentID = newSegment.id;
segaddonValueInputList.Add(newValueInput);
string inputChannelName = "Segment " + newValueInput.segmentID.ToString() + " Value Input";
BrainInputChannel BIC_SegmentValueInput = new BrainInputChannel(ref newValueInput.value, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentValueInput);
}
List<AddonTimerInput> timerInputList = masterCritterGenome.CheckForAddonTimerInput(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < timerInputList.Count; j++) {
SegaddonTimerInput newTimerInput = new SegaddonTimerInput(timerInputList[j]);
newTimerInput.segmentID = newSegment.id;
segaddonTimerInputList.Add(newTimerInput);
string inputChannelName = "Segment " + newTimerInput.segmentID.ToString() + " Timer Input";
BrainInputChannel BIC_SegmentTimerInput = new BrainInputChannel(ref newTimerInput.value, true, inputChannelName);
inputChannelsList.Add(BIC_SegmentTimerInput);
}
#endregion
#region OUTPUTS:
List<AddonJointMotor> jointMotorList = masterCritterGenome.CheckForAddonJointMotor(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < jointMotorList.Count; j++) {
SegaddonJointMotor newJointMotor = new SegaddonJointMotor(jointMotorList[j]);
newJointMotor.segmentID = newSegment.id;
segaddonJointMotorList.Add(newJointMotor);
//SegaddonJointMotor motor = critterBeingTested.segaddonJointMotorList[motorIndex];
if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeX) {
string outputChannelName = "Segment " + newJointMotor.segmentID.ToString() + " Motor Target X";
BrainOutputChannel BOC_SegmentAngleVel = new BrainOutputChannel(ref newJointMotor.targetAngularX, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentAngleVel);
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeY) {
string outputChannelName = "Segment " + newJointMotor.segmentID.ToString() + " Motor Target Y";
BrainOutputChannel BOC_SegmentAngleVel = new BrainOutputChannel(ref newJointMotor.targetAngularY, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentAngleVel);
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.HingeZ) {
string outputChannelName = "Segment " + newJointMotor.segmentID.ToString() + " Motor Target Z";
BrainOutputChannel BOC_SegmentAngleVel = new BrainOutputChannel(ref newJointMotor.targetAngularZ, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentAngleVel);
}
else if (currentBuildSegmentList[i].sourceNode.jointLink.jointType == CritterJointLink.JointType.DualXY) {
string outputChannelName = "Segment " + newJointMotor.segmentID.ToString() + " Motor Target X";
BrainOutputChannel BOC_SegmentAngleVelX = new BrainOutputChannel(ref newJointMotor.targetAngularX, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentAngleVelX);
outputChannelName = "Segment " + newJointMotor.segmentID.ToString() + " Motor Target Y";
BrainOutputChannel BOC_SegmentAngleVelY = new BrainOutputChannel(ref newJointMotor.targetAngularY, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentAngleVelY);
}
}
List<AddonThrusterEffector1D> thrusterEffector1DList = masterCritterGenome.CheckForAddonThrusterEffector1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < thrusterEffector1DList.Count; j++) {
SegaddonThrusterEffector1D newThrusterEffector1D = new SegaddonThrusterEffector1D(thrusterEffector1DList[j]);
newThrusterEffector1D.segmentID = newSegment.id;
segaddonThrusterEffector1DList.Add(newThrusterEffector1D);
string outputChannelName = "Segment " + newThrusterEffector1D.segmentID.ToString() + " Thruster1D";
BrainOutputChannel BOC_SegmentThruster1D = new BrainOutputChannel(ref newThrusterEffector1D.throttle, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentThruster1D);
}
List<AddonThrusterEffector3D> thrusterEffector3DList = masterCritterGenome.CheckForAddonThrusterEffector3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < thrusterEffector3DList.Count; j++) {
SegaddonThrusterEffector3D newThrusterEffector3D = new SegaddonThrusterEffector3D(thrusterEffector3DList[j]);
newThrusterEffector3D.segmentID = newSegment.id;
segaddonThrusterEffector3DList.Add(newThrusterEffector3D);
string outputChannelName = "Segment " + newThrusterEffector3D.segmentID.ToString() + " Thruster3D X";
BrainOutputChannel BOC_SegmentThruster3DX = new BrainOutputChannel(ref newThrusterEffector3D.throttleX, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentThruster3DX);
