public static void AddPossibleSamples(bool randomAllowed)
{
if (freeIndices.Count > 0) // If there are free slots
{
if (readyPhenotypes.Count > 0) // If there are phenotypes to use
{
int range = Mathf.Min(freeIndices.Count, readyPhenotypes.Count);
for (int i = 0; i < range; i++)
{
// Create dragons with the stored phenotypes
Vector3 position = populationPositions[freeIndices[i]];
GameObject body = DragonFactory.CreateDragon(readyPhenotypes[i], position, Quaternion.Euler(20, 0, 0), freeIndices[i]);
population.Add(body);
GlobalSettings.SetBodyAndBonesRendering(body, GlobalSettings.renderingBodyAndBones);
}
freeIndices.RemoveRange(0, range);
readyPhenotypes.RemoveRange(0, range);
}
else
if (randomAllowed)
{
int range = freeIndices.Count;
for (int i = 0; i < range; i++)
{
// Create dragons with the new, random phenotypes
Phenotype phenotype = PhenotypeFactory.CreateRandom();
Vector3 position = populationPositions[freeIndices[i]];
GameObject body = DragonFactory.CreateDragon(phenotype, position, Quaternion.Euler(20, 0, 0), freeIndices[i]);
population.Add(body);
GlobalSettings.SetBodyAndBonesRendering(body, GlobalSettings.renderingBodyAndBones);
}
freeIndices.Clear();
}
}
}
void Start()
{
if (Global.GetCurrentScene() == Global.mainAIScene)
{
print("Initialisizing Learning Mode");
// Create the first population
PopulationControler.ResizePopulation(GlobalSettings.startPopulationSize);
LoadRules();
// Add a random phenotype to the evaluated list for the case that the evry first sample cannot be evaluated successfully.
float[] em = new float[20];
for (int i = 0; i < em.Length; i++)
{
em[i] = 1;
}
PopulationControler.evaluatedPhenotypesGood.Add(new EvaluatedPhenotype(PhenotypeFactory.CreateRandom(), -100, 1, em));
}
}
public void ChangeTaskMode(string mode)
{
GlobalSettings.taskMode = mode;
switch (mode)
{
case "Learning":
Debug.Log("Learning Mode");
// Destroy the full dragon and recreate population
if (inLearningMode == false)
{
Destroy(completeDragon);
Destroy(bestSample.gameObject);
completeDragon = null;
bestSample = null;
PopulationControler.AddPossibleSamples();
GlobalSettings.SetBodyAndBonesRendering(renderPhTemp);
GlobalSettings.SetMembraneRendering(renderMemTemp);
ResizeFloorsFitToPopulation();
}
renderPhTemp = GlobalSettings.renderingBodyAndBones;
renderMemTemp = GlobalSettings.renderingMembranes;
inLearningMode = true;
if (bestSample == null)
{
Global.mainCameraScr.GotoWatchObject(PopulationControler.population[0]);
}
else
{
Global.mainCameraScr.GotoWatchObject(bestSample);
}
Global.mainCameraScr.GotoWatchObjectDistance(35 + Mathf.Sqrt(GlobalSettings.populationSize) * 35);
testSampleScript = null;
break;
case "Testing":
if (completeDragon != null)
{
return;
}
Debug.Log("Testing Mode");
renderPhTemp = GlobalSettings.renderingBodyAndBones;
renderMemTemp = GlobalSettings.renderingMembranes;
// Enable rendering of the new phenotype
GlobalSettings.SetBodyAndBonesRendering(true);
GlobalSettings.SetMembraneRendering(true);
//
// Save the current population for future use
PopulationControler.SaveAndDestroyPopulation();
// Copy the phenotype of the best dragon
Phenotype bestPhenotype;
if (bestSample == null)
{
bestPhenotype = PopulationControler.GetBestPhenotype();
}
else
{
bestPhenotype = bestSample.GetComponent <DragonScript>().wingSet.phenotype;
}
if (bestPhenotype == null)
{
bestPhenotype = PhenotypeFactory.CreateRandom();
}
bestPhenotype.SetDependantBonethickness(0.6f, 0.1f); // Sets bone thicknes depending on the distance from the origin
