// Update is called once per frame
void Update()
{
if (dontUpdate == 0)
{
for (int i = 0; i < numCrits; i++)
{
critter crit = critters[i];
crit.lastPosition = crit.gameObj.transform.position;
if (crit.curAct == crit.actionseq.Count - 1)
{
crit.curAct = 0;
}
if (crit.curAct < crit.actionseq.Count)
{
action act1 = crit.actionseq[crit.curAct++];
//crit.fitness += Vector3.Distance(crit.gameObj.transform.position, crit.lastPosition);
if (act1.act == "AddForce")
{
Rigidbody cJ = crit.gameObj.transform.GetChild(act1.limb).gameObject.GetComponent(typeof(Rigidbody)) as Rigidbody;
float fudge;
if (act1.limb == 2)
{
fudge = 1.4f;
}
else
{
fudge = 0f;
}
Vector3 pos = new Vector3(0, 0, -1000 + i * 7 + fudge);
Vector3 force = new Vector3(act1.val.x, act1.val.y, act1.val.z);
cJ.AddForceAtPosition(force, pos);
}
}
}
timeLeft -= Time.deltaTime;
if (timeLeft <= 0)
{
nextGen();
}
}
}
// Use this for initialization
void Start()
{
for (int i = 0; i < numCrits; i++)
{
GameObject indv = new GameObject();
GameObject cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
cube.AddComponent <coll>();
cube.transform.position = new Vector3(0f, 2f, -1000f + i * 7f + 0.7f);
cube.transform.localScale = new Vector3(1f, 2f, 3f);
Rigidbody cuberig = cube.AddComponent <Rigidbody>();
GameObject cap1 = GameObject.CreatePrimitive(PrimitiveType.Capsule);
cap1.transform.position = new Vector3(0, 0, -1000 + i * 7);
CharacterJoint cap1joint = cap1.AddComponent <CharacterJoint>();
cap1joint.connectedBody = cuberig;
GameObject cap2 = GameObject.CreatePrimitive(PrimitiveType.Capsule);
cap2.transform.position = new Vector3(0, 0, -1000f + i * 7 + 1.4f);
CharacterJoint cap2joint = cap2.AddComponent <CharacterJoint>();
cap2joint.connectedBody = cuberig;
cube.transform.parent = indv.transform;
cap1.transform.parent = indv.transform;
cap2.transform.parent = indv.transform;
critter crit = new critter();
crit.gameObj = indv;
for (int j = 0; j < Random.Range(1, 20); j++)
{
action act = new action();
act.setAct(Random.Range(0, 2));
act.limb = Random.Range(1, 3);
act.val = new Vector3(Random.Range(0, 50), 0, 0);
act.num = 1;
crit.actionseq.Add(act);
}
critters.Add(crit);
}
}
void nextGen()
{
dontUpdate = 1;
Debug.Log("Gen: " + genNum++);
for (int i = 0; i < numCrits; i++)
{
critters[i].fitness = -1 * critters[i].gameObj.transform.GetChild(1).position.x;
Destroy(critters[i].gameObj);
}
List <critter> ordered = critters.OrderBy(o => o.fitness).ToList();
Debug.Log("Max reached: " + ordered[0].fitness);
for (int i = 0; i < numCrits; i++)
{
int k = 0;
int m = 0;
while (k == m)
{
k = Random.Range(0, 5);
m = Random.Range(0, 5);
}
GameObject indv = new GameObject();
GameObject cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
cube.transform.position = new Vector3(0f, 2f, -1000f + i * 7f + 0.7f);
cube.transform.localScale = new Vector3(1f, 2f, 3f);
Rigidbody cuberig = cube.AddComponent <Rigidbody>();
cube.AddComponent <coll>();
GameObject cap1 = GameObject.CreatePrimitive(PrimitiveType.Capsule);
cap1.transform.position = new Vector3(0, 0, -1000 + i * 7);
CharacterJoint cap1joint = cap1.AddComponent <CharacterJoint>();
cap1joint.connectedBody = cuberig;
GameObject cap2 = GameObject.CreatePrimitive(PrimitiveType.Capsule);
cap2.transform.position = new Vector3(0, 0, -1000f + i * 7 + 1.4f);
CharacterJoint cap2joint = cap2.AddComponent <CharacterJoint>();
cap2joint.connectedBody = cuberig;
cube.transform.parent = indv.transform;
cap1.transform.parent = indv.transform;
cap2.transform.parent = indv.transform;
critter crit = new critter();
crit.gameObj = indv;
for (int j = 0; j < ordered[k].actionseq.Count; j++)
{
int which = Random.Range(0, 2);
if (which == 0 || j >= ordered[m].actionseq.Count)
{
crit.actionseq.Add(ordered[k].actionseq[j]);
}
else
{
crit.actionseq.Add(ordered[m].actionseq[j]);
}
}
int mutate = Random.Range(0, 100);
if (mutate < 20)
{
for (int z = 0; z < Random.Range(0, 5); z++)
{
action act = new action();
act.setAct(Random.Range(0, 1));
act.limb = Random.Range(1, 3);
act.val = new Vector3(Random.Range(0, 5), 0, 0);
crit.actionseq[Random.Range(0, crit.actionseq.Count)] = act;
}
}
critters[i] = crit;
}
dontUpdate = 0;
timeLeft = 5;
}