public Population(List <List <float> > initialWeights = null)
{
Individuals = new List <Individual>();
ParentGameObject = new GameObject();
ParentGameObject.name = "Individuals";
if (initialWeights != null)
{
for (int i = 0; i < initialWeights.Count; i++)
{
Individuals.Add(new Individual(new DNA(initialWeights[i])));
Individuals[i].Index = i;
Individuals[i].CreateGameObject();
Individuals[i].GameObject.transform.SetParent(ParentGameObject.transform);
}
}
else
{
initialWeights = new List <List <float> >(); //initializes it so it will be 0 on the for statement below
}
for (var i = initialWeights.Count; i < ConfigManager.config.geneticAlgorithm.nIndividuals; i++)
{
Individuals.Add(new Individual(new DNA(NeuralNetworkHelper.GetWeightsNumberFromConfig())));
Individuals[i].Index = i;
Individuals[i].CreateGameObject();
Individuals[i].GameObject.transform.SetParent(ParentGameObject.transform);
}
}
private void StartTraining()
{
var(inputData, expectedOutputData) = NeuralNetworkHelper.ReduceDataset(
humanCar.StateInputMeasurements.ToList(),
humanCar.StateOutputMeasurements.ToList());
for (int i = 0; i < inputData.Count(); i++)
{
if (inputData[i].All(d => d == 0))
{
inputData.RemoveAt(i);
expectedOutputData.RemoveAt(i);
i--;
}
}
notificationService.ShowToast(
ToastType.Info,
"Training Started...");
// Right now the training happens so fast, not sure if we need to be reporting progress
network = NeuralNetworkHelper.GetTrainedNetwork(inputData, expectedOutputData, (c, t) => { });
notificationService.ShowToast(
ToastType.Info,
"Training Complete.");
}
private void checkEnemies()
{
// If the sight range is negative, do nothing.
if (SightRange <= 0)
{
return;
}
// Add the passed time to the time since the last check.
timeSinceLastSightCheck += Time.fixedDeltaTime;
if (timeSinceLastSightCheck >= TimeBetweenSightChecks)
{
// Finds all creature colliders in the area around this creature.
int seenCreaturesCount = Physics.OverlapSphereNonAlloc(eyeOrigin.position, SightRange, seenColliders, 1 << LayerMask.NameToLayer("Creatures"));
// Clear the seen enemies list and fill it with all enemies in the colliders collection.
seenEnemies.Clear();
for (int i = 0; i < seenCreaturesCount; i++)
{
if (seenColliders[i] != null && seenColliders[i].TryGetComponent(out Creature creature) && creature.Player != Creature.Player)
{
seenEnemies.Add(new CreatureTarget()
{
Target = creature,
TargetRigidbody = creature.GetComponent <Rigidbody>(),
TargetCollider = seenColliders[i],
NormalisedDistance = NeuralNetworkHelper.ExpandRangeToNegative(Vector3.Distance(eyeOrigin.position, seenColliders[i].ClosestPoint(eyeOrigin.position)) / SightRange),
NormalisedHealth = NeuralNetworkHelper.ExpandRangeToNegative(creature.Health / maxHealth)
});
}
}
// Sort the enemies based on the score using the mutated filters.
seenEnemies.Sort((firstEnemy, secondEnemy) =>
{
// Calculate the scores for both enemies.
float firstScore = (float)Math.Tanh(Bias + firstEnemy.NormalisedHealth * HealthWeight + firstEnemy.NormalisedDistance * DistanceWeight);
float secondScore = (float)Math.Tanh(Bias + secondEnemy.NormalisedHealth * HealthWeight + secondEnemy.NormalisedDistance * DistanceWeight);
// Return the result of the compare function.
return(firstScore.CompareTo(secondScore));
});
// Set the max concurrent seen creatures if the number of seen creatures is higher than the old value.
setLifetimeStat("MaxConcurrentSeenCreatures", (uint)Math.Max(LifetimeStats["MaxConcurrentSeenCreatures"], seenEnemies.Count));
// If enemies were seen, take the last one (the one with the highest score) and set the current target to it, otherwise set the current target to null.
