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authorPaul Oliver <contact@pauloliver.dev>2024-02-29 19:20:22 +0100
committerPaul Oliver <contact@pauloliver.dev>2024-02-29 19:20:52 +0100
commitaf7e23ab119eba7c0579796abd288c027edabfa9 (patch)
treefcd18c9405f33bed0e5f706a8a5d249ee3a63201
Initial commitHEADmaster
Diffstat
-rw-r--r--.gitignore4
-rw-r--r--Makefile21
-rw-r--r--README.md20
-rw-r--r--bin/parameters41
-rw-r--r--bin/populations/halfFitnessCriteria/16laps.population25590
-rw-r--r--bin/populations/halfFitnessCriteria/1lap.population25803
-rw-r--r--bin/populations/halfFitnessCriteria/2laps.population25803
-rw-r--r--bin/populations/halfFitnessCriteria/4laps.population25852
-rw-r--r--bin/populations/halfFitnessCriteria/8laps.population25555
-rw-r--r--bin/populations/halfFitnessCriteria/current - Copy.population21604
-rw-r--r--bin/populations/halfFitnessCriteria/current.population21604
-rw-r--r--bin/populations/halfFitnessCriteria/population25604
-rw-r--r--bin/populations/halfFitnessCriteria/population - Copy25604
-rw-r--r--bin/populations/halfFitnessCriteria/test.population21805
-rw-r--r--bin/populations/population [Incorrect Traps]35094
-rw-r--r--bin/populations/population [Labrynt - Converged]36399
-rw-r--r--bin/populations/population [Labrynt - WINNER]35843
-rw-r--r--bin/populations/population [WINNER Traps]35843
-rw-r--r--bin/stages/complex77
-rw-r--r--bin/stages/figure841
-rw-r--r--bin/stages/figure8trap52
-rw-r--r--bin/stages/labrynt72
-rw-r--r--bin/stages/labrynt_wrong_traps71
-rw-r--r--bin/stages/square27
-rw-r--r--bin/stages/stomach58
-rw-r--r--bin/stages/zigzag50
-rw-r--r--bin/wsd/current - Copy.population24636
-rw-r--r--bin/wsd/current.population26213
-rw-r--r--include/Agent.hpp54
-rw-r--r--include/App.hpp57
-rw-r--r--include/NR_Utils.hpp79
-rw-r--r--include/Stage.hpp44
-rw-r--r--obj/.keep0
-rw-r--r--src/Agent.cpp256
-rw-r--r--src/App.cpp538
-rw-r--r--src/NR_Utils.cpp88
-rw-r--r--src/Stage.cpp192
37 files changed, 440694 insertions, 0 deletions
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ff65186
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+**/*.a
+**/*.d
+**/*.o
+**/*.exe
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..016f750
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,21 @@
+EXE := bin/NeuroRacers.exe
+SOURCES := $(wildcard src/*.cpp)
+OBJECTS := $(patsubst src/%.cpp,obj/%.o,$(SOURCES))
+DEPS := $(patsubst %.o,%.d,$(OBJECTS))
+CFLAGS := -c -O3 -Wall -std=c++11 -fno-strict-aliasing -MMD -DSFML_DYNAMIC -Iinclude -IC:/TBB/include -IC:/Projects/Libraries/HyperNeat/include -IC:/Projects/Libraries/HyperNeat/plugins/CppnExplorer/include -IC:/Box2D/include -IC:/SFML/include -IC:/cereal/include
+LFLAGS := -LC:/TBB/bin -LC:/Projects/Libraries/HyperNeat/lib -LC:/Projects/Libraries/HyperNeat/plugins/CppnExplorer/lib -lHyperNeat -lCppnExplorer -LC:/Box2D/lib -LC:/SFML/lib -ltbb -lBox2D.dll -lsfml-graphics -lsfml-window -lsfml-system
+
+all: $(OBJECTS)
+ g++ -o $(EXE) $(OBJECTS) $(LFLAGS)
+
+-include $(DEPS)
+
+$(OBJECTS):
+ g++ $(CFLAGS) $(patsubst obj/%.o,src/%.cpp,$@) -o $@
+
+rebuild: clean all
+
+clean:
+ del obj\*.o
+ del obj\*.d
+ del bin\*.exe
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..4c624f8
--- /dev/null
+++ b/README.md
@@ -0,0 +1,20 @@
+This program was created for the sole purpose of testing my implementation of
+the rtES-HyperNeat algorithm. The idea is to generate a set of racer-agents
+that must learn to race proficiently around a track. Several tests have been
+designed, each with different challenges.
+
+- [YouTube Playlist](https://www.youtube.com/watch?v=JeXqbYXKqcs&list=PLrEmYrpTcDJb_RfwCpSnCPk1Cus310ehA)
+- [Featured on Evolutionary Complexity (EPlex) Research Group](http://eplex.cs.ucf.edu/ESHyperNEAT/)
+
+rtES-HyperNeat (Real Time Evolving Substrate Hypercube based Neuro-Evolution of
+Augmenting Topologies) is a real time neuro-evolution algorithm based on the
+papers written by Kenneth Stanley and other researchers at the EPLEX group
+(http://eplex.cs.ucf.edu/). More specifically, rtES-HyperNeat tries to blend the
+existing ES-HyperNeat (http://eplex.cs.ucf.edu/ESHyperNEAT/) algorithm with
+rtNeat (http://nn.cs.utexas.edu/?rtNEAT), a previous version which allowed real
+time evolution of agents on a virtual field. The main problem with trying to
+make ES-HyperNeat real-timed was that the CPPNs (genotypes) had to be converted
+into functional Neural Networks (phenotypes) on a single time-step. This was
+proven to be impossible, so, as a solution, the library handles these
+transformations on separate execution threads. This way, the algorithm flows
+seamlessly. \ No newline at end of file
diff --git a/bin/parameters b/bin/parameters
new file mode 100644
index 0000000..4426c58
--- /dev/null
+++ b/bin/parameters
@@ -0,0 +1,41 @@
+<POPULATION_PARAMETERS>
+ <populationSize> 100
+ <seed> 0
+ <weightRange> 1.0
+ <c1Disjoint> 1.0
+ <c3WeightDifference> 0.4
+ <initialDistanceThreshold> 4.0
+ <distanceThresholdShift> 0.01
+ <sexualReproductionRate> 0.5
+ <weightMutationRate> 0.94
+ <weightDeviation> 0.25
+ <interspeciesMatingRate> 0.001
+ <geneDisablingRatio> 0.75
+ <linkMutationRate> 0.03
+ <nodeMutationRate> 0.01
+ <targetSpeciesCount> 5
+ <eligibilityRatio> 0.5
+ <minimumLifetime> 2
+ <replBeforeReorganization> 5
+</POPULATION_PARAMETERS>
+
+<NEURAL_NET_PARAMETERS>
+ <testGridLevel> 3
+ <maxQuadTreeLevel> -1
+ <minQuadTreeLevel> 0
+ <bandPruningThreshold> 0.3
+ <varianceThreshold> 0.03
+ <divisionThreshold> 0.03
+ <searchIterations> -1
+</NEURAL_NET_PARAMETERS>
+
+<NOVELTY_SEARCH_PARAMETERS>
+ <doNoveltySearch> 0
+ <noveltyThreshold> 25
+ <referenceOrganisms> 16
+</NOVELTY_SEARCH_PARAMETERS>
+
+<STAGE_PARAMETERS>
+ <file> stages/complex
+ <draw> 1
+</STAGE_PARAMETERS>
diff --git a/bin/populations/halfFitnessCriteria/16laps.population b/bin/populations/halfFitnessCriteria/16laps.population
new file mode 100644
index 0000000..387a7fd
--- /dev/null
+++ b/bin/populations/halfFitnessCriteria/16laps.population
@@ -0,0 +1,25590 @@
+[ BEGIN POPULATION ]
+ [ BEGIN POPULATION PRMS ]
+ popSize : 200
+ cppnInputs : 6
+ cppnOutputs : 2
+ seed : 0
+ weightRange : 1
+ c1Disjoint : 1
+ c3WeightDifference : 0.4
+ initialDistanceThreshold : 4
+ distanceThresholdShift : 0.01
+ sexualReproductionRate : 0.5
+ weightMutationRate : 0.94
+ weightDeviation : 0.25
+ interspeciesMatingRate : 0.001
+ geneDisablingRatio : 0.75
+ linkMutationRate : 0.03
+ nodeMutationRate : 0.01
+ targetSpeciesCount : 12
+ eligibilityRatio : 0.5
+ minimumLifetime : 24000
+ replBeforeReorganization : 5
+ [ END POPULATION PRMS ]
+
+ populationLock : 0
+ lockedOrganisms : 0
+ frozenOrganisms : 0
+ innovationsCount : 191
+ basicInnovations : 14
+ lastReplacement : 186
+ replacements : 266739
+ distanceThreshold : 0.090000000000039
+ oldOrganisms : 0
+ minOldOrganisms : 100
+ noveltyMetric : 1
+ updates : 7110558
+ species : 13
+
+ [ BEGIN INNOVATION ]
+ number : 14
+ source : 2
+ target : 6
+ depth : 0.5
+ function : SINE
+ [ END INNOVATION ]
+
+ [ BEGIN INNOVATION ]
+ number : 15
+ source : 0
+ target : 13
+ depth : 0.5
+ function : COSINE
+ [ END INNOVATION ]
+
+ [ BEGIN INNOVATION ]
+ number : 16
+ source : 4
+ target : 10
+ depth : 0.5
+ function : GAUSSIAN
+ [ END INNOVATION ]
+
+ [ BEGIN INNOVATION ]
+ number : 17
+ source : 4
+ target : 7
+ depth : 0.5
+ function : COSINE
+ [ END INNOVATION ]
+
+ [ BEGIN INNOVATION ]
+ number : 18
+ source : 4
+ target : 12
+ depth : 0.5
+ function : SIGMOID
+ [ END INNOVATION ]
+
+ [ BEGIN INNOVATION ]
+ number : 19
+ source : 2
+ target : 7
+ depth : 0.5
+ function : SINE
+ [ END INNOVATION ]
+
+ [ BEGIN INNOVATION ]
+ number : 20
+ source : 4
+ target : 12
+ depth : 0.5
+ function : COSINE
+ [ END INNOVATION ]
+
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+ number : 21
+ source : 3
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+ depth : 0.5
+ function : SIGMOID
+ [ END INNOVATION ]
+
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+ function : SIGMOID
+ [ END INNOVATION ]
+
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+ number : 23
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+ function : SINE
+ [ END INNOVATION ]
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+ function : GAUSSIAN
+ [ END INNOVATION ]
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+ function : GAUSSIAN
+ [ END INNOVATION ]
+
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+ function : GAUSSIAN
+ [ END INNOVATION ]
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+ [ END INNOVATION ]
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+ [ END INNOVATION ]
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+ [ END INNOVATION ]
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+ function : COSINE
+ [ END INNOVATION ]
+
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+ function : SINE
+ [ END INNOVATION ]
+
+ [ BEGIN INNOVATION ]
+ number : 32
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+ function : SIGMOID
+ [ END INNOVATION ]
+
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+ function : SIGMOID
+ [ END INNOVATION ]
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+ [ END INNOVATION ]
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diff --git a/bin/populations/halfFitnessCriteria/1lap.population b/bin/populations/halfFitnessCriteria/1lap.population
new file mode 100644
index 0000000..be0b1ca
--- /dev/null
+++ b/bin/populations/halfFitnessCriteria/1lap.population
@@ -0,0 +1,25803 @@
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diff --git a/bin/populations/halfFitnessCriteria/2laps.population b/bin/populations/halfFitnessCriteria/2laps.population
new file mode 100644
index 0000000..0496564
--- /dev/null
+++ b/bin/populations/halfFitnessCriteria/2laps.population
@@ -0,0 +1,25803 @@
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diff --git a/bin/populations/halfFitnessCriteria/4laps.population b/bin/populations/halfFitnessCriteria/4laps.population
new file mode 100644
index 0000000..8d1bfb6
--- /dev/null
+++ b/bin/populations/halfFitnessCriteria/4laps.population
@@ -0,0 +1,25852 @@
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diff --git a/bin/populations/halfFitnessCriteria/8laps.population b/bin/populations/halfFitnessCriteria/8laps.population
new file mode 100644
index 0000000..a3f5f63
--- /dev/null
+++ b/bin/populations/halfFitnessCriteria/8laps.population
@@ -0,0 +1,25555 @@
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+ [ END POPULATION PRMS ]
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+[ END POPULATION ]
diff --git a/bin/populations/halfFitnessCriteria/current - Copy.population b/bin/populations/halfFitnessCriteria/current - Copy.population
new file mode 100644
index 0000000..3fb946a
--- /dev/null
+++ b/bin/populations/halfFitnessCriteria/current - Copy.population
@@ -0,0 +1,21604 @@
+# hyperneat::Population file:
+# -------------------------------------------------------------------------------------
+# DO NOT erase or change the order of any entry! This file is read back ENTRY by ENTRY.
