public void StartNewEvaluation(IBlackBox phenome, NeatGenome genome)
{
_worldAccessor.EnsureInitialized();
if (_room.Map == null)
{
throw new ApplicationException("nooooooooope");
}
if (_room.Bot == null)
{
throw new ApplicationException("noope");
}
}
public void StartNewEvaluation(IBlackBox phenome, NeatGenome genome)
{
_worldAccessor.EnsureInitialized();
#region validate
if (_room.Map == null || _room.Bot == null || _room.BrainPart == null)
{
throw new ApplicationException(string.Format("_worldAccessor.EnsureInitialized didn't set everything up: _room.Map={0}, _room.Bot={1}",
_room.Map == null ? "null" : "notnull",
_room.Bot == null ? "null" : "notnull",
_room.BrainPart == null ? "null" : "notnull"));
}
if (_room.Bot is ArcBot2 arc)
{
if (arc.Weapon == null)
{
throw new ApplicationException("_room.Bot needs to have a weapon attached");
}
}
else
{
throw new ApplicationException($"_room.Bot needs to be ArcBot2: {_room.Bot.GetType()}");
}
#endregion
_room.BrainPart.SetPhenome(phenome, genome, _activation, _hyperneatArgs);
arc.PhysicsBody.Position = _room.Center;
arc.PhysicsBody.Velocity = new Vector3D(0, 0, 0);
arc.PhysicsBody.Rotation = Quaternion.Identity;
arc.PhysicsBody.AngularVelocity = new Vector3D(0, 0, 0);
//NOTE: Leaving the position alone. This should help with making the brain more robust
arc.Weapon.PhysicsBody.Velocity = new Vector3D(0, 0, 0);
_snapshots.Clear();
_error = 0;
_runningTime = 0;
_evaluationCount++;
_isEvaluating = true;
}
public void StartNewEvaluation(IBlackBox phenome, NeatGenome genome)
{
_worldAccessor.EnsureInitialized();
#region validate
if (_room.Map == null || _room.Bot == null || _room.BrainPart == null)
{
throw new ApplicationException(string.Format("_worldAccessor.EnsureInitialized didn't set everything up: _room.Map={0}, _room.Bot={1}",
_room.Map == null ? "null" : "notnull",
_room.Bot == null ? "null" : "notnull",
_room.BrainPart == null ? "null" : "notnull"));
}
#endregion
_room.BrainPart.SetPhenome(phenome, genome, _activation, _hyperneatArgs);
_room.Bot.PhysicsBody.Position = _room.Center;
// Give it an initial random kick to force it to be a bit more robust (this could backfire though, because the evaluator
// may favor good initial conditions instead of a better brain). If random initial settings are used, there should be
// several tests before a final score is given
if (_initialRandomVelocity != null)
{
_room.Bot.PhysicsBody.Velocity = Math3D.GetRandomVector_Spherical(_initialRandomVelocity.Value);
}
else
{
_room.Bot.PhysicsBody.Velocity = new Vector3D(0, 0, 0);
}
_room.Bot.PhysicsBody.Rotation = Quaternion.Identity;
_room.Bot.PhysicsBody.AngularVelocity = new Vector3D(0, 0, 0);
_snapshots.Clear();
_error = 0;
_runningTime = 0;
_evaluationCount++;
_isEvaluating = true;
}