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JontePonte

May 11th, 2025 (edited)

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using UnityEngine;
using Evolution;
using NeuralNetwork;
using System;
using UnityEngine.Events;
using System.Linq;
public class NeuralAgentManager : MonoBehaviour
{
[Header("Setup")]
public GameObject agentPrefab;
public Graph scoreGraph;
public int seed;
[Header("Population Settings")]
public int populationCount = 100;
public float generationLengthSeconds = 30;
[Header("Evolution Parameters")]
[Range(0f, 1f)] public float mutationRate = .5f;
[Range(0f, 1f)] public float mutationStrength = .2f;
[Range(0f, 1f)] public float selectionRate = .02f;
[Header("Visualization")]
public bool showBestAgent;
[Header("Events")]
public UnityEvent onNewGeneration;
public int currentGeneration { get; private set; }
public WalkingAgent[] agents { get; private set; }
private Neuroevolution neuroevolution;
private float timer;
private void Start()
{
InitalizeAgents();
}
private void InitalizeAgents()
{
agents = new WalkingAgent[populationCount];
if (agentPrefab.GetComponent<Creature>() == null)
{
Debug.LogError("Agent prefab must contain a Creature component!");
return;
}
for (int i = 0; i < agents.Length; i++)
{
var obj = Instantiate(agentPrefab);
obj.transform.parent = transform;
agents[i] = new WalkingAgent(obj.GetComponent<Creature>());
}
neuroevolution = new(agents, mutationRate, mutationStrength, selectionRate);
}
private void OnValidate()
{
if (agents == null) return;
UpdateAgentVisibility();
}
private void UpdateAgentVisibility()
{
if (showBestAgent)
{
agents[0].SetVisible(true);
for (int i = 1; i < agents.Length; i++)
{
agents[i].SetVisible(false);
}
}
else
{
foreach (var agent in agents)
{
agent.SetVisible(true);
}
}
}
void FixedUpdate()
{
EvaluateAgents();
UpdateGeneration();
}
private void EvaluateAgents()
{
foreach (var agent in agents)
{
agent.Evaluate(Time.fixedDeltaTime);
}
}
private void UpdateGeneration()
{
timer += Time.fixedDeltaTime;
if (timer > generationLengthSeconds)
{
timer = 0;
NewGeneration();
}
}
private void NewGeneration()
{
currentGeneration++;
onNewGeneration.Invoke();
neuroevolution.NewGeneration();
UpdateScoreGraph();
ResetAgents();
}
private void UpdateScoreGraph()
{
if (scoreGraph != null)
{
scoreGraph.AddPoint(new Vector2(currentGeneration, GetHighestScore()));
}
}
private void ResetAgents()
{
foreach (var agent in agents)
{
if (showBestAgent)
{
agent.SetVisible(false);
}
agent.Reset();
}
if (showBestAgent)
{
agents[0].SetVisible(true);
}
}
private float GetHighestScore()
{
return agents.Max(agent => agent.GetScore());
}
}
public class WalkingAgent : EvolvableAgent
{
public Creature creature { get; private set; }
public bool isDead { get; private set; }
//float[] inputs;
int inputCount;
public WalkingAgent(Creature creature)
{
int inputCount = creature.BodyPartsCount() * 4;
this.inputCount = inputCount;
//This can be tweaked
NeuralNetworkParams neuralNetworkParams = new NeuralNetworkParams()
{
hiddenLayerNeuronCount = new int[] { 8, 8 },
outputCount = creature.jointController.GetJointsCount(),
inputCount = inputCount
};
neuralNetwork = new NeuralNetwork.NeuralNetwork(neuralNetworkParams);
neuralNetwork.SetRandomParameters();
this.creature = creature;
creature.GetHead().GetComponent<OnCollision>().onCollision.AddListener(OnHeadCollision);
}
public override void Evaluate(float deltaTime)
{
float[] inputs = new float[inputCount];
int idx = 0;
for (int i = 0; i < creature.BodyPartsCount(); i++)
{
Transform bodyPart = creature.GetBodyPart(i).transform;
Vector2 direction = bodyPart.right;
Vector2 position = creature.GetRelativePosition(bodyPart);
inputs[idx] = position.x;
inputs[idx + 1] = position.y;
inputs[idx + 2] = direction.x;
inputs[idx + 3] = direction.y;
idx += 4;
}
neuralNetwork.SetInputs(inputs);
float[] outputs = neuralNetwork.Evaluate();
for (int i = 0; i < creature.jointController.GetJointsCount(); i++)
{
creature.jointController.SetMotorSpeed(i, outputs[i]);
}
}
public void Reset()
{
creature.Reset();
isDead = false;
creature.gameObject.SetActive(true);
}
public void SetVisible(bool isVisible)
{
creature.setVisible.SetVisibility(isVisible);
}
// How far creature has travelled
public override float GetScore()
{
return creature.GetHead().transform.position.x;
}
void OnHeadCollision()
{
isDead = true;
creature.gameObject.SetActive(false);
}
}

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