public override object Read(ES2Reader reader)
{
FitnessComponent data = new FitnessComponent();
Read(reader, data);
return(data);
}
private float[][][] weight; // first array is the layer, second is the source node, third is the target node
#endregion Fields
#region Constructors
public BrainANN_FF_Layers_A2A()
{
Name = "BrainANN_FF_Layers_A2A";
// nothing
//Debug.Log("BrainANN_FF_Layers_A2A() Constructor!");
//temp:
fitConnectionCost[0] = 0f;
brainFitnessComponentList = new List<FitnessComponent>();
FitnessComponent FC_connectionCost = new FitnessComponent(ref fitConnectionCost, false, false, 1f, 1f, "Connection Cost", false);
// Turn back on when Fitness Panel can handle it!
//brainFitnessComponentList.Add (FC_connectionCost); // 0
}
public BrainANN_FF_Layers_A2A()
{
Name = "BrainANN_FF_Layers_A2A";
// nothing
//Debug.Log("BrainANN_FF_Layers_A2A() Constructor!");
//temp:
fitConnectionCost[0] = 0f;
brainFitnessComponentList = new List <FitnessComponent>();
FitnessComponent FC_connectionCost = new FitnessComponent(ref fitConnectionCost, false, false, 1f, 1f, "Connection Cost", false);
// Turn back on when Fitness Panel can handle it!
//brainFitnessComponentList.Add (FC_connectionCost); // 0
}
public override void Write(object obj, ES2Writer writer)
{
FitnessComponent data = (FitnessComponent)obj;
// Add your writer.Write calls here.
writer.Write(0); // Version 1 is current version number
// Make sure to edit Read() function to properly handle version control!
// VERSION 0:
writer.Write(data.bigIsBetter);
writer.Write(data.componentName);
writer.Write(data.divideByTimeSteps);
writer.Write(data.on);
writer.Write(data.power);
writer.Write(data.weight);
}
// 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();
}
public override void Read(ES2Reader reader, object c)
{
FitnessComponent data = (FitnessComponent)c;
// Add your reader.Read calls here to read the data into the object.
// Read the version number.
int fileVersion = reader.Read <int>();
// VERSION 0:
if (fileVersion >= 0)
{
data.bigIsBetter = reader.Read <bool>();
data.componentName = reader.Read <string>();
data.divideByTimeSteps = reader.Read <bool>();
data.on = reader.Read <bool>();
data.power = reader.Read <float>();
data.weight = reader.Read <float>();
if (fileVersion >= 1)
{
// new attributes
}
}
}
public override object Read(ES2Reader reader)
{
FitnessComponent data = new FitnessComponent();
Read(reader, data);
return data;
}
// 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();
}
private void SetupFitnessComponentList()
{
// Fitness Component List:
fitnessComponentList = new List<FitnessComponent>();
FitnessComponent FC_distFromOrigin = new FitnessComponent(ref fitDistFromOrigin, true, true, 1f, 0f, "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", true);
fitnessComponentList.Add(FC_distToTarget); // 2
//FitnessComponent FC_timeToTarget = new FitnessComponent(ref fitTimeInTarget, true, true, 1f, 1f, "Time In Target", true);
//fitnessComponentList.Add(FC_timeToTarget); // 3
//FitnessComponent FC_moveToTarget = new FitnessComponent(ref fitMoveToTarget, true, true, 1f, 1f, "Move Towards Target", true);
//fitnessComponentList.Add(FC_moveToTarget); // 7
FitnessComponent FC_moveSpeed = new FitnessComponent(ref fitMoveSpeed, true, true, 1f, 0f, "Average Speed", true);
fitnessComponentList.Add(FC_moveSpeed); // 8
FitnessComponent FC_customBody = new FitnessComponent(ref fitCustomBody, true, true, 1f, 1f, "Custom Body", false);
fitnessComponentList.Add(FC_customBody); // 8
//FitnessComponent FC_customPole = new FitnessComponent(ref fitCustomPole, true, true, 1f, 1f, "Custom Pole", false);
//fitnessComponentList.Add(FC_customPole); // 8
fitnessContactSensorList = new List<float[]>();
for (int contactSensorIndex = 0; contactSensorIndex < critterBeingTested.segaddonContactSensorList.Count; contactSensorIndex++) {
string fitnessComponentName = "Segment " + critterBeingTested.segaddonContactSensorList[contactSensorIndex].segmentID.ToString() + " Contact";
float[] fitnessContact = new float[1];
fitnessContact[0] = 0f;
fitnessContactSensorList.Add(fitnessContact);
FitnessComponent FC_segmentContact = new FitnessComponent(ref fitnessContact, true, true, 1f, 1f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentContact);
}
fitnessRaycastSensorList = new List<float[]>();
