public void reportFitness(RocketEvaluator evaluator, double fitness, int index)
{
totalFitness += fitness;
--chromosomesInEvaluation;
Chromosome chromosome = population.getChromosomes()[index];
chromosome.setFitness(fitness);
if (currentBest == null || chromosome.getFitness() > currentBest.getFitnessScore())
{
print("recording best fitness as: " + chromosome.getFitness());
BestEntry newBest = new BestEntry(population.getCurrentGenerationNumber(), new List <double>(chromosome.getWeights()), chromosome.getFitness());
currentBest = newBest;
bests.Add(newBest);
}
// print("current index: " + currentChromosomeIndex);
if (currentChromosomeIndex < populationSize - 1)
{
if (currentChromosomeIndex + chromosomesInEvaluation < populationSize - 1)
{
evaluateChromosome(currentChromosomeIndex + chromosomesInEvaluation + 1, evaluator);
}
++currentChromosomeIndex;
}
else
{
// print("restart generation");
startNextGeneration();
}
}
protected override void onBegin()
{
RocketEvaluator rocketEvaluator = (RocketEvaluator)evaluator;
closestDistance = Vector3.Distance(rocketEvaluator.getTestSubject().transform.position, waypoint.transform.position);
rocketEvaluator.getTestSubject().setTarget(waypoint.transform.position);
waypoint.activate(this, rocketEvaluator.getTestSubject().gameObject);
}
private void evaluateChromosome(int index, RocketEvaluator evaluator)
{
// print("evaluate chromosome " + index);
Chromosome chromosome = population.getChromosomes()[index];
evaluator.startEvaluation(chromosome.getWeights(), index);
++chromosomesInEvaluation;
}
protected override void onBegin()
{
RocketEvaluator rocketEvaluator = (RocketEvaluator)evaluator;
currentWaypoint = 0;
closestDistance = Vector3.Distance(rocketEvaluator.getTestSubject().transform.position, flightPath[0].transform.position);
rocketEvaluator.getTestSubject().setTarget(flightPath[0].transform.position);
flightPath[0].activate(this, rocketEvaluator.getTestSubject().gameObject);
}
void Start()
{
for (int i = 0; i < conncurrentSimulators; ++i)
{
RocketEvaluator simulator = Instantiate(simulatorPrefab);
simulator.evolutionator = this;
simulators.Add(simulator);
}
population = new Population(null, CreateNeuralNet(simulators[0]), populationSize, .03, .3, .7);
runEvaluation();
}
protected override void onUpdate()
{
RocketEvaluator rocketEvaluator = (RocketEvaluator)evaluator;
if (started)
{
float currentDistance = Vector3.Distance(rocketEvaluator.getTestSubject().transform.position, waypoint.transform.position);
if (currentDistance < closestDistance)
{
closestDistance = currentDistance;
}
}
}
protected override void onTimeout()
{
RocketEvaluator rocketEvaluator = (RocketEvaluator)evaluator;
if (!closestDistanceAtEnd)
{
scenarioScore += 1.0 / (1.0 + closestDistance);
}
else
{
scenarioScore += 1.0 / (1.0 + Vector3.Distance(rocketEvaluator.getTestSubject().transform.position, waypoint.transform.position));
}
}
public override void waypointReached()
{
RocketEvaluator rocketEvaluator = (RocketEvaluator)evaluator;
print("Waypoint reached!!!");
timer -= 10;
closestDistance = 0f;
scenarioScore += 1.0;
++currentWaypoint;
if (currentWaypoint < flightPath.Count)
{
flightPath[currentWaypoint].activate(this, rocketEvaluator.getTestSubject().gameObject);
rocketEvaluator.getTestSubject().setTarget(flightPath[currentWaypoint].transform.position);
}
else
{
evaluator.reportScenarioScore(scenarioScore);
//started = false;
print("setting started to false");
}
}
public static NeuralNet CreateNeuralNet(RocketEvaluator evaluator)
{
return(new NeuralNet(NeuronMode.NEURON, true, 3 + 3 + 4, evaluator.getOutputsRequired(), (3 + 3 + 4) * 2, 2));
}