outputChannelName = "Segment " + newThrusterEffector3D.segmentID.ToString() + " Thruster3D Y";
BrainOutputChannel BOC_SegmentThruster3DY = new BrainOutputChannel(ref newThrusterEffector3D.throttleY, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentThruster3DY);
outputChannelName = "Segment " + newThrusterEffector3D.segmentID.ToString() + " Thruster3D Z";
BrainOutputChannel BOC_SegmentThruster3DZ = new BrainOutputChannel(ref newThrusterEffector3D.throttleZ, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentThruster3DZ);
}
List<AddonTorqueEffector1D> torqueEffector1DList = masterCritterGenome.CheckForAddonTorqueEffector1D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < torqueEffector1DList.Count; j++) {
SegaddonTorqueEffector1D newTorqueEffector1D = new SegaddonTorqueEffector1D(torqueEffector1DList[j]);
newTorqueEffector1D.segmentID = newSegment.id;
segaddonTorqueEffector1DList.Add(newTorqueEffector1D);
string outputChannelName = "Segment " + newTorqueEffector1D.segmentID.ToString() + " Torque1D";
BrainOutputChannel BOC_SegmentTorque1D = new BrainOutputChannel(ref newTorqueEffector1D.throttle, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentTorque1D);
}
List<AddonTorqueEffector3D> torqueEffector3DList = masterCritterGenome.CheckForAddonTorqueEffector3D(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < torqueEffector3DList.Count; j++) {
SegaddonTorqueEffector3D newTorqueEffector3D = new SegaddonTorqueEffector3D(torqueEffector3DList[j]);
newTorqueEffector3D.segmentID = newSegment.id;
segaddonTorqueEffector3DList.Add(newTorqueEffector3D);
string outputChannelName = "Segment " + newTorqueEffector3D.segmentID.ToString() + " Torque3D X";
BrainOutputChannel BOC_SegmentTorque3DX = new BrainOutputChannel(ref newTorqueEffector3D.throttleX, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentTorque3DX);
outputChannelName = "Segment " + newTorqueEffector3D.segmentID.ToString() + " Torque3D Y";
BrainOutputChannel BOC_SegmentTorque3DY = new BrainOutputChannel(ref newTorqueEffector3D.throttleY, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentTorque3DY);
outputChannelName = "Segment " + newTorqueEffector3D.segmentID.ToString() + " Torque3D Z";
BrainOutputChannel BOC_SegmentTorque3DZ = new BrainOutputChannel(ref newTorqueEffector3D.throttleZ, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentTorque3DZ);
}
List<AddonMouthBasic> mouthBasicList = masterCritterGenome.CheckForAddonMouthBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < mouthBasicList.Count; j++) {
SegaddonMouthBasic newMouthBasic = new SegaddonMouthBasic(mouthBasicList[j]);
newMouthBasic.segmentID = newSegment.id;
segaddonMouthBasicList.Add(newMouthBasic);
SegaddonTriggerDetector triggerDetector = newGO.AddComponent<SegaddonTriggerDetector>();
triggerDetector.referencedMouth = newMouthBasic;
}
List<AddonNoiseMakerBasic> noiseMakerBasicList = masterCritterGenome.CheckForAddonNoiseMakerBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < noiseMakerBasicList.Count; j++) {
SegaddonNoiseMakerBasic newNoiseMakerBasic = new SegaddonNoiseMakerBasic(noiseMakerBasicList[j]);
newNoiseMakerBasic.segmentID = newSegment.id;
segaddonNoiseMakerBasicList.Add(newNoiseMakerBasic);
string outputChannelName = "Segment " + newNoiseMakerBasic.segmentID.ToString() + " NoiseMaker";
BrainOutputChannel BOC_SegmentNoiseMaker = new BrainOutputChannel(ref newNoiseMakerBasic.volume, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentNoiseMaker);
}
List<AddonSticky> stickyList = masterCritterGenome.CheckForAddonSticky(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < stickyList.Count; j++) {
SegaddonSticky newSticky = new SegaddonSticky(stickyList[j]);
newSticky.segmentID = newSegment.id;
segaddonStickyList.Add(newSticky);
string outputChannelName = "Segment " + newSticky.segmentID.ToString() + " Sticky";
BrainOutputChannel BOC_SegmentSticky = new BrainOutputChannel(ref newSticky.stickiness, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentSticky);
}
List<AddonWeaponBasic> weaponBasicList = masterCritterGenome.CheckForAddonWeaponBasic(currentBuildSegmentList[i].sourceNode.ID);
for (int j = 0; j < weaponBasicList.Count; j++) {
