public void CopyBodyGenomeFromTemplate(BodyGenome templateGenome)
{
testModuleGenome = new TestModuleGenome(templateGenome.testModuleGenome);
/*
* // This method creates a clone of the provided BodyGenome - should have no shared references!!!
* bodyType = templateGenome.bodyType;
* // copy module lists:
* healthModuleList = new List<HealthGenome>();
* for (int i = 0; i < templateGenome.healthModuleList.Count; i++) {
* HealthGenome genomeCopy = new HealthGenome(templateGenome.healthModuleList[i]);
* healthModuleList.Add(genomeCopy);
* }
* oscillatorInputList = new List<OscillatorGenome>();
* for (int i = 0; i < templateGenome.oscillatorInputList.Count; i++) {
* OscillatorGenome genomeCopy = new OscillatorGenome(templateGenome.oscillatorInputList[i]);
* oscillatorInputList.Add(genomeCopy);
* }
* valueInputList = new List<ValueInputGenome>();
* for (int i = 0; i < templateGenome.valueInputList.Count; i++) {
* ValueInputGenome genomeCopy = new ValueInputGenome(templateGenome.valueInputList[i]);
* valueInputList.Add(genomeCopy);
* }
*/
}
//CritterModuleFoodSensorsGenome food;
//CritterModuleFriendSensorsGenome friend;
//CritterModuleThreatSensorsGenome threat;
//CritterModuleEnvironmentSensorsGenome environment;
//CritterModuleCommunicationGenome communication;
public void Refresh()
{
if (genome?.bodyGenome == null)
{
return;
}
body = genome.bodyGenome;
//food = body.foodGenome;
//friend = body.friendGenome;
//threat = body.threatGenome;
//environment = body.environmentalGenome;
//communication = body.communicationGenome;
foreach (var sensor in sensors)
{
sensor.SetSensorEnabled(IsSensorEnabled(sensor.id));
}
if (!agent)
{
return;
}
foreach (var sensor in sensors)
{
sensor.SetSensorTooltip(GetSensorTooltipText(sensor));
}
}
public CritterInitData(BodyGenome bodyGenome)
{
boundingBoxSize = bodyGenome.GetFullsizeBoundingBox();
spawnSizePercentage = 0.1f;
maxEnergy = Mathf.Min(boundingBoxSize.x * boundingBoxSize.y, 0.5f);
maxStomachCapacity = 1f;
primaryHue = bodyGenome.appearanceGenome.huePrimary;
secondaryHue = bodyGenome.appearanceGenome.hueSecondary;
biteConsumeRadius = 1f;
biteTriggerRadius = 1f;
biteTriggerLength = 1f;
eatEfficiencyPlant = 1f;
eatEfficiencyDecay = 1f;
eatEfficiencyMeat = 1f;
// 0 = longest, 1 = shortest
float swimLerp = Mathf.Clamp01((bodyGenome.coreGenome.creatureAspectRatio - 0.175f) / 0.35f);
// Mag range: 2 --> 0.5
// freq range: 1 --> 2
swimMagnitude = Mathf.Lerp(0.225f, 1.1f, swimLerp);
swimFrequency = Mathf.Lerp(1.5f, 0.6f, swimLerp);
swimAnimSpeed = 6f;
bodyCoord = bodyGenome.coreGenome.bodyCoord;
headCoord = bodyGenome.coreGenome.headCoord;
mouthCoord = bodyGenome.coreGenome.mouthCoord;
bendiness = 1f;
speciesID = 0;
// what grid cell of texture sheet to use
bodyPatternX = bodyGenome.appearanceGenome.bodyStrokeBrushTypeX;
bodyPatternY = bodyGenome.appearanceGenome.bodyStrokeBrushTypeY;
}
// Mutable by Player
// Add body-sensor/effector mutations here and cleanup Brain Genome
void SetToMutatedCopyOfParentGenome(BodyGenome parent, MutationSettingsInstance settings)
{
appearanceGenome.SetToMutatedCopyOfParentGenome(parent.appearanceGenome, settings);
coreGenome.SetToMutatedCopyOfParentGenome(parent.coreGenome, settings);
unlockedTech = unlockedTech.GetMutatedCopy();
newlyUnlockedNeuronInfo = GetNewlyUnlockedNeurons(parent);
}
public void InitializeRandomBrainGenome(BodyGenome bodyGenome)
{
InitializeNewBrainGenomeLists();
InitializeIONeurons(bodyGenome);
//PrintNeuronCounts();
InitializeAxons();
}
public BrainGenome(BodyGenome bodyGenome, float initialConnectionDensity, int hiddenNeuronCount)
{
initialWeightMultiplier = 1f;
initialConnectionChance = initialConnectionDensity;
initialHiddenNeuronCount = hiddenNeuronCount;
InitializeRandomBrainGenome(bodyGenome);
}
public TeamsConfig(int numPlayers, int numEnvironmentReps, int numPlayerReps)
{
//EnvironmentGenome templateEnvironmentGenome = GetDefaultTemplateEnvironmentGenome(challengeType);
EnvironmentGenome templateEnvironmentGenome = new EnvironmentGenome(-1);
templateEnvironmentGenome.InitializeAsDefaultGenome(); // Temporary hacky solution
environmentPopulation = new EnvironmentPopulation(templateEnvironmentGenome, numEnvironmentGenomes, numEnvironmentReps);
// Players:
playersList = new List <PlayerPopulation>();
for (int i = 0; i < numPlayers; i++)
{
// Might have to revisit how to pass agent templates per population...