bestPhenotype.SetDependantBonecolor(new Color(0.3f, 1, 0.3f), new Color(0.25f, 0.25f, 1)); // Sets bone color depending on the distance from the origin
bestSample = DragonFactory.CreateDragon(bestPhenotype, GlobalSettings.originPoint, Quaternion.Euler(20, 0, 0), 0);
//
// Calculate optimal gravity for floating
float curMax;
if (Global.GUIControlerScr.sampleToObserve != null)
{
curMax = Mathf.Max(bestSampleHeight, Global.GUIControlerScr.sampleVisScriptToObserve.localBestHeight);
}
else
{
curMax = bestSampleHeight;
}
customGravityOnBestSample = new Vector3(0, -(curMax / (bestPhenotype.maxFlapSteps * (GlobalSettings.requiredEvaluationFlaps + 0.5f))) * 75, 0);
//
ResizeFloors(1);
inLearningMode = false;
// Make everything visible
GlobalSettings.SetBodyAndBonesRendering(bestSample, true);
// Make body invisible (leaves wings visible)
bestSample.gameObject.GetComponent <MeshRenderer>().enabled = false;
// Set interpolation
GlobalSettings.SetPhysInterpolation(bestSample, true);
// Reenable membrane
testSampleScript = bestSample.GetComponent <DragonScript>();
testSampleScript.wingSet.RenderVisualisation(true);
Global.mainCameraScr.GotoWatchObject(bestSample);
floorOfBest.transform.position = bestSample.transform.position;
Global.GUIControlerScr.SwitchObjectToObserve(bestSample);
justMovedToWatchNew = true;
Global.mainCameraScr.GotoWatchObjectDistance(70);
// Create the new surrounding full dragon model
completeDragon = (GameObject)Instantiate(CompleteDragonModel, bestSample.transform.position, bestSample.transform.rotation);
completeDragon.GetComponent <DragonControler>().followerObject = bestSample;
break;
}
}
void Start()
{
if (Global.GetCurrentScene() == Global.mainAIScene)
{
renderPhTemp = GlobalSettings.renderingBodyAndBones;
renderMemTemp = GlobalSettings.renderingMembranes;
ChangeTaskMode("Learning");
}
else
if (Global.GetCurrentScene() == Global.cliffScene)
{
print("Initialisizing Cliff Scene Mode");
PopulationControler.Init();
// Generate a standard-phenotype for a demonstrationd ragon
Phenotype mainDragonType = PhenotypeFactory.CreateForDemoDragon();
// Activate some graphical effects (not used during the phenotypes for the genetic algorithm)
mainDragonType.SetDependantBonethickness(0.75f, 0.2f); // Sets bone thicknes depending on the distance from the origin
mainDragonType.SetDependantBonecolor(new Color(0.3f, 0.6f, 0.2f), new Color(0.5f, 0.8f, 0.4f)); // Sets bone color depending on the distance from the origin
GameObject theDragon = GameObject.Find("TheDragon");
GameObject dragonBody = null, dragonHead = null;
foreach (Transform child in theDragon.transform)
{
if (child.gameObject.name == "MainBody")
{
dragonBody = child.gameObject;
}
if (child.gameObject.name == "Head")
{
dragonHead = child.gameObject;
}
}
PopulationControler.population.Add(dragonBody);
DragonFactory.AttachWing(dragonBody, mainDragonType);
//Disable the wing movement
foreach (HingeJoint joint in dragonBody.GetComponent <DragonScript>().wingSet.joints)
{
joint.useMotor = false;
}
dragonBody.GetComponent <DragonScript>().wingSet.running = false;
dragonBody.GetComponent <DragonScript>().index = 0;
theDragon.GetComponent <DragonControler>().PrepareComponents();
theDragon.GetComponent <DragonControler>().SwitchGravity(true);
// Set rendering settings
GlobalSettings.SetBodyAndBonesRendering(true);
GlobalSettings.SetMembraneRendering(true);
// Make the camera keep looking at the head
Global.mainCameraScr.SetCameraFocusObject(dragonHead);
bestSample = dragonBody;
inLearningMode = false;
}
}