SegaddonWeaponBasic newWeaponBasic = new SegaddonWeaponBasic(weaponBasicList[j]);
newWeaponBasic.segmentID = newSegment.id;
segaddonWeaponBasicList.Add(newWeaponBasic);
string outputChannelName = "Segment " + newWeaponBasic.segmentID.ToString() + " Weapon";
BrainOutputChannel BOC_SegmentWeapon = new BrainOutputChannel(ref newWeaponBasic.strength, true, outputChannelName);
outputChannelsList.Add(BOC_SegmentWeapon);
}
#endregion
}
// Figure out how many unique Child nodes this built node has:
//int numberOfChildNodes = currentBuildSegmentList[i].sourceNode.attachedJointLinkList.Count; // old
int numberOfChildNodes = currentBuildSegmentList[i].sourceNode.attachedChildNodesIdList.Count;
//Debug.Log("numberOfChildNodes: " + numberOfChildNodes.ToString() + "currentBuildSegmentList[i].sourceNode: " + currentBuildSegmentList[i].sourceNode.ID.ToString() + ", i: " + i.ToString());
for (int c = 0; c < numberOfChildNodes; c++) {
// if NO symmetry:
// Check if Attaching to a recursion chain && if onlyattachToTail is active:
int childID = currentBuildSegmentList[i].sourceNode.attachedChildNodesIdList[c];
//Debug.Log("%%%%% c=" + c.ToString() + ", childID: " + childID.ToString() + ", critterNodeListCount: " + masterCritterGenome.CritterNodeList.Count.ToString());
// if(currentBuildSegmentList[i].sourceNode.attachedJointLinkList[c].childNode.parentJointLink.onlyAttachToTailNode) // OLD
if (masterCritterGenome.CritterNodeList[childID].jointLink.onlyAttachToTailNode) {
if (currentBuildSegmentList[i].sourceNode.jointLink.numberOfRecursions > 0) {
if (newSegment.recursionNumber > newSegment.sourceNode.jointLink.numberOfRecursions) {
// Only build segment if it is on the end of a recursion chain:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = masterCritterGenome.CritterNodeList[childID];
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (masterCritterGenome.CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = masterCritterGenome.CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else {
// It only attaches to End nodes, but is parented to a Non-recursive segment, so proceed normally!!!
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = masterCritterGenome.CritterNodeList[childID];
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (masterCritterGenome.CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = masterCritterGenome.CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
else { // proceed normally:
BuildSegmentInfo newSegmentInfo = new BuildSegmentInfo();
newSegmentInfo.sourceNode = masterCritterGenome.CritterNodeList[childID];
newSegmentInfo.parentSegment = newSegment;
nextBuildSegmentList.Add(newSegmentInfo);
if (masterCritterGenome.CritterNodeList[childID].jointLink.symmetryType != CritterJointLink.SymmetryType.None) {
// the child node has some type of symmetry, so add a buildOrder for a mirrored Segment:
BuildSegmentInfo newSegmentInfoMirror = new BuildSegmentInfo();
newSegmentInfoMirror.sourceNode = masterCritterGenome.CritterNodeList[childID];
newSegmentInfoMirror.isMirror = true; // This segment is the COPY, not the original
newSegmentInfoMirror.parentSegment = newSegment; //
nextBuildSegmentList.Add(newSegmentInfoMirror);
}
}
}
}
// After all buildNodes have been built, and their subsequent childNodes Enqueued, copy pendingChildQueue into buildNodesQueue
currentBuildSegmentList.Clear();
// SWAP LISTS:
if (nextBuildSegmentList.Count > 0) {
for (int j = 0; j < nextBuildSegmentList.Count; j++) {
currentBuildSegmentList.Add(nextBuildSegmentList[j]);
}
nextBuildSegmentList.Clear(); // empty this list for next depth-round
}
else {
isPendingChildren = false;
}
if (currentDepth >= maxDepth) { // SAFEGUARD!! prevents infinite loop in case I mess something up
isPendingChildren = false;
}
currentDepth++;
}
//Debug.Log("RebuildCritterFromGenomeRecursive " + inputChannelsList.Count.ToString() + ", " + outputChannelsList.Count.ToString());
//Debug.Log("RebuildCritterFromGenomeRecursive: COM_Offset: (" + masterCritterGenome.centerOfMassOffset.x.ToString() + ", " + masterCritterGenome.centerOfMassOffset.y.ToString() + ", " + masterCritterGenome.centerOfMassOffset.z.ToString() + "), totalVolume: " + critterTotalVolume.ToString());// + " RootPos: " + critterSegmentList[0].transform.position.ToString());
}
// Constructor!!