//AgentBodyGenomeTemplate templateAgentGenome = GetDefaultTemplateAgentGenome(challengeType);
// Temporary hack solution:
BodyGenome templateBodyGenome = new BodyGenome();
templateBodyGenome.InitializeGenomeAsDefault();
if (i == 0f)
{
templateBodyGenome.testModuleGenome.maxSpeed = 0.25f;
templateBodyGenome.testModuleGenome.accel = 0.025f;
}
else
{
templateBodyGenome.testModuleGenome.maxSpeed = 1f;
templateBodyGenome.testModuleGenome.accel = 0.35f;
}
// List of Agent Genomes
PlayerPopulation player = new PlayerPopulation(i, templateBodyGenome, numAgentGenomesPerPlayer, numPlayerReps);
playersList.Add(player);
}
}
// Constructor
public AgentGenome(int index)
{
this.index = index;
bodyGenome = new BodyGenome(); // empty constructors:
brainGenome = new BrainGenome();
}
public static float GetBodySizeScore01(BodyGenome genome)
{
// Refactor: 25f is hardcoded approximate! // * WPP: approximate of what? (use a constant or exposed value)
float normalizedSizeScore = Mathf.Clamp01(((genome.GetFullsizeBoundingBox().x + genome.GetFullsizeBoundingBox().z) / genome.GetFullsizeBoundingBox().y) / 25f);
return(normalizedSizeScore);
}
public AgentGenome Mutate(AgentGenome parentGenome, bool bodySettings, bool brainSettings)
{
//AgentGenome parentGenome = leaderboardGenomesList[selectedIndex].candidateGenome;
//***EAC Creature NAME mutation here???
string parentName = parentGenome.name;
int randIndex = Random.Range(0, parentName.Length - 1);
string frontHalf = parentName.Substring(0, randIndex);
string middleChar = parentName.Substring(randIndex, 1);
string backHalf = parentName.Substring(randIndex + 1);
if (RandomStatics.CoinToss(.05f)) {
middleChar = RandomStatics.GetRandomLetter();
}
frontHalf += middleChar;
string newName = RandomStatics.CoinToss(.025f) ? backHalf + frontHalf : frontHalf + backHalf;
//--------------------------------------------------------------------------------------------------------------------
tempMutationSettings = bodySettings ? mutationSettings : cachedNoneMutationSettings;
BodyGenome newBodyGenome = new BodyGenome(parentGenome.bodyGenome, tempMutationSettings);
tempMutationSettings = brainSettings ? mutationSettings : cachedNoneMutationSettings;
BrainGenome newBrainGenome = new BrainGenome(parentGenome.brainGenome, newBodyGenome, tempMutationSettings);
return new AgentGenome(newBodyGenome, newBrainGenome, parentGenome.generationCount + 1, newName);
}
public AgentGenome(BodyGenome bodyGenome, BrainGenome brainGenome, int generationCount, string name)
{
this.bodyGenome = bodyGenome;
this.brainGenome = brainGenome;
this.generationCount = generationCount;
this.name = name;
//Debug.Log("Constructing AgentGenome via mutation");
}
public BodyGenome(BodyGenome parentGenome, MutationSettingsInstance mutationSettings)
{
unlockedTech = new UnlockedTech(parentGenome.unlockedTech);
data = new BodyGenomeData(unlockedTech);
FirstTimeInitializeCritterModuleGenomes();
SetToMutatedCopyOfParentGenome(parentGenome, mutationSettings);
}
public void InitializeBodyNeurons(BodyGenome bodyGenome)
{
bodyGenome.InitializeBrainGenome(bodyNeuronList);
/*for (int i = 0; i < bodyGenome.healthModuleList.Count; i++) {
* bodyGenome.healthModuleList[i].InitializeBrainGenome(bodyNeuronList);
