/// <summary>
/// Construct a new creeature from the two parent creatures.
/// Really it is just a randomly chosen value from either creature which is mutated slightly to make it more unique.
/// </summary>
/// <param name="c1"></param>
/// <param name="c2"></param>
/// <param name="rate"></param>
/// <returns></returns>
public static ChromosomeComposition Crossover(ChromosomeComposition c1, ChromosomeComposition c2, double rate)
{
var newChromsome = new ChromosomeComposition();
// Crossover colour
var chromosome1Colour = c1.GetColour();
var chromosome2Colour = c2.GetColour();
var r = .5F * chromosome1Colour.r + .5F * chromosome2Colour.r;
var g = .5F * chromosome1Colour.g + .5F * chromosome2Colour.g;
var b = .5F * chromosome1Colour.b + .5F * chromosome2Colour.b;
newChromsome.SetColour(r, g, b);
var chromosome1LimbColour = c1.GetLimbColour();
var chromosome2LimbColour = c2.GetLimbColour();
r = .5F *
chromosome1LimbColour.r +
.5F *
chromosome2LimbColour.r;
g = .5F *
chromosome1LimbColour.g +
.5F *
chromosome2LimbColour.g;
b = .5F *
chromosome1LimbColour.b +
.5F *
chromosome2LimbColour.b;
// Assign new colour
newChromsome.SetLimbColour(r, g, b);
// Crossover limbs
var chromome1Branches = c1.Branches;
var chromosome2Branches = c2.Branches;
ArrayList newBranches;
// Select the parent from which the child will take its limb structure
var randomSelect = Random.Range(0, 2); // 1 or the other
ArrayList chosenParentBranches;
if (randomSelect == 0)
{
newBranches = chromome1Branches;
chosenParentBranches = chromosome2Branches;
}
else
{
newBranches = chromosome2Branches;
chosenParentBranches = chromome1Branches;
}
randomSelect = Random.Range(0, 2);
// If 0 select parent 1 branch scale, if 1 select parent 2 branch scale
newChromsome.SetRootScale(randomSelect == 0 ? c1.GetRootScale() : c2.GetRootScale());
// Select attributes from the selected parents limbs to assign to child limbs
newChromsome.NumRecurrences = new int[newBranches.Count];
for (var i = 0; i < newBranches.Count; i++)
{
var parentLimbs = (ArrayList)newBranches[i];
newChromsome.NumRecurrences[i] = parentLimbs.Count;
for (var j = 1; j < parentLimbs.Count; j++)
{
var parentAttributes = (ArrayList)parentLimbs[j];
// Select random segment from parent creature
var index = Random.Range(0, chosenParentBranches.Count);
var otherParentLimbs = (ArrayList)chosenParentBranches[index];
index = Random.Range(0, otherParentLimbs.Count);
var otherParentAttributes = (ArrayList)otherParentLimbs[index];
// Get parent scale
var parentScale = (Vector3)parentAttributes[1];
var otherParentScale = (Vector3)otherParentAttributes[1];
for (var s = 0; s < 3; s++)
{
_rand = Rnd.NextDouble();
if (_rand < rate)
{
parentScale[s] = otherParentScale[s];
}
}
// Select random segment from other creature
otherParentLimbs = (ArrayList)chosenParentBranches[Random.Range(0, chosenParentBranches.Count)];
otherParentAttributes = (ArrayList)otherParentLimbs[Random.Range(0, otherParentLimbs.Count)];
var parentPosition = (Vector3)parentAttributes[0];
var otherParentPosition = (Vector3)otherParentAttributes[0];
for (var p = 0; p < 3; p++)
{
_rand = Rnd.NextDouble();
if (_rand < rate)
{
parentPosition[p] = otherParentPosition[p];
}
}
}
newBranches[i] = parentLimbs;
newChromsome.NumBranches = newBranches.Count;
}
// Crossover frequency and amplitude
newChromsome.JointAmplitude = c1.JointAmplitude;
newChromsome.JointFrequency = c1.JointFrequency;
newChromsome.JointPhase = c1.JointPhase;
_rand = Rnd.NextDouble();
if (_rand < 0.5f)
{
newChromsome.JointAmplitude = c2.JointAmplitude;
}
_rand = Rnd.NextDouble();
if (_rand < 0.5f)
{
newChromsome.JointFrequency = c2.JointFrequency;
}
_rand = Rnd.NextDouble();
if (_rand < 0.5f)
{
newChromsome.JointPhase = c2.JointPhase;
}
{
}
_rand = Rnd.NextDouble();
// New creature hunger point is one of either the two parents hunger points
newChromsome.HungerPoint = _rand < 0.5f ? c2.HungerPoint : c1.HungerPoint;
// Assign new branches
newChromsome.SetBranches(newBranches);
return(newChromsome);
}
private GameObject SetupSubLimb(int i, int j, List <GameObject> actualLimbs, JointDrive angXDrive, out Limb limbScript)
{
var limb = GameObject.CreatePrimitive(PrimitiveType.Cube);
limb.layer = LayerMask.NameToLayer("Creature");
limb.name = "limb_" + i + "_" + j;
limb.transform.parent = _t;
actualLimbs.Add(limb);
limbScript = limb.AddComponent <Limb>();
var attributes = (ArrayList)_limbs[j];