public MiniGameRobotArm()
{
GOarmSegments = new GameObject[numberOfSegments];
armSegmentArray_PosX = new float[numberOfSegments][];
armSegmentArray_PosY = new float[numberOfSegments][];
armSegmentArray_Angle = new float[numberOfSegments][];;
armSegmentArray_AngleVel = new float[numberOfSegments][];;
armSegmentArray_Length = new float[numberOfSegments][];;
for(int i = 0; i < numberOfSegments; i++) {
armSegmentArray_PosX[i] = new float[1];
armSegmentArray_PosY[i] = new float[1];
armSegmentArray_Angle[i] = new float[1];
armSegmentArray_AngleVel[i] = new float[1];
armSegmentArray_Length[i] = new float[1];
}
armTip_PosX[0] = 0f;
armTip_PosY[0] = 0f;
armTotalLength[0] = 1.6f;
/*
armSegmentA_PosX[0] = 0f;
armSegmentA_PosY[0] = 0f;
armSegmentA_Length[0] = 0.333334f;
armSegmentA_Angle[0] = 0f;
armSegmentA_AngleVel[0] = 0f;
armSegmentB_PosX[0] = 0f;
armSegmentB_PosY[0] = 0f;
armSegmentB_Angle[0] = 0f;
armSegmentB_AngleVel[0] = 0f;
armSegmentB_Length[0] = 0.333334f;
armSegmentC_PosX[0] = 0f;
armSegmentC_PosY[0] = 0f;
armSegmentC_Angle[0] = 0f;
armSegmentC_AngleVel[0] = 0f;
armSegmentC_Length[0] = 0.333334f;
armTip_PosX[0] = 0f;
armTip_PosY[0] = 0f;
target_PosX[0] = 0f;
target_PosY[0] = 0f;
target_Angle[0] = 0f;
target_Distance[0] = 0f;
*/
fitTimeToTarget[0] = 1f;
fitDistanceToTarget[0] = 0f;
fitEnergySpent[0] = 0f;
fitGapClosed[0] = 0f;
fitTimeInTarget[0] = 0f;
fitArmReachDistance[0] = 0f;
fitDotProduct[0] = 0f;
collision = false;
// Brain Inputs!:
inputChannelsList = new List<BrainInputChannel>();
// Brain Outputs!:
outputChannelsList = new List<BrainOutputChannel>();
BrainInputChannel BIC_target_Angle = new BrainInputChannel(ref target_Angle, false, "target_Angle");
inputChannelsList.Add (BIC_target_Angle); // 0
BrainInputChannel BIC_target_Distance = new BrainInputChannel(ref target_Distance, false, "target_Distance");
inputChannelsList.Add (BIC_target_Distance); // 1
for(int bc = 0; bc < numberOfSegments; bc++) {
string inputChannelName = "Arm Segment " + bc.ToString() + " Angle";
BrainInputChannel BIC_armSegmentAngle = new BrainInputChannel(ref armSegmentArray_Angle[bc], false, inputChannelName);
inputChannelsList.Add (BIC_armSegmentAngle);
string outputChannelName = "Arm Segment " + bc.ToString() + " Angle Vel";
BrainOutputChannel BOC_armSegmentAngleVel = new BrainOutputChannel(ref armSegmentArray_AngleVel[bc], false, outputChannelName);
outputChannelsList.Add (BOC_armSegmentAngleVel);