* }
* for (int i = 0; i < bodyGenome.valueInputList.Count; i++) {
* bodyGenome.valueInputList[i].InitializeBrainGenome(bodyNeuronList);
* }*/
}
public void StartNewTrainingMode()
{
Destroy(playerGO);
// Create population brains
agentGenomeList = new List <AgentGenome>();
BodyGenome templateBodyGenome = new BodyGenome();
templateBodyGenome.InitializeGenomeAsDefault();
//BodyGenome bodyGenomeTemplate = new BodyGenome();
//bodyGenomeTemplate.CopyBodyGenomeFromTemplate(bodyTemplate);
for (int i = 0; i < trainingPopulationSize; i++)
{
AgentGenome newGenome = new AgentGenome(i);
newGenome.InitializeBodyGenomeFromTemplate(templateBodyGenome);
newGenome.InitializeRandomBrainFromCurrentBody(0.033f);
agentGenomeList.Add(newGenome);
}
// CrossoverSettings:
trainingSettingsManager = new TrainingSettingsManager(0.06f, 0.35f, 0.1f, 0.01f);
GameObject dummyAgentGO = new GameObject("DummyAgent");
dummyAgent = dummyAgentGO.AddComponent <Agent>();
dummyStartGenome = new StartPositionGenome(Vector3.zero, Quaternion.identity);
ResetTrainingForNewGen();
//Brain brain = new Brain()
//Debug.Log(dummyAgent.testModule.);
// Create Visible Display Agent to observe behavior
/*displayStartPos = new StartPositionGenome(Vector3.zero, Quaternion.identity);
* GameObject agentGO = Instantiate(Resources.Load("PredatorPrey/PredatorPrefab")) as GameObject; ; // GameObject.CreatePrimitive(PrimitiveType.Sphere);
* //displayAgent
* agentGO.name = "Guinea Pig";
* //agentGO.transform.parent = gameObject.transform;
* agentGO.transform.localPosition = displayStartPos.agentStartPosition;
* agentGO.transform.localRotation = displayStartPos.agentStartRotation;
* //agentGO.GetComponent<Collider>().enabled = false;
* displayAgent = agentGO.AddComponent<Agent>();
* displayAgent.isVisible = true;
* displayAgent.InitializeAgentFromTemplate(agentGenomeList[0], displayStartPos);
* // hook modules:
* displayAgent.testModule.enemyTransform = targetGO.transform;
* displayAgent.testModule.bias[0] = 1f;
* displayAgent.testModule.enemyTestModule = displayAgent.testModule; // self as target, to zero out targetvel
*/
ResetTrainingAgentAndEnvironment();
}
public void SetBodyNeuronsFromTemplate(BodyGenome templateBody)
{
if (bodyNeuronList == null)
{
bodyNeuronList = new List <NeuronGenome>();
}
else
{
bodyNeuronList.Clear();
}
InitializeBodyNeurons(templateBody);
}
public void UpdateActorModules(int focusPop, EnvironmentGenome pendingEnvGenome, BodyGenome pendingBodyGenome)
{
if (focusPop == 0) // Environment:
//Debug.Log("UpdateActorModules startPosCount: " + pendingEnvGenome.agentStartPositionsList.Count.ToString());
{
teamsConfig.environmentPopulation.ChangeGenomeTemplate(pendingEnvGenome);
//Debug.Log("")
}
else // Agent:
{
teamsConfig.playersList[focusPop - 1].ChangeBodyTemplate(pendingBodyGenome);
}
ResetGeneration();
}
IEnumerator Start()
{
trans = GetComponent <Transform>();
BestGenomes = new BodyGenome[5];
BestGenomes[0] = new BodyGenome();
BestGenomes[0].RightGenes = new LegGenes(0.60f, 0, 4f, 0);
BestGenomes[0].LeftGenes = new LegGenes(0.60f, 0, 4f, Mathf.PI / 2);
creatures = new List <Body>();
while (true)
{
GenerationCount++;
GenerationLabel.text = "Generation: " + GenerationCount;