+# You might tweak the actual values, but doing so might lead to undefined behavior!
+# Read the hyperneat library manual for more info on editing Population files.
+
+[population]
+ populationLock = false
+ lockedOrganisms = 0
+ frozenOrganisms = 0
+ innovationsCount = 191
+ basicInnovations = 14
+ lastReplacement = 196
+ replacements = 319158
+ distanceThreshold = 0.090000000000039
+ oldOrganisms = 0
+ minOldOrganisms = 100
+ noveltyMetric = true
+ updates = 32202330
+ species = 15
+
+ [population.parameters]
+ popSize = 200
+ cppnInputs = 6
+ cppnOutputs = 2
+ seed = 0
+ weightRange = 1
+ disjointCoeff = 1
+ weightDifferenceCoeff = 0.4
+ initialDistanceThreshold = 4
+ distanceThresholdShift = 0.01
+ sexualReproductionRate = 0.5
+ weightMutationRate = 0.94
+ weightDeviation = 0.25
+ interspeciesMatingRate = 0.001
+ geneDisablingRatio = 0.75
+ linkMutationRate = 0.03
+ nodeMutationRate = 0.01
+ targetSpeciesCount = 12
+ eligibilityRatio = 0.5
+ minimumLifetime = 48000
+ replBeforeReorganization = 5
+
+ [[population.innovation]]
+ number = 14
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 15
+ source = 0
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 16
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 17
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 18
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 19
+ source = 2
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 20
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 21
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 22
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 23
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 24
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 25
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 26
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 27
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 28
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 29
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 30
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 31
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 32
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 33
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 34
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 35
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 36
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 37
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 38
+ source = 1
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 39
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 40
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 41
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 42
+ source = 3
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 43
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 44
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 45
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 46
+ source = 1
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 47
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 48
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 49
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 50
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 51
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 52
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 53
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 54
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 55
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 56
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 57
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 58
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 59
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 60
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 61
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 62
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 63
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 64
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 65
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 66
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 67
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 68
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 69
+ source = 4
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 70
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 71
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 72
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 73
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 74
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 75
+ source = 23
+ target = 10
+ depth = 0.75
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 76
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 77
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 78
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 79
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 80
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 81
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 82
+ source = 1
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 83
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 84
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 85
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 86
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 87
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 88
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 89
+ source = 1
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 90
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 91
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 92
+ source = 5
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 93
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 94
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 95
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 96
+ source = 0
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 97
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 98
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 99
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 100
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 101
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 102
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 103
+ source = 4
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 104
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 105
+ source = 1
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 106
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 107
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 108
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 109
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 110
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 111
+ source = 5
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 112
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 113
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 114
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 115
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 116
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 117
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 118
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 119
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 120
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 121
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 122
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 123
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 124
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 125
+ source = 3
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 126
+ source = 3
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 127
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 128
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 129
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 130
+ source = 2
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 131
+ source = 2
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 132
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 133
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 134
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 135
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 136
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 137
+ source = 0
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 138
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 139
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 140
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 141
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 142
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 143
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 144
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 145
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 146
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 147
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 148
+ source = 5
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 149
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 150
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 151
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 152
+ source = 2
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 153
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 154
+ source = 1
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 155
+ source = 5
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 156
+ source = 5
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 157
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 158
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 159
+ source = 5
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 160
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 161
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 162
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 163
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 164
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 165
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 166
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 167
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 168
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 169
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 170
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 171
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 172
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 173
+ source = 1
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 174
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 175
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 176
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 177
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 178
+ source = 3
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 179
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 180
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 181
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 182
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 183
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 184
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 185
+ source = 4
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 186
+ source = 5
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 187
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 188
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 189
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 190
+ source = 2
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 191
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 192
+ source = 4
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 193
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 194
+ source = 0
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 195
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 196
+ source = 5
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 197
+ source = 2
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 198
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 199
+ source = 147
+ target = 6
+ depth = 0.75
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 200
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 201
+ source = 147
+ target = 6
+ depth = 0.75
+ function = "sine"
+
+ [[population.innovation]]
+ number = 202
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 203
+ source = 2
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 204
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.organism]]
+ # Current champion.
+
+ index = 0
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.982580729129134
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.682521569100693
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.121845289352846
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.725753280764671
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.449390307436477
+ isEnabled = false
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.326161221996227
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 13
+ depth = 1
+ function = "cosine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.311467784404971
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diff --git a/bin/populations/halfFitnessCriteria/current.population b/bin/populations/halfFitnessCriteria/current.population
new file mode 100644
index 0000000..3fb946a
--- /dev/null
+++ b/bin/populations/halfFitnessCriteria/current.population
@@ -0,0 +1,21604 @@
+# hyperneat::Population file:
+# -------------------------------------------------------------------------------------
+# DO NOT erase or change the order of any entry! This file is read back ENTRY by ENTRY.
+# You might tweak the actual values, but doing so might lead to undefined behavior!
+# Read the hyperneat library manual for more info on editing Population files.
+
+[population]
+ populationLock = false
+ lockedOrganisms = 0
+ frozenOrganisms = 0
+ innovationsCount = 191
+ basicInnovations = 14
+ lastReplacement = 196
+ replacements = 319158
+ distanceThreshold = 0.090000000000039
+ oldOrganisms = 0
+ minOldOrganisms = 100
+ noveltyMetric = true
+ updates = 32202330
+ species = 15
+
+ [population.parameters]
+ popSize = 200
+ cppnInputs = 6
+ cppnOutputs = 2
+ seed = 0
+ weightRange = 1
+ disjointCoeff = 1
+ weightDifferenceCoeff = 0.4
+ initialDistanceThreshold = 4
+ distanceThresholdShift = 0.01
+ sexualReproductionRate = 0.5
+ weightMutationRate = 0.94
+ weightDeviation = 0.25
+ interspeciesMatingRate = 0.001
+ geneDisablingRatio = 0.75
+ linkMutationRate = 0.03
+ nodeMutationRate = 0.01
+ targetSpeciesCount = 12
+ eligibilityRatio = 0.5
+ minimumLifetime = 48000
+ replBeforeReorganization = 5
+
+ [[population.innovation]]
+ number = 14
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 15
+ source = 0
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 16
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 17
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 18
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 19
+ source = 2
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 20
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 21
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 22
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 23
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 24
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 25
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 26
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 27
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 28
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 29
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 30
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 31
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 32
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 33
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 34
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 35
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 36
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 37
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 38
+ source = 1
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 39
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 40
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 41
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 42
+ source = 3
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 43
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 44
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 45
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 46
+ source = 1
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 47
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 48
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 49
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 50
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 51
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 52
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 53
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 54
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 55
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 56
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 57
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 58
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 59
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 60
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 61
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 62
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 63
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 64
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 65
+ source = 2
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+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 66
+ source = 0
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+
+ [[population.innovation]]
+ number = 67
+ source = 3
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+ depth = 0.5
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+
+ [[population.innovation]]
+ number = 68
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+ number = 69
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+
+ [[population.innovation]]
+ number = 78
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 79
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 80
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 81
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 82
+ source = 1
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 83
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 84
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 85
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 86
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 87
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 88
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 89
+ source = 1
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 90
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 91
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 92
+ source = 5
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 93
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 94
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 95
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 96
+ source = 0
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 97
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 98
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 99
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 100
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 101
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 102
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 103
+ source = 4
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 104
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 105
+ source = 1
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 106
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 107
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 108
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 109
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 110
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 111
+ source = 5
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 112
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 113
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 114
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 115
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 116
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 117
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 118
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 119
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 120
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 121
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 122
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 123
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 124
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 125
+ source = 3
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 126
+ source = 3
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 127
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 128
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 129
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 130
+ source = 2
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 131
+ source = 2
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 132
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 133
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 134
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 135
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 136
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 137
+ source = 0
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 138
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 139
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 140
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 141
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 142
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 143
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 144
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 145
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 146
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 147
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 148
+ source = 5
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 149
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 150
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 151
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 152
+ source = 2
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 153
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 154
+ source = 1
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 155
+ source = 5
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 156
+ source = 5
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 157
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 158
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 159
+ source = 5
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 160
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 161
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 162
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 163
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 164
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 165
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 166
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 167
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 168
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 169
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 170
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 171
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 172
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 173
+ source = 1
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 174
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 175
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 176
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 177
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 178
+ source = 3
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 179
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 180
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 181
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 182
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 183
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 184
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 185
+ source = 4
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 186
+ source = 5
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 187
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 188
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 189
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 190
+ source = 2
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 191
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 192
+ source = 4
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 193
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 194
+ source = 0
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 195
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 196
+ source = 5
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 197
+ source = 2
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 198
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 199
+ source = 147
+ target = 6
+ depth = 0.75
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 200
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 201
+ source = 147
+ target = 6
+ depth = 0.75
+ function = "sine"
+
+ [[population.innovation]]
+ number = 202
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 203
+ source = 2
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 204
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.organism]]
+ # Current champion.
+
+ index = 0
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.982580729129134
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.682521569100693
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.121845289352846
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.725753280764671
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.449390307436477
+ isEnabled = false
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.326161221996227
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 13
+ depth = 1
+ function = "cosine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.311467784404971
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.488597803447428
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.746350332941741
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.485426708242395
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.618996236399418
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 1
+ isEnabled = true
+
+ [[population.organism]]
+ index = 1
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.982823300420409
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.684578917585984
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.120047403771076
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.725990877058017
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.448053968374052
+ isEnabled = false
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.325781619493607
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 13
+ depth = 1
+ function = "cosine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.311271888609299
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.487684537585874
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.748543273352343
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.486426663109088
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.617694358755745
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 1
+ isEnabled = true
+
+ [[population.organism]]
+ index = 2
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.98267698223296
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.682684809350113
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.12124999446017
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.725872857561641
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.449241783439857
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.325894788945575
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 13
+ depth = 1
+ function = "cosine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.311822405619519
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.488149404908166
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.746678296454862
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.485606288384023
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.618948523530539
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 1
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diff --git a/bin/populations/halfFitnessCriteria/population b/bin/populations/halfFitnessCriteria/population
new file mode 100644
index 0000000..09c4a29
--- /dev/null
+++ b/bin/populations/halfFitnessCriteria/population
@@ -0,0 +1,25604 @@
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+ [ END POPULATION PRMS ]
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diff --git a/bin/populations/halfFitnessCriteria/population - Copy b/bin/populations/halfFitnessCriteria/population - Copy
new file mode 100644
index 0000000..09c4a29
--- /dev/null
+++ b/bin/populations/halfFitnessCriteria/population - Copy
@@ -0,0 +1,25604 @@
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+ [ BEGIN CHARACTERIZATION ]
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+ [ BEGIN CHARACTERIZATION ]
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+ [ END ARCHIVE ]
+ [ END NOVELTY METRIC ]
+[ END POPULATION ]
diff --git a/bin/populations/halfFitnessCriteria/test.population b/bin/populations/halfFitnessCriteria/test.population
new file mode 100644
index 0000000..7559c67
--- /dev/null
+++ b/bin/populations/halfFitnessCriteria/test.population
@@ -0,0 +1,21805 @@
+# hyperneat::Population file:
+# -------------------------------------------------------------------------------------
+# DO NOT erase or change the order of any entry! This file is read back ENTRY by ENTRY.
+# You might tweak the actual values, but doing so might lead to undefined behavior!
+# Read the hyperneat library manual for more info on editing Population files.
