private NEAT Crossover(NEAT dominant, NEAT submissive)
{
NEAT child = new NEAT(dominant);
List <Connection> newConnections = new List <Connection>();
foreach (var connection in child.GetConnetionGenom())
{
Connection c = submissive.GetConnetionGenom().Find(x => x.innovation == connection.innovation);
if (c != null && Random.Range(0f, 1f) > 0.5f)
{
Node inNode = child.GetNodeGenom().Find(n => n.nodeID == c.inNode);
Node outNode = child.GetNodeGenom().Find(n => n.nodeID == c.outNode);
if (outNode == null && inNode != null)
{
outNode = new Node(c.outNode, inNode.order + 1, NodeType.Hidden);
child.AddNode(outNode);
}
else if (outNode == null && inNode == null)
{
outNode = new Node(c.outNode, 1, NodeType.Hidden);
child.AddNode(outNode);
}
if (inNode == null)
{
inNode = new Node(c.inNode, 0, NodeType.Hidden);
child.AddNode(inNode);
}
Connection cNew = new Connection(inNode.nodeID, outNode.nodeID, c.weight, c.enabled, c.innovation);
newConnections.Add(cNew);
}
}
foreach (var connection in newConnections)
{
if (!CompareConnection(connection, child))
{
if (!LoopSearch(connection, child.GetConnetionGenom()))
{
child.RemoveConnection(child.GetConnetionGenom().Find(n => n.innovation == connection.innovation));
child.AddConnection(connection);
child.GetNodeGenom().Find(n => n.nodeID == connection.inNode).AddConnection(connection);
}
}
}
return(child);
}
public void DrawNetwork(NEAT network)
{
List <Node> nodes = network.GetNodeGenom();
List <Connection> connections = network.GetConnetionGenom();
Dictionary <int, List <Node> > table = new Dictionary <int, List <Node> >();
linePositions = new Dictionary <LineRenderer, Connection>();
nodeToTrans = new Dictionary <int, RectTransform>();
int lastOrder = CalculateLargestOrder(nodes);
for (int i = 0; i <= lastOrder; i++)
{
table.Add(i, new List <Node>());
}
table.Add(lastOrder + 1, new List <Node>());
foreach (var node in nodes)
{
if (node.nodeType != NodeType.Output)
{
table[node.order].Add(node);
}
else
{
table[lastOrder + 1].Add(node);
}
}
for (int i = 0; i < table.Count; i++)
{
table[i].Sort(delegate(Node a, Node b) {
return(a.nodeID.CompareTo(b.nodeID));
});
}
for (int i = 0; i <= lastOrder + 1; i++)
{
for (int j = 0; j < table[i].Count; j++)
{
CreateNode(new Vector2(i * ((panelBounds.x - bounds.x * 2) / (lastOrder + 1)), j * ((panelBounds.y - bounds.y * 1.5f) / table[i].Count)), table[i][j]);
}
}
foreach (var connection in connections)
{
Vector3[] poses = new Vector3[2];
poses[0] = cam.ScreenToWorldPoint(nodeToTrans[connection.inNode].anchoredPosition);
poses[1] = cam.ScreenToWorldPoint(nodeToTrans[connection.inNode].anchoredPosition);
CreateConnection(poses, connection);
}
draw = true;
}
public SaveBrain(NEAT neat, Vector2Int gridSize, Vector2 bucketSize, Vector2 offset)
{
this.gridSize = new int[2];
this.gridSize[0] = gridSize.x;
this.gridSize[1] = gridSize.y;
this.bucketSize = new float[2];
this.bucketSize[0] = bucketSize.x;
this.bucketSize[1] = bucketSize.y;
this.offset = new float[2];
this.offset[0] = offset.x;
this.offset[1] = offset.y;
innovation = neat.GetInnovation();
inputs = neat.GetInputSize();
outputs = neat.GetOutputsSize();
List <float> tempFloatsNodes = new List <float>();
List <float> tempFloatsConnections = new List <float>();
foreach (var node in neat.GetNodeGenom())
{
//node vars
tempFloatsNodes.Add(node.order);
tempFloatsNodes.Add(node.nodeID);
tempFloatsNodes.Add((int)node.nodeType);
tempFloatsNodes.Add(node.activation);
tempFloatsNodes.Add(node.sum);
}
foreach (var connection in neat.GetConnetionGenom())
{
//connections vars
tempFloatsConnections.Add(connection.inNode);
tempFloatsConnections.Add(connection.outNode);
