public void GenerateMesh(NeatGenome genome)
{
// Perform analysis
AcyclicNetworkDepthAnalysis depthAnalysis = new AcyclicNetworkDepthAnalysis();
NetworkDepthInfo depthInfo = depthAnalysis.CalculateNodeDepths(genome);
int maxDepth = depthInfo._networkDepth;
int[] nodesPerDepthLevel = new int[maxDepth];
Dictionary <int, List <int> > nodesByDepth = new Dictionary <int, List <int> >();
Dictionary <uint, int> nodeIdxById = new Dictionary <uint, int>();
int mostNodesPerLayer = 0;
for (int i = 0; i < genome.NodeList.Count; i++)
{
int depth = depthInfo._nodeDepthArr[i];
List <int> nodes;
if (!nodesByDepth.TryGetValue(depth, out nodes))
{
nodes = new List <int>();
nodesByDepth.Add(depth, nodes);
}
nodes.Add(i);
mostNodesPerLayer = Mathf.Max(++nodesPerDepthLevel[depth], mostNodesPerLayer);
}
List <Vector3> vertices;
var neuronsMesh = GenerateNeuronsMesh(genome, nodeIdxById, maxDepth, mostNodesPerLayer, nodesByDepth, out vertices);
neuronObject.GetComponent <MeshFilter>().mesh = neuronsMesh;
var connectionMesh = GenerateConnectionsMesh(genome, nodeIdxById, vertices);
connectionObject.GetComponent <MeshFilter>().mesh = connectionMesh;
}
/// <summary>
/// Creates a AcyclicNetwork from an INetworkDefinition.
/// </summary>
public static FastAcyclicNetwork CreateFastAcyclicNetwork(INetworkDefinition networkDef)
{
Debug.Assert(!CyclicNetworkTest.IsNetworkCyclic(networkDef), "Attempt to decode a cyclic network into a FastAcyclicNetwork.");
// Determine the depth of each node in the network.
// Node depths are used to separate the nodes into depth based layers, these layers can then be
// used to determine the order in which signals are propagated through the network.
AcyclicNetworkDepthAnalysis depthAnalysis = new AcyclicNetworkDepthAnalysis();
NetworkDepthInfo netDepthInfo = depthAnalysis.CalculateNodeDepths(networkDef);
// Construct an array of NodeInfo, ordered by node depth.
// Create/populate NodeInfo array.
int[] nodeDepthArr = netDepthInfo._nodeDepthArr;
INodeList nodeList = networkDef.NodeList;
int nodeCount = nodeList.Count;
NodeInfo[] nodeInfoByDepth = new NodeInfo[nodeCount];
for (int i = 0; i < nodeCount; i++)
{
nodeInfoByDepth[i]._nodeId = nodeList[i].Id;
nodeInfoByDepth[i]._definitionIdx = i;
nodeInfoByDepth[i]._nodeDepth = nodeDepthArr[i];
}
// Sort NodeInfo array.
// We use an IComparer here because an anonymous method is not accepted on the method overload that accepts
// a sort range, which we use to avoid sorting the input and bias nodes. Sort() performs an unstable sort therefore
// we must restrict the range of the sort to ensure the input and bias node indexes are unchanged. Restricting the
// sort to the required range is also more efficient (less items to sort).
int inputAndBiasCount = networkDef.InputNodeCount + 1;
Array.Sort(nodeInfoByDepth, inputAndBiasCount, nodeCount - inputAndBiasCount, NodeDepthComparer.__NodeDepthComparer);
// Array of live node indexes indexed by their index in the original network definition. This allows us to
// locate the position of input and output nodes in their new positions in the live network data structures.
int[] newIdxByDefinitionIdx = new int[nodeCount];
// Dictionary of live node indexes keyed by node ID. This allows us to convert the network definition connection
// endpoints from node IDs to indexes into the live/runtime network data structures.
Dictionary <uint, int> newIdxById = new Dictionary <uint, int>(nodeCount);
// Populate both the lookup array and dictionary.
for (int i = 0; i < nodeCount; i++)
{
NodeInfo nodeInfo = nodeInfoByDepth[i];
newIdxByDefinitionIdx[nodeInfo._definitionIdx] = i;
newIdxById.Add(nodeInfo._nodeId, i);
}
// Make a copy of the sub-range of newIdxByDefinitionIdx that represents the output nodes.
int outputCount = networkDef.OutputNodeCount;
int[] outputNeuronIdxArr = new int[outputCount];
// Note. 'inputAndBiasCount' holds the index of the first output node.