+
+[population]
+ populationLock = false
+ lockedOrganisms = 0
+ frozenOrganisms = 0
+ innovationsCount = 191
+ basicInnovations = 14
+ lastReplacement = 196
+ replacements = 319158
+ distanceThreshold = 0.090000000000039
+ oldOrganisms = 0
+ minOldOrganisms = 100
+ noveltyMetric = true
+ updates = 32202330
+ species = 15
+
+ [population.parameters]
+ popSize = 200
+ cppnInputs = 6
+ cppnOutputs = 2
+ seed = 0
+ weightRange = 1
+ disjointCoeff = 1
+ weightDifferenceCoeff = 0.4
+ initialDistanceThreshold = 4
+ distanceThresholdShift = 0.01
+ sexualReproductionRate = 0.5
+ weightMutationRate = 0.94
+ weightDeviation = 0.25
+ interspeciesMatingRate = 0.001
+ geneDisablingRatio = 0.75
+ linkMutationRate = 0.03
+ nodeMutationRate = 0.01
+ targetSpeciesCount = 12
+ eligibilityRatio = 0.5
+ minimumLifetime = 48000
+ replBeforeReorganization = 5
+
+
+ [[population.innovation]]
+ number = 14
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 15
+ source = 0
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 16
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 17
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 18
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 19
+ source = 2
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 20
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 21
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 22
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 23
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 24
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 25
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 26
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 27
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 28
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 29
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 30
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 31
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 32
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 33
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 34
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 35
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 36
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 37
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 38
+ source = 1
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 39
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 40
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 41
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 42
+ source = 3
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 43
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 44
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 45
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 46
+ source = 1
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 47
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 48
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 49
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 50
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 51
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 52
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 53
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 54
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 55
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 56
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 57
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 58
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 59
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 60
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 61
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 62
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 63
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 64
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 65
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 66
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 67
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 68
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 69
+ source = 4
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 70
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 71
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 72
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 73
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 74
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 75
+ source = 23
+ target = 10
+ depth = 0.75
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 76
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 77
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 78
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 79
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 80
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 81
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 82
+ source = 1
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 83
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 84
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 85
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 86
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 87
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 88
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 89
+ source = 1
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 90
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 91
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 92
+ source = 5
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 93
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 94
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 95
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 96
+ source = 0
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 97
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 98
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 99
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 100
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 101
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 102
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 103
+ source = 4
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 104
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 105
+ source = 1
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 106
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 107
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 108
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 109
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 110
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 111
+ source = 5
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 112
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 113
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 114
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 115
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 116
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 117
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 118
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 119
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 120
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 121
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 122
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 123
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 124
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 125
+ source = 3
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 126
+ source = 3
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 127
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 128
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 129
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 130
+ source = 2
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 131
+ source = 2
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 132
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 133
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 134
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 135
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 136
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 137
+ source = 0
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 138
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 139
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 140
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 141
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 142
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 143
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 144
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 145
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 146
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 147
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 148
+ source = 5
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 149
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 150
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 151
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 152
+ source = 2
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 153
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 154
+ source = 1
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 155
+ source = 5
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 156
+ source = 5
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 157
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 158
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 159
+ source = 5
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 160
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 161
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 162
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 163
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 164
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 165
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 166
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 167
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 168
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 169
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 170
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 171
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 172
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 173
+ source = 1
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 174
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 175
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 176
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 177
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 178
+ source = 3
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 179
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 180
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 181
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 182
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 183
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 184
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 185
+ source = 4
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 186
+ source = 5
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 187
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 188
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 189
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 190
+ source = 2
+ target = 13
+ depth = 0.5
+ function = "cosine"
+
+ [[population.innovation]]
+ number = 191
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 192
+ source = 4
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 193
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 194
+ source = 0
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 195
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 196
+ source = 5
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 197
+ source = 2
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 198
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 199
+ source = 147
+ target = 6
+ depth = 0.75
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 200
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 201
+ source = 147
+ target = 6
+ depth = 0.75
+ function = "sine"
+
+ [[population.innovation]]
+ number = 202
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 203
+ source = 2
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 204
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.organism]]
+ # Current champion.
+
+ index = 0
+ fitness = 0
+ isLocked = 0
+ isFrozen = 0
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.982580729129134
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.682521569100693
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.121845289352846
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.725753280764671
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.449390307436477
+ isEnabled = false
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.326161221996227
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 13
+ depth = 1
+ function = "cosine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.311467784404971
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.488597803447428
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.746350332941741
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.485426708242395
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.618996236399418
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 1
+ isEnabled = true
+
+
+ [[population.organism]]
+ index = 1
+ fitness = 0
+ isLocked = 0
+ isFrozen = 0
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.982823300420409
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.684578917585984
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.120047403771076
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.725990877058017
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.448053968374052
+ isEnabled = false
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.325781619493607
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 13
+ depth = 1
+ function = "cosine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.311271888609299
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.487684537585874
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.748543273352343
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.486426663109088
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.617694358755745
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 1
+ isEnabled = true
+
+
+ [[population.organism]]
+ index = 2
+ fitness = 0
+ isLocked = 0
+ isFrozen = 0
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.98267698223296
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.682684809350113
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.12124999446017
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.725872857561641
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.449241783439857
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.325894788945575
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 13
+ depth = 1
+ function = "cosine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.311822405619519
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.488149404908166
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.746678296454862
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.485606288384023
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.618948523530539
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 1
+ isEnabled = true
+
+
+ [[population.organism]]
+ index = 3
+ fitness = 0
+ isLocked = 0
+ isFrozen = 0
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.982717451950534
