Exemplo n.º 1
0
    //Updates nerual net with new inputs from the balancer
    private void UpdateNet()
    {
        float boardVelocity = trackRigidbody.velocity.x; //get current velocity of the board

        //both poles angles in radians
        float pole1AngleRadian = Mathf.Deg2Rad * pole1Rigidbody.transform.eulerAngles.z;
        float pole2AngleRadian = Mathf.Deg2Rad * pole2Rigidbody.transform.eulerAngles.z;

        //both poles angular velocities
        float pole1AngularVelocity = pole1Rigidbody.angularVelocity;
        float pole2AngularVelocity = pole2Rigidbody.angularVelocity;

        float[] inputValues = { boardVelocity, pole1AngleRadian, pole2AngleRadian, pole1AngularVelocity, pole2AngularVelocity }; //gather pole and track data into an array

        float[] output = net.FireNet(inputValues);                                                                               //caluclate new neural net output with given input values

        trackRigidbody.velocity += new Vector2(output[0], 0);                                                                    //update track velocity with neural net output

        net.AddNetFitness(Time.deltaTime);
    }