bluePrint[] mergeSort(bluePrint[] a)
{
if (a.Length <= 1) {
return a;
}
int middle = a.Length / 2;
bluePrint[] left = new bluePrint[middle];
bluePrint[] right = new bluePrint[a.Length - middle];
for (int i = 0, j = 0; i < a.Length; i ++) {
if (i < middle) {
left [i] = a [i];
} else {
right [j] = a [i];
j++;
}
}
left = mergeSort (left);
right = mergeSort (right);
return merge (left, right);
}
void generateInitialPopulation()
{
// int initialStrutID = 1000;
// Use this for initialization
// int identityStrut = initialStrutID;
// int currentStrut;
for (int i = 0; i < populationSize; i ++) {
bluePrint robot;
string[] chromosomes = new string[numberOfUnits - 1];
string ID = "B" + i;
//sr.WriteLine (ID);
// string[] IDList = new string[numberOfUnits];
// int originID = 5000;
robot = new bluePrint (ID);
int originUnitType = UnityEngine.Random.Range (0, maxValueOfUnit + 1);
functionalUnit origin = new functionalUnit ("5000", new point3 (0, 0, 0));
robot.unitArray.Add (origin);
for (int j = 0; j < numberOfUnits-1; j ++) {
int id = 5001 + j;
int side = UnityEngine.Random.Range (0, 6);
int connectObject = 5000 + UnityEngine.Random.Range (0, j + 1);
functionalUnit con = robot.getUnit ("" + connectObject);
point3 newPoint = translatePoint (con.location, side);
while (robot.unitAreaOccupied(newPoint)) {
side = UnityEngine.Random.Range (0, 6);
connectObject = 5000 + UnityEngine.Random.Range (0, j + 1);
con = robot.getUnit ("" + connectObject);
newPoint = translatePoint (con.location, side);
}
robot.unitArray.Add (new functionalUnit ("" + id, newPoint));
int unitType = UnityEngine.Random.Range (0, maxValueOfUnit + 1);
string chromosome = connectObject + "," + id + "," + originUnitType + "," + unitType + "," + side;
chromosomes [j] = chromosome;
}
robot.chromosomes = chromosomes;
currentPopulation [i] = robot;
}
}
bluePrint[] merge(bluePrint[] left, bluePrint[] right)
{
bluePrint [] result = new bluePrint[left.Length + right.Length];
int leftPointer = 0, rightPointer = 0, returnPointer = 0;
while (leftPointer < left.Length || rightPointer < right.Length) {
if (leftPointer < left.Length && rightPointer < right.Length) {
if (left [leftPointer].score <= right [rightPointer].score) {
result [returnPointer] = left [leftPointer];
returnPointer ++;
leftPointer++;
} else {
result [returnPointer] = right [rightPointer];
returnPointer++;
rightPointer++;
}
} else if (leftPointer < left.Length) {
result [returnPointer] = left [leftPointer];
returnPointer ++;
leftPointer++;
} else if (rightPointer < right.Length) {
result [returnPointer] = right [rightPointer];
returnPointer++;
rightPointer++;
}
}
return result;
}
bluePrint[] evalPopulation(bluePrint[] pop)
{
//Debug.Log ("eval call");
for (int i = 0; i < pop.Length; i ++) {
pop [i].score = -(pop [i].endLocation - pop [i].startLocation);
//Debug.Log(pop[i].score);
}
return pop;
}
bluePrint[] crossOver(bluePrint[] leaders)
{
//Debug.Log ("crossover call");
ArrayList combinations = new ArrayList ();
bluePrint[] children = new bluePrint[populationSize];
int i = 0;
int topleaders = (int) (populationSize * 0.01);
float leaderVal = leaders [populationSize - 1].score;
bluePrint parent1 = null, parent2 = null;
bool parent1Selected = false, parent2Selected = false;
for (int leads = populationSize-1; leads > populationSize - topleaders-1; leads--) {
children[i] = leaders[leads];
i++;
}
//int count = 0;
while (i < populationSize) {
while (!parent1Selected || !parent2Selected) {
float selectionChance = UnityEngine.Random.Range (0.0f, 1.0f);
int selectedBot = UnityEngine.Random.Range (0, populationSize);
// float normalVal = leaders [selectedBot].score / leaderVal;
//count++;
if (leaders [selectedBot].normalScore > selectionChance) {
// if(parent1Selected){
//
// foreach(string a in combinations){
//
// if(a.Equals(parent1.ID + leaders[selectedBot])){
//
// duplicate = true;
// }
//
//
//
// }
//}
if (!parent1Selected) {
parent1 = leaders [selectedBot];
//leaders[selectedBot].score = -100;
parent1Selected = true;
} else if (!combinations.Contains (parent1.ID + leaders [selectedBot].ID) && !parent1.ID.Equals (leaders [selectedBot].ID)) {
parent2 = leaders [selectedBot];
//leaders[selectedBot].score = -100;
parent2Selected = true;
// Debug.Log(parent1.ID + parent2.ID);
// Debug.Log(parent2.ID + parent1.ID);
combinations.Add (parent1.ID + parent2.ID);
combinations.Add (parent2.ID + parent1.ID);
//Debug.Log("p1 " + parent1.chromosomes[0]);
//Debug.Log("p2 " + parent2.chromosomes[0]);
// Debug.Log("it took me: " + count + " tries to find the parents");
// count = 0;
bluePrint[] newbies = breed (parent1, parent2);
//Debug.Log(newbies.Length);
for (int j = 0; j < newbies.Length && i < populationSize; j ++) {
// Debug.Log("newbiechrom: " +newbies[j].chromosomes[0]);
children [i] = newbies [j];
children [i].ID = "B" + i + "G" + currentGeneration;
i ++;
}
} else {
//Debug.Log ("parent combination already exists or same parents were selected");