}
//BrainInputChannel BIC_armSegmentA_Angle = new BrainInputChannel(ref armSegmentA_Angle, false, "armSegmentA_Angle");
//inputChannelsList.Add (BIC_armSegmentA_Angle); // 0
//BrainInputChannel BIC_armSegmentB_Angle = new BrainInputChannel(ref armSegmentB_Angle, false, "armSegmentB_Angle");
//inputChannelsList.Add (BIC_armSegmentB_Angle); // 1
//BrainInputChannel BIC_armSegmentC_Angle = new BrainInputChannel(ref armSegmentC_Angle, false, "armSegmentC_Angle");
//inputChannelsList.Add (BIC_armSegmentC_Angle); // 2
//BrainOutputChannel BOC_armSegmentA_AngleVel = new BrainOutputChannel(ref armSegmentA_AngleVel, false, "armSegmentA_AngleVel");
//outputChannelsList.Add (BOC_armSegmentA_AngleVel); // 0
//BrainOutputChannel BOC_armSegmentB_AngleVel = new BrainOutputChannel(ref armSegmentB_AngleVel, false, "armSegmentB_AngleVel");
//outputChannelsList.Add (BOC_armSegmentB_AngleVel); // 1
//BrainOutputChannel BOC_armSegmentC_AngleVel = new BrainOutputChannel(ref armSegmentC_AngleVel, false, "armSegmentC_AngleVel");
//outputChannelsList.Add (BOC_armSegmentC_AngleVel); // 2
fitnessComponentList = new List<FitnessComponent>();
FitnessComponent FC_timeToTarget = new FitnessComponent(ref fitTimeToTarget, false, false, 1f, 1f, "Time To Target", true);
fitnessComponentList.Add (FC_timeToTarget); // 0
FitnessComponent FC_distanceToTarget = new FitnessComponent(ref fitDistanceToTarget, false, false, 1f, 1f, "Distance To Target", true);
fitnessComponentList.Add (FC_distanceToTarget); // 1
FitnessComponent FC_energySpent = new FitnessComponent(ref fitEnergySpent, false, false, 1f, 1f, "Energy Spent", true);
fitnessComponentList.Add (FC_energySpent); // 2
FitnessComponent FC_gapClosed = new FitnessComponent(ref fitGapClosed, false, true, 1f, 1f, "Gap Closed", false);
fitnessComponentList.Add (FC_gapClosed); // 3
FitnessComponent FC_timeInTarget = new FitnessComponent(ref fitTimeInTarget, false, true, 1f, 1f, "Time Inside Target", true);
fitnessComponentList.Add (FC_timeInTarget); // 4
FitnessComponent FC_armReachDistance = new FitnessComponent(ref fitArmReachDistance, false, false, 1f, 1f, "Arm Reach Distance", false);
fitnessComponentList.Add (FC_armReachDistance); // 5
FitnessComponent FC_dotProduct = new FitnessComponent(ref fitDotProduct, false, true, 1f, 1f, "Dot Product", false);
fitnessComponentList.Add (FC_dotProduct); // 6
Reset();
}
// Constructor!!