for (int raycastSensorIndex = 0; raycastSensorIndex < critterBeingTested.segaddonRaycastSensorList.Count; raycastSensorIndex++) {
string fitnessComponentName = "Segment " + critterBeingTested.segaddonRaycastSensorList[raycastSensorIndex].segmentID.ToString() + " Raycast";
float[] fitnessDistance = new float[1];
fitnessDistance[0] = 0f;
fitnessRaycastSensorList.Add(fitnessDistance);
FitnessComponent FC_segmentRaycast = new FitnessComponent(ref fitnessDistance, true, true, 1f, 1f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentRaycast);
}
fitnessCompassSensor1DList = new List<float[]>();
for (int compassSensor1DIndex = 0; compassSensor1DIndex < critterBeingTested.segaddonCompassSensor1DList.Count; compassSensor1DIndex++) {
string fitnessComponentName = "Segment " + critterBeingTested.segaddonCompassSensor1DList[compassSensor1DIndex].segmentID.ToString() + " Compass1D";
float[] fitnessDotProduct = new float[1];
fitnessDotProduct[0] = 0f;
fitnessCompassSensor1DList.Add(fitnessDotProduct);
FitnessComponent FC_segmentCompass1D = new FitnessComponent(ref fitnessDotProduct, true, true, 1f, 1f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentCompass1D);
}
fitnessCompassSensor3DListRight = new List<float[]>();
fitnessCompassSensor3DListUp = new List<float[]>();
fitnessCompassSensor3DListForward = new List<float[]>();
for (int compassSensor3DIndex = 0; compassSensor3DIndex < critterBeingTested.segaddonCompassSensor3DList.Count; compassSensor3DIndex++) {
string fitnessComponentName = "Segment " + critterBeingTested.segaddonCompassSensor3DList[compassSensor3DIndex].segmentID.ToString() + " Compass3D Right";
float[] fitnessDotProductRight = new float[1];
fitnessDotProductRight[0] = 0f;
fitnessCompassSensor3DListRight.Add(fitnessDotProductRight);
FitnessComponent FC_segmentCompass3DRight = new FitnessComponent(ref fitnessDotProductRight, true, false, 1f, 1f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentCompass3DRight);
fitnessComponentName = "Segment " + critterBeingTested.segaddonCompassSensor3DList[compassSensor3DIndex].segmentID.ToString() + " Compass3D Up";
float[] fitnessDotProductUp = new float[1];
fitnessDotProductUp[0] = 0f;
fitnessCompassSensor3DListUp.Add(fitnessDotProductUp);
FitnessComponent FC_segmentCompass3DUp = new FitnessComponent(ref fitnessDotProductUp, true, false, 1f, 1f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentCompass3DUp);
fitnessComponentName = "Segment " + critterBeingTested.segaddonCompassSensor3DList[compassSensor3DIndex].segmentID.ToString() + " Compass3D Forward";
float[] fitnessDotProductForward = new float[1];
fitnessDotProductForward[0] = 0f;
fitnessCompassSensor3DListForward.Add(fitnessDotProductForward);
FitnessComponent FC_segmentCompass3DForward = new FitnessComponent(ref fitnessDotProductForward, true, true, 1f, 1f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentCompass3DForward);
}
fitnessPositionSensor1DList = new List<float[]>();
for(int positionSensor1DIndex = 0; positionSensor1DIndex < critterBeingTested.segaddonPositionSensor1DList.Count; positionSensor1DIndex++) {
string fitnessComponentName = "Segment " + critterBeingTested.segaddonPositionSensor1DList[positionSensor1DIndex].segmentID.ToString() + " Position1D Distance";
float[] fitnessDistance = new float[1];
fitnessDistance[0] = 0f;
fitnessPositionSensor1DList.Add(fitnessDistance);
FitnessComponent FC_segmentPosition1DDistance = new FitnessComponent(ref fitnessDistance, true, false, 1f, 0.25f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentPosition1DDistance);
}
fitnessPositionSensor3DList = new List<float[]>();
for (int positionSensor3DIndex = 0; positionSensor3DIndex < critterBeingTested.segaddonPositionSensor3DList.Count; positionSensor3DIndex++) {
string fitnessComponentName = "Segment " + critterBeingTested.segaddonPositionSensor3DList[positionSensor3DIndex].segmentID.ToString() + " Position3D Distance";
float[] fitnessDistance = new float[1];
fitnessDistance[0] = 0f;
fitnessPositionSensor3DList.Add(fitnessDistance);
FitnessComponent FC_segmentPosition3DDistance = new FitnessComponent(ref fitnessDistance, true, false, 1f, 1f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentPosition3DDistance);
}
fitnessPositionSensor3DTargetList = new List<float[]>();
for (int positionSensor3DTargetIndex = 0; positionSensor3DTargetIndex < critterBeingTested.segaddonPositionSensor3DList.Count; positionSensor3DTargetIndex++) {
