private void RespawnAllCars()
{
for (int carIndex = 0; carIndex < popSize; carIndex++)
{
GameObject carS = carSpecies[carIndex];
Respawn r = carS.GetComponent <Respawn>();
Car2DController c2Dc = carS.GetComponent <Car2DController>();
//float distanceFitness = Mathf.Pow(1.1f, c2Dc.TravelledDistance) + Mathf.Pow(1.1f, Vector2.Distance(rbCar[carIndex].position, r.respawnPoint.position));
float distanceFitness = c2Dc.TravelledDistance + Vector2.Distance(rbCar[carIndex].position, r.respawnPoint.position);
population.Members[carIndex].Fitness += distanceFitness;
if (!r.isAlive && level.penalizeDeath)
{
//double timeFactor = c2Dc.TimeAlive / (1.05 * level.MaxTime);
//population.Members[carIndex].Fitness *= timeFactor;
//double timeFactor = Functions.Map(c2Dc.TimeAlive, 0, level.MaxTime, 0.9, 0.95);
//population.Members[carIndex].Fitness *= timeFactor;
//double linearCoefficientOfTime = Functions.Line(c2Dc.TimeAlive, 10.0 / level.MaxTime, -5.0);
//double constraintlinearCoefficientOfTime = Functions.Logistic(linearCoefficientOfTime);
//population.Members[carIndex].Fitness *= constraintlinearCoefficientOfTime;
population.Members[carIndex].Fitness *= TimeEffectWithRespectToCurrentGeneration(c2Dc.TimeAlive, population.CurrentGeneration, level.MaxTime, level.thresholdGeneration, level.timeMattersAtTheBeginning, level.lessTimeIsBetter); //Currently works!
//double sensorCoefficient = 1 / c2Dc.CumulativeSensoryData;
}
//Debug.Log(population.Members[carIndex].Fitness + " of car #" + carIndex.ToString());
carS.GetComponent <SpriteRenderer>().color = new Color32(255, 255, 255, 255);
r.RespawnCar();
}
bestCar.GetComponent <Respawn>().RespawnCar();
bestCar.GetComponent <SpriteRenderer>().color = new Color32(0, 255, 0, 255);
carsHaveRespawned = true;
population.SortSpeciesByFitness();
population.NormalizeFitness();
population.FilterByPerformance();
double bestFitness = population.ToBreed(); // make mutation rate dynamic
guiManager.startTime = Time.time;
guiManager.numOfGenerations = population.CurrentGeneration;
guiManager.bestFitness = bestFitness;
elapsedTime = 0.0f;
AssignBrains();
//Every 50 generation saves progress
if (level.ToggleFileIO)
{
if (population.CurrentGeneration % 50 == 0)
{
SaveBestBrain("bestBrain.txt", population.BestMember);
SavePopulationToFile("population.bin");
}
Debug.Log(bestFitness);
}
}
// Update is called once per frame
void Update()
{
// Find the best car and follow it
EnvironmentManager manager = GameObject.FindObjectOfType <EnvironmentManager>();
manager.cars.Sort();
Car2DController bestCar = manager.cars[manager.populationSize - 1];
dashboard.UpdateMaxFitness(bestCar.fitness);
transform.position = new Vector3(bestCar.gameObject.transform.position.x, bestCar.gameObject.transform.position.y, -30f);
}
// Use this for initialization
void Start()
{
isAlive = true;
thisRbCar = GetComponent <Rigidbody2D>();
//car2D = FindObjectOfType<Car2DController>();
car2D = GetComponent <Car2DController>();
respawnPoint = GameObject.Find("Respawn Point").transform;
RespawnCar();
}
// Start is called before the first frame update
void Awake()
{
generation = 0;
Time.timeScale = 1.0f;
//If the size is not even we can't mutate properly
if (populationSize % 2 != 0)
{
populationSize = 50;
}
cars = new List <Car2DController>();
for (int i = 0; i < populationSize; i++)
{
Car2DController car = (Instantiate(prefab, new Vector3(0, 0, -1), this.transform.rotation)).GetComponent <Car2DController>();
//car.myNN.Load("Assets/Scripts/NN-Weights/Fitness_Max.txt");
cars.Add(car);
}
dashboard.InitializeDashboard(this.GetGenerationData());
InvokeRepeating("RespawnPopulation", 3.0f, 3.0f);
}
