public static List <ShipChromosomeNode> TreeCrossover(List <ShipChromosomeNode> selectionList)
{
List <ShipChromosomeNode> outputPopulation = new List <ShipChromosomeNode>();
while (selectionList.Count >= 2)
{
//SELECT TWO PARENTS AT RANDOM
ShipChromosomeNode p1 = selectRandomElement(selectionList, true);
ShipChromosomeNode p2 = selectRandomElement(selectionList, true);
//if (p1 == p2)
// Debug.LogError("SAME PARENTS");
//Debug.Log("P1: \n" + p1.getString() + "\n");
//Debug.Log("P2: \n" + p2.getString() + "\n");
//RETRIEVE A LIST OF THEIR NODES
List <ShipChromosomeNode> p1Nodes = p1.getListOfNodes();
List <ShipChromosomeNode> p2Nodes = p2.getListOfNodes();
//SELECT ONE AT RANDOM FROM EACH PARENT
ShipChromosomeNode p1CutNode = selectRandomElement(p1Nodes, false);
ShipChromosomeNode p2CutNode = selectRandomElement(p2Nodes, false);
//Debug.Log("P1 cut point: \n" + p1CutNode.getString() + "\n");
//Debug.Log("P2 cut point: \n" + p2CutNode.getString() + "\n");
//ADD THE OFFSPRING CREATED TO THE OUTPUT POPULATION
outputPopulation.Add(createOffspring(p1, p1CutNode, p2CutNode));
outputPopulation.Add(createOffspring(p2, p2CutNode, p1CutNode));
}
return(outputPopulation);
}
public void generatePhysicalShip(ShipChromosomeNode root)
{
GameObject g = (GameObject)GameObject.Instantiate(Resources.Load(Config.HEAVY_BLOCK_PREFAB_LOCATION),
Vector3.zero,
Quaternion.identity);
Rigidbody r = g.AddComponent <Rigidbody>();
r.mass = Config.BLOCK_MASS * root.getListOfNodes().Count;
r.drag = Config.BLOCK_DRAG;
r.angularDrag = Config.BLOCK_ANGULAR_DRAG;
//r.constraints = RigidbodyConstraints.FreezeAll;
r.constraints = RigidbodyConstraints.FreezeRotationX | RigidbodyConstraints.FreezeRotationY
| RigidbodyConstraints.FreezePositionZ;
BlockScript b = g.GetComponent <BlockScript>();
ShipController s = g.AddComponent <ShipController>();
s.rootNode = root;
s.setOrbs(orbsRoot);
lastShip = s;
b.initialize(root, s);
b.combineSubMeshes();
g.transform.position = transform.position;
g.SetActive(false);
}
//c indicates where the child's parent is in relation to it
private void createChild(ShipChromosomeNode n, ChildNode c, ShipController s)
{
GameObject g = (GameObject)GameObject.Instantiate(
Resources.Load(n.isEngine ? Config.ENGINE_PREFAB_LOCATION : Config.HEAVY_BLOCK_PREFAB_LOCATION),
Vector3.zero,
Quaternion.identity);
if (n.isEngine)
{
EngineScript engine = g.GetComponent <EngineScript>();
engine.initialize(s, n.startEngageAngle, n.rangeEngageAngle);
}
g.transform.parent = transform;
g.transform.localPosition = Vector3.zero;
g.transform.localRotation = Quaternion.Euler(0, 0, n.relativeRotation);
Vector3 colliderSize = g.GetComponent <MeshCollider>().bounds.size;
switch (c)
{
case ChildNode.TOP:
g.transform.localPosition = g.transform.localPosition
+ rotateByThisRotation(new Vector3(0, -colliderSize.y, 0));
break;
case ChildNode.BOTTOM:
g.transform.localPosition = g.transform.localPosition
+ rotateByThisRotation(new Vector3(0, colliderSize.y, 0));
break;
case ChildNode.LEFT:
g.transform.localPosition = g.transform.localPosition
+ rotateByThisRotation(new Vector3(colliderSize.x, 0, 0));
break;
case ChildNode.RIGHT:
g.transform.localPosition = g.transform.localPosition
+ rotateByThisRotation(new Vector3(-colliderSize.x, 0, 0));
break;
}
if (Physics.OverlapSphere(g.transform.position,
(colliderSize.y < colliderSize.x
? colliderSize.y : colliderSize.x) / 2.1f).Length > 1)
{
GameObject.Destroy(g);
return;
}
//FixedJoint fixedJoint = g.AddComponent<FixedJoint>();