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.684026116997249
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.12029155214298
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.726105729710061
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.448506224799591
+ isEnabled = false
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.325834890971571
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 13
+ depth = 1
+ function = "cosine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.311131756305371
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.48764844427455
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.747823664669788
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.486208920393993
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.618108400252739
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 1
+ isEnabled = true
+
+
+ [[population.organism]]
+ index = 4
+ fitness = 0
+ isLocked = 0
+ isFrozen = 0
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.982881811256783
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.685830344716188
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.118704931084677
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.726403270293442
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.447398680551498
+ isEnabled = false
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.32555487284198
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 13
+ depth = 1
+ function = "cosine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.310720175655499
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.486778620238811
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.74963233523118
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.487093019243721
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.616993616351873
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 1
+ isEnabled = true
+
+
+ [[population.organism]]
+ index = 5
+ fitness = 0
+ isLocked = 0
+ isFrozen = 0
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.982745385077887
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.682999489597624
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.120330988498466
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.726209471886735
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.449066361809212
+ isEnabled = false
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.325615699532467
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 13
+ depth = 1
+ function = "cosine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.311912095912006
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.487359304123866
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.747075460018577
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.485923018078262
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.618877805273209
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 1
+ isEnabled = true
+
+
+ [[population.organism]]
+ index = 6
+ fitness = 0
+ isLocked = 0
+ isFrozen = 0
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.983023261275246
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.686425140918252
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.118536066416539
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.726294687893801
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.446796753308908
+ isEnabled = false
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.325625670033808
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 13
+ depth = 1
+ function = "cosine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.310906671931513
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diff --git a/bin/populations/population [Incorrect Traps] b/bin/populations/population [Incorrect Traps]
new file mode 100644
index 0000000..1cee0c4
--- /dev/null
+++ b/bin/populations/population [Incorrect Traps]
@@ -0,0 +1,35094 @@
+[ BEGIN POPULATION ]
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+ replBeforeReorganization : 5
+ [ END POPULATION PRMS ]
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diff --git a/bin/populations/population [Labrynt - Converged] b/bin/populations/population [Labrynt - Converged]
new file mode 100644
index 0000000..b7c896b
--- /dev/null
+++ b/bin/populations/population [Labrynt - Converged]
@@ -0,0 +1,36399 @@
+[ BEGIN POPULATION ]
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+ targetSpeciesCount : 12
+ eligibilityRatio : 0.5
+ minimumLifetime : 3000
+ replBeforeReorganization : 5
+ [ END POPULATION PRMS ]
+
+ populationLock : 0
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+ innovationsCount : 250
+ basicInnovations : 14
+ lastReplacement : 180
+ replacements : 2034210
+ distanceThreshold : 0.150000000000039
+ oldOrganisms : 0
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+ noveltyMetric : 0
+ updates : 208091832
+ species : 15
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+ [ BEGIN INNOVATION ]
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+ function : GAUSSIAN
+ [ END INNOVATION ]
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+ [ END INNOVATION ]
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+ [ END SPECIE ]
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+ [ END SPECIE ]
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+ [ BEGIN SPECIE ]
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+ [ END SPECIE ]
+[ END POPULATION ]
diff --git a/bin/populations/population [Labrynt - WINNER] b/bin/populations/population [Labrynt - WINNER]
new file mode 100644
index 0000000..f5c0e3b
--- /dev/null
+++ b/bin/populations/population [Labrynt - WINNER]
@@ -0,0 +1,35843 @@
+[ BEGIN POPULATION ]
+ [ BEGIN POPULATION PRMS ]
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+ linkMutationRate : 0.03
+ nodeMutationRate : 0.01
+ targetSpeciesCount : 12
+ eligibilityRatio : 0.5
+ minimumLifetime : 3000
+ replBeforeReorganization : 5
+ [ END POPULATION PRMS ]
+
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+ frozenOrganisms : 0
+ innovationsCount : 242
+ basicInnovations : 14
+ lastReplacement : 46
+ replacements : 2024454
+ distanceThreshold : 1.04000000000004
+ oldOrganisms : 0
+ minOldOrganisms : 100
+ noveltyMetric : 1
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+ species : 12
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diff --git a/bin/populations/population [WINNER Traps] b/bin/populations/population [WINNER Traps]
new file mode 100644
index 0000000..f5c0e3b
--- /dev/null
+++ b/bin/populations/population [WINNER Traps]
@@ -0,0 +1,35843 @@
+[ BEGIN POPULATION ]
+ [ BEGIN POPULATION PRMS ]
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+ targetSpeciesCount : 12
+ eligibilityRatio : 0.5
+ minimumLifetime : 3000
+ replBeforeReorganization : 5
+ [ END POPULATION PRMS ]
+
+ populationLock : 0
+ lockedOrganisms : 0
+ frozenOrganisms : 0
+ innovationsCount : 242
+ basicInnovations : 14
+ lastReplacement : 46
+ replacements : 2024454
+ distanceThreshold : 1.04000000000004
+ oldOrganisms : 0
+ minOldOrganisms : 100
+ noveltyMetric : 1
+ updates : 207712608
+ species : 12
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+ [ BEGIN INNOVATION ]
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+ function : GAUSSIAN
+ [ END INNOVATION ]
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+ [ END INNOVATION ]
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diff --git a/bin/stages/complex b/bin/stages/complex
new file mode 100644
index 0000000..a2535d2
--- /dev/null
+++ b/bin/stages/complex
@@ -0,0 +1,77 @@
+<WALL>
+ < 50, 575>
+ < 50, 190>
+ < 91, 91>
+ <190, 50>
+ <305, 50>
+ <396, 68>
+ <477, 123>
+ <532, 204>
+ <550, 295>
+ <550, 575>
+ <504, 575>
+ <400, 471>
+ <400, 521>
+ <346, 575>
+ <279, 575>
+ <225, 521>
+ <225, 300>
+ <300, 300>
+ <300, 150>
+ <210, 150>
+ <168, 168>
+ <150, 210>
+ <150, 575>
+ < 50, 575>
+</WALL>
+
+<WALL>
+ <100, 525>
+ <100, 200>
+ <129, 129>
+ <200, 100>
+ <300, 100>
+ <350, 110>
+ <377, 115>
+ <441, 159>
+ <485, 223>
+ <500, 300>
+ <500, 500>
+ <350, 350>
+ <350, 500>
+ <325, 525>
+ <300, 525>
+ <275, 500>
+ <275, 350>
+ <350, 350>
+ <350, 110>
+</WALL>
+
+<FACTORY>
+ <94.9, 300, 180>
+</FACTORY>
+
+<CHECKPOINT>
+ < 50, 190, 100, 200, 105>
+ < 91, 91, 129, 129, 197>
+ <190, 50, 200, 100, 289>
+ <305, 50, 300, 100, 396>
+ <396, 68, 377, 115, 481>
+ <477, 123, 441, 159, 569>
+ <532, 204, 485, 223, 657>
+ <550, 295, 500, 300, 742>
+ <527, 575, 500, 500, 994>
+ <400, 471, 350, 350, 1182>
+ <400, 521, 350, 500, 1282>
+ <346, 575, 325, 525, 1338>
+ <279, 575, 300, 525, 1384>
+ <225, 521, 275, 500, 1440>
+ <225, 300, 275, 350, 1625>
+ <300, 300, 350, 350, 1700>
+ <300, 150, 350, 110, 1895>
+ <210, 150, 200, 100, 2015>
+ <168, 168, 129, 129, 2076>
+ <150, 210, 100, 200, 2137>
+ <100, 575, 100, 525, 2507>
+ < 50, 300, 100, 300, 2782>
+</CHECKPOINT>
diff --git a/bin/stages/figure8 b/bin/stages/figure8
new file mode 100644
index 0000000..dc255f8
--- /dev/null
+++ b/bin/stages/figure8
@@ -0,0 +1,41 @@
+<WALL>
+ < 50, 50>
+ <325, 50>
+ <325, 275>
+ <550, 275>
+ <550, 550>
+ <275, 550>
+ <275, 325>
+ < 50, 325>
+ < 50, 50>
+</WALL>
+
+<WALL>
+ <100, 100>
+ <275, 100>
+ <275, 275>
+ <100, 275>
+ <100, 100>
+</WALL>
+
+<WALL>
+ <325, 325>
+ <500, 325>
+ <500, 500>
+ <325, 500>
+ <325, 325>
+</WALL>
+
+<FACTORY>
+ <94.9, 187.5, 180>
+</FACTORY>
+
+<CHECKPOINT>
+ < 50, 50, 100, 100, 112.5>
+ <325, 50, 275, 100, 337.5>
+ <325, 500, 275, 550, 787.5>
+ <500, 500, 550, 550, 1012.5>
+ <500, 325, 550, 275, 1237.5>
+ < 50, 325, 100, 275, 1687.5>
+ < 50, 187.5, 100, 187.5, 1800>
+</CHECKPOINT>
diff --git a/bin/stages/figure8trap b/bin/stages/figure8trap
new file mode 100644
index 0000000..af6b2f4
--- /dev/null
+++ b/bin/stages/figure8trap
@@ -0,0 +1,52 @@
+<WALL>
+ < 50, 50>
+ < 325, 50>
+ < 325, 275>
+ < 400, 275>
+ < 400, -10000>
+ < 450, -10000>
+ < 450, 275>
+ <10000, 275>
+ <10000, 325>
+ < 450, 325>
+ < 450, 550>
+ < 275, 550>
+ < 275, 325>
+ < 50, 325>
+ < 50, 50>
+</WALL>
+
+<WALL>
+ <100, 100>
+ <275, 100>
+ <275, 275>
+ <100, 275>
+ <100, 100>
+</WALL>
+
+<WALL>
+ <325, 325>
+ <400, 325>
+ <400, 500>
+ <325, 500>
+ <325, 325>
+</WALL>
+
+<FACTORY>
+ <92.5, 187.5, 180>
+</FACTORY>
+
+<CHECKPOINT>
+ < 50, 50, 100, 100, 112.5>
+ <325, 50, 275, 100, 337.5>
+ <325, 500, 275, 550, 787.5>
+ <400, 500, 450, 550, 912.5>
+ <400, 325, 450, 275, 1137.5>
+ < 50, 325, 100, 275, 1487.5>
+ < 50, 187.5, 100, 187.5, 1600>
+</CHECKPOINT>
+
+<TRAP>
+ <400, 250, 450, 275>
+ <450, 275, 475, 325>
+</TRAP>
diff --git a/bin/stages/labrynt b/bin/stages/labrynt
new file mode 100644
index 0000000..187ef01
--- /dev/null
+++ b/bin/stages/labrynt
@@ -0,0 +1,72 @@
+<WALL>
+ < 50, 50>
+ <550, 50>
+ <550, 550>
+ < 50, 550>
+ < 50, 50>
+</WALL>
+
+<WALL>
+ <100, 350>
+ <100, 100>
+ <500, 100>
+</WALL>
+
+<WALL>
+ <100, 400>
+ <100, 500>
+ <475, 500>
+ <475, 200>
+</WALL>
+
+<WALL>
+ <100, 300>
+ <150, 300>
+</WALL>
+
+<WALL>
+ <150, 150>
+ <150, 450>
+ <400, 450>
+ <400, 200>
+</WALL>
+
+<WALL>
+ <200, 300>
+ <200, 150>
+ <300, 150>
+ <300, 350>
+</WALL>
+
+<WALL>
+ <250, 200>
+ <250, 400>
+ <350, 400>
+ <350, 150>
+ <550, 150>
+</WALL>
+
+<FACTORY>
+ <94.9, 300, 180>
+</FACTORY>
+
+<CHECKPOINT>
+ < 50, 50, 100, 100, 225>
+ <500, 100, 550, 100, 700>
+ <100, 150, 350, 150, 1110>
+ <150, 400, 250, 400, 1354>
+ <350, 400, 400, 450, 1547>
+ <400, 200, 550, 200, 1872>
+ <400, 450, 550, 550, 2139>
+ <150, 450, 50, 550, 2431>
+ < 50, 300, 100, 300, 2629>
+</CHECKPOINT>
+
+<TRAP>
+ <130, 100, 150, 150>
+ <300, 150, 350, 170>
+ <200, 280, 250, 300>
+ <475, 200, 550, 220>
+ < 50, 400, 100, 420>
+ <100, 330, 150, 350>
+</TRAP>
diff --git a/bin/stages/labrynt_wrong_traps b/bin/stages/labrynt_wrong_traps
new file mode 100644
index 0000000..c34fdae
--- /dev/null
+++ b/bin/stages/labrynt_wrong_traps
@@ -0,0 +1,71 @@
+<WALL>
+ < 50, 50>
+ <550, 50>
+ <550, 550>
+ < 50, 550>
+ < 50, 50>
+</WALL>
+
+<WALL>
+ <100, 350>
+ <100, 100>
+ <500, 100>
+</WALL>
+
+<WALL>
+ <100, 400>
+ <100, 500>
+ <475, 500>
+ <475, 200>
+</WALL>
+
+<WALL>
+ <100, 300>
+ <150, 300>
+</WALL>
+
+<WALL>
+ <150, 150>
+ <150, 450>
+ <400, 450>
+ <400, 200>
+</WALL>
+
+<WALL>
+ <200, 300>
+ <200, 150>
+ <300, 150>
+ <300, 350>
+</WALL>
+
+<WALL>
+ <250, 200>
+ <250, 400>
+ <350, 400>
+ <350, 150>
+ <550, 150>
+</WALL>
+
+<FACTORY>
+ <94.9, 300, 180>
+</FACTORY>
+
+<CHECKPOINT>
+ < 50, 50, 100, 100, 225>
+ <500, 100, 550, 100, 700>
+ <100, 150, 350, 150, 1110>
+ <150, 400, 250, 400, 1354>
+ <350, 400, 400, 450, 1547>
+ <400, 200, 550, 200, 1872>
+ <400, 450, 550, 550, 2139>
+ <150, 450, 50, 550, 2431>
+ < 50, 300, 100, 300, 2629>
+</CHECKPOINT>
+
+<TRAP>
+ <130, 100, 150, 150>
+ <300, 150, 350, 170>
+ <200, 280, 250, 300>
+ <400, 200, 475, 220>
+ <100, 350, 120, 400>
+</TRAP>
diff --git a/bin/stages/square b/bin/stages/square
new file mode 100644
index 0000000..461b4a3
--- /dev/null
+++ b/bin/stages/square
@@ -0,0 +1,27 @@
+<WALL>
+ < 50, 50>
+ < 50, 550>
+ <550, 550>
+ <550, 50>
+ < 50, 50>
+</WALL>
+
+<WALL>
+ <100, 100>
+ <100, 500>
+ <500, 500>
+ <500, 100>
+ <100, 100>
+</WALL>
+
+<FACTORY>
+ <300, 94.9, -90>
+</FACTORY>
+
+<CHECKPOINT>
+ <550, 50, 500, 100, 225>
+ <550, 550, 500, 500, 675>
+ < 50, 550, 100, 500, 1125>
+ < 50, 50, 100, 100, 1575>
+ <300, 50, 300, 100, 1800>
+</CHECKPOINT>
diff --git a/bin/stages/stomach b/bin/stages/stomach
new file mode 100644
index 0000000..2690c48
--- /dev/null
+++ b/bin/stages/stomach
@@ -0,0 +1,58 @@
+<WALL>
+ < 50, 50>
+ <550, 50>
+ <550, 550>
+ < 50, 550>
+ < 50, 50>
+</WALL>
+
+<WALL>
+ <100, 500>
+ <100, 100>
+ <500, 100>
+ <500, 300>
+ <350, 300>
+ <350, 500>
+</WALL>
+
+<WALL>
+ <300, 550>
+ <300, 250>
+ <400, 250>
+</WALL>
+
+<WALL>
+ <300, 100>
+ <300, 150>
+</WALL>
+
+<WALL>
+ <300, 200>
+ <300, 250>
+ <200, 250>
+ <200, 350>
+</WALL>
+
+<WALL>
+ <150, 350>
+ <150, 250>
+ <100, 250>
+</WALL>
+
+<FACTORY>
+ <94.9, 300, 180>
+</FACTORY>
+
+<CHECKPOINT>
+ < 50, 50, 100, 100, 225>
+ <550, 50, 500, 100, 675>
+ <550, 300, 500, 300, 900>
+ <350, 550, 350, 500, 1185>
+ <300, 250, 350, 300, 1460>
+ <400, 250, 500, 250, 1585>
+ <300, 150, 300, 200, 1731>
+ <150, 250, 200, 250, 1877>
+ <150, 350, 200, 350, 1977>
+ <100, 500, 100, 550, 2167>
+ < 50, 300, 100, 300, 2442>
+</CHECKPOINT>
diff --git a/bin/stages/zigzag b/bin/stages/zigzag
new file mode 100644
index 0000000..49a81b4
--- /dev/null
+++ b/bin/stages/zigzag
@@ -0,0 +1,50 @@
+<WALL>
+ < 50, 50>
+ <550, 50>
+ <550, 550>
+ <400, 550>
+ <400, 150>
+ <350, 150>
+ <350, 550>
+ <200, 550>
+ <200, 150>
+ <150, 150>
+ <150, 550>
+ < 50, 550>
+ < 50, 50>
+</WALL>
+
+<WALL>
+ <100, 500>
+ <100, 100>
+ <500, 100>
+ <500, 500>
+ <450, 500>
+ <450, 100>
+</WALL>
+
+<WALL>
+ <300, 100>
+ <300, 500>
+ <250, 500>
+ <250, 100>
+</WALL>
+
+<FACTORY>
+ <94.9, 300, 180>
+</FACTORY>
+
+<CHECKPOINT>
+ < 50, 50, 100, 100, 225>
+ <550, 50, 500, 100, 675>
+ <550, 550, 500, 500, 1125>
+ <450, 500, 400, 550, 1225>
+ <400, 150, 450, 100, 1625>
+ <300, 100, 350, 150, 1725>
+ <300, 500, 350, 550, 2125>
+ <250, 500, 200, 550, 2225>
+ <200, 150, 250, 100, 2625>
+ <100, 100, 150, 150, 2725>
+ <100, 500, 100, 550, 3150>
+ < 50, 300, 100, 300, 3400>
+</CHECKPOINT>
diff --git a/bin/wsd/current - Copy.population b/bin/wsd/current - Copy.population
new file mode 100644
index 0000000..58ae955
--- /dev/null
+++ b/bin/wsd/current - Copy.population
@@ -0,0 +1,24636 @@
+# hyperneat::Population file:
+# -------------------------------------------------------------------------------------
+# DO NOT erase or change the order of any entry! This file is read back ENTRY by ENTRY.
+# You might tweak the actual values, but doing so might lead to undefined behavior!
+# Read the hyperneat library manual for more info on editing Population files.
