// Randomize a new BT using given defined subtrees and definitions.
protected Genome RandomGenome()
{
N_Root root = new N_Root();
Genome randomGenome = new Genome();
// First, randomize starting composition.
N_CompositionNode firstComp = RandomComp();
N_CompositionNode currentComp = firstComp;
bool nestled = false;
// Generate random subtrees
for (int i = 0; i < genomeSubtrees; i++)
{
// Calculate random chance for adding a new composition as well
// as ending it.
float randomChance = UnityEngine.Random.Range(0.0f, 1.0f);
if (randomChance < additionalCompChance && !nestled)
{
nestled = true;
N_CompositionNode subComp = RandomComp();
// Attach new composition and add a subtree to it.
currentComp.AddLast(subComp);
currentComp = subComp;
}
else if (randomChance < (additionalCompChance + 0.2f) && nestled)
{
nestled = false;
currentComp = firstComp;
}
// Lastly, add a random subtree to the current composition as
// well as to the list of subtree roots.
Node subTree = RandomSubtree();
randomGenome.SubRoots.Add(subTree);
currentComp.AddLast(subTree);
}
root.Child = firstComp;
randomGenome.RootNode = root;
return(randomGenome);
}
public static List <Node> RetrieveNodesOfType(N_Root tree, Type nodeType)
{
Queue <Node> itQ = new Queue <Node>();
List <Node> found = new List <Node>();
itQ.Enqueue(tree.Child);
// Do a breadth-first search to retrieve all nodes of the given type.
while (itQ.Count > 0)
{
Node current = itQ.Dequeue();
// If the current node ís the same as the search type
// or a subclass of it, add it to found.
if (current.GetType().IsSubclassOf(nodeType) ||
current.GetType() == nodeType)
{
found.Add(current);
}
// If node is a composition or decorator, enqueue its child(ren).
if (current.GetType().IsSubclassOf(typeof(N_CompositionNode)))
{
N_CompositionNode comp = current as N_CompositionNode;
foreach (Node n in comp.GetChildren())
{
itQ.Enqueue(n);
}
}
else if (current.GetType().IsSubclassOf(typeof(N_Decorator)))
{
N_Decorator dec = current as N_Decorator;
itQ.Enqueue(dec.Child);
}
}
// Lastly, return the found children.
return(found);
}
// Return a list of all nodes that act as roots for a randomized subtree.
public static List <Node> RetrieveSubtreeNodes(N_Root tree)
{
Queue <Node> itQ = new Queue <Node>();
List <Node> found = new List <Node>();
itQ.Enqueue(tree.Child);
while (itQ.Count > 0)
{
Node current = itQ.Dequeue();
// If current node is flagged as subtree, add it to found
if (current.IsSubtree)
{
found.Add(current);
}
// If node is a composition or decorator, enqueue its child(ren).
if (current.GetType().IsSubclassOf(typeof(N_CompositionNode)))
{
N_CompositionNode comp = current as N_CompositionNode;
foreach (Node n in comp.GetChildren())
{
itQ.Enqueue(n);
}
}
else if (current.GetType().IsSubclassOf(typeof(N_Decorator)))
{
N_Decorator dec = current as N_Decorator;
itQ.Enqueue(dec.Child);
}
}
// Return all nodes found with the subtree flag
return(found);
}
// Assign random mutations to the given tree.
protected void Mutate(N_Root child)
{
// First, check if there'll be any mutation at all.
float random = UnityEngine.Random.Range(0.0f, 1.0f);
if (random < mutationRate)
{
List <Node> thresholds = TreeOperations.RetrieveNodesOfType(child, typeof(N_Threshold));
List <Node> probNodes = TreeOperations.RetrieveNodesOfType(child, typeof(N_ProbabilitySelector));
// Randomise between whether to change thresholds or probabilities
random = UnityEngine.Random.Range(0.0f, 1.0f);
// If no probnode exists, change condition if there are any instead
if ((random <= 0.25f && thresholds.Count > 0))
{
//Debug.Log("Changing threshold!");
// Get random index within range of list
int index = UnityEngine.Random.Range(0, thresholds.Count);
N_Threshold thresh = thresholds[index] as N_Threshold;
// Mutate threshold by random offset
int offset = UnityEngine.Random.Range(minThresholdOffset, maxTresholdOffset);
thresh.SetThreshold(thresh.Threshold + offset);
}
else if (random > 0.25f && random <= 0.5f && probNodes.Count > 0) // Adjust relative probabilities on a probability selector.