//fixedJoint.enableCollision = false;
//fixedJoint.connectedBody = rigidbody;
BlockScript b = g.GetComponent <BlockScript>();
b.initialize(n, s);
}
//c indicates where the child's parent is in relation to it
public static ShipChromosomeNode generateRandomShip(int d, ChildNode c)
{
ShipChromosomeNode root = new ShipChromosomeNode();
root.depth = d;
root.parentPos = c;
root.isEngine = Random.Range(0, 2) == 1;
root.startEngageAngle = Random.Range(0, 360);
root.rangeEngageAngle = Random.Range(0, 360);
root.relativeRotation = Random.Range(-Config.MAX_CHILD_ROTATION, Config.MAX_CHILD_ROTATION);
float f;
if (root.depth < Config.MAX_SHIP_DEPTH)
{
//top
if (c != ChildNode.TOP)
{
f = Random.Range(0.0f, 1.0f);
if (f <= Config.CHANCE_OF_CHILD_NODE)
{
root.top = ShipChromosomeNode.generateRandomShip(root.depth + 1, ChildNode.BOTTOM);
}
}
//bottom
if (c != ChildNode.BOTTOM)
{
f = Random.Range(0.0f, 1.0f);
if (f <= Config.CHANCE_OF_CHILD_NODE)
{
root.bottom = ShipChromosomeNode.generateRandomShip(root.depth + 1, ChildNode.TOP);
}
}
//left
if (c != ChildNode.LEFT)
{
f = Random.Range(0.0f, 1.0f);
if (f <= Config.CHANCE_OF_CHILD_NODE)
{
root.left = ShipChromosomeNode.generateRandomShip(root.depth + 1, ChildNode.RIGHT);
}
}
//right
if (c != ChildNode.RIGHT)
{
f = Random.Range(0.0f, 1.0f);
if (f <= Config.CHANCE_OF_CHILD_NODE)
{
root.right = ShipChromosomeNode.generateRandomShip(root.depth + 1, ChildNode.LEFT);
}
}
}
return(root);
}
public static void TreeMutate(List <ShipChromosomeNode> crossoverList)
{
foreach (ShipChromosomeNode s in crossoverList)
{
if (rnd.NextDouble() < Config.MUTATION_PROBABILITY)
{
List <ShipChromosomeNode> subNodes = s.getListOfNodes();
ShipChromosomeNode mutateNode = selectRandomElement(subNodes, false);
ChildNode parentPos = mutateNode.parentPos;
ShipChromosomeNode parent = null;
switch (parentPos)
{
case ChildNode.BOTTOM:
parent = mutateNode.bottom;
break;
case ChildNode.LEFT:
parent = mutateNode.left;
break;
case ChildNode.RIGHT:
parent = mutateNode.right;
break;
case ChildNode.TOP:
parent = mutateNode.top;
break;
}
mutateNode = ShipChromosomeNode.generateRandomShip(mutateNode.depth, parentPos);
switch (parentPos)
{
case ChildNode.BOTTOM:
mutateNode.bottom = parent;
parent.top = mutateNode;
break;
case ChildNode.LEFT:
mutateNode.left = parent;
parent.right = mutateNode;
break;
case ChildNode.RIGHT:
mutateNode.right = parent;
parent.left = mutateNode;
break;
case ChildNode.TOP:
mutateNode.top = parent;
parent.bottom = mutateNode;
break;
}
}
}
}
private static ShipChromosomeNode createOffspring(ShipChromosomeNode p1,
ShipChromosomeNode p1CutNode,
ShipChromosomeNode p2CutNode,
int depth,
ShipChromosomeNode parent,
ChildNode parentPos)
{
if (p1 == p1CutNode)
{
p1 = p2CutNode;
}
ShipChromosomeNode o = p1.copyNode();
o.depth = depth;
o.parentPos = parentPos;
switch (parentPos)
{
case ChildNode.BOTTOM:
o.bottom = parent;
break;
case ChildNode.LEFT:
o.left = parent;
break;
case ChildNode.RIGHT:
o.right = parent;
break;
case ChildNode.TOP:
o.top = parent;
break;
}
if (p1.top != null && p1.parentPos != ChildNode.TOP)
{
o.top = createOffspring(p1.top, p1CutNode, p2CutNode, depth + 1, o, ChildNode.BOTTOM);
}
if (p1.left != null && p1.parentPos != ChildNode.LEFT)
{
o.left = createOffspring(p1.left, p1CutNode, p2CutNode, depth + 1, o, ChildNode.RIGHT);
}
if (p1.right != null && p1.parentPos != ChildNode.RIGHT)
{
o.right = createOffspring(p1.right, p1CutNode, p2CutNode, depth + 1, o, ChildNode.LEFT);