string fitnessComponentName = "Segment " + critterBeingTested.segaddonPositionSensor3DList[positionSensor3DTargetIndex].segmentID.ToString() + " Pos3D Custom Target";
float[] fitnessTarget = new float[1];
fitnessTarget[0] = 0f;
fitnessPositionSensor3DTargetList.Add(fitnessTarget);
FitnessComponent FC_segmentPosition3DTarget = new FitnessComponent(ref fitnessTarget, true, true, 1f, 1f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentPosition3DTarget);
}
fitnessRotationSensor1DList = new List<float[]>();
for (int rotationSensor1DIndex = 0; rotationSensor1DIndex < critterBeingTested.segaddonRotationSensor1DList.Count; rotationSensor1DIndex++) {
string fitnessComponentName = "Segment " + critterBeingTested.segaddonRotationSensor1DList[rotationSensor1DIndex].segmentID.ToString() + " Rotation1D Rate";
float[] fitnessRate = new float[1];
fitnessRate[0] = 0f;
fitnessRotationSensor1DList.Add(fitnessRate);
FitnessComponent FC_segmentRotation1D = new FitnessComponent(ref fitnessRate, true, false, 1f, 1f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentRotation1D);
}
fitnessRotationSensor3DList = new List<float[]>();
for (int rotationSensor3DIndex = 0; rotationSensor3DIndex < critterBeingTested.segaddonRotationSensor3DList.Count; rotationSensor3DIndex++) {
string fitnessComponentName = "Segment " + critterBeingTested.segaddonRotationSensor3DList[rotationSensor3DIndex].segmentID.ToString() + " Rotation3D Rate";
float[] fitnessRate = new float[1];
fitnessRate[0] = 0f;
fitnessRotationSensor3DList.Add(fitnessRate);
//critterBeingTested.segaddonRotationSensor3DList[rotationSensor3DIndex];
FitnessComponent FC_segmentRotation3D = new FitnessComponent(ref fitnessRate, true, false, 1f, 0.25f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentRotation3D);
}
fitnessVelocitySensor3DList = new List<float[]>();
for(int velocitySensor3DIndex = 0; velocitySensor3DIndex < critterBeingTested.segaddonVelocitySensor3DList.Count; velocitySensor3DIndex++) {
string fitnessComponentName = "Segment " + critterBeingTested.segaddonVelocitySensor3DList[velocitySensor3DIndex].segmentID.ToString() + " Velocity3D";
float[] fitnessRate = new float[1];
fitnessRate[0] = 0f;
fitnessVelocitySensor3DList.Add(fitnessRate);
FitnessComponent FC_segmentVelocity3D = new FitnessComponent(ref fitnessRate, true, true, 1f, 0f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentVelocity3D);
}
fitnessAltimeterList = new List<float[]>();
for (int altimeterIndex = 0; altimeterIndex < critterBeingTested.segaddonAltimeterList.Count; altimeterIndex++) {
string fitnessComponentName = "Segment " + critterBeingTested.segaddonAltimeterList[altimeterIndex].segmentID.ToString() + " Altimeter";
float[] fitnessAltimeter = new float[1];
fitnessAltimeter[0] = 0f;
fitnessAltimeterList.Add(fitnessAltimeter);
FitnessComponent FC_segmentAltimeter = new FitnessComponent(ref fitnessAltimeter, true, true, 1f, 1f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentAltimeter);
}
fitnessGravitySensorList = new List<float[]>();
for (int gravitySensorIndex = 0; gravitySensorIndex < critterBeingTested.segaddonGravitySensorList.Count; gravitySensorIndex++) {
string fitnessComponentName = "Segment " + critterBeingTested.segaddonGravitySensorList[gravitySensorIndex].segmentID.ToString() + " Gravity";
float[] fitnessGravitySensor = new float[1];
fitnessGravitySensor[0] = 0f;
fitnessGravitySensorList.Add(fitnessGravitySensor);
FitnessComponent FC_segmentGravitySensor = new FitnessComponent(ref fitnessGravitySensor, true, false, 1f, 1f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentGravitySensor);
}
fitnessMouthBasicList = new List<float[]>();
for (int mouthBasicIndex = 0; mouthBasicIndex < critterBeingTested.segaddonMouthBasicList.Count; mouthBasicIndex++) {
string fitnessComponentName = "Segment " + critterBeingTested.segaddonMouthBasicList[mouthBasicIndex].segmentID.ToString() + " MouthBasic";
float[] fitnessMouth = new float[1];
fitnessMouth[0] = 0f;
fitnessMouthBasicList.Add(fitnessMouth);
FitnessComponent FC_segmentMouthBasic = new FitnessComponent(ref fitnessMouth, true, false, 1f, 1f, fitnessComponentName, true);
fitnessComponentList.Add(FC_segmentMouthBasic);
}
ResetFitnessComponentValues();
}
// 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();
}
