void Start()
{
gridPos.x = FrogWorld.numGridsX / 2;
gridPos.z = maxGridZ;
// add death state
eventDeath += () =>
{
mesh.material.SetColor("_Color", Color.white * 0.3f);
transform.DOKill(true);
//transform.DOPunchRotation(Vector3.one * 15.0f, 0.4f, 10);
transform.DORotateQuaternion(Quaternion.Euler(90.0f, 0.0f, 0.0f) * transform.rotation, 0.2f).SetEase(Ease.OutBack);
var newScale = transform.localScale;
newScale.Scale(new Vector3(0.75f, 0.75f, 0.75f));
transform.DOScale(newScale, 0.2f).SetEase(Ease.OutBack);
this.StopAndNullify(ref threadMoving);
};
threadMoving = StartCoroutine(HandleMovement());
transform.localScale = Vector3.one * FrogWorld.gridSize;
transform.position = FrogWorld.GridToWorldPos(gridPos);
}
/*void OnTriggerEnter2D(Collider2D collisionObj)
* {
* if (collisionObj.gameObject.layer == LayerMask.NameToLayer("Zone"))
* {
* var collisionGameObj = collisionObj.gameObject;
*
* // doesn't touch?
* if (!touchedZones.Contains(collisionGameObj))
* {
* var zone = collisionGameObj.GetComponent<Zone>();
*
* if (zone.eventTouched != null)
* zone.eventTouched();
*
* lifeSpan = Mathf.Min(lifeSpan + lifeSpanEat, lifeSpanMax);
*
* touchedZones.Add(collisionGameObj);
* fitness += 1.0f;
* }
* }
* }
*
* void OnCollisionEnter2D(Collision2D collisionObj)
* {
* if (collisionObj.gameObject.layer == LayerMask.NameToLayer("Obstacle"))
* {
* TriggerDeath();
* }
* }*/
IEnumerator HandleMovement()
{
FrogWorld frogWorld = FrogWorld.Instance;
float gridSize = FrogWorld.gridSize;
while (true)
{
UpdateNeuralNetOutput();
GridPos gridDelta = new GridPos(0, 0);
// wait for input
while (true)
{
if (Input.GetKeyDown(KeyCode.A) || Input.GetKeyDown(KeyCode.LeftArrow))
{
--gridDelta.x;
}
else if (Input.GetKeyDown(KeyCode.D) || Input.GetKeyDown(KeyCode.RightArrow))
{
++gridDelta.x;
}
else if (Input.GetKeyDown(KeyCode.S) || Input.GetKeyDown(KeyCode.DownArrow))
{
--gridDelta.z;
}
else if (Input.GetKeyDown(KeyCode.W) || Input.GetKeyDown(KeyCode.UpArrow))
{
++gridDelta.z;
}
/*if (Random.Range(0,2) == 0)
* gridDelta.x = Random.Range(0, 3) - 1;
* else
* gridDelta.z = Random.Range(0, 3) - 1;*/
// neural network input
var maxIndex = -1;
var maxVal = -99.0f;
for (int i = 0; i < 4; ++i)
{
var val = neuralNet.GetOutputData(i);
if (Mathf.Abs(val) > maxVal)
{
maxVal = Mathf.Abs(val);
maxIndex = i;
}
}
if (maxIndex == 0)
{
gridDelta.x += 1;
}
if (maxIndex == 1)
{
gridDelta.x -= 1;
}
if (maxIndex == 2)
{
gridDelta.z -= 1;
}
if (maxIndex == 3)
{
gridDelta.z += 1;
}
if (gridDelta.x != 0 || gridDelta.z != 0)
{
break;
}
yield return(null);
}
var simTimeScale = FrogSimulation.simTimeScale;
// new grid pos
GridPos newGridPos = gridPos + gridDelta;
Vector3 newPos = new Vector3(newGridPos.x * gridSize, gridSize * 0.5f, newGridPos.z * gridSize);
// turn
var turnAngle = Mathf.Rad2Deg * Mathf.Atan2(-gridDelta.z, gridDelta.x) + 90f;
transform.DORotate(new Vector3(0.0f, turnAngle, 0.0f), 0.1f * simTimeScale).SetEase(Ease.OutBack);
// hits wall
if (frogWorld.HasObstacle(newGridPos))
{
--numTurnsLeft;
var partPos = Vector3.Lerp(transform.position, newPos, 0.25f);
yield return(transform.DOMove(partPos, 0.05f * simTimeScale).SetLoops(2, LoopType.Yoyo).WaitForCompletion());
}
else // move to empty spot
{
particles.Emit(1);
// move there
yield return(transform.DOMove(newPos, 0.1f * simTimeScale).SetEase(Ease.OutBack).WaitForCompletion());
// moving forward
if (newGridPos.z > maxGridZ)
{
numTurnsLeft = Mathf.Max(numTurnsLeft, numTurnsReplenishedMoveForward);
maxGridZ = newGridPos.z;
fitness += 1.0f;
// Finished!
if (newGridPos.z >= FrogWorld.numGridsZ - 1)
{
yield return(transform.DOMove(newPos + Vector3.up * gridSize * 0.5f, 0.2f).SetLoops(12, LoopType.Yoyo).WaitForCompletion());
TriggerDeath();
}
}
else // not moving forwad
{
--numTurnsLeft;
}
gridPos = newGridPos;
}
// no more turns left
if (numTurnsLeft < 0)
{
TriggerDeath();
}
yield return(null);
}
}
