void MeshEvolution::drawDebug(Mesh &mesh, float gridMin, float gridMax, int divisions)
{
MeshEvolution evo(mesh);
float x, y, z;
float increment = (gridMax - gridMin) / divisions;
glBegin(GL_LINES);
glColor3f(0, 0, 1);
x = gridMin;
for (int i = 0; i < divisions; ++i) {
y = gridMin;
for (int j = 0; j < divisions; ++j) {
z = gridMin;
for (int k = 0; k < divisions; ++k) {
glVertex3f(x, y, z);
glVertex3fv((Vector3(x, y, z) + evo.scalarFieldNormal(Vector3(x, y, z)) * increment * 0.2f).xyz);
z += increment;
}
y += increment;
}
x += increment;
}
glEnd();
}
/**
* Constructs a new NeuroEvolutionSelector.
*/
NeuroEvolutionSelector::NeuroEvolutionSelector(EvaluationMethod *evaluationMethod)
{
//TODO Currently only a single world with a single population is supported.
//Select evolution algorithm
CommandLineArgument *evoAlgorithmArg = new CommandLineArgument(
"evolutionAlgorithm", "evo", "<algorithmName> <controlledAgent> <populationName>",
"Uses the evolution algorithm with the given <algorithmName> "
"to evolve controllers for agent <controlledAgent> (optional). "
"Optionally the population name can be set with <populationName>.", 1, 2, true);
CommandLineArgument *fitnessFunctionArg = new CommandLineArgument(
"fitness", "fit", "<prototypeName> <fitnessFunctionName> <population>",
"Creates a copy of <prototypeName> and uses it "
" with the given <fitnessFunctionName>. The <population>"
" is a number and specifies the population in which the fitness function is used.",
2, 1, true);
//ensure that there is at least on world, even if not specified via command line.
bool createDefaultWorld = false;
if(evoAlgorithmArg->getNumberOfEntries() == 0) {
createDefaultWorld = true;
}
int scriptFitnessCounter = 0;
QList<QString> evoWorldNames;
for(int evoCount = 0; evoCount < evoAlgorithmArg->getNumberOfEntries() || createDefaultWorld; ++evoCount) {
QString worldName = "Main";
QString popName = "Controllers";
if(evoCount > 0) {
worldName = "Pop" + QString::number(evoCount);
}
if(evoCount > 0) {
popName = "Controllers" + QString::number(evoCount);
}
QList<QString> evoArguments = evoAlgorithmArg->getEntryParameters(evoCount);
if(evoArguments.size() >= 3) {
worldName = evoArguments[2];
QString name = worldName;
int counter = 1;
while(evoWorldNames.contains(worldName)) {
worldName = name + QString::number(counter);
counter++;
}
evoWorldNames.append(worldName);
}
World *world = new World(worldName);
Population *population = new Population(popName, world);
world->addPopulation(population);
if(evoCount == 0) {
world->setEvaluationMethod(evaluationMethod);
}
else {
world->setEvaluationMethod(0);
}
Evolution::getEvolutionManager()->addEvolutionWorld(world);
//Install Fitness
FitnessFunction *fitness = 0;
for(int i = 0; i < fitnessFunctionArg->getNumberOfEntries(); ++i) {
QList<QString> fitArguments = fitnessFunctionArg->getEntryParameters(i);
if((evoCount == 0 && fitArguments.size() <= 2)
|| (fitArguments.size() > 2
&& fitArguments.at(2).toInt() == evoCount))
{
if(fitArguments.size() > 1) {
fitness = Fitness::getFitnessManager()
->createFitnessFunctionFromPrototype(fitArguments.at(0), fitArguments.at(1));
if(fitness == 0) {
cerr << "Failed to create FitnessFunction prototype ["
<< fitArguments.at(0).toStdString().c_str() << endl;
}
}
if(fitness != 0) {
population->addFitnessFunction(fitness);
}
}
}
if(fitness == 0) {
QString scriptName = "Script";
if(scriptFitnessCounter > 0) {
scriptName += QString::number(scriptFitnessCounter);
}
scriptFitnessCounter++;
fitness = Fitness::getFitnessManager()
->createFitnessFunctionFromPrototype("Script", scriptName);
population->addFitnessFunction(fitness);
}
if(evoArguments.size() >= 1 && evoArguments.at(0).trimmed() == "ens3")
{
ENS3EvolutionAlgorithm evo(world);
}
else if(evoArguments.size() >= 1 && evoArguments.at(0).trimmed() == "neat") {
NeatAlgorithm evo(world);
}
else if(evoArguments.size() < 1 || (evoArguments.size() >= 1
&& (evoArguments.at(0).trimmed() == "mens" || evoArguments.at(0).trimmed() == "icone")))
{
ModularNeuroEvolution1 evo(world);
}
if(evoArguments.size() >= 2) {
world->getControlleAgentValue()->set(evoArguments.at(1));
}
//add individual statistics
StandardIndividualStatistics indStatistics(population);
NeuralNetworkIndividualStatistics neuroStatistics(population);
//Add neuralNetworkStatustic calculator.
Statistics::getStatisticsManager()->addGenerationStatistics(
new BasicNeuralNetworkStatistics(*population));
createDefaultWorld = false;
}
}
