protected override GeneticAlgorithm CreateGA()
{
NumberOfSimultaneousEvaluations = SimulationsGrid.x * SimulationsGrid.y;
m_fitness = new CarFitness();
var chromosome = new CarChromosome(Config);
var crossover = new UniformCrossover();
var mutation = new FlipBitMutation();
var selection = new EliteSelection();
var population = new Population(NumberOfSimultaneousEvaluations, NumberOfSimultaneousEvaluations, chromosome)
{
GenerationStrategy = new PerformanceGenerationStrategy()
};
var ga = new GeneticAlgorithm(population, m_fitness, selection, crossover, mutation)
{
Termination = new CarTermination(),
TaskExecutor = new ParallelTaskExecutor
{
MinThreads = population.MinSize,
MaxThreads = population.MaxSize * 2
}
};
ga.GenerationRan += delegate
{
m_lastPosition = Vector3.zero;
m_evaluationPool.ReleaseAll();
};
ga.MutationProbability = .1f;
return(ga);
}
public void SetChromosome(CarChromosome chromosome, CarSampleConfig config)
{
Chromosome = chromosome;
Chromosome.MaxDistance = 0;
chromosome.MaxDistanceTime = 0;
Distance = 0;
DistanceTime = 0;
m_startTime = Time.time;
transform.rotation = Quaternion.identity;
m_config = config;
m_rb.isKinematic = false;
m_rb.velocity = Vector2.zero;
m_rb.angularVelocity = 0;
var phenotypes = chromosome.GetPhenotypes();
m_polygon.points = phenotypes.Select(p => p.Vector).ToArray();
var wheelsMass = 0f;
for (int i = 0; i < phenotypes.Length; i++)
{
var p = phenotypes[i];
PrepareWheel(i, m_polygon.points[p.WheelIndex], p.WheelRadius);
wheelsMass += p.WheelRadius;
}
// The car mass should be greater than wheels sum mass, because the WheelJoint2d get crazy otherwise.
// If we comment the line bellow and enable the car mass should be greater than wheels sum mass, because the WheelJoint2d get crazy otherwise.
m_rb.mass = 1 + m_polygon.points.Sum(p => p.magnitude) * VectorMagnitudeMass + wheelsMass;
if (m_cam != null)
{
m_cam.StartFollowing(gameObject);
}
StartCoroutine("CheckTimeout");
}
