/// <summary>
/// Breed
/// </summary>
private void Breed()
{
// Logs Setup
int weightMutationNb = 0;
int addConnectionNb = 0;
int addNodeNb = 0;
int enableDisableConnectionNb = 0;
_mutationLogs = "";
while (_nextEvaluationGenomes.Count() < _config.populationSize)
{
Genome child = null;
Genome mom = null;
Genome dad = null;
// Get Child
Species species = null;
int maxToKeep = ((_config.populationSize * _config.percentageToKeep) / 100) - 1;
if (_config.species)
{
species = GetRandomSpecies(_r);
}
if (_config.crossover)
{
if (species != null)
{
mom = GetRandomGenome(species, _r);
dad = GetRandomGenome(species, _r);
}
else
{
mom = _genomes[UnityEngine.Random.Range(0, maxToKeep)];
dad = _genomes[UnityEngine.Random.Range(0, maxToKeep)];
}
// Crossover between Mom & Dad
child = mom.Fitness >= dad.Fitness ? Genome.Crossover(mom, dad, _r, _config.disabledConnectionInheritChance) : Genome.Crossover(dad, mom, _r, _config.disabledConnectionInheritChance);
}
else
{
child = species != null ? new Genome(GetRandomGenome(species, _r)) : new Genome(_genomes[UnityEngine.Random.Range(0, maxToKeep)]);
}
// Weights Mutation
if ((float)_r.NextDouble() < _config.mutationRate)
{
child.WeightsMutation(_r);
weightMutationNb++;
}
if (_config.genomeMutations)
{
// Add Connection Mutation
if ((float)_r.NextDouble() < _config.addConnectionRate)
{
// If for Logs
if (child.AddConnectionMutation(_r, _connectionInnovation, 10))
{
addConnectionNb++;
}
}
// Add Node Mutation
if ((float)_r.NextDouble() < _config.addNodeRate)
{
child.AddNodeMutation(_r, _connectionInnovation, _nodeInnovation);
addNodeNb++;
}
// Enable/Disable a Random Connection
if ((float)_r.NextDouble() < _config.enableDisableRate)
{
// If for Logs
if (child.EnableOrDisableRandomConnection())
{
enableDisableConnectionNb++;
}
}
}
// Add Child to Next Evaluation Genomes
_nextEvaluationGenomes.Add(child);
}
_mutationLogs += string.Format(
"Weights Mutation: {0}, Add Connection: {1}, Add Node: {2}, Enable/Disable Connection: {3}\nCrossover is {4}, Genome Mutations is {5}, Species is {6}",
weightMutationNb,
addConnectionNb,
addNodeNb,
enableDisableConnectionNb,
_config.crossover,
_config.genomeMutations,
_config.species
);
_genomes.Clear();
_genomes = new List <Genome>(_nextEvaluationGenomes);
_nextEvaluationGenomes = new List <Genome>();
}
// Runs one generation
public void Evaluate()
{
// Reset everything for next generation
foreach (Species s in species)
{
s.Reset(random);
}
fitnessMap.Clear();
speciesMap.Clear();
nextGenGenomes.Clear();
highestFitness = float.MinValue;
fittestGenome = null;
// Place genomes into species
foreach (Genome g in genomes)
{
bool foundSpecies = false;
foreach (Species s in species)
{
if (Genome.CompatibilityDistance(g, s.mascot, C1, C2, C3) < DT)
{ // compatibility distance is less than DT, so genome belongs to this species
s.members.Add(g);
speciesMap[g] = s;
foundSpecies = true;
break;
}
}
if (!foundSpecies)
{ // if there is no appropiate species for genome, make a new one
Species newSpecies = new Species(g);
species.Add(newSpecies);
speciesMap[g] = newSpecies;
}
}
// Remove unused species
foreach (Species s in species)
{
if (!s.members.Any())
{
species.Remove(s);
}
}
// Evaluate genomes and assign score
foreach (Genome g in genomes)
{
Species s = speciesMap[g]; // Get species of the genome
float score = evaluateGenome(g); // fitness of Genome
float adjustedScore = score / speciesMap[g].members.Count;
s.AddAdjustedFitness(adjustedScore);
s.fitnessPop.Add(new FitnessGenome(g, adjustedScore));
fitnessMap[g] = adjustedScore;
if (score > highestFitness)
{
highestFitness = score;
fittestGenome = g;
}
}
// put best genome from each species into next generation
// species = species.OrderByDescending(s => s.fitnessPop).ToList();
foreach (Species s in species)
{
FitnessGenome fittestInSpecies = s.fitnessPop.Max();
nextGenGenomes.Add(fittestInSpecies.genome);
}
// Breed the rest of the genomes
while (nextGenGenomes.Count < populationSize)
{ // replace removed genomes by randomly breeding
Species s = getRandomSpeciesBiasedAjdustedFitness(random);
Genome p1 = getRandomGenomeBiasedAdjustedFitness(s, random);
Genome p2 = getRandomGenomeBiasedAdjustedFitness(s, random);
Genome child = new Genome();
if (fitnessMap[p1] >= fitnessMap[p2])
{
child.Crossover(p1, p2);
}
else
{
child.Crossover(p2, p1);
}
if (Random.Range(0f, 1f) < MUTATION_RATE)
{
child.Mutation();
}
if (Random.Range(0f, 1f) < ADD_CONNECTION_RATE)
{
//Debug.Log("Adding connection mutation...");
child.AddConnectionMutation(connectionInnovation, 10);
}
if (Random.Range(0f, 1f) < ADD_NODE_RATE)
{
//Debug.Log("Adding node mutation...");
child.AddNodeMutation(connectionInnovation, nodeInnovation);
}
nextGenGenomes.Add(child);
}
genomes = nextGenGenomes;
nextGenGenomes = new List <Genome>();
}
/// <summary>
/// Breed
/// </summary>
private Genome Breed(Genome mom = null, Genome dad = null)
{
Genome child = null;
// Get Child
if (dad != null && mom != null)
{
// Crossover between Mom & Dad
if (mom.Fitness >= dad.Fitness)
{
child = Genome.Crossover(mom, dad, _r, _config.disabledConnectionInheritChance);
}
else
{
child = Genome.Crossover(dad, mom, _r, _config.disabledConnectionInheritChance);
}
}
else
{
int maxToKeep = ((_currentPop * _config.percentageToKeep) / 100) - 1;
mom = _genomes[UnityEngine.Random.Range(0, maxToKeep)];
dad = _genomes[UnityEngine.Random.Range(0, maxToKeep)];
// Crossover between Mom & Dad
if (mom.Fitness >= dad.Fitness)
{
child = Genome.Crossover(mom, dad, _r, _config.disabledConnectionInheritChance);
}
else
{
child = Genome.Crossover(dad, mom, _r, _config.disabledConnectionInheritChance);
}
}
// Weights Mutation
if ((float)_r.NextDouble() < _config.mutationRate)
{
child.WeightsMutation(_r);
}
if (_config.genomeMutations)
{
// Add Connection Mutation
if ((float)_r.NextDouble() < _config.addConnectionRate)
{
child.AddConnectionMutation(_r, _connectionInnovation, 10);
}
// Add Node Mutation
if ((float)_r.NextDouble() < _config.addNodeRate)
{
child.AddNodeMutation(_r, _connectionInnovation, _nodeInnovation);
}
// Enable/Disable a Random Connection
if ((float)_r.NextDouble() < _config.enableDisableRate)
{
child.EnableOrDisableRandomConnection();
}
}
return(child);
}
