private void GenerateModels()
{
DestroyModels();
for (int i = 0; i < modelNum; i++)
{
GameObject gameObject = Instantiate(_LegModelPrefab, new Vector3(i, 0, 0), Quaternion.identity);
LegModelMonoBehaviour legModelMonoBehaviour = gameObject.GetComponent <LegModelMonoBehaviour>();
if (legModelMonoBehaviour == null)
{
Debug.Log(i + " : legModelMonoBehaviour is null");
}
LegModel legModel = legModelMonoBehaviour.LegModel;
if (legModel == null)
{
Debug.Log(i + " : legModel is null");
}
legModel.DNA.Clear();
for (int j = 0; j < DNALength; j++)
{
legModel.DNA.Add(Random.Range(MinTorque, MaxTorque));
}
// Debug.Log("DNA " + i + " : " + string.Join(", ", legModel.DNA));
LegModels.Add(legModel);
}
}
public static LegModel[] GenerateLegs(int legCount, int binPerLeg)
{
var rand = new Random();
var legs = new LegModel[legCount];
for (var legOrder = 1; legOrder <= legCount; legOrder++)
{
var selections = new SelectionModel[binPerLeg];
for (var bin = 1; bin <= binPerLeg; bin++)
{
var prob = rand.NextDouble();
selections[bin - 1] = new SelectionModel(bin, prob);
}
//normalised the probs
var sumProbs = selections.Sum(s => s.Probability);
foreach (var sel in selections)
{
var newProb = sel.Probability / sumProbs;
sel.UpdateProbability(newProb);
}
var sumOfProbs = selections.Sum(s => s.Probability);
Assert.That(sumOfProbs > 0.99);
legs[legOrder - 1] = new LegModel(legOrder, selections);
}
return(legs);
}
/// <summary>
/// コンストラクタ
/// </summary>
/// <param name="RLeg">右足</param>
/// <param name="LLeg">左脚</param>
public OperationServiceBase(LegModel rLeg, LegModel lLeg, ArmModel rArm, ArmModel lArm)
{
this.RPart = rLeg;
this.LPart = lLeg;
this.RArm = rArm;
this.LArm = lArm;
}
public void InitializeLeg(LegSO so)
{
leg = new LegModel(so, OrthogenMaterials.RectifiedLegMaterial);
OnDataModelModified?.Invoke(this, EventArgs.Empty);
leg.OnDeformationAdded += OG.notifyModelingOpAdded;
leg.OnDeformationRemoved += OG.notifyModelingOpRemoved;
}
public S_ACS(LegModel rLeg, LegModel lLen, ArmModel rArm, ArmModel lArm) : base(rLeg, lLen, rArm, lArm)
{
this.RPart = rLeg;
this.LPart = lLen;
this.RArm = rArm;
this.LArm = lArm;
}
public int compareLegs(LegModel a, LegModel b, Boolean reverse)
{
int m = 1;
if (reverse)
{
m = -1;
}
if (a.Result - b.Result < 0)
{
return(-1 * m);
}
else if (a.Result - b.Result > 0)
{
return(1 * m);
}
else
{
return(0);
}
}
public List <LegModel> crossModels(List <LegModel> eliteModels)
{
List <LegModel> newModels = new List <LegModel>();
for (int i = 0; i < eliteRate * 2 * modelNum; i++)
{
LegModel newModel = new LegModel();
newModel.DNA = new List <float>();
for (int j = 0; j < DNALength; j++)
{
newModel.DNA.Add(0);
}
newModels.Add(newModel);
}
for (int i = 0; i < eliteRate * 2 * modelNum; i++)
{
List <float> DNA1 = eliteModels.LoopElementAt(i).DNA;
List <float> DNA2 = eliteModels.LoopElementAt(i + 1).DNA;
List <float> DNA3 = eliteModels.LoopElementAt(i + 2).DNA;
List <float> resDNA1 = newModels.LoopElementAt(i).DNA;
List <float> resDNA2 = newModels.LoopElementAt(i + 1).DNA;
List <float> resDNA3 = newModels.LoopElementAt(i + 2).DNA;
List <float> gPointList = new List <float>();
for (int j = 0; j < DNALength; j++)
{
gPointList.Add((DNA1[j] + DNA2[j] + DNA3[j]) / 3f);
}
List <float> sPointList1 = new List <float>();
List <float> sPointList2 = new List <float>();
List <float> sPointList3 = new List <float>();
for (int j = 0; j < DNALength; j++)
{
sPointList1.Add(gPointList[j] + epsilon * (DNA1[j] - gPointList[j]));
sPointList2.Add(gPointList[j] + epsilon * (DNA2[j] - gPointList[j]));
sPointList3.Add(gPointList[j] + epsilon * (DNA3[j] - gPointList[j]));
}
for (int j = 0; j < DNALength; j++)
{
float r1 = Random.Range(0, 1f);
float r2 = Mathf.Pow(Random.Range(0, 1f), 0.5f);
resDNA1[j] = sPointList1[j];
resDNA2[j] = r1 * (sPointList1[j] - sPointList2[j]) + sPointList2[j];
resDNA3[j] = r2 * (sPointList2[j] - sPointList3[j] + r1 * (sPointList1[j] - sPointList2[j]) + sPointList3[j]);
}
}
foreach (LegModel legModel in newModels)
{
for (int i = 0; i < DNALength; i++)
{
legModel.DNA[i] = Mathf.Clamp((float)legModel.DNA[i], MinTorque, MaxTorque);
}
}
return(newModels);
}
public override void updateLegPartOparationData(PartOperationDataEntityList dataEntityList, LegModel legModel)
{
}
public abstract void updateLegPartOparationData(PartOperationDataEntityList dataEntityList, LegModel legModel);