}
if (p1.bottom != null && p1.parentPos != ChildNode.BOTTOM)
{
o.bottom = createOffspring(p1.bottom, p1CutNode, p2CutNode, depth + 1, o, ChildNode.TOP);
}
return(o);
}
public ShipChromosomeNode copyNode()
{
ShipChromosomeNode s = new ShipChromosomeNode();
s.isEngine = isEngine;
s.relativeRotation = relativeRotation;
s.startEngageAngle = startEngageAngle;
s.rangeEngageAngle = rangeEngageAngle;
s.parentPos = parentPos;
s.depth = depth;
return(s);
}
public static void NodeMutate(List <ShipChromosomeNode> crossoverList)
{
foreach (ShipChromosomeNode s in crossoverList)
{
if (rnd.NextDouble() < Config.MUTATION_PROBABILITY)
{
List <ShipChromosomeNode> subNodes = s.getListOfNodes();
ShipChromosomeNode mutateNode = selectRandomElement(subNodes, false);
mutateNode.isEngine = UnityEngine.Random.Range(0, 2) == 1;
mutateNode.startEngageAngle = UnityEngine.Random.Range(0, 360);
mutateNode.rangeEngageAngle = UnityEngine.Random.Range(0, 360);
mutateNode.relativeRotation = UnityEngine.Random.Range(-Config.MAX_CHILD_ROTATION,
Config.MAX_CHILD_ROTATION);
}
}
}
private ShipChromosomeNode copyTree(ShipChromosomeNode parent)
{
ShipChromosomeNode s = copyNode();
if (parentPos == ChildNode.TOP)
{
s.top = parent;
}
else if (top != null)
{
s.top = top.copyTree(s);
}
if (parentPos == ChildNode.LEFT)
{
s.left = parent;
}
else if (left != null)
{
s.left = left.copyTree(s);
}
if (parentPos == ChildNode.RIGHT)
{
s.right = parent;
}
else if (right != null)
{
s.right = right.copyTree(s);
}
if (parentPos == ChildNode.BOTTOM)
{
s.bottom = parent;
}
else if (bottom != null)
{
s.bottom = bottom.copyTree(s);
}
return(s);
}
public void nextGeneration()
{
if (lastShip != null)
{
GameObject.Destroy(lastShip.gameObject);
}
populationManager.GetComponents <Transform>();
ShipChromosomeNode bestOfAllTime = populationManager.getBestOfAllTime();
if (bestOfAllTime == null)
{
generateRandomShip();
}
else
{
generatePhysicalShip(bestOfAllTime); //Random.Range(0, shipArchives.Count / 2)].root);
}
activate();
}
public void initialize(ShipChromosomeNode n, ShipController s)
{
shipController = s;
s.limbCount++;
if (n.top != null)
{
createChild(n.top, ChildNode.BOTTOM, s);
}
if (n.bottom != null)
{
createChild(n.bottom, ChildNode.TOP, s);
}
if (n.left != null)
{
createChild(n.left, ChildNode.RIGHT, s);
}
if (n.right != null)
{
createChild(n.right, ChildNode.LEFT, s);
}
}
/*public int limbCount()
* {
* int r = 1 + (top == null ? 0 : (parentPos == ChildNode.TOP ? 0 : top.limbCount()))
+ (bottom == null ? 0 : (parentPos == ChildNode.BOTTOM ? 0 : bottom.limbCount()))
+ (left == null ? 0 : (parentPos == ChildNode.LEFT ? 0 : left.limbCount()))
+ (right == null ? 0 : (parentPos == ChildNode.RIGHT ? 0 : right.limbCount()));
+
+ return r;
+ }*/
public ShipChromosomeNode copyTree()
{
ShipChromosomeNode s = copyNode();
if (top != null)
{
s.top = top.copyTree(s);
}
if (left != null)
{
s.left = left.copyTree(s);
}
if (right != null)
{
s.right = right.copyTree(s);
}
if (bottom != null)
{
s.bottom = bottom.copyTree(s);
}
return(s);
}
public void generateRandomShip()
{
ShipChromosomeNode n = ShipChromosomeNode.generateRandomShip();
generatePhysicalShip(n);
}
public ShipArchive(ShipChromosomeNode rootNode, double fitness)
{
this.root = rootNode;
this.fitness = fitness;
}
private static ShipChromosomeNode createOffspring(ShipChromosomeNode p1,
ShipChromosomeNode p1CutNode,
ShipChromosomeNode p2CutNode)
{
return(createOffspring(p1, p1CutNode, p2CutNode, 0, null, ChildNode.NONE));
}