+
+[population]
+ populationLock = false
+ lockedOrganisms = 0
+ frozenOrganisms = 0
+ innovationsCount = 174
+ basicInnovations = 14
+ lastReplacement = 134
+ lastMother = 70
+ lastFather = 9
+ replacements = 681890
+ distanceThreshold = 1.06000000000004
+ oldOrganisms = 0
+ minOldOrganisms = 100
+ noveltyMetric = true
+ updates = 10180000
+ species = 12
+ withNeuralNets = true
+
+ [population.parameters]
+ popSize = 200
+ cppnInputs = 6
+ cppnOutputs = 2
+ seed = 0
+ weightRange = 1
+ disjointCoeff = 1
+ weightDifferenceCoeff = 0.4
+ initialDistanceThreshold = 4
+ distanceThresholdShift = 0.01
+ sexualReproductionRate = 0.5
+ weightMutationRate = 0.94
+ weightDeviation = 0.25
+ interspeciesMatingRate = 0.001
+ geneDisablingRatio = 0.75
+ linkMutationRate = 0.03
+ nodeMutationRate = 0.01
+ targetSpeciesCount = 12
+ eligibilityRatio = 0.5
+ minimumLifetime = 1500
+ replBeforeReorganization = 5
+
+ [population.neuralNetParameters]
+ testGridLevel = 3
+ maxQuadTreeLevel = 18446744073709551615
+ minQuadTreeLevel = 0
+ bandPruningThreshold = 0.3
+ varianceThreshold = 0.03
+ divisionThreshold = 0.03
+ iterations = 18446744073709551615
+ inputs = 5
+ outputs = 3
+
+ inputMap = [
+ [-1, -0.5],
+ [-0.7, 0.2],
+ [0, 0.5],
+ [0.7, 0.2],
+ [1, -0.5],
+ ]
+
+ outputMap = [
+ [-0.5, -0.5],
+ [0, 0],
+ [0.5, -0.5],
+ ]
+
+ [[population.innovation]]
+ number = 14
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 15
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 16
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 17
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 18
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 19
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 20
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 21
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 22
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 23
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 24
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 25
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 26
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 27
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 28
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 29
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 30
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 31
+ source = 16
+ target = 6
+ depth = 0.75
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 32
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 33
+ source = 2
+ target = 16
+ depth = 0.25
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 34
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 35
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 36
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 37
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 38
+ source = 16
+ target = 6
+ depth = 0.75
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 39
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 40
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 41
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 42
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 43
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 44
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 45
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 46
+ source = 2
+ target = 16
+ depth = 0.25
+ function = "sine"
+
+ [[population.innovation]]
+ number = 47
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 48
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 49
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 50
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 51
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 52
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 53
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 54
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 55
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 56
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 57
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 58
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 59
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 60
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 61
+ source = 2
+ target = 16
+ depth = 0.25
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 62
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 63
+ source = 55
+ target = 6
+ depth = 0.75
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 64
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 65
+ source = 2
+ target = 16
+ depth = 0.25
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 66
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 67
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 68
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 69
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 70
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 71
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 72
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 73
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 74
+ source = 16
+ target = 6
+ depth = 0.75
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 75
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 76
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 77
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 78
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 79
+ source = 16
+ target = 6
+ depth = 0.75
+ function = "sine"
+
+ [[population.innovation]]
+ number = 80
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 81
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 82
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 83
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 84
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 85
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 86
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 87
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 88
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 89
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 90
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 91
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 92
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 93
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 94
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 95
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 96
+ source = 1
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 97
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 98
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 99
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 100
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 101
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 102
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 103
+ source = 2
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 104
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 105
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 106
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 107
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 108
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 109
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 110
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 111
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 112
+ source = 3
+ target = 13
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 113
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 114
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 115
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 116
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 117
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 118
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 119
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 120
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 121
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 122
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 123
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 124
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 125
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 126
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 127
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 128
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 129
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 130
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 131
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 132
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 133
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 134
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 135
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 136
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 137
+ source = 2
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 138
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 139
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 140
+ source = 2
+ target = 137
+ depth = 0.25
+ function = "sine"
+
+ [[population.innovation]]
+ number = 141
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 142
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 143
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 144
+ source = 2
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 145
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 146
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 147
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 148
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 149
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 150
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 151
+ source = 70
+ target = 10
+ depth = 0.75
+ function = "sine"
+
+ [[population.innovation]]
+ number = 152
+ source = 4
+ target = 13
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 153
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 154
+ source = 0
+ target = 70
+ depth = 0.25
+ function = "sine"
+
+ [[population.innovation]]
+ number = 155
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 156
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 157
+ source = 0
+ target = 70
+ depth = 0.25
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 158
+ source = 70
+ target = 10
+ depth = 0.75
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 159
+ source = 0
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 160
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 161
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 162
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 163
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 164
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 165
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 166
+ source = 70
+ target = 10
+ depth = 0.75
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 167
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 168
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 169
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 170
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 171
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 172
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 173
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 174
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 175
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 176
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 177
+ source = 4
+ target = 25
+ depth = 0.25
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 178
+ source = 137
+ target = 7
+ depth = 0.75
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 179
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 180
+ source = 5
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 181
+ source = 25
+ target = 8
+ depth = 0.75
+ function = "sine"
+
+ [[population.innovation]]
+ number = 182
+ source = 1
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 183
+ source = 4
+ target = 25
+ depth = 0.25
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 184
+ source = 16
+ target = 38
+ depth = 0.625
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 185
+ source = 4
+ target = 25
+ depth = 0.25
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 186
+ source = 2
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 187
+ source = 25
+ target = 8
+ depth = 0.75
+ function = "absolute"
+
+ [[population.organism]]
+ # Current champion.
+
+ index = 0
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 9
+ depth = 1
+ function = "absolute"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.139192771863697
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.0578580234810465
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.373725999590754
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = 0.108702706814459
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.767153076167814
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.718325276507589
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 11
+ depth = 1
+ function = "gaussian"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.874538555190416
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.248018903034495
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.482659221189005
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.982449269890294
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.923506061843939
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.721413858545986
+ isEnabled = true
+
+ [[population.organism]]
+ index = 1
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 9
+ depth = 1
+ function = "absolute"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.269589431206361
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.0599014129450112
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.394160752289113
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = 0.0910502859757085
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.878119460595038
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.723479733551338
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 11
+ depth = 1
+ function = "gaussian"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.977985561443856
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.28678744787759
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.408030771526628
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.935324621305753
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.913944319574431
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.660100691077913
+ isEnabled = true
+
+ [[population.organism]]
+ index = 2
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 1
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 6
+ depth = 1
+ function = "sigmoid"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.303040716766779
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.470541096260853
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = 0.651753364322745
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.352468553102201
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.120279754901699
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = -0.0077408858530426
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 11
+ depth = 1
+ function = "gaussian"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.525785322066576
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.151605058547899
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = 0.773967759416523
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = 0.00659101657377961
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.387152460603313
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.818553193829521
+ isEnabled = true
+
+ [[population.organism]]
+ index = 3
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 1
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 6
+ depth = 1
+ function = "sigmoid"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.660284365330355
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.433047007332211
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = 0.775101615652519
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = 0.0379387670702995
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.263370963989692
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.158583061714373
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 11
+ depth = 1
+ function = "gaussian"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.484844229990929
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.294283385238125
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = 0.0166099845002008
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = 0.149073963919086
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.209899763661791
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.373107892020811
+ isEnabled = true
+
+ [[population.organism]]
+ index = 4
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 1
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 6
+ depth = 1
+ function = "sigmoid"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.630996888436861
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.127333883614797
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = 0.402487352108481
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.138170238752844
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.0742303135843295
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.043099758008862
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 11
+ depth = 1
+ function = "gaussian"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.800075487561994
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.195528970719928
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.155856564467235
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = 0.484122946747896
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.974896215362307
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.489840088578966
+ isEnabled = true
+
+ [[population.organism]]
+ index = 5
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 2
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 1
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.378930373782875
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.842099307876321
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = 0.0240259530552148
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.0837616923674265
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = -0.42865327676994
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 10
+ depth = 1
+ function = "sigmoid"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.288343947925329
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.32183231429924
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.777580668624143
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = 0.639459347580039
+ isEnabled = true
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diff --git a/bin/wsd/current.population b/bin/wsd/current.population
new file mode 100644
index 0000000..5790907
--- /dev/null
+++ b/bin/wsd/current.population
@@ -0,0 +1,26213 @@
+# hyperneat::Population file:
+# -------------------------------------------------------------------------------------
+# DO NOT erase or change the order of any entry! This file is read back ENTRY by ENTRY.
+# You might tweak the actual values, but doing so might lead to undefined behavior!
+# Read the hyperneat library manual for more info on editing Population files.
+
+[population]
+ populationLock = false
+ lockedOrganisms = 0
+ frozenOrganisms = 0
+ innovationsCount = 181
+ basicInnovations = 14
+ lastReplacement = 151
+ lastMother = 19
+ lastFather = -1
+ replacements = 928661
+ distanceThreshold = 1.06000000000004
+ oldOrganisms = 0
+ minOldOrganisms = 100
+ noveltyMetric = true
+ updates = 24145585
+ species = 12
+ withNeuralNets = true
+
+ [population.parameters]
+ popSize = 200
+ cppnInputs = 6
+ cppnOutputs = 2
+ seed = 0
+ weightRange = 1
+ disjointCoeff = 1
+ weightDifferenceCoeff = 0.4
+ initialDistanceThreshold = 4
+ distanceThresholdShift = 0.01
+ sexualReproductionRate = 0.5
+ weightMutationRate = 0.94
+ weightDeviation = 0.25
+ interspeciesMatingRate = 0.001
+ geneDisablingRatio = 0.75
+ linkMutationRate = 0.03
+ nodeMutationRate = 0.01
+ targetSpeciesCount = 12
+ eligibilityRatio = 0.5
+ minimumLifetime = 45068
+ replBeforeReorganization = 5
+
+ [population.neuralNetParameters]
+ testGridLevel = 3
+ maxQuadTreeLevel = 18446744073709551615
+ minQuadTreeLevel = 0
+ bandPruningThreshold = 0.3
+ varianceThreshold = 0.03
+ divisionThreshold = 0.03
+ iterations = 18446744073709551615
+ inputs = 5
+ outputs = 3
+
+ inputMap = [
+ [-1, -0.5],
+ [-0.7, 0.2],
+ [0, 0.5],
+ [0.7, 0.2],
+ [1, -0.5],
+ ]
+
+ outputMap = [
+ [-0.5, -0.5],
+ [0, 0],
+ [0.5, -0.5],
+ ]
+
+ [[population.innovation]]
+ number = 14
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 15
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 16
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 17
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 18
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 19
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 20
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 21
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 22
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 23
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 24
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 25
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 26
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 27
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 28
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 29
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 30
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 31
+ source = 16
+ target = 6
+ depth = 0.75
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 32
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 33
+ source = 2
+ target = 16
+ depth = 0.25
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 34
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 35
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 36
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 37
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 38
+ source = 16
+ target = 6
+ depth = 0.75
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 39
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 40
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 41
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 42
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 43
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 44
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 45
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 46
+ source = 2
+ target = 16
+ depth = 0.25
+ function = "sine"
+
+ [[population.innovation]]
+ number = 47
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 48
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 49
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 50
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 51
+ source = 1
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 52
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 53
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 54
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 55
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 56
+ source = 3
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 57
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 58
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 59
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 60
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 61
+ source = 2
+ target = 16
+ depth = 0.25
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 62
+ source = 4
+ target = 6
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 63
+ source = 55
+ target = 6
+ depth = 0.75
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 64
+ source = 3
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 65
+ source = 2
+ target = 16
+ depth = 0.25
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 66
+ source = 4
+ target = 10
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 67
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 68
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 69
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 70
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 71
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 72
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 73
+ source = 0
+ target = 10
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 74
+ source = 16
+ target = 6
+ depth = 0.75
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 75
+ source = 5
+ target = 6
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 76
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 77
+ source = 4
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 78
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 79
+ source = 16
+ target = 6
+ depth = 0.75
+ function = "sine"
+
+ [[population.innovation]]
+ number = 80
+ source = 2
+ target = 6
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 81
+ source = 2
+ target = 10
+ depth = 0.5
+ function = "sine"
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+ [[population.innovation]]
+ number = 82
+ source = 0
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+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 83
+ source = 5
+ target = 10
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 84
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 85
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 86
+ source = 0
+ target = 9
+ depth = 0.5
+ function = "sine"
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+ [[population.innovation]]
+ number = 87
+ source = 3
+ target = 6
+ depth = 0.5
+ function = "gaussian"
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+ [[population.innovation]]
+ number = 88
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "gaussian"
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+ [[population.innovation]]
+ number = 89
+ source = 4
+ target = 12
+ depth = 0.5
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+ [[population.innovation]]
+ number = 90
+ source = 0
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+ depth = 0.5
+ function = "gaussian"
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+ [[population.innovation]]
+ number = 91
+ source = 3
+ target = 8
+ depth = 0.5
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+ [[population.innovation]]
+ number = 92
+ source = 4
+ target = 8
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+ [[population.innovation]]
+ number = 93
+ source = 1
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+ [[population.innovation]]
+ number = 94
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+ [[population.innovation]]
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+ [[population.innovation]]
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+ [[population.innovation]]
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+ [[population.innovation]]
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+ source = 1
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+ [[population.innovation]]
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+ [[population.innovation]]
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+ source = 1
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+ [[population.innovation]]
+ number = 108
+ source = 3
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+ [[population.innovation]]
+ number = 109
+ source = 4
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+ [[population.innovation]]
+ number = 110
+ source = 5
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+ [[population.innovation]]
+ number = 111
+ source = 0
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+ [[population.innovation]]
+ number = 112
+ source = 3
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+ depth = 0.5
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+ [[population.innovation]]
+ number = 113
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 114
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 115
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 116
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 117
+ source = 5
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 118
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 119
+ source = 3
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 120
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 121
+ source = 0
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 122
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 123
+ source = 0
+ target = 7
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 124
+ source = 1
+ target = 6
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 125
+ source = 5
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 126
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 127
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 128
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 129
+ source = 1
+ target = 12
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 130
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 131
+ source = 2
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 132
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 133
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 134
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 135
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 136
+ source = 3
+ target = 11
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 137
+ source = 2
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 138
+ source = 4
+ target = 8
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 139
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 140
+ source = 2
+ target = 137
+ depth = 0.25
+ function = "sine"
+
+ [[population.innovation]]
+ number = 141
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 142
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 143
+ source = 0
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 144
+ source = 2
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 145
+ source = 5
+ target = 8
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 146
+ source = 3
+ target = 8
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 147
+ source = 4
+ target = 12
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 148
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 149
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 150
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 151
+ source = 70
+ target = 10
+ depth = 0.75
+ function = "sine"
+
+ [[population.innovation]]
+ number = 152
+ source = 4
+ target = 13
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 153
+ source = 0
+ target = 6
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 154
+ source = 0
+ target = 70
+ depth = 0.25
+ function = "sine"
+
+ [[population.innovation]]
+ number = 155
+ source = 1
+ target = 8
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 156
+ source = 2
+ target = 8
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 157
+ source = 0
+ target = 70
+ depth = 0.25
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 158
+ source = 70
+ target = 10
+ depth = 0.75
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 159
+ source = 0
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 160
+ source = 4
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 161
+ source = 3
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 162
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 163
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 164
+ source = 1
+ target = 7
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 165
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 166
+ source = 70
+ target = 10
+ depth = 0.75
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 167
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 168
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 169
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 170
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 171
+ source = 0
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 172
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 173
+ source = 4
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 174
+ source = 2
+ target = 11
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 175
+ source = 1
+ target = 11
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 176
+ source = 2
+ target = 9
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 177
+ source = 4
+ target = 25
+ depth = 0.25
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 178
+ source = 137
+ target = 7
+ depth = 0.75
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 179
+ source = 5
+ target = 7
+ depth = 0.5
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 180
+ source = 5
+ target = 13
+ depth = 0.5
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 181
+ source = 25
+ target = 8
+ depth = 0.75
+ function = "sine"
+
+ [[population.innovation]]
+ number = 182
+ source = 1
+ target = 13
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 183
+ source = 4
+ target = 25
+ depth = 0.25
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 184
+ source = 16
+ target = 38
+ depth = 0.625
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 185
+ source = 4
+ target = 25
+ depth = 0.25
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 186
+ source = 2
+ target = 7
+ depth = 0.5
+ function = "sine"
+
+ [[population.innovation]]
+ number = 187
+ source = 25
+ target = 8
+ depth = 0.75
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 188
+ source = 1
+ target = 9
+ depth = 0.5
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 189
+ source = 4
+ target = 25
+ depth = 0.25
+ function = "sine"
+
+ [[population.innovation]]
+ number = 190
+ source = 25
+ target = 8
+ depth = 0.75
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 191
+ source = 4
+ target = 138
+ depth = 0.25
+ function = "absolute"
+
+ [[population.innovation]]
+ number = 192
+ source = 0
+ target = 73
+ depth = 0.25
+ function = "gaussian"
+
+ [[population.innovation]]
+ number = 193
+ source = 73
+ target = 10
+ depth = 0.75
+ function = "sigmoid"
+
+ [[population.innovation]]
+ number = 194
+ source = 0
+ target = 73
+ depth = 0.25
+ function = "sigmoid"
+
+ [[population.organism]]
+ # Current champion.
