private NEAT Crossover(NEAT dominant, NEAT submissive)
{
NEAT child = new NEAT(dominant);
List <Connection> newConnections = new List <Connection>();
foreach (var connection in child.GetConnetionGenom())
{
Connection c = submissive.GetConnetionGenom().Find(x => x.innovation == connection.innovation);
if (c != null && Random.Range(0f, 1f) > 0.5f)
{
Node inNode = child.GetNodeGenom().Find(n => n.nodeID == c.inNode);
Node outNode = child.GetNodeGenom().Find(n => n.nodeID == c.outNode);
if (outNode == null && inNode != null)
{
outNode = new Node(c.outNode, inNode.order + 1, NodeType.Hidden);
child.AddNode(outNode);
}
else if (outNode == null && inNode == null)
{
outNode = new Node(c.outNode, 1, NodeType.Hidden);
child.AddNode(outNode);
}
if (inNode == null)
{
inNode = new Node(c.inNode, 0, NodeType.Hidden);
child.AddNode(inNode);
}
Connection cNew = new Connection(inNode.nodeID, outNode.nodeID, c.weight, c.enabled, c.innovation);
newConnections.Add(cNew);
}
}
foreach (var connection in newConnections)
{
if (!CompareConnection(connection, child))
{
if (!LoopSearch(connection, child.GetConnetionGenom()))
{
child.RemoveConnection(child.GetConnetionGenom().Find(n => n.innovation == connection.innovation));
child.AddConnection(connection);
child.GetNodeGenom().Find(n => n.nodeID == connection.inNode).AddConnection(connection);
}
}
}
return(child);
}
public NEAT LoadBrain()
{
NEAT network = new NEAT(0, 0);
network.SetSize(inputs, outputs);
//create all nodes
for (int i = 0; i < floatNodes.Length; i += 5)
{
Node current = new Node((int)floatNodes[i + 1], (int)floatNodes[i], (NodeType)(int)floatNodes[i + 2]);
current.activation = floatNodes[i + 3];
current.sum = floatNodes[i + 4];
network.AddNode(current);
}
//create all connections
for (int i = 0; i < floatConnections.Length; i += 5)
{
bool enable = floatConnections[i + 3] == 1 ? true : false;
Connection current = new Connection((int)floatConnections[i], (int)floatConnections[i + 1], floatConnections[i + 2], enable, (int)floatConnections[i + 4]);
Debug.Log(current.inNode + "Innode id, " + current.outNode + "outnode id, " + current.weight + "weight, " + current.innovation + "innovation");
network.AddConnection(current);
}
//add all connections to nodes
foreach (var connection in network.GetConnetionGenom())
{
Node currentNode = network.GetNodeGenom().Find(x => x.nodeID == connection.inNode);
if (currentNode != null)
{
currentNode.AddConnection(connection);
}
}
network.SetInnovation(innovation);
return(network);
}