{
//Debug.Log("Changing prob!");
// Get random index within range of list
int index = UnityEngine.Random.Range(0, probNodes.Count);
N_ProbabilitySelector probSelect = probNodes[index] as N_ProbabilitySelector;
// Check so that the probablitySelector has any children.
if (probSelect.GetChildren().Count <= 0)
{
return;
}
// Calculate total probability and retrieve a relative offset based on it.
float totalProb = 0.0f;
foreach (Node n in probSelect.GetChildren())
{
totalProb += probSelect.GetProbabilityWeight(n);
}
float offset = totalProb * (relativeProbabilityMutation / 100.0f);
// Also, get a random sign to decide whether to substract or add offset
// and a random index for which child to be changed.
float randomSign = Mathf.Sign(UnityEngine.Random.Range(-1.0f, 1.0f));
int randomChildIndex = UnityEngine.Random.Range(0, probSelect.GetChildren().Count);
// Finally, offset the given childs probability by the random amount.
probSelect.OffsetProbabilityWeight(probSelect.GetChildren()[randomChildIndex]
, offset * randomSign);
}
else if (random > 0.5f && random <= 0.75f) // Change subtree
{
//Debug.Log("Changing subtree!");
List <Node> subtrees = TreeOperations.RetrieveSubtreeNodes(child);
int randomIndex = UnityEngine.Random.Range(0, subtrees.Count);
Node subtree = subtrees[randomIndex];
N_CompositionNode parentComp = subtree.Parent as N_CompositionNode;
// Get a random subtree index and replace its position in the tree with
// a new randomized subtree instead.
parentComp.ReplaceChild(subtree, RandomSubtree());
}
else if (random > 0.75f) // Change composition
{
//Debug.Log("Changing composition!");
List <Node> comps = TreeOperations.RetrieveNodesOfType(child, typeof(N_CompositionNode));
int randomIndex = UnityEngine.Random.Range(0, comps.Count);
N_CompositionNode replaceComp = comps[randomIndex] as N_CompositionNode;
// If parent is null, this comp is the initial comp.
if (replaceComp.Parent != null)
{
Node compParent = replaceComp.Parent;
List <Node> children = replaceComp.GetChildren();
// Attach old comps children to the new one.
N_CompositionNode newComp = RandomComp();
// Make sure to keep structure of subtrees
if (replaceComp.IsSubtree)
{
newComp.IsSubtree = true;
}
foreach (Node c in children)
{
c.Parent = newComp;
newComp.AddLast(c);
}
// Reattach parent to the new comp
if (compParent.GetType().IsSubclassOf(typeof(N_CompositionNode)))
{
N_CompositionNode compParent_comp = compParent as N_CompositionNode;
compParent_comp.ReplaceChild(replaceComp, newComp);
}
else if (compParent.GetType().IsSubclassOf(typeof(N_Decorator)))
{
N_Decorator compParent_dec = compParent as N_Decorator;
compParent_dec.Child = newComp;
}
}
}
}
}
// Combine parents and create two new children based on them
protected void Combine(out Genome child0, out Genome child1, Genome parent0, Genome parent1)
{
Node subtree0, subtree1 = null;
// First, check if there'll be any combination/crossover.
float random = UnityEngine.Random.Range(0.0f, 1.0f);
if (random < combinationRate)
{
List <Node> subtrees0 = TreeOperations.RetrieveSubtreeNodes(parent0.RootNode);
List <Node> subtrees1 = TreeOperations.RetrieveSubtreeNodes(parent1.RootNode);
// Select to random subtrees...
int randomIndex = UnityEngine.Random.Range(0, subtrees0.Count);
subtree0 = subtrees0[randomIndex];
randomIndex = UnityEngine.Random.Range(0, subtrees1.Count);
subtree1 = subtrees1[randomIndex];
// Swap subtrees between 0 and 1.
if (subtree0.Parent.GetType().IsSubclassOf(typeof(N_CompositionNode)))
{
N_CompositionNode comp0 = subtree0.Parent as N_CompositionNode;
comp0.ReplaceChild(subtree0, StaticMethods.DeepCopy <Node>(subtree1));
}
// Swap subtrees between 1 and 0.
if (subtree1.Parent.GetType().IsSubclassOf(typeof(N_CompositionNode)))
{
N_CompositionNode comp1 = subtree1.Parent as N_CompositionNode;
comp1.ReplaceChild(subtree1, StaticMethods.DeepCopy <Node>(subtree0));
}
#region Old Combination
//// Get initial comp of parent 0
//N_CompositionNode comp0 = parent0.RootNode.Child as N_CompositionNode;
//// Fetch a random subtree from the parent's subtrees
//int randomIndex = UnityEngine.Random.Range(0, comp0.GetChildren().Count);
//subtree0 = comp0.GetChildren()[randomIndex];
//// Get initial comp of parent 1
//N_CompositionNode comp1 = parent1.RootNode.Child as N_CompositionNode;
//// Fetch a random subtree from the parent's subtrees
//randomIndex = UnityEngine.Random.Range(0, comp1.GetChildren().Count);
//subtree1 = comp1.GetChildren()[randomIndex];
//// Swap subtrees between 0 and 1.
//if (subtree0.Parent.GetType().IsSubclassOf(typeof(N_CompositionNode)))
//{
// comp0.ReplaceChild(subtree0, StaticMethods.DeepCopy<Node>(subtree1));
//}
//// Swap subtrees between 1 and 0.
//if (subtree1.Parent.GetType().IsSubclassOf(typeof(N_CompositionNode)))
//{
// comp1.ReplaceChild(subtree1, StaticMethods.DeepCopy<Node>(subtree0));
//}
#endregion
}
// Regardless of combination, assign the children to be the parents. (combined or not)
child0 = parent0;
child1 = parent1;
}
