public void SetNetworkTopology(NetworkTopologySimpleData networkTopology)
{
if (networkTopology != null)
{
currentTopology = networkTopology.GetCopy();
}
}
public SavedTopologyData(NetworkTopologySimpleData networkTopologySimpleData, List <CarSimpleData> cars, string topologyName)
{
if (networkTopologySimpleData != null)
{
this.TopologyData = networkTopologySimpleData.GetCopy();
}
else
{
Debug.LogError("Null parameter");
}
if (cars != null)
{
CarSimpleData.Clear();
foreach (CarSimpleData car in cars)
{
CarSimpleData.Add(car.GetCopy());
}
}
else
{
Debug.LogError("Null parameter");
}
if (!string.IsNullOrEmpty(topologyName))
{
this.TopologyName = topologyName;
}
}
public virtual void Init(NetworkTopologySimpleData networkTopology)
{
if (networkTopology != null)
{
initNeuralNetwork(networkTopology);
carRadar.Init(networkTopology.SensorsCount, AngleBetweenSensors, SensorsLength);
}
}
void refreshButtons()
{
NetworkTopologySimpleData currentTopology = GetNetworkTopologySimpleData();
bool isDifferent = currentTopology.IsDifferent(defaultTopology);
exclemationMark.SetActive(isDifferent);
resetButton.interactable = isDifferent;
}
void initNeuralNetwork(NetworkTopologySimpleData networkTopology)
{
if (networkTopology != null)
{
this.networkTopology = networkTopology.GetCopy();
int outputCount = 1 + (this.networkTopology.TorqueOutput ? 1 : 0)
+ (this.networkTopology.HandbrakeOutput ? 1 : 0); //there is always one output - steer angle
int additionalInputCount = (this.networkTopology.TorqueInput ? 1 : 0) + (this.networkTopology.VelocityInput ? 1 : 0) +
(this.networkTopology.SteerAngleInput ? 1 : 0) + (this.networkTopology.MovementAngleInput ? 1 : 0);
neuralNetwork = new NeuralNetwork(networkTopology.SensorsCount + additionalInputCount, this.networkTopology.HiddenLayerNeuronsCount, outputCount);
}
}
void onNewTopologyLoaded(SavedTopologyData savedTopologyData)
{
if (savedTopologyData != null && savedTopologyData.TopologyData != null && savedTopologyData.CarSimpleData != null)
{
NetworkTopologySimpleData newTopology = savedTopologyData.TopologyData;
geneticsManager.SetNetworkTopology(newTopology);
geneticsManager.ResetSimulation();
geneticsManager.SetNewCars(savedTopologyData.CarSimpleData);
geneticsManager.ResetCars();
geneticsManager.ActivateCars();
geneticsUIController.RefreshViews();
}
}
public NetworkTopologySimpleData GetNetworkTopologySimpleData()
{
NetworkTopologySimpleData result = new NetworkTopologySimpleData();
result.MovementAngleInput = angleBetweenForwardVectorAndMovementDirectionInputToggle.IsOn;
result.SteerAngleInput = steerAngleInputToggle.IsOn;
result.TorqueInput = torqueInputToggle.IsOn;
result.VelocityInput = velocityInputToggle.IsOn;
result.SensorsCount = sensorNeurons.Count;
result.HiddenLayerNeuronsCount = hiddenLayerNeurons.Count;
result.TorqueOutput = torqueOutputToggle.IsOn;
result.HandbrakeOutput = handbrakeOutputToggle.IsOn;
return(result);
}
public bool IsDifferent(NetworkTopologySimpleData other)
{
if (other == null)
{
return(true);
}
bool result = false;
if (MovementAngleInput != other.MovementAngleInput)
{
result = true;
}
else if (VelocityInput != other.VelocityInput)
{
result = true;
}
else if (TorqueInput != other.TorqueInput)
{
result = true;
}
else if (SteerAngleInput != other.SteerAngleInput)
{
result = true;
}
else if (SensorsCount != other.SensorsCount)
{
result = true;
}
else if (HiddenLayerNeuronsCount != other.HiddenLayerNeuronsCount)
{
result = true;
}
else if (TorqueOutput != other.TorqueOutput)
{
result = true;
}
else if (HandbrakeOutput != other.HandbrakeOutput)
{
result = true;
}
return(result);
}
public NetworkTopologySimpleData GetCopy()
{
NetworkTopologySimpleData result = new NetworkTopologySimpleData();
result.MovementAngleInput = MovementAngleInput;
result.SteerAngleInput = SteerAngleInput;
result.TorqueInput = TorqueInput;
result.VelocityInput = VelocityInput;
result.HiddenLayerNeuronsCount = HiddenLayerNeuronsCount;
result.SensorsCount = SensorsCount;
result.HandbrakeOutput = HandbrakeOutput;
result.TorqueOutput = TorqueOutput;
result.AngleBetweenSensors = AngleBetweenSensors;
result.SensorsLength = SensorsLength;
return(result);
}
void switchFromNetworkTopologyToLearningWindow()
{
networkTopologyCanvas.SetActive(false);
neuralNetworkCanvas.SetActive(true);
NetworkTopologySimpleData currentTopology = geneticsManager.CurrentTopology;
NetworkTopologySimpleData newTopology = networkTopologyController.GetNetworkTopologySimpleData();
bool isTpologyDifferent = currentTopology.IsDifferent(newTopology);
geneticsManager.gameObject.SetActive(true);
if (isTpologyDifferent)
{
geneticsManager.SetNetworkTopology(newTopology);
geneticsManager.ResetSimulation();
}
geneticsManager.ResetCars();
geneticsManager.ActivateCars();
geneticsUIController.RefreshViews();
imageFader.FadeOut();
}
public void Init(NetworkTopologySimpleData networkTopologySimpleData)
{
if (networkTopologySimpleData != null)
{
defaultTopology = networkTopologySimpleData.GetCopy();
hiddenLayerNeuronsCountController.SetValue(networkTopologySimpleData.HiddenLayerNeuronsCount);
sensorsCountController.SetValue(networkTopologySimpleData.SensorsCount);
angleBetweenForwardVectorAndMovementDirectionInputToggle.IsOn = networkTopologySimpleData.MovementAngleInput;
velocityInputToggle.IsOn = networkTopologySimpleData.VelocityInput;
torqueInputToggle.IsOn = networkTopologySimpleData.TorqueInput;
steerAngleInputToggle.IsOn = networkTopologySimpleData.SteerAngleInput;
torqueOutputToggle.IsOn = networkTopologySimpleData.TorqueOutput;
handbrakeOutputToggle.IsOn = networkTopologySimpleData.HandbrakeOutput;
createNeurons(networkTopologySimpleData.SensorsCount, sensorNeurons, sensorsContainer);
createNeurons(networkTopologySimpleData.HiddenLayerNeuronsCount, hiddenLayerNeurons, hiddenLayerNeuronsContainer);
startNewRefreshLinesCoroutine();
refreshButtons();
}
}
public override void Init(NetworkTopologySimpleData networkTopology)
{
base.Init(networkTopology);
IsActive = false;
}
public void Setup(NetworkTopologySimpleData currentTopologyData, List <CarSimpleData> carsData)
{
this.currentTopologyData = currentTopologyData;
this.carsData = carsData;
refresh();
}