Array.Copy(newIdxByDefinitionIdx, inputAndBiasCount, outputNeuronIdxArr, 0, outputCount);
// Construct arrays with additional 'per node' data/refs (activation functions, activation fn auxiliary data).
IActivationFunctionLibrary activationFnLibrary = networkDef.ActivationFnLibrary;
IActivationFunction[] nodeActivationFnArr = new IActivationFunction[nodeCount];
double[][] nodeAuxArgsArray = new double[nodeCount][];
for (int i = 0; i < nodeCount; i++)
{
int definitionIdx = nodeInfoByDepth[i]._definitionIdx;
nodeActivationFnArr[i] = activationFnLibrary.GetFunction(nodeList[definitionIdx].ActivationFnId);
nodeAuxArgsArray[i] = nodeList[definitionIdx].AuxState;
}
//=== Create array of FastConnection(s).
// Loop the connections and lookup the node IDs for each connection's end points using newIdxById.
IConnectionList connectionList = networkDef.ConnectionList;
int connectionCount = connectionList.Count;
FastConnection[] fastConnectionArray = new FastConnection[connectionCount];
for (int i = 0; i < connectionCount; i++)
{
INetworkConnection conn = connectionList[i];
fastConnectionArray[i]._srcNeuronIdx = newIdxById[conn.SourceNodeId];
fastConnectionArray[i]._tgtNeuronIdx = newIdxById[conn.TargetNodeId];
fastConnectionArray[i]._weight = conn.Weight;
}
// Sort fastConnectionArray by source node index. This allows us to activate the connections in the
// order they are present within the network (by depth). We also secondary sort by target index to
// improve CPU cache coherency of the data (in order accesses that are as close to each other as possible).
Array.Sort(fastConnectionArray, delegate(FastConnection x, FastConnection y)
{
if (x._srcNeuronIdx < y._srcNeuronIdx)
{
return(-1);
}
if (x._srcNeuronIdx > y._srcNeuronIdx)
{
return(1);
}
// Secondary sort on target index.
if (x._tgtNeuronIdx < y._tgtNeuronIdx)
{
return(-1);
}
if (x._tgtNeuronIdx > y._tgtNeuronIdx)
{
return(1);
}
// Connections are equal (this should not actually happen).
return(0);
});
// Create an array of LayerInfo(s). Each LayerInfo contains the index + 1 of both the last node and last
// connection in that layer.
// The array is in order of depth, from layer zero (bias and inputs nodes) to the last layer
// (usually output nodes, but not necessarily if there is a dead end pathway with a high number of hops).
// Note. There is guaranteed to be at least one connection with a source at a given depth level, this is
// because for there to be a layer N there must necessarily be a connection from a node in layer N-1
// to a node in layer N.
int netDepth = netDepthInfo._networkDepth;
LayerInfo[] layerInfoArr = new LayerInfo[netDepth];
// Scanning over nodes can start at inputAndBiasCount instead of zero,
// because we know that all nodes prior to that index are at depth zero.
int nodeIdx = inputAndBiasCount;
int connIdx = 0;
for (int currDepth = 0; currDepth < netDepth; currDepth++)
{
// Scan for last node at the current depth.
for (; nodeIdx < nodeCount && nodeInfoByDepth[nodeIdx]._nodeDepth == currDepth; nodeIdx++)
{
;
}
// Scan for last connection at the current depth.
for (; connIdx < fastConnectionArray.Length && nodeInfoByDepth[fastConnectionArray[connIdx]._srcNeuronIdx]._nodeDepth == currDepth; connIdx++)
{
;
}
// Store node and connection end indexes for the layer.
layerInfoArr[currDepth]._endNodeIdx = nodeIdx;
layerInfoArr[currDepth]._endConnectionIdx = connIdx;
}
return(new FastAcyclicNetwork(nodeActivationFnArr, nodeAuxArgsArray, fastConnectionArray, layerInfoArr, outputNeuronIdxArr,
nodeCount, networkDef.InputNodeCount, networkDef.OutputNodeCount));
}