TimeOffset = Time.time;
for (int i = 0; i < BestGenomes.Length; i++)
{
Transform bodyTrans = Instantiate <Transform>(Creature);
bodyTrans.position = trans.position;
Body body = bodyTrans.GetComponent <Body>();
body.Genome = BestGenomes[i];
creatures.Add(body);
body.SetColor(Colors[i]);
for (int j = 1; j < CreatureCount; j++)
{
bodyTrans = Instantiate <Transform>(Creature);
bodyTrans.position = trans.position;
body = bodyTrans.GetComponent <Body>();
body.Genome = BestGenomes[i];
body.Genome.Mutate();
creatures.Add(body);
body.SetColor(Color.Lerp(Colors[i], Color.white, (float)j / (float)CreatureCount / 2f));
}
}
yield return(new WaitForSeconds(RunTime));
creatures.Sort(new System.Comparison <Body>((x, y) => x.Score > y.Score ? -1 : 0));
for (int i = 0; i < BestGenomes.Length; i++)
{
BestGenomes[i] = creatures[i].Genome;
}
foreach (Body creature in creatures)
{
Destroy(creature.gameObject);
}
creatures.Clear();
}
}
// Representative system will be expanded later - for now, just defaults to Top # of performers
public PlayerPopulation(int index, BodyGenome bodyTemplate, int numGenomes, int numPerfReps)
{
this.index = index;
// Re-Factor:
bodyGenomeTemplate = new BodyGenome();
bodyGenomeTemplate.CopyBodyGenomeFromTemplate(bodyTemplate);
//graphKing = new TheGraphKing();
popSize = numGenomes;
//this.numBaseline = numBaseline;
// Create blank AgentGenomes for the standard population
agentGenomeList = new List <AgentGenome>();
historicGenomePool = new List <AgentGenome>();
//baselineGenomePool = new List<AgentGenome>();
for (int j = 0; j < numGenomes; j++)
{
AgentGenome agentGenome = new AgentGenome(j);
agentGenome.InitializeBodyGenomeFromTemplate(bodyGenomeTemplate);
agentGenome.InitializeRandomBrainFromCurrentBody(0.2f);
agentGenomeList.Add(agentGenome);
}
//RepopulateBaselineGenomes();
//AppendBaselineGenomes();
// Representatives:
numPerformanceReps = numPerfReps;
//Debug.Log("historicGenomePool count b4: " + historicGenomePool.Count.ToString());
int numStartingHistoricalReps = 20;
for (int h = 0; h < numStartingHistoricalReps; h++)
{
historicGenomePool.Add(agentGenomeList[h]); // init
}
//Debug.Log("historicGenomePool count after: " + historicGenomePool.Count.ToString());
ResetRepresentativesList();
fitnessManager = new FitnessManager();
SetUpDefaultFitnessComponents(fitnessManager, this.index);
//fitnessManager.ResetHistoricalData();
//fitnessManager.ResetCurrentHistoricalDataLists();
fitnessManager.InitializeForNewGeneration(agentGenomeList.Count);
trainingSettingsManager = new TrainingSettingsManager(0.075f, 0.04f, 0.015f, 0.003f);
}
List <NeuronGenome> GetNewlyUnlockedNeurons(BodyGenome genome)
{
var result = new List <NeuronGenome>();
foreach (var neuron in inOutNeurons)
{
foreach (var newNeuron in genome.newlyUnlockedNeuronInfo)
{
if (neuron.data == newNeuron)
{
result.Add(neuron);
}
}
}
return(result);
}
public void SetToMutatedCopyOfParentGenome(BrainGenome parentGenome, BodyGenome bodyGenome, MutationSettingsInstance settings)
{
/*
* //this.bodyNeuronList = parentGenome.bodyNeuronList; // UNSUSTAINABLE!!! might work now since all neuronLists are identical ******
*
