IEnumerator EvaluateBatch(int batchIndex, Phenotype[] batch, Orientations orientation)
{
IList <EvaluationBehaviour> evaluations = new List <EvaluationBehaviour>();
var layout = new TransformLayout(28.0f, 18.0f, batchSize, Mathf.FloorToInt(Mathf.Sqrt(batchSize)))
.GetEnumerator();
foreach (var phenotype in batch)
{
layout.MoveNext();
var t = PoolManager.Pools["Evaluations"].Spawn(prefab, layout.Current, Quaternion.identity, transform);
var controllerBehaviour = t.GetComponent <ControllerBehaviour>();
controllerBehaviour.Network = NetworkPorts.FromGenotype(phenotype.Genotype);
var evaluationBehaviour = t.GetComponent <EvaluationBehaviour>();
evaluationBehaviour.Phenotype = phenotype;
evaluationBehaviour.BeginTrial(orientation, Time.time);
evaluations.Add(evaluationBehaviour);
}
// Wait for evaluations to complete
while (evaluations.Any(ev => !ev.IsComplete))
{
if (BestEvaluation != null)
{
var ordered = evaluations.OrderByDescending(ev => ev.CurrentTrial.Fitness);
var best = ordered.First();
BestEvaluation(best);
}
yield return(new WaitForFixedUpdate());
}
// Cleanup
List <Transform> children = new List <Transform>(transform.childCount);
foreach (Transform child in transform)
{
if (child.gameObject.activeInHierarchy)
{
children.Add(child);
}
}
foreach (Transform child in children)
{
PoolManager.Pools["Evaluations"].Despawn(child, null);
}
}
void Awake()
{
upper = transform.Find("Cart/Upper").GetComponent <Rigidbody2D>();
lower = transform.Find("Cart/Lower").GetComponent <Rigidbody2D>();
wheel = transform.Find("Cart/Wheel").GetComponent <Rigidbody2D>();
wheelJoint = wheel.transform.GetComponentInChildren <WheelJoint2D>();
evaluation = GetComponent <EvaluationBehaviour>();
if (json != null)
{
var genotype = NEAT.Genotype.FromJSON(JSON.Deserialize(json.text));
Assert.AreEqual(JSON.Serialize(genotype.ToJSON()), json.text.Trim(),
"JSON should be compatible round-trip");
Network = NetworkPorts.FromGenotype(genotype);
}
}