public static IIndividual SpawnCarController(
CarConfiguration carConfiguration,
Random random,
List <float> initialWeights = null)
{
var networkStructure = new int[] { carConfiguration.NumberOfRays, 12, 12, 4 };
var controller = new CarAI(networkStructure, random, initialWeights);
controller.Initalize(carConfiguration);
return(controller);
}
public static IIndividual DoCrossover(IIndividual mother, IIndividual father, Random random)
{
var motherWeights = mother.Network.GetFlattenedWeights();
var fatherWeights = mother.Network.GetFlattenedWeights();
int crossoverPosition = random.Next(1, motherWeights.Length - 1);
var offsprintWeights = new List <float>(motherWeights.Length);
for (int i = 0; i < motherWeights.Length; i++)
{
offsprintWeights.Add(i < crossoverPosition ? motherWeights[i] : fatherWeights[i]);
}
var offspring = new CarAI(mother.Network.GetStructure(), random, offsprintWeights);
offspring.Initalize(((CarAI)mother).Configuration);
return(offspring);
}