* // Copy from parent brain or rebuild neurons from scratch based on the new mutated bodyGenome???? --- ******
* for(int i = 0; i < parentGenome.bodyNeuronList.Count; i++) {
* NeuronGenome newBodyNeuronGenome = new NeuronGenome(parentGenome.bodyNeuronList[i]);
* this.bodyNeuronList.Add(newBodyNeuronGenome);
* }
* // Alternate: SetBodyNeuronsFromTemplate(BodyGenome templateBody);
*/
// Rebuild BodyNeuronGenomeList from scratch based on bodyGenome
InitializeBodyNeuronList();
InitializeIONeurons(bodyGenome);
hiddenNeurons = MutateHiddenNeurons(parentGenome.hiddenNeurons);
links = MutateLinks(parentGenome.links, settings);
if (RandomStatics.CoinToss(settings.brainCreateNewLinkChance))
{
AddNewLink(settings);
}
if (RandomStatics.CoinToss(settings.brainCreateNewHiddenNodeChance))
{
AddNewHiddenNeuron();
}
var newNeurons = GetNewlyUnlockedNeurons(bodyGenome);
//Debug.Log($"Initializing axons with {newNeurons.Count} new neurons from " +
// $"{bodyGenome.newlyUnlockedNeuronInfo.Count} new tech.");
foreach (var neuron in newNeurons)
{
SortIONeuron(neuron);
LinkNeuronToLayer(neuron);
}
//RemoveVestigialLinks();
}
// Representative system will be expanded later - for now, just defaults to Top # of performers
public PlayerPopulation(Challenge.Type challengeType, BodyGenome bodyTemplate, int numGenomes, int numBaseline, int numReps)
{
bodyGenomeTemplate = new BodyGenome();
bodyGenomeTemplate.CopyBodyGenomeFromTemplate(bodyTemplate);
graphKing = new TheGraphKing();
popSize = numGenomes;
this.numBaseline = numBaseline;
// Create blank AgentGenomes for the standard population
agentGenomeList = new List <AgentGenome>();
historicGenomePool = new List <AgentGenome>();
baselineGenomePool = new List <AgentGenome>();
for (int j = 0; j < numGenomes; j++)
{
AgentGenome agentGenome = new AgentGenome(j);
agentGenome.InitializeBodyGenomeFromTemplate(bodyGenomeTemplate);
agentGenome.InitializeRandomBrainFromCurrentBody(0.0f);
agentGenomeList.Add(agentGenome);
}
RepopulateBaselineGenomes();
AppendBaselineGenomes();
// Representatives:
numPerformanceReps = numReps;
ResetRepresentativesList();
historicGenomePool.Add(agentGenomeList[0]); // init
fitnessManager = new FitnessManager();
SetUpDefaultFitnessComponents(challengeType, fitnessManager);
fitnessManager.ResetHistoricalData();
fitnessManager.ResetCurrentHistoricalDataLists();
fitnessManager.InitializeForNewGeneration(agentGenomeList.Count);
trainingSettingsManager = new TrainingSettingsManager(0.01f, 0.8f, 0.2f, 0.005f);
}
public void ChangeBodyTemplate(BodyGenome pendingBody)
{
// Change the Body Composition of this population's Agents:
// -- Replace the BodyGenome of population's existing templateBody with a copy of the pendingBody
// -- Do the same for all current Agents in the population
// -- Replace the bodyNeurons for all current Agents in the population
// -- Remove vestigial brain connections/nodes
bodyGenomeTemplate.CopyBodyGenomeFromTemplate(pendingBody); // sets contents of body to a copy of the sourceGenome
RepopulateBaselineGenomes(); // update the baselineGenomes to have compatible body
for (int i = 0; i < agentGenomeList.Count; i++)
{
agentGenomeList[i].bodyGenome.CopyBodyGenomeFromTemplate(pendingBody);
agentGenomeList[i].brainGenome.SetBodyNeuronsFromTemplate(pendingBody);