+
+ index = 0
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 1
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.803999060039599
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.585008284884281
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.474898511077331
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.381296481377603
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.359241244737583
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 10
+ depth = 1
+ function = "sigmoid"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.464430690001872
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.375521225390785
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.404122965978942
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = 0.457009192850025
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.919221917230871
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = -0.217195275655001
+ isEnabled = true
+
+ [[population.organism]]
+ index = 1
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 1
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 9
+ depth = 1
+ function = "absolute"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.269589431206361
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.0599014129450112
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.394160752289113
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = 0.0910502859757085
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.878119460595038
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.723479733551338
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 11
+ depth = 1
+ function = "gaussian"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.977985561443856
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.28678744787759
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.408030771526628
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.935324621305753
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.913944319574431
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.660100691077913
+ isEnabled = true
+
+ [[population.organism]]
+ index = 2
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.907455774774337
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.827197432007092
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.826560276556829
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.558626793678318
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.0760526497244837
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = -0.146766368941671
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 10
+ depth = 1
+ function = "sigmoid"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.264258347204926
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.0537379939651535
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.437713672196091
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = 0.215905967090862
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.707166302624343
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = -0.0983997537875693
+ isEnabled = true
+
+ [[population.organism]]
+ index = 3
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.701394941263126
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.847953170775802
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.8133927249205
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.511730817555589
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.412358218503611
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = -0.143556830977168
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 10
+ depth = 1
+ function = "sigmoid"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.174248013849113
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.137719244869991
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = 0.0476211253845946
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = 0.0474117026642668
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.611187442106032
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.0506426328297692
+ isEnabled = true
+
+ [[population.organism]]
+ index = 4
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 3
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.858813834149313
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.749163591146943
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.727661233988207
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.412128571594405
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.0534328804865528
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = -0.206629428796546
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 10
+ depth = 1
+ function = "sigmoid"
+ links = 7
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = -0.189984541949576
+ isEnabled = false
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = 0.352269872756801
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = 0.188602077777629
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = 0.590317198222354
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = -0.482905958600257
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = 0.0390391379188128
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 70
+ weight = 0
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 70
+ depth = 0.5
+ function = "absolute"
+ links = 1
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0
+ isEnabled = true
+
+ [[population.organism]]
+ index = 5
+ fitness = 0
+ isLocked = false
+ isFrozen = false
+ specie = 0
+ lifetime = 0
+
+ [population.organism.genome]
+ inputs = 6
+ nodes = 2
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 8
+ depth = 1
+ function = "sine"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.886812116271334
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.58430126358295
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 2
+ weight = -0.669376730014858
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 3
+ weight = -0.373154308537755
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 4
+ weight = 0.0273777021454269
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 5
+ weight = -0.186535590119346
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene]]
+ innovation = 10
+ depth = 1
+ function = "sigmoid"
+ links = 6
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 0
+ weight = 0.447366067147342
+ isEnabled = true
+
+ [[population.organism.genome.nodeGene.linkGene]]
+ source = 1
+ weight = -0.36593902515336
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diff --git a/include/Agent.hpp b/include/Agent.hpp
new file mode 100644
index 0000000..efb95e7
--- /dev/null
+++ b/include/Agent.hpp
@@ -0,0 +1,54 @@
+#ifndef __AGENT_HPP__
+#define __AGENT_HPP__
+
+#include <Stage.hpp>
+#include <SFML/Graphics.hpp>
+#include <HyperNeat/Organism.hpp>
+#include <HyperNeat/NeuralNet.hpp>
+#include <HyperNeat/NoveltyMetric.hpp>
+
+namespace hyperneat {
+ class NeuralNetPrms;
+ class Genome;
+ class Population;
+}
+
+namespace hn = hyperneat;
+
+class Agent {
+public:
+ void create(Stage& stage);
+ void recreate(const Stage& stage, bool createNNet);
+ void setPoints(const Stage& stage, bool passToOrg);
+ void setBehavior(const Stage& stage);
+ void update(const Stage& stage, bool withNS);
+ void drawOn(sf::RenderWindow& surface);
+ void incrementCheckPoint(Stage& stage);
+
+private:
+ double distanceTravelled(const Stage& stage);
+ float distanceToCheckpoint(const Stage::CheckPoint& cp) const;
+
+ hn::Organism* _organism = nullptr;
+ bool _isOld = false;
+
+ sf::CircleShape _shape;
+ b2Body* _body = nullptr;
+ hn::Vector<sf::Vector2f> _eyeSight;
+
+ const Stage::CheckPoint* _currCheckPoint = nullptr;
+ const Stage::CheckPoint* _nextCheckPoint = nullptr;
+
+ size_t _completedCircuits = 0;
+ size_t _lifetime = 0;
+ double _distance = 0.0;
+ bool _isOnTrap = false;
+
+ static size_t _currentLifetime;
+
+ friend class ContactListener;
+ friend class TrapCallback;
+ friend class App;
+};
+
+#endif // __AGENT_HPP__
diff --git a/include/App.hpp b/include/App.hpp
new file mode 100644
index 0000000..7c58c7b
--- /dev/null
+++ b/include/App.hpp
@@ -0,0 +1,57 @@
+#ifndef __APP_HPP__
+#define __APP_HPP__
+
+#include <Stage.hpp>
+#include <Agent.hpp>
+#include <CppnExplorer.hpp>
+#include <HyperNeat/Population.hpp>
+#include <HyperNeat/NeuralNetPrms.hpp>
+#include <HyperNeat/NoveltyMetric.hpp>
+#include <HyperNeat/PopulationPrms.hpp>
+
+namespace hn = hyperneat;
+
+class App {
+public:
+ int startup();
+ int execute();
+ void update();
+ void draw();
+ void shutdown();
+
+private:
+ bool _draw = true;
+ bool _runningWOGfx = true;
+ bool _isPaused = true;
+ bool _isVSyncEnabled = true;
+
+ sf::RenderWindow _window;
+
+ Stage _stage;
+ hn::Vector<Agent> _agents;
+ ssize_t _selectedIdx = -1;
+ sf::Clock _clock;
+ sf::Clock _globalClock;
+ float _secondsToRun = 0.0f;
+ sf::CircleShape _champ;
+ sf::CircleShape _selected;
+
+ hn::CppnExplorer _cppnEx;
+
+ sf::Font _font;
+
+ sf::Text _updates;
+ sf::Text _champFitness;
+ sf::Text _avergFitness;
+
+ hn::NeuralNetPrms _nnPrms;
+ hn::PopulationPrms _popPrms;
+ hn::Population _population;
+
+ bool _doNoveltySearch = false;
+ size_t _completedCircuits = 0;
+ hn::NoveltyMetricPrms _noveltyPrms;
+ hn::Vector<sf::CircleShape> _noveltyMarks;
+};
+
+#endif // __APP_HPP__
diff --git a/include/NR_Utils.hpp b/include/NR_Utils.hpp
new file mode 100644
index 0000000..3f4c84e
--- /dev/null
+++ b/include/NR_Utils.hpp
@@ -0,0 +1,79 @@
+#ifndef __NR_UTILS_HPP__
+#define __NR_UTILS_HPP__
+
+#include <sstream>
+
+#include <Box2D.h>
+#include <SFML/Graphics.hpp>
+
+constexpr double PI = 3.14159265;
+constexpr double IN_RADIANS = 180.0 / PI;
+constexpr double IN_DEGREES = PI / 180.0;
+
+const sf::Uint32 AGENT_RAD = 5;
+const sf::Uint32 AGENT_RES = 16;
+constexpr float AGENT_SIGHT = 100.0f;
+constexpr float AGENT_SPEED = 500.0f;
+const sf::Color AGENT_COLOR = { 128, 0, 255, 128 };
+const sf::Color SIGHT_COLOR = { 128, 128, 128, 32 };
+const sf::Color CHAMP_COLOR = { 204, 153, 255 };
+const sf::Color SELECTED_COLOR = { 204, 53, 55 };
+const sf::Color WALL_COLOR = { 204, 153, 255 };
+const sf::Color FACTORY_COLOR = { 204, 153, 255 };
+const sf::Color TEXT_COLOR = { 204, 153, 255 };