public MiniGamePhysXTests()
{
GOtestAgentBall = new GameObject("GOtestAgentBall");
GOtestAgentBall.transform.localPosition = new Vector3(0f, 0f, 0f);
GOtestTargetBall = new GameObject("GOtestTargetBall");
GOtestTargetBall.transform.localPosition = new Vector3(0f, 0f, 0f);
ownPosX[0] = 0f;
ownPosY[0] = 0f;
ownPosZ[0] = 0f;
targetPosX[0] = 0f;
targetPosY[0] = 0f;
targetPosZ[0] = 0f;
ownVelX[0] = 0f;
ownVelY[0] = 0f;
ownVelZ[0] = 0f;
targetVelX[0] = 0f;
targetVelY[0] = 0f;
targetVelZ[0] = 0f;
fitDotProduct[0] = 0f;
fitTimeToTarget[0] = 1f;
fitDistanceToTarget[0] = 0f;
fitReachTarget[0] = 0f;
collision = false;
// Brain Inputs!:
inputChannelsList = new List<BrainInputChannel>();
BrainInputChannel BIC_ownPosX = new BrainInputChannel(ref ownPosX, false, "ownPosX");
inputChannelsList.Add (BIC_ownPosX); // 0
BrainInputChannel BIC_ownPosY = new BrainInputChannel(ref ownPosY, false, "ownPosY");
inputChannelsList.Add (BIC_ownPosY); // 1
BrainInputChannel BIC_ownPosZ = new BrainInputChannel(ref ownPosZ, false, "ownPosZ");
inputChannelsList.Add (BIC_ownPosZ); // 2
BrainInputChannel BIC_targetPosX = new BrainInputChannel(ref targetPosX, false, "targetPosX");
inputChannelsList.Add (BIC_targetPosX); // 3
BrainInputChannel BIC_targetPosY = new BrainInputChannel(ref targetPosY, false, "targetPosY");
inputChannelsList.Add (BIC_targetPosY); // 4
BrainInputChannel BIC_targetPosZ = new BrainInputChannel(ref targetPosZ, false, "targetPosZ");
inputChannelsList.Add (BIC_targetPosZ); // 5
BrainInputChannel BIC_ownVelX = new BrainInputChannel(ref ownVelX, false, "ownVelX");
inputChannelsList.Add (BIC_ownVelX); // 6
BrainInputChannel BIC_ownVelY = new BrainInputChannel(ref ownVelY, false, "ownVelY");
inputChannelsList.Add (BIC_ownVelY); // 7
BrainInputChannel BIC_ownVelZ = new BrainInputChannel(ref ownVelZ, false, "ownVelZ");
inputChannelsList.Add (BIC_ownVelZ); // 8
BrainInputChannel BIC_targetDirX = new BrainInputChannel(ref targetDirX, false, "targetDirX");
inputChannelsList.Add (BIC_targetDirX); // 9
BrainInputChannel BIC_targetDirY = new BrainInputChannel(ref targetDirY, false, "targetDirY");
inputChannelsList.Add (BIC_targetDirY); // 10
BrainInputChannel BIC_targetDirZ = new BrainInputChannel(ref targetDirZ, false, "targetDirZ");
inputChannelsList.Add (BIC_targetDirZ); // 11
// Brain Outputs!:
outputChannelsList = new List<BrainOutputChannel>();
BrainOutputChannel BOC_ownVelX = new BrainOutputChannel(ref ownVelX, false, "ownVelX");
outputChannelsList.Add (BOC_ownVelX); // 0
BrainOutputChannel BOC_ownVelY = new BrainOutputChannel(ref ownVelY, false, "ownVelY");
outputChannelsList.Add (BOC_ownVelY); // 1
BrainOutputChannel BOC_ownVelZ = new BrainOutputChannel(ref ownVelZ, false, "ownVelZ");
outputChannelsList.Add (BOC_ownVelZ); // 1
fitnessComponentList = new List<FitnessComponent>();
FitnessComponent FC_dotProduct = new FitnessComponent(ref fitDotProduct, true, true, 1f, 1f, "Dot Product To Target", true);
fitnessComponentList.Add (FC_dotProduct); // 0
FitnessComponent FC_timeToTarget = new FitnessComponent(ref fitTimeToTarget, true, false, 1f, 1f, "Time To Target", true);
fitnessComponentList.Add (FC_timeToTarget); // 1
FitnessComponent FC_distanceToTarget = new FitnessComponent(ref fitDistanceToTarget, true, false, 1f, 1f, "Distance To Target", true);
fitnessComponentList.Add (FC_distanceToTarget); // 2
FitnessComponent FC_reachTarget = new FitnessComponent(ref fitReachTarget, true, true, 1f, 1f, "Reaches Target", false);
fitnessComponentList.Add (FC_reachTarget); // 3
Reset();
}