}
// once all existing agents are processed, update templateGenome to be the new one
// population's templateGenome is basically only for body-plan. All agents will share same Input/Output neurons, but differ in their hidden neurons + connections
//templateGenome = pendingGenome;
}
List <MetaNeuron> GetNewlyUnlockedNeurons(BodyGenome parent)
{
var newTech = new List <TechElement>();
foreach (var tech in unlockedTech.values)
{
if (!parent.unlockedTech.Contains(tech))
{
newTech.Add(tech);
}
}
var newMetaNeurons = new List <MetaNeuron>();
foreach (var tech in newTech)
{
foreach (var unlock in tech.unlocks)
{
newMetaNeurons.Add(unlock);
}
}
return(newMetaNeurons);
}
public void InitializeBodyNeurons(BodyGenome bodyGenome)
{
for (int i = 0; i < bodyGenome.atmosphereSensorList.Count; i++)
{
bodyGenome.atmosphereSensorList[i].InitializeBrainGenome(bodyNeuronList);
}
for (int i = 0; i < bodyGenome.basicWheelList.Count; i++)
{
bodyGenome.basicWheelList[i].InitializeBrainGenome(bodyNeuronList); // Creates Neurons based on this Module and adds them to provided List
}
for (int i = 0; i < bodyGenome.basicJointList.Count; i++)
{
bodyGenome.basicJointList[i].InitializeBrainGenome(bodyNeuronList);
}
for (int i = 0; i < bodyGenome.contactSensorList.Count; i++)
{
bodyGenome.contactSensorList[i].InitializeBrainGenome(bodyNeuronList);
}
for (int i = 0; i < bodyGenome.gravitySensorList.Count; i++)
{
bodyGenome.gravitySensorList[i].InitializeBrainGenome(bodyNeuronList);
}
for (int i = 0; i < bodyGenome.healthModuleList.Count; i++)
{
bodyGenome.healthModuleList[i].InitializeBrainGenome(bodyNeuronList);
}
for (int i = 0; i < bodyGenome.oscillatorInputList.Count; i++)
{
bodyGenome.oscillatorInputList[i].InitializeBrainGenome(bodyNeuronList);
}
for (int i = 0; i < bodyGenome.raycastSensorList.Count; i++)
{
bodyGenome.raycastSensorList[i].InitializeBrainGenome(bodyNeuronList);
}
for (int i = 0; i < bodyGenome.shieldList.Count; i++)
{
bodyGenome.shieldList[i].InitializeBrainGenome(bodyNeuronList);
}
for (int i = 0; i < bodyGenome.targetSensorList.Count; i++)
{
bodyGenome.targetSensorList[i].InitializeBrainGenome(bodyNeuronList);
}
for (int i = 0; i < bodyGenome.thrusterList.Count; i++)
{
bodyGenome.thrusterList[i].InitializeBrainGenome(bodyNeuronList);
}
for (int i = 0; i < bodyGenome.torqueList.Count; i++)
{
bodyGenome.torqueList[i].InitializeBrainGenome(bodyNeuronList);
}
for (int i = 0; i < bodyGenome.valueInputList.Count; i++)
{
bodyGenome.valueInputList[i].InitializeBrainGenome(bodyNeuronList);
}
for (int i = 0; i < bodyGenome.weaponProjectileList.Count; i++)
{
bodyGenome.weaponProjectileList[i].InitializeBrainGenome(bodyNeuronList);
}
for (int i = 0; i < bodyGenome.weaponTazerList.Count; i++)
{
bodyGenome.weaponTazerList[i].InitializeBrainGenome(bodyNeuronList);
}
}
public void InitializeRandomBrainGenome(BodyGenome bodyGenome, float initialWeightMultiplier)
{
InitializeNewBrainGenomeLists();
InitializeBodyNeurons(bodyGenome);
InitializeAxons(initialWeightMultiplier);
}
public void CopyBodyGenomeFromTemplate(BodyGenome templateGenome)
{
// This method creates a clone of the provided BodyGenome - should have no shared references!!!