CurrentTarget = (seenEnemies.Count > 0) ? seenEnemies[seenEnemies.Count - 1] : (CreatureTarget?)null;
if (seenCreaturesCount == seenColliders.Length)
{
Array.Resize(ref seenColliders, seenColliders.Length + 10);
}
// Reset the timer.
timeSinceLastSightCheck = 0;
}
}
private void FeedForward(int layerIndex)
{
var layer = Layers[layerIndex];
var input = Layers[layerIndex - 1].Select(neuron => neuron.Output).ToArray();
foreach (var neuron in layer)
{
var weightedSum = neuron.InputSynapses
.Select((synapse, synapseIndex) => synapse.Weight * input[synapseIndex])
.Sum();
neuron.Output = NeuralNetworkHelper.Sigmoid(weightedSum + neuron.Bias);
}
if (layerIndex < Layers.Count - 1)
{
FeedForward(layerIndex + 1);
}
}
private void handleAttackLogic()
{
// Add the elapsed time to the attack timer.
timeSinceLastAttack += Time.fixedDeltaTime;
// If the creature has a target, attempt to move towards it.
if (targetingBehaviour.HasCurrentTarget)
{
CreatureTarget creatureTarget = targetingBehaviour.CurrentTarget.Value;
// Stop moving.
movementBehaviour.StopMoving();
// Face the target.
transform.LookAt(creatureTarget.Transform);
// If it has been long enough since the last attack, attack again.
if (timeSinceLastAttack >= AttackInterval && creatureTarget.Target.IsAlive)
{
// Calculate the power of the throw.
float power = Mathf.Clamp01(PowerBias + creatureTarget.NormalisedHealth * PowerHealthWeight + creatureTarget.NormalisedDistance * PowerDistanceWeight);
// Calculate the pitch of the throw.
float pitch = Mathf.Clamp(PitchBias + creatureTarget.NormalisedDistance * PitchDistanceWeight + NeuralNetworkHelper.ExpandRangeToNegative(creatureTarget.TargetRigidbody.velocity.magnitude / 1000) * PitchSpeedWeight
+ power * PitchPowerWeight, -1, 1);
// Calculate the yaw of the throw.
float yaw = Mathf.Clamp(YawBias + creatureTarget.NormalisedDistance * YawDistanceWeight + power * YawPowerWeight
+ NeuralNetworkHelper.ExpandRangeToNegative(creatureTarget.TargetRigidbody.velocity.magnitude / 1000) * YawSpeedWeight, -1, 1);
// Calcualte the normalised direction to the target, then the angles (in degrees) from that.
Vector3 direction = Quaternion.LookRotation((creatureTarget.Transform.position - transform.position).normalized).eulerAngles;
direction.y += yaw * Mathf.Clamp(YawDeviation, 0, 180);
direction.x += pitch * Mathf.Clamp(PitchDeviation, 0, 180);
// Create a new spear.
GameObject spearObject = Instantiate(projectilePrefab.gameObject, heldWeapon.position, Quaternion.Euler(direction), Creature.ProjectileContainer);
//spearObject.transform.position = heldWeapon.position;
spearObject.transform.localScale = Vector3.Scale(heldWeapon.localScale, transform.localScale);
// Get the projectile component from the created spear.
Projectile spearProjectile = spearObject.GetComponent <Projectile>();
spearProjectile.InitialiseProjectile(onProjectileHitEnemy, Creature, creatureTarget.Target, creatureTarget.Transform.position, spearObject.transform.position);
// Add the force to the spear.
spearProjectile.Rigidbody.AddForce(spearObject.transform.forward * (power + 1) * MaxPower, ForceMode.Impulse);
// Increment the thrown shots counter.
thrownShots++;
// Reset the attack timer.
timeSinceLastAttack = 0;
}
}
// Otherwise, just move towards the goal.
else
{
movementBehaviour.SetTarget(Creature.GoalObject);
movementBehaviour.StoppingDistance = 0;
}
}