+const sf::Color CHECKPNT_COLOR = { 128, 128, 128, 128 };
+const sf::Color BG_COLOR = { 16, 0, 32 };
+
+const float _TIME_STEP = 1.0f / 60.0f;
+const int32 _VEL_ITERS = 6;
+const int32 _POS_ITERS = 2;
+
+const sf::Uint32 WIN_SIZE = 600;
+const sf::VideoMode VIDEO_MODE = sf::VideoMode(WIN_SIZE, WIN_SIZE);
+const sf::String WIN_TITLE = "NeuroRacers v0.1";
+const sf::Uint32 WIN_STYLE = sf::Style::Close;
+const sf::ContextSettings WIN_SETTINGS = sf::ContextSettings(0, 0, 4);
+
+ssize_t pMod(ssize_t n, ssize_t d);
+float dist(const b2Vec2& a, const b2Vec2 b);
+float dotP(const b2Vec2& a, const b2Vec2 b);
+
+class RayCastCallback : public b2RayCastCallback {
+public:
+ float32 ReportFixture(b2Fixture* fixture, const b2Vec2& point, const b2Vec2& normal, float32 fraction);
+
+ const b2Fixture* _fixture = nullptr;
+ float32 _fraction = 0.0f;
+};
+
+class QueryCallback : public b2QueryCallback {
+public:
+ bool ReportFixture(b2Fixture* fixture);
+
+ const b2Fixture* _fixture = nullptr;
+};
+
+class TrapCallback : public b2QueryCallback {
+public:
+ bool ReportFixture(b2Fixture* fixture);
+
+ const b2Fixture* _fixture = nullptr;
+};
+
+class Stage;
+class ContactListener : public b2ContactListener {
+public:
+ void BeginContact(b2Contact* contact);
+
+ Stage* _stage = nullptr;
+};
+
+template <typename T>
+std::string toString(const T& value)
+{
+ std::stringstream stream;
+ stream << value;
+ return stream.str();
+}
+
+#endif // __NR_UTILS_HPP__
diff --git a/include/Stage.hpp b/include/Stage.hpp
new file mode 100644
index 0000000..aef99e3
--- /dev/null
+++ b/include/Stage.hpp
@@ -0,0 +1,44 @@
+#ifndef __STAGE_HPP__
+#define __STAGE_HPP__
+
+#include <fstream>
+#include <iostream>
+
+#include <NR_Utils.hpp>
+#include <Hyperneat/Utils/Vector.hpp>
+
+namespace hn = hyperneat;
+
+class Stage {
+public:
+ int load(const std::string& fileName);
+ void update();
+ void drawOn(sf::RenderWindow& surface) const;
+
+private:
+ class CheckPoint {
+ public:
+ void calculateSegment(const CheckPoint& prev);
+
+ sf::VertexArray _line = sf::VertexArray(sf::Lines);
+ double _value = 0.0;
+ double _segment = 0.0;
+ b2Body* _body = nullptr;
+ };
+
+ b2World _world = { { 0.0f, 0.0f } };
+ ContactListener _listener;
+
+ hn::Vector<sf::VertexArray> _walls;
+ hn::Vector<b2Body*> _wallBodies;
+ hn::Vector<b2AABB> _traps;
+ hn::Vector<sf::RectangleShape> _trapRects;
+ hn::Vector<CheckPoint> _checkPoints;
+
+ sf::CircleShape _factory = sf::CircleShape(AGENT_RAD + 2, AGENT_RES);
+
+ friend class App;
+ friend class Agent;
+};
+
+#endif // __STAGE_HPP__
diff --git a/obj/.keep b/obj/.keep
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/obj/.keep
diff --git a/src/Agent.cpp b/src/Agent.cpp
new file mode 100644
index 0000000..c082b96
--- /dev/null
+++ b/src/Agent.cpp
@@ -0,0 +1,256 @@
+#include <Agent.hpp>
+
+#include <memory>
+
+#include <HyperNeat/Cppn.hpp>
+#include <HyperNeat/Population.hpp>
+
+using namespace hn;
+using namespace sf;
+using namespace std;
+
+size_t
+Agent::_currentLifetime = 1500;
+
+void
+Agent::create(Stage& stage)
+{
+ _eyeSight.resize(5);
+
+ _currCheckPoint = &stage._checkPoints.back();
+ _nextCheckPoint = &stage._checkPoints.front();
+
+ _shape.setRadius(AGENT_RAD);
+ _shape.setOrigin(AGENT_RAD, AGENT_RAD);
+ _shape.setFillColor(AGENT_COLOR);
+
+ b2CircleShape agentShape;
+ agentShape.m_radius = AGENT_RAD;
+
+ b2FixtureDef agentFixture;
+ agentFixture.shape = &agentShape;
+ agentFixture.density = 1.0f;
+ agentFixture.friction = 0.3f;
+ agentFixture.filter.groupIndex = -1;
+ agentFixture.userData = this;
+
+ b2BodyDef agentDef;
+ agentDef.type = b2_dynamicBody;
+
+ _body = stage._world.CreateBody(&agentDef);
+ _body->CreateFixture(&agentFixture);
+
+ recreate(stage, false);
+}
+
+void
+Agent::recreate(const Stage& stage, bool createNNet)
+{
+ _currCheckPoint = &stage._checkPoints.back();
+ _nextCheckPoint = &stage._checkPoints.front();
+
+ _completedCircuits = 0;
+ _lifetime = 0;
+ _distance = 0.0;
+ _isOnTrap = false;
+ _isOld = false;
+
+ auto factoryPos = stage._factory.getPosition();
+ double factoryRot = stage._factory.getRotation() / IN_RADIANS;
+
+ _body->SetTransform({factoryPos.x, factoryPos.y}, factoryRot);
+ _body->SetLinearVelocity( { 0.0f, 0.0f });
+ _body->SetAngularVelocity(0.0f);
+
+ float pX = _body->GetPosition().x;
+ float pY = _body->GetPosition().y;
+ float angle = _body->GetAngle() / IN_DEGREES;
+
+ Transform tr;
+ tr.translate(pX, pY);
+ tr.rotate(angle);
+
+ float sight = AGENT_SIGHT;
+ float iSight = AGENT_SIGHT * 0.7071f;
+
+ _eyeSight[0] = tr.transformPoint({ -sight, 0.0f});
+ _eyeSight[1] = tr.transformPoint({-iSight, iSight});
+ _eyeSight[2] = tr.transformPoint({ 0.0f, sight});
+ _eyeSight[3] = tr.transformPoint({ iSight, iSight});
+ _eyeSight[4] = tr.transformPoint({ sight, 0.0f});
+
+ if (createNNet) {
+ _organism->createNeuralNet();
+ }
+}
+
+void
+Agent::setPoints(const Stage& stage, bool passToOrg)
+{
+ if (!_organism->isOld()) {
+ return;
+ }
+
+ // Calculate fitness
+ double dist = distanceTravelled(stage);
+
+ if (passToOrg) {
+ _organism->_fitness = (dist / static_cast<double>(max(_lifetime, (size_t)1)));
+ }
+}
+
+void
+Agent::setBehavior(const Stage& stage)
+{
+ _organism->getBehavior().at(0) = _body->GetPosition().x;
+ _organism->getBehavior().at(1) = _body->GetPosition().y;
+ _organism->getBehavior().at(2) = (distanceTravelled(stage) / static_cast<double>(max(_lifetime, (size_t)1)));
+}
+
+void
+Agent::update(const Stage& stage, bool withNS)
+{
+ if (withNS) {
+ if (_organism->getLifetime() >= (_currentLifetime - 1)) {
+ if (!_isOld) {
+ _isOld = true;
+ }
+ } else if (_organism->getLifetime() < (_currentLifetime - 1)) {
+ if (_isOld) {
+ _isOld = false;
+ }
+ }
+ }
+
+ ++_lifetime;
+
+ if (_isOnTrap) {
+ return;
+ }
+
+ float pX = _body->GetPosition().x;
+ float pY = _body->GetPosition().y;
+ float angle = _body->GetAngle() / IN_DEGREES;
+
+ Transform tr, rot;
+ tr.translate(pX, pY);
+ tr.rotate(angle);
+ rot.rotate(angle);
+
+ float sight = AGENT_SIGHT;
+ float iSight = AGENT_SIGHT * 0.7071f;
+
+ _eyeSight[0] = tr.transformPoint({ -sight, 0.0f});
+ _eyeSight[1] = tr.transformPoint({-iSight, iSight});
+ _eyeSight[2] = tr.transformPoint({ 0.0f, sight});
+ _eyeSight[3] = tr.transformPoint({ iSight, iSight});
+ _eyeSight[4] = tr.transformPoint({ sight, 0.0f});
+
+ for (size_t i = 0; i < 5; ++i) {
+ RayCastCallback callback;
+ b2Vec2 b2EyeSight = { _eyeSight[i].x, _eyeSight[i].y };
+ stage._world.RayCast(&callback, _body->GetPosition(), b2EyeSight);
+ _organism->_neuralNet->inputAt(i) = callback._fraction;
+ }
+
+ _organism->_neuralNet->cycle();
+
+ Vector2f velocity
+ = rot.transformPoint({ 0.0f, static_cast<float>(_organism->_neuralNet->outputAt(1)) * AGENT_SPEED });
+ float rotation
+ = (((_organism->_neuralNet->outputAt(0) + _organism->_neuralNet->outputAt(2)) * 2.0f - 1.0f) / IN_RADIANS) *
+ AGENT_SPEED;
+
+ _body->SetLinearVelocity({velocity.x, velocity.y});
+ _body->SetAngularVelocity(rotation);
+}
+
+void
+Agent::drawOn(sf::RenderWindow& surface)
+{
+ float pX = _body->GetPosition().x;
+ float pY = _body->GetPosition().y;
+
+ _shape.setPosition(pX, pY);
+
+ VertexArray eyeSightLines(Lines);
+
+ for (auto & i : _eyeSight) {
+ eyeSightLines.append({{pX, pY}, SIGHT_COLOR});
+ eyeSightLines.append({ i, SIGHT_COLOR});
+ }
+
+ surface.draw(_shape);
+ surface.draw(eyeSightLines);
+}
+
+void
+Agent::incrementCheckPoint(Stage& stage)
+{
+ _currCheckPoint = _nextCheckPoint;
+
+ if (_currCheckPoint == &stage._checkPoints.back()) {
+ _nextCheckPoint = &stage._checkPoints.front();
+ } else {
+ ++_nextCheckPoint;
+ }
+
+ if (_currCheckPoint == &stage._checkPoints.back()) {
+ ++_completedCircuits;
+ }
+}
+
+double
+Agent::distanceTravelled(const Stage& stage)
+{
+ double pCurr = _currCheckPoint->_value;
+ double pLoop = stage._checkPoints.back()._value;
+
+ if (_currCheckPoint == &stage._checkPoints.back()) {
+ pCurr -= pLoop;
+ }
+
+ double dNext = distanceToCheckpoint(*_nextCheckPoint);
+ double sNext = _nextCheckPoint->_segment;
+
+ if (dNext > sNext) {
+ _distance = pCurr + (pLoop * _completedCircuits);
+ } else {
+ double pNext = _nextCheckPoint->_value;
+ double f1 = dNext / sNext;
+ double f2 = 1.0 - f1;
+ _distance = (pCurr * f1) + (pNext * f2) + (pLoop * _completedCircuits);
+ }
+
+ if (_distance < 1.0) {
+ _distance = 1.0;
+ }
+
+ return _distance;
+}
+
+float
+Agent::distanceToCheckpoint(const Stage::CheckPoint& cp) const
+{
+ b2Vec2 p = _body->GetPosition();
+ b2Vec2 v = {cp._line[0].position.x, cp._line[0].position.y};
+ b2Vec2 w = {cp._line[1].position.x, cp._line[1].position.y};
+
+ float l2 = (w - v).LengthSquared();
+
+ if (l2 == 0.0f) {
+ return dist(p, v);
+ }
+
+ float t = dotP(p - v, w - v) / l2;
+
+ if (t < 0.0f) {
+ return dist(p, v);
+ } else if (t > 1.0f) {
+ return dist(p, w);
+ }
+
+ b2Vec2 projection = v + t * (w - v);
+
+ return dist(p, projection);
+}
diff --git a/src/App.cpp b/src/App.cpp
new file mode 100644
index 0000000..c97061e
--- /dev/null
+++ b/src/App.cpp
@@ -0,0 +1,538 @@
+#include <App.hpp>
+#include <HyperNeat/Cppn.hpp>
+#include <tbb/parallel_for.h>
+#include <HyperNeat/Utils/Thread.hpp>
+#include <HyperNeat/Utils/LoadFile.hpp>
+#include <HyperNeat/Utils/SaveFile.hpp>
+
+using namespace hn;
+using namespace sf;
+using namespace tbb;
+using namespace std;
+
+int
+App::startup()
+{
+ ifstream paramsFile("parameters");
+ ifstream popFile("current.population");
+
+ if (!paramsFile) {
+ return EXIT_FAILURE;
+ }
+
+ cout << "Type hours to run sim.: ";
+ cin >> _secondsToRun;
+ _secondsToRun *= (60 * 60);
+
+ bool popLoaded = false;
+
+ if (popFile) {
+ popLoaded = true;
+
+ LoadFile lFile(popFile);
+ lFile.loadPopulation(_population);
+
+ _popPrms = _population.getPopulationPrms();
+ _doNoveltySearch = _population.isNoveltyMetricSet();
+ }
+
+ auto until = numeric_limits<streamsize>::max();
+
+ while (!paramsFile.eof()) {
+ paramsFile.ignore(until, '<');
+
+ string command;
+ getline(paramsFile, command, '>');
+
+ if (!popLoaded && command == "POPULATION_PARAMETERS") {
+ paramsFile.ignore(until, '<');
+
+ while (paramsFile.peek() != '/') {
+ string subCommand;
+ getline(paramsFile, subCommand, '>');
+
+ if (subCommand == "populationSize") {
+ paramsFile >> _popPrms._popSize;
