public override float Score(AHKController controller)
{
float tempScore = Vector3.Distance(controller.transform.position, controller.flightTarget.transform.position);
tempScore += (controller.flightTarget.transform.forward - controller.transform.forward).magnitude;
return(tempScore);
}
public void Reset(AHKController controller)
{
controller.transform.position = new Vector3(0, 0, 0);
controller.transform.rotation = Quaternion.Euler(0, 0, 0);
controller.GetComponent<Rigidbody>().velocity = new Vector3(0, 0, 0);
controller.GetComponent<Rigidbody>().angularVelocity = new Vector3(0, 0, 0);
controller.engineLeft.Reset();
controller.engineRight.Reset();
controller.gyro.Reset();
}
public void Reset(AHKController controller)
{
controller.transform.position = new Vector3(0, 0, 0);
controller.transform.rotation = Quaternion.Euler(0, 0, 0);
controller.GetComponent <Rigidbody>().velocity = new Vector3(0, 0, 0);
controller.GetComponent <Rigidbody>().angularVelocity = new Vector3(0, 0, 0);
controller.engineLeft.Reset();
controller.engineRight.Reset();
controller.gyro.Reset();
}
public Brain()
{
// INITIALIZATION
Inputs = new List <NeuronInput>();
Outputs = new List <Neuron>();
MainColumn = new List <Neuron>();
// REFERENCE GRABS
AHK = AHKController.instance.gameObject;
Controller = AHKController.instance;
// INPUTS
for (int i = 0; i < InputCount; i++)
{
Inputs.Add(new NeuronInput());
}
// MAIN COLUMN
for (int i = 0; i < InputCount + 1; i++)
{
Neuron tempNeuron = new Neuron();
for (int j = 0; j < InputCount; j++)
{
tempNeuron.InputSynapses.Add(new Synapse(Inputs[j]));
}
MainColumn.Add(tempNeuron);
}
// OUTPUTS
for (int i = 0; i < OutputCount; i++)
{
Neuron tempNeuron = new Neuron();
for (int j = 0; j < InputCount + 1; j++)
{
tempNeuron.InputSynapses.Add(new Synapse(MainColumn[j]));
}
Outputs.Add(tempNeuron);
}
// TRAINERS
TrainingSet = new List <ANNTrainer>();
TrainingSet.Add(new TrainerBaseline(this));
TrainingSet.Add(new TrainerCorrelation(this));
TrainingSet.Add(new TrainerGeneticHover(this));
}
public Brain()
{
// INITIALIZATION
Inputs = new List<NeuronInput>();
Outputs = new List<Neuron>();
MainColumn = new List<Neuron>();
// REFERENCE GRABS
AHK = AHKController.instance.gameObject;
Controller = AHKController.instance;
// INPUTS
for (int i = 0; i < InputCount; i++) {
Inputs.Add(new NeuronInput());
}
// MAIN COLUMN
for (int i = 0; i < InputCount + 1; i++) {
Neuron tempNeuron = new Neuron();
for (int j = 0; j < InputCount; j++) {
tempNeuron.InputSynapses.Add(new Synapse(Inputs[j]));
}
MainColumn.Add(tempNeuron);
}
// OUTPUTS
for (int i = 0; i < OutputCount; i++) {
Neuron tempNeuron = new Neuron();
for (int j = 0; j < InputCount + 1; j++) {
tempNeuron.InputSynapses.Add(new Synapse(MainColumn[j]));
}
Outputs.Add(tempNeuron);
}
// TRAINERS
TrainingSet = new List<ANNTrainer>();
TrainingSet.Add(new TrainerBaseline(this));
TrainingSet.Add(new TrainerCorrelation(this));
TrainingSet.Add(new TrainerGeneticHover(this));
}
public void UpdateOutputs()
{
// engine 1 thrust x2
// engine 2 thrust x2
// engine 1 tilt x2
// engine 2 tilt x2
// gyro x2
AHKController.SetEnginePower(AHKController.EngineType.Left, (Outputs[0].currentValue - Outputs[1].currentValue + 1) / 2f);
AHKController.SetEnginePower(AHKController.EngineType.Right, (Outputs[2].currentValue - Outputs[3].currentValue + 1) / 2f);
AHKController.SetEngineTilt(AHKController.EngineType.Left, Outputs[4].currentValue - Outputs[5].currentValue);
AHKController.SetEngineTilt(AHKController.EngineType.Right, Outputs[6].currentValue - Outputs[7].currentValue);
AHKController.SetGyroPower(Outputs[8].currentValue - Outputs[9].currentValue);
}
void Update()
{
// Engines
float roll = Input.GetAxis("Joy X");
float ver = Input.GetAxis("Joy Y");
float climb = Input.GetAxis("Vertical");
float yaw = Input.GetAxis("Horizontal");
roll = Mathf.Abs(Mathf.Pow(roll, nonlinearityRoll)) * (roll < 0 ? -1 : 1);
ver = Mathf.Abs(Mathf.Pow(ver, nonlinearityPitch)) * (ver < 0 ? -1 : 1);
yaw = Mathf.Abs(Mathf.Pow(yaw, nonlinearityYaw)) * (yaw < 0 ? -1 : 1);
climb = Mathf.Abs(Mathf.Pow(climb, nonlinearityClimb)) * (climb < 0 ? -1 : 1);
roll = (roll + 1) / 2;
AHKController.SetEngineTilt(AHKController.EngineType.Left, yaw - ver);
AHKController.SetEngineTilt(AHKController.EngineType.Right, -yaw - ver);
AHKController.SetEnginePower(AHKController.EngineType.Left, roll + climb);
AHKController.SetEnginePower(AHKController.EngineType.Right, 1 - roll + climb);
// Gyro
float angle = AHKController.instance.transform.localRotation.eulerAngles.x;
if (angle > 180)
{
angle = -(360 - angle);
}
Vector3 localangularvelocity = AHKController.instance.transform.InverseTransformDirection(AHKController.instance.GetComponent <Rigidbody>().angularVelocity).normalized
*AHKController.instance.GetComponent <Rigidbody>().angularVelocity.magnitude;
AHKController.SetGyroPower(-angle / 15 - localangularvelocity.x);
}
public override float Score(AHKController controller)
{
return(0);
}
// OVERRIDE STUFF public abstract float Score(AHKController controller);
public override float Score(AHKController controller)
{
return 0;
}
public override float Score(AHKController controller)
{
float tempScore = Vector3.Distance(controller.transform.position, controller.flightTarget.transform.position);
tempScore += (controller.flightTarget.transform.forward - controller.transform.forward).magnitude;
return tempScore;
}
void Start()
{
instance = this;
GetComponent <Rigidbody>().centerOfMass = new Vector3(-0.01f, 2.5f, -2.7f);
brain = new Brain();
}
// OVERRIDE STUFF public abstract float Score(AHKController controller);
void Start()
{
instance = this;
GetComponent<Rigidbody>().centerOfMass = new Vector3(-0.01f, 2.5f, -2.7f);
brain = new Brain();
}
