GetFitnessScores()
    {
        Dictionary <int, float> scores = new Dictionary <int, float> ();

        /*
         * brains.Sort(delegate (CarBrain a, CarBrain b) {
         *  return b.Fitness().CompareTo(a.Fitness());
         * });*/

        for (int i = 0; i < brains.Count; i++)
        {
            CarBrain brain = brains[i];
            scores.Add(brain.genomeID, brain.Fitness());
        }

        return(scores);
    }
    Update()
    {
        if (!initalized)
        {
            return;
        }

        if (runningSimulation || runOnlyMode)
        {
            bool keepRunning = false;
            for (int i = 0; i < brains.Count; i++)
            {
                CarBrain brain = brains[i];
                if (brain.isAlive)
                {
                    keepRunning = true;
                    if (brain.Fitness() > best.Fitness() || !best.isAlive)
                    {
                        SetBestCar(brain);
                    }
                }
            }

            if (!keepRunning)
            {
                if (runOnlyMode)
                {
                    for (int i = 0; i < brains.Count; i++)
                    {
                        CarBrain brain = brains[i];
                        brain.Reset();
                    }
                }
                else
                {
                    // If all genomes are dead we stop the simulation.
                    runningSimulation = false;
                }
            }
        }

        if (!runningSimulation && !runOnlyMode)
        {
            generationCount++;

            // Keep track of the all time best phenotype
            if (best.Fitness() > population.BestFitness())
            {
                bestPhenotype = best.Phenotype();
            }

            /*
             * Using the genetic algorithm try to improve the brains for each
             * genome in the hope that it will perform better.
             */
            phenotypes = population.Epoch(GetFitnessScores());

            // TODO: clean up the mess below
            Dictionary <int, CGenome> genomeIDs = new Dictionary <int, CGenome>();
            foreach (CGenome genome in population.Genomes())
            {
                genomeIDs.Add(genome.ID(), genome);
            }

            List <CarBrain> brainsToBeAssigned = new List <CarBrain> (brains);

            for (int i = brainsToBeAssigned.Count - 1; i >= 0; i--)
            {
                int oldGenomeID = brainsToBeAssigned[i].genomeID;
                if (genomeIDs.ContainsKey(oldGenomeID) && genomeIDs[oldGenomeID].Phenotype() != null)
                {
                    brainsToBeAssigned[i].AssignPhenotype(genomeIDs[oldGenomeID].Phenotype());
                    genomeIDs.Remove(oldGenomeID);
                    brainsToBeAssigned[i].GetComponent <Car>().id.text = "" + brains[i].genomeID;
                    brainsToBeAssigned[i].Reset();
                    brainsToBeAssigned.RemoveAt(i);
                }
            }

            for (int i = 0; i < brainsToBeAssigned.Count; i++)
            {
                brainsToBeAssigned[i].genomeID = genomeIDs.ElementAt(0).Key;
                brainsToBeAssigned[i].AssignPhenotype(genomeIDs.ElementAt(0).Value.Phenotype());
                genomeIDs.Remove(genomeIDs.ElementAt(0).Key);

                brainsToBeAssigned[i].GetComponent <Car>().id.text = "" + brains[i].genomeID;
                brainsToBeAssigned[i].Reset();
            }

            generation.text  = "Generation:\t" + generationCount;
            bestFitness.text = string.Format("Best fitness:\t{0:#.0000}", population.BestFitness());

            Dictionary <int, int> allSpecies = new Dictionary <int, int> ();
            CSpecies theBestSpecies          = null;
            float    bestSpeciesFitness      = -1;

            for (int i = 0; i < population.Species().Count; i++)
            {
                CSpecies species = population.Species()[i];
                allSpecies.Add(species.ID(), species.NumMembers());
                if (species.BestFitness() > bestSpeciesFitness)
                {
                    bestSpeciesFitness = species.BestFitness();
                    theBestSpecies     = species;
                }

                if (species.Leader() == null)
                {
                    continue;
                }
            }

            numSpecies.text           = "Num species:\t" + allSpecies.Count;
            bestSpecies.text          = "Best species:\t" + theBestSpecies.ID();
            numMembers.text           = "Num members:\t" + theBestSpecies.NumMembers();
            speciesAge.text           = "Species age:\t" + theBestSpecies.Age();
            gensWithoutImproving.text = "Gens no impr:\t" + theBestSpecies.GensNoImprovement();

            bar.UpdateBar(allSpecies);

            runningSimulation = true;
        }
    }