limbScript.SetScale((Vector3)attributes[1]);
limbScript.SetColour(ChromosomeComposition.GetLimbColour());
if (j == 0)
{
limbScript.SetPosition((Vector3)attributes[0]);
limb.transform.LookAt(Root.transform);
}
else
{
limbScript.SetPosition(actualLimbs[j - 1].transform.localPosition);
limb.transform.LookAt(Root.transform);
limb.transform.Translate(0, 0, -actualLimbs[j - 1].transform.localScale.z);
}
limb.AddComponent <Rigidbody>();
limb.AddComponent <BoxCollider>();
limb.GetComponent <Collider>().material = (PhysicMaterial)Resources.Load("Physics Materials/Creature");
var joint = limb.AddComponent <ConfigurableJoint>();
joint.axis = new Vector3(0.5F, 0F, 0F);
joint.anchor = new Vector3(0F, 0F, 0.5F);
if (j == 0)
{
joint.connectedBody = Root.GetComponent <Rigidbody>();
}
else
{
joint.connectedBody = actualLimbs[j - 1].GetComponent <Rigidbody>();
}
limb.GetComponent <Rigidbody>().drag = 1F;
_joints.Add(joint);
joint.xMotion = ConfigurableJointMotion.Locked;
joint.yMotion = ConfigurableJointMotion.Locked;
joint.zMotion = ConfigurableJointMotion.Locked;
joint.angularXMotion = ConfigurableJointMotion.Free;
joint.angularYMotion = ConfigurableJointMotion.Free;
joint.angularZMotion = ConfigurableJointMotion.Free;
angXDrive.positionSpring = 7F;
angXDrive.maximumForce = 100000000F;
joint.angularXDrive = angXDrive;
joint.angularYZDrive = angXDrive;
limb.GetComponent <Rigidbody>().SetDensity(1F);
return(limb);
}
public static ChromosomeComposition Mutate(ChromosomeComposition currentCreatureComposition, double mutationRate, float mutationFactor)
{
// Mutate colour
var newColour = new float[3]; // new 3 bit colour, r, g, and b
var currentColour = currentCreatureComposition.GetColour(); // get the current colour of the creature
// map current colours rgb values to the new colour
newColour[0] = currentColour.r;
newColour[1] = currentColour.g;
newColour[2] = currentColour.b;
for (var i = 0; i < 3; i++)
{
_rand = Rnd.NextDouble();
if (_rand < mutationRate)
{
newColour[i] += RandomiseThisGene(mutationFactor);
}
}
// Assign new colour to this creature
currentCreatureComposition.SetColour(newColour[0], newColour[1], newColour[2]);
// Mutate root scale
var currentRootScale = currentCreatureComposition.GetRootScale();
// Check that the current scale (of x, y and z) is currently greater than 1
if (currentRootScale.x > 1F && currentRootScale.y > 1F && currentRootScale.z > 1F)
{// Create new 3 bit root scale (x,y, and z)
var newRootScale = new float[3];
newRootScale[0] = currentRootScale.x;
newRootScale[1] = currentRootScale.y;
newRootScale[2] = currentRootScale.z;
for (var i = 0; i < 3; i++)
{
_rand = Rnd.NextDouble();
if (_rand < mutationRate)
{
// Randomise scale
newRootScale[i] += RandomiseThisGene(mutationFactor);
}
}
// Assign new root scale to creature
var rootScale = new Vector3(newRootScale[0], newRootScale[1], newRootScale[2]);
currentCreatureComposition.SetRootScale(rootScale);
}
// Mutate limbs colour
currentColour = currentCreatureComposition.GetLimbColour();
newColour[0] = currentColour.r;
newColour[1] = currentColour.g;
newColour[2] = currentColour.b;
for (var i = 0; i < 3; i++)
{
_rand = Rnd.NextDouble();
if (_rand < mutationRate)
{
newColour[i] += RandomiseThisGene(mutationFactor);
}
}
// Assign new colour to creature
currentCreatureComposition.SetLimbColour(newColour[0], newColour[1], newColour[2]);
var currentBranches = currentCreatureComposition.Branches;
foreach (var branch in currentBranches)
{// get a list of limbs
var currentLimbs = (ArrayList)branch;
foreach (var limb in currentLimbs)
{
var limbs = (ArrayList)limb;
var v = (Vector3)limbs[1];
for (var k = 0; k < 3; k++)
{
_rand = Rnd.NextDouble();
if (_rand < mutationRate)
{
v[k] += RandomiseThisGene(mutationFactor);
}
}
}
}
// mutate base frequency and amplitude
_rand = Rnd.NextDouble();
if (_rand < mutationRate)
{
currentCreatureComposition.JointAmplitude += RandomiseThisGene(mutationFactor);
}
_rand = Rnd.NextDouble();
if (_rand < mutationRate)
{
currentCreatureComposition.JointFrequency += RandomiseThisGene(mutationFactor);
}
_rand = Rnd.NextDouble();
if (_rand < mutationRate)
{
currentCreatureComposition.JointPhase += RandomiseThisGene(mutationFactor);
}
_rand = Rnd.NextDouble();
if (_rand < mutationRate)
{
currentCreatureComposition.HungerPoint += RandomiseThisGene(mutationFactor);
}
currentCreatureComposition.SetBranches(currentBranches);
return(currentCreatureComposition);
}