tempFloatsConnections.Add(connection.weight);
if (connection.enabled)
{
tempFloatsConnections.Add(1);
}
else
{
tempFloatsConnections.Add(0);
}
tempFloatsConnections.Add(connection.innovation);
}
floatNodes = tempFloatsNodes.ToArray();
floatConnections = tempFloatsConnections.ToArray();
}
public NEAT LoadBrain()
{
NEAT network = new NEAT(0, 0);
network.SetSize(inputs, outputs);
//create all nodes
for (int i = 0; i < floatNodes.Length; i += 5)
{
Node current = new Node((int)floatNodes[i + 1], (int)floatNodes[i], (NodeType)(int)floatNodes[i + 2]);
current.activation = floatNodes[i + 3];
current.sum = floatNodes[i + 4];
network.AddNode(current);
}
//create all connections
for (int i = 0; i < floatConnections.Length; i += 5)
{
bool enable = floatConnections[i + 3] == 1 ? true : false;
Connection current = new Connection((int)floatConnections[i], (int)floatConnections[i + 1], floatConnections[i + 2], enable, (int)floatConnections[i + 4]);
Debug.Log(current.inNode + "Innode id, " + current.outNode + "outnode id, " + current.weight + "weight, " + current.innovation + "innovation");
network.AddConnection(current);
}
//add all connections to nodes
foreach (var connection in network.GetConnetionGenom())
{
Node currentNode = network.GetNodeGenom().Find(x => x.nodeID == connection.inNode);
if (currentNode != null)
{
currentNode.AddConnection(connection);
}
}
network.SetInnovation(innovation);
return(network);
}
private float CompareGenes(NEAT networkA, NEAT networkB)
{
if (networkA.GetConnetionGenom().Count == 0 && networkB.GetConnetionGenom().Count == 0)
{
return(0);
}
List <Connection> connectionsA = networkA.GetConnetionGenom();
List <Connection> connectionsB = networkB.GetConnetionGenom();
connectionsA.Sort(delegate(Connection a, Connection b) {
return(a.innovation.CompareTo(b.innovation));
});
connectionsB.Sort(delegate(Connection a, Connection b) {
return(a.innovation.CompareTo(b.innovation));
});
int diff = 0;
int counterMax = 0;
#region
if (connectionsA.Count == 0 && connectionsB.Count != 0)
{
diff = connectionsB.Count;
counterMax = connectionsB[connectionsB.Count - 1].innovation;
}
else if (connectionsB.Count == 0 && connectionsA.Count != 0)
{
diff = connectionsA.Count;
counterMax = connectionsA[connectionsA.Count - 1].innovation;
}
else if (connectionsA.Count > 0 && connectionsB.Count > 0)
{
diff = connectionsA[connectionsA.Count - 1].innovation - connectionsB[connectionsB.Count - 1].innovation;
counterMax = diff < 0 ? connectionsA[connectionsA.Count - 1].innovation : connectionsB[connectionsB.Count - 1].innovation;
}
#endregion
int[] result = new int[counterMax];
for (int i = 1; i < counterMax; i++)
{
Connection A = connectionsA.Find(x => x.innovation == i);
Connection B = connectionsB.Find(x => x.innovation == i);
if (A != null && B != null)
{
result[i] = 1;
continue;
}
result[i] = 0;
}
int disjoints = 0;
foreach (int i in result)
{
if (i == 0)
{
disjoints++;
}
}
float weigthSum = 0;
counterMax = diff > 0 ? connectionsA.Count : connectionsB.Count;
for (int i = 0; i < counterMax; i++)
{
float w1 = 0;
float w2 = 0;
if (i < connectionsA.Count)
{
w1 = connectionsA[i].weight;
}
if (i < connectionsB.Count)
{
w2 = connectionsB[i].weight;
}
weigthSum += Mathf.Abs(w1 - w1);
}
weigthSum /= counterMax;
diff = Mathf.Abs(diff);
int genomSumA = connectionsA.Count + networkA.GetNodeGenom().Count;
int genomSumB = connectionsB.Count + networkB.GetNodeGenom().Count;
if (genomSumA > genomSumB)
{
return(((excessFactor * diff) / genomSumA) + ((disjointFactor * disjoints) / genomSumA) + (weigthFactor * weigthSum));
}
return(((excessFactor * diff) / genomSumB) + ((disjointFactor * disjoints) / genomSumB) + (weigthFactor * weigthSum));
}