}
}
}
parent1Selected = false;
parent2Selected = false;
}
// Debug.Log ("howmanychildren:" + i);
return children;
}
bluePrint[] breed(bluePrint a, bluePrint b)
{
// Debug.Log ("breed call");
bluePrint[] children = new bluePrint[2];
String [] aChroms = a.chromosomes;
String [] bChroms = b.chromosomes;
int chromA = UnityEngine.Random.Range (0, numberOfUnits);
int chromB = UnityEngine.Random.Range (0, numberOfUnits);
String[] newChromsA = swapChrom (aChroms, bChroms, chromA, chromB);
//Debug.Log ("swappin B:");
String[] newChromsB = swapChrom (bChroms, aChroms, chromB, chromA);
children [0] = new bluePrint ("blank", newChromsA);
children [1] = new bluePrint ("blank", newChromsB);
//children [0] = new bluePrint ("blank", a.chromosomes);
//children [1] = new bluePrint ("blank", b.chromosomes);
// }
return children;
}
public GameObject generateRobot(bluePrint currentBP, Vector3 spawnLocation)
{
string line;
GameObject previousInstance = null;
GameObject instance1 = null;
GameObject instance2 = null;
int[] instructions = new int[4];
String BUID;
GameObject parent = null;
//Debug.Log ("crhoms and sl" + currentBP.chromosomes [0]);
BUID = currentBP.ID;
FUArray = new List<GameObject> ();
previousInstance = null;
parent = (GameObject)Instantiate (Resources.Load ("parentObject"));
parent.tag = "Empty";
parent.transform.name = BUID;
for (int chromosome = 0; chromosome < currentBP.chromosomes.Length; chromosome++) {
line = currentBP.chromosomes [chromosome];
if (line != null) {
instructions = stringToIntArray (line);
if (previousInstance == null) {
instance1 = (GameObject)Instantiate (Resources.Load ("FunctionalUnits/F" + instructions [2]));
Transform[] children = new Transform[instance1.transform.childCount];
instance1.transform.position = spawnLocation;
FUArray.Add (instance1);
parent.transform.position = spawnLocation;
instance1.transform.parent = parent.transform;
instance1.transform.name = instructions [0].ToString ();
int index = 0;
foreach (Transform child in instance1.transform) {
children [index++] = child;
//Debug.Log(child);
}
currentBP.trackerObject = children [0];
}
if (findUnit (instructions [1].ToString ()) != null) {
instance2 = findUnit (instructions [1].ToString ());
Debug.Log ("Unit already exists: " + instructions [1].ToString ());
//affixStruts (instance1, instance2, instructions [4]);
} else {
instance1 = findUnit (instructions [0].ToString ());
instance2 = (GameObject)Instantiate (Resources.Load ("FunctionalUnits/F" + instructions [3]));
instance2.transform.position = spawnLocation;
instance2.transform.name = instructions [1].ToString ();
FUArray.Add (instance2);
placeNewUnit (instance1, instance2, instructions [4]);
affixStruts (returnClosest (instance1.transform.root.gameObject, instance2) [0].gameObject, returnClosest (instance1.transform.root.gameObject, instance2) [1].gameObject);
instance2.transform.parent = parent.transform;
}
previousInstance = instance1;
}
}
//currentBP.instantiation = parent;
return parent;
}
public bool generateRobots(bluePrint[] population)
{
string line;
GameObject previousInstance = null;
GameObject instance1 = null;
GameObject instance2 = null;
int[] instructions = new int[4];
String BUID;
GameObject parent = null;
for (int bluePrint = 0; bluePrint < population.Length; bluePrint ++) {
bluePrint currentBP = population [bluePrint];
BUID = currentBP.ID;
spawnLocation = spawnLocation + new Vector3 (10, 0, 0);
FUArray = new List<GameObject> ();
previousInstance = null;
parent = (GameObject)Instantiate (Resources.Load ("parentObject"));
parent.transform.name = BUID;
for (int chromosome = 0; chromosome < currentBP.chromosomes.Length; chromosome++) {
line = currentBP.chromosomes [chromosome];
if (line != null) {
instructions = stringToIntArray (line);
if (previousInstance == null) {
instance1 = (GameObject)Instantiate (Resources.Load ("FunctionalUnits/F" + instructions [2]));
instance1.transform.position = spawnLocation;
FUArray.Add (instance1);
parent.transform.position = instance1.transform.position;
instance1.transform.parent = parent.transform;
instance1.transform.name = instructions [0].ToString ();
}
if (findUnit (instructions [1].ToString ()) != null) {
instance2 = findUnit (instructions [1].ToString ());
Debug.Log ("Unit already exists");
//affixStruts (instance1, instance2, instructions [4]);
} else {
instance1 = findUnit (instructions [0].ToString ());
instance2 = (GameObject)Instantiate (Resources.Load ("FunctionalUnits/F" + instructions [3]));
instance2.transform.position = spawnLocation;
instance2.transform.name = instructions [1].ToString ();
FUArray.Add (instance2);
instance2.transform.parent = parent.transform;
placeNewUnit (instance1, instance2, instructions [4]);
affixStruts (returnClosest (instance1, instance2) [0].gameObject, returnClosest (instance1, instance2) [1].gameObject);
}
previousInstance = instance1;
}
}
// createPrefab (parent);
currentBP.instantiation = parent;
}
return true;
}