bodyType = templateGenome.bodyType;
// copy module lists:
atmosphereSensorList = new List <AtmosphereSensorGenome>();
for (int i = 0; i < templateGenome.atmosphereSensorList.Count; i++)
{
AtmosphereSensorGenome genomeCopy = new AtmosphereSensorGenome(templateGenome.atmosphereSensorList[i]);
atmosphereSensorList.Add(genomeCopy);
}
basicJointList = new List <BasicJointGenome>();
for (int i = 0; i < templateGenome.basicJointList.Count; i++)
{
BasicJointGenome genomeCopy = new BasicJointGenome(templateGenome.basicJointList[i]);
basicJointList.Add(genomeCopy);
}
basicWheelList = new List <BasicWheelGenome>();
for (int i = 0; i < templateGenome.basicWheelList.Count; i++)
{
BasicWheelGenome genomeCopy = new BasicWheelGenome(templateGenome.basicWheelList[i]);
basicWheelList.Add(genomeCopy);
}
contactSensorList = new List <ContactGenome>();
for (int i = 0; i < templateGenome.contactSensorList.Count; i++)
{
ContactGenome genomeCopy = new ContactGenome(templateGenome.contactSensorList[i]);
contactSensorList.Add(genomeCopy);
}
gravitySensorList = new List <GravitySensorGenome>();
for (int i = 0; i < templateGenome.gravitySensorList.Count; i++)
{
GravitySensorGenome genomeCopy = new GravitySensorGenome(templateGenome.gravitySensorList[i]);
gravitySensorList.Add(genomeCopy);
}
healthModuleList = new List <HealthGenome>();
for (int i = 0; i < templateGenome.healthModuleList.Count; i++)
{
HealthGenome genomeCopy = new HealthGenome(templateGenome.healthModuleList[i]);
healthModuleList.Add(genomeCopy);
}
oscillatorInputList = new List <OscillatorGenome>();
for (int i = 0; i < templateGenome.oscillatorInputList.Count; i++)
{
OscillatorGenome genomeCopy = new OscillatorGenome(templateGenome.oscillatorInputList[i]);
oscillatorInputList.Add(genomeCopy);
}
raycastSensorList = new List <RaycastSensorGenome>();
for (int i = 0; i < templateGenome.raycastSensorList.Count; i++)
{
RaycastSensorGenome genomeCopy = new RaycastSensorGenome(templateGenome.raycastSensorList[i]);
raycastSensorList.Add(genomeCopy);
}
shieldList = new List <ShieldGenome>();
for (int i = 0; i < templateGenome.shieldList.Count; i++)
{
ShieldGenome genomeCopy = new ShieldGenome(templateGenome.shieldList[i]);
shieldList.Add(genomeCopy);
}
targetSensorList = new List <TargetSensorGenome>();
for (int i = 0; i < templateGenome.targetSensorList.Count; i++)
{
TargetSensorGenome genomeCopy = new TargetSensorGenome(templateGenome.targetSensorList[i]);
targetSensorList.Add(genomeCopy);
}
thrusterList = new List <ThrusterGenome>();
for (int i = 0; i < templateGenome.thrusterList.Count; i++)
{
ThrusterGenome genomeCopy = new ThrusterGenome(templateGenome.thrusterList[i]);
thrusterList.Add(genomeCopy);
}
torqueList = new List <TorqueGenome>();
for (int i = 0; i < templateGenome.torqueList.Count; i++)
{
TorqueGenome genomeCopy = new TorqueGenome(templateGenome.torqueList[i]);
torqueList.Add(genomeCopy);
}
trajectorySensorList = new List <TrajectorySensorGenome>();
for (int i = 0; i < templateGenome.trajectorySensorList.Count; i++)
{
TrajectorySensorGenome genomeCopy = new TrajectorySensorGenome(templateGenome.trajectorySensorList[i]);
trajectorySensorList.Add(genomeCopy);
}
valueInputList = new List <ValueInputGenome>();
for (int i = 0; i < templateGenome.valueInputList.Count; i++)
{
ValueInputGenome genomeCopy = new ValueInputGenome(templateGenome.valueInputList[i]);
valueInputList.Add(genomeCopy);
}
weaponProjectileList = new List <WeaponProjectileGenome>();
for (int i = 0; i < templateGenome.weaponProjectileList.Count; i++)
{
WeaponProjectileGenome genomeCopy = new WeaponProjectileGenome(templateGenome.weaponProjectileList[i]);
weaponProjectileList.Add(genomeCopy);
}
weaponTazerList = new List <WeaponTazerGenome>();
for (int i = 0; i < templateGenome.weaponTazerList.Count; i++)
{
WeaponTazerGenome genomeCopy = new WeaponTazerGenome(templateGenome.weaponTazerList[i]);
weaponTazerList.Add(genomeCopy);
}
}
public void InitializeBodyGenomeFromTemplate(BodyGenome bodyGenomeTemplate)
{
bodyGenome.CopyBodyGenomeFromTemplate(bodyGenomeTemplate);
}
public void InitializeIONeurons(BodyGenome bodyGenome)
{
bodyGenome.InitializeBrainGenome(inOutNeurons);
SortIONeurons();
}
public BrainGenome(BrainGenome parentGenome, BodyGenome bodyGenome, MutationSettingsInstance mutationSettings)
{
SetToMutatedCopyOfParentGenome(parentGenome, bodyGenome, mutationSettings);
}
void ConstructRandom(float initialConnectionDensity, int hiddenNeuronCount)
{
bodyGenome = new BodyGenome();
brainGenome = new BrainGenome(bodyGenome, initialConnectionDensity, hiddenNeuronCount);
}