+ } else if (subCommand == "seed") {
+ paramsFile >> _popPrms._seed;
+ } else if (subCommand == "weightRange") {
+ paramsFile >> _popPrms._weightRange;
+ } else if (subCommand == "c1Disjoint") {
+ paramsFile >> _popPrms._c1Disjoint;
+ } else if (subCommand == "c3WeightDifference") {
+ paramsFile >> _popPrms._c3WeightDifference;
+ } else if (subCommand == "populationSize") {
+ paramsFile >> _popPrms._popSize;
+ } else if (subCommand == "initialDistanceThreshold") {
+ paramsFile >> _popPrms._initialDistanceThreshold;
+ } else if (subCommand == "distanceThresholdShift") {
+ paramsFile >> _popPrms._distanceThresholdShift;
+ } else if (subCommand == "sexualReproductionRate") {
+ paramsFile >> _popPrms._sexualReproductionRate;
+ } else if (subCommand == "weightMutationRate") {
+ paramsFile >> _popPrms._weightMutationRate;
+ } else if (subCommand == "weightDeviation") {
+ paramsFile >> _popPrms._weightDeviation;
+ } else if (subCommand == "interspeciesMatingRate") {
+ paramsFile >> _popPrms._interspeciesMatingRate;
+ } else if (subCommand == "geneDisablingRatio") {
+ paramsFile >> _popPrms._geneDisablingRatio;
+ } else if (subCommand == "linkMutationRate") {
+ paramsFile >> _popPrms._linkMutationRate;
+ } else if (subCommand == "nodeMutationRate") {
+ paramsFile >> _popPrms._nodeMutationRate;
+ } else if (subCommand == "targetSpeciesCount") {
+ paramsFile >> _popPrms._targetSpeciesCount;
+ } else if (subCommand == "eligibilityRatio") {
+ paramsFile >> _popPrms._eligibilityRatio;
+ } else if (subCommand == "minimumLifetime") {
+ paramsFile >> _popPrms._minimumLifetime;
+ } else if (subCommand == "replBeforeReorganization") {
+ paramsFile >> _popPrms._replBeforeReorganization;
+ }
+
+ paramsFile.ignore(until, '<');
+ }
+ } else if (command == "NEURAL_NET_PARAMETERS") {
+ paramsFile.ignore(until, '<');
+
+ while (paramsFile.peek() != '/') {
+ string subCommand;
+ getline(paramsFile, subCommand, '>');
+
+ if (subCommand == "testGridLevel") {
+ paramsFile >> _nnPrms._testGridLevel;
+ } else if (subCommand == "maxQuadTreeLevel") {
+ paramsFile >> _nnPrms._maxQuadTreeLevel;
+ } else if (subCommand == "minQuadTreeLevel") {
+ paramsFile >> _nnPrms._minQuadTreeLevel;
+ } else if (subCommand == "bandPruningThreshold") {
+ paramsFile >> _nnPrms._bandPruningThreshold;
+ } else if (subCommand == "varianceThreshold") {
+ paramsFile >> _nnPrms._varianceThreshold;
+ } else if (subCommand == "divisionThreshold") {
+ paramsFile >> _nnPrms._divisionThreshold;
+ } else if (subCommand == "searchIterations") {
+ paramsFile >> _nnPrms._iterations;
+ }
+
+ paramsFile.ignore(until, '<');
+ }
+ } else if (command == "NOVELTY_SEARCH_PARAMETERS") {
+ paramsFile.ignore(until, '<');
+
+ while (paramsFile.peek() != '/') {
+ string subCommand;
+ getline(paramsFile, subCommand, '>');
+
+ if (subCommand == "doNoveltySearch") {
+ paramsFile >> _doNoveltySearch;
+ } else if (subCommand == "noveltyThreshold") {
+ paramsFile >> _noveltyPrms._noveltyThreshold;
+ } else if (subCommand == "referenceOrganisms") {
+ paramsFile >> _noveltyPrms._referenceOrganisms;
+ }
+
+ _noveltyPrms._characterizationSize = 3;
+
+ paramsFile.ignore(until, '<');
+ }
+ } else if (command == "STAGE_PARAMETERS") {
+ paramsFile.ignore(until, '<');
+
+ while (paramsFile.peek() != '/') {
+ string subCommand;
+ getline(paramsFile, subCommand, '>');
+
+ if (subCommand == "file") {
+ string fileName;
+ paramsFile >> fileName;
+
+ if (_stage.load(fileName) == EXIT_FAILURE) {
+ return EXIT_FAILURE;
+ }
+ } else if (subCommand == "draw") {
+ paramsFile >> _draw;
+ }
+
+ paramsFile.ignore(until, '<');
+ }
+ }
+ }
+
+ if (!_draw) {
+ _isVSyncEnabled = false;
+ _isPaused = false;
+ }
+
+ _nnPrms._inputMap = {
+ { -1.0, -0.5 },
+ { -0.7, 0.2 },
+ { 0.0, 0.5 },
+ { 0.7, 0.2 },
+ { 1.0, -0.5 }
+ };
+
+ _nnPrms._outputMap = {
+ { -0.5, -0.5 },
+ { 0.0, 0.0 },
+ { 0.5, -0.5 }
+ };
+
+ if (!popLoaded) {
+ _population.create(_popPrms, _nnPrms);
+ }
+
+ if (_doNoveltySearch && !_population.isNoveltyMetricSet()) {
+ _population.setNoveltyMetric(_noveltyPrms);
+ } else if (!_doNoveltySearch && _population.isNoveltyMetricSet()) {
+ _population.clearNoveltyMetric();
+ }
+
+ _agents.resize(_popPrms._popSize, Agent());
+
+ for (size_t i = 0; i < _agents.size(); ++i) {
+ _agents[i]._organism = &_population.getOrganism(i);
+ _agents[i].create(_stage);
+ }
+
+ // Agent::_currentLifetime = (_stage._checkPoints.back()._value / 1.75);
+
+ _champ.setFillColor(Color::Transparent);
+ _champ.setOutlineColor(CHAMP_COLOR);
+ _champ.setOutlineThickness(2);
+ _champ.setRadius(AGENT_RAD + 2);
+ _champ.setOrigin(AGENT_RAD + 2, AGENT_RAD + 2);
+
+ _selected = _champ;
+ _selected.setOutlineColor(SELECTED_COLOR);
+
+ // Print NoveltyMarks
+ if (_population.isNoveltyMetricSet()) {
+ for (auto& i : _population.getNoveltyMetric().getArchive()) {
+ _noveltyMarks.emplace_back();
+ _noveltyMarks.back().setFillColor({ 255, 255, 0, 10 });
+ _noveltyMarks.back().setRadius(AGENT_RAD + 2);
+ _noveltyMarks.back().setOrigin(AGENT_RAD + 2, AGENT_RAD + 2);
+ _noveltyMarks.back().setPosition(i[0], i[1]);
+ }
+ }
+
+ // Prepare text
+ if (!_font.loadFromFile("C:/Windows/Fonts/font_1.ttf")) {
+ return EXIT_FAILURE;
+ }
+
+ _updates.setFont(_font);
+ _champFitness.setFont(_font);
+ _avergFitness.setFont(_font);
+
+ _updates.setCharacterSize(11);
+ _champFitness.setCharacterSize(11);
+ _avergFitness.setCharacterSize(11);
+
+ _updates.setPosition(5, 5);
+ _champFitness.setPosition(5, 18);
+ _avergFitness.setPosition(5, 31);
+
+ _updates.setColor(TEXT_COLOR);
+ _champFitness.setColor(TEXT_COLOR);
+ _avergFitness.setColor(TEXT_COLOR);
+
+ return EXIT_SUCCESS;
+}
+
+int
+App::execute()
+{
+ if (!_draw) {
+ hn::Thread runner([&]() {
+ while (_runningWOGfx) {
+ update();
+ }
+ });
+
+ cin.get();
+ cin.get();
+
+ _runningWOGfx = false;
+ runner.join();
+
+ return EXIT_SUCCESS;
+ }
+
+ _window.create(VIDEO_MODE, WIN_TITLE, WIN_STYLE, WIN_SETTINGS);
+
+ _clock.restart();
+ _globalClock.restart();
+
+ while (_window.isOpen()) {
+ if (!_isPaused) {
+ update();
+ }
+
+ Event event;
+
+ while (_window.pollEvent(event)) {
+ if (event.type == Event::Closed) {
+ _cppnEx.shutdown();
+ _window.close();
+ } else if (event.type == Event::KeyPressed) {
+ if (event.key.code == Keyboard::Space) {
+ _isPaused = !_isPaused;
+ } else if (event.key.code == Keyboard::V) {
+ _isVSyncEnabled = !_isVSyncEnabled;
+
+ if (_isVSyncEnabled) {
+ _window.setVerticalSyncEnabled(true);
+ } else {
+ _window.setVerticalSyncEnabled(false);
+ }
+ } else if (event.key.code == Keyboard::L) {
+ if (_selectedIdx != -1) {
+ if (_population.isOrganismLocked(_selectedIdx)) {
+ _population.unlockOrganism(_selectedIdx);
+ } else {
+ _population.lockOrganism(_selectedIdx);
+ }
+ }
+ } else if (event.key.code == Keyboard::F) {
+ if (_selectedIdx != -1) {
+ if (_population.isOrganismFrozen(_selectedIdx)) {
+ _population.unfreezeOrganism(_selectedIdx);
+ } else {
+ _population.freezeOrganism(_selectedIdx);
+ }
+ }
+ } else if (event.key.code == Keyboard::C) {
+ if (_selectedIdx != -1) {
+ auto& genome = _population.getOrganism(_selectedIdx).getGenome();
+ _cppnEx.run(genome, &_nnPrms);
+ }
+ }
+ } else if (event.type == Event::MouseButtonPressed && event.mouseButton.button == Mouse::Left) {
+ float cX = static_cast<float>(Mouse::getPosition(_window).x);
+ float cY = static_cast<float>(Mouse::getPosition(_window).y);
+
+ b2AABB aabb;
+ aabb.lowerBound = { cX - 0.5f, cY - 0.5f };
+ aabb.upperBound = { cX + 0.5f, cY + 0.5f };
+
+ QueryCallback qCallback;
+
+ _stage._world.QueryAABB(&qCallback, aabb);
+
+ if (qCallback._fixture) {
+ if (qCallback._fixture->GetFilterData().groupIndex == -1) {
+ Agent* agent = static_cast<Agent*>(qCallback._fixture->GetUserData());
+ size_t agentIdx = 0;
+
+ while (&_agents[agentIdx] != agent) {
+ ++agentIdx;
+ }
+
+ _selectedIdx = agentIdx;
+
+ size_t oldOrg = 0;
+ double averageDist = 0.0;
+
+ for (auto& i : _agents) {
+ if (i._organism->isOld()) {
+ ++oldOrg;
+ averageDist += i._distance;
+ }
+ }
+
+ averageDist /= static_cast<double>(oldOrg);
+
+ cout.setf(ios::boolalpha);
+ cout << endl;
+ cout << "completedCircuits : " << _agents[agentIdx]._completedCircuits << endl;
+ cout << "lifetime : " << _agents[agentIdx]._lifetime << endl;
+ cout << "distance : " << _agents[agentIdx]._distance << endl;
+ cout << "isOnTrap : " << _agents[agentIdx]._isOnTrap << endl;
+ cout << "isOld : " << _agents[agentIdx]._organism->isOld() << endl;
+ // cout << "noveltyScore : " << _agents[agentIdx]._organism->getBehavior().getNoveltyScore() << endl;
+ // cout << "criteriaReached : " << _agents[agentIdx]._organism->getBehavior()._criteriaReached << endl;
+ cout << "averageDist : " << averageDist << endl;
+ cout << endl;
+ } else {
+ _selectedIdx = -1;
+ }
+ } else {
+ _selectedIdx = -1;
+ }
+ }
+ }
+
+ draw();
+ }
+
+ return EXIT_SUCCESS;
+}
+
+void
+App::update()
+{
+ parallel_for(size_t(0), _agents.size(), size_t(1), [&](size_t i) {
+ if (!_agents[i]._organism->isBeingGenerated()) {
+ _agents[i].update(_stage, _doNoveltySearch);
+ }
+ });
+
+ _population.update([&]() {
+ if (!_doNoveltySearch) {
+ for (auto& i : _agents) {
+ i.setPoints(_stage, true);
+ }
+ } else {
+ for (auto& i : _agents) {
+ i.setBehavior(_stage);
+ }
+ }
+ }, [&]() {
+ _agents[_population.getLastReplacement()->getIndex()].recreate(_stage, true);
+ });
+
+ if (_doNoveltySearch) {
+ size_t maxCircuits = 0;
+
+ for (auto& i : _agents) {
+ maxCircuits = max(maxCircuits, i._completedCircuits);
+ }
+
+ if (maxCircuits != _completedCircuits) {
+ _completedCircuits = maxCircuits;
+ size_t newLifetime = (_stage._checkPoints.back()._value / 1.75) * (_completedCircuits + 1);
+
+ _population.setMinimumLifetime(newLifetime);
+ Agent::_currentLifetime = newLifetime;
+ }
+ }
+
+ for (auto& i : _stage._traps) {
+ TrapCallback trapCallback;
+ _stage._world.QueryAABB(&trapCallback, i);
+ }
+
+ if (_doNoveltySearch) {
+ auto& archive = _population.getNoveltyMetric().getArchive();
+
+ if (archive.size() > _noveltyMarks.size()) {
+ for (size_t i = _noveltyMarks.size(); i < archive.size(); ++i) {
+ _noveltyMarks.emplace_back();
+ _noveltyMarks.back().setFillColor({ 255, 255, 0, 10 });
+ _noveltyMarks.back().setRadius(AGENT_RAD + 2);
+ _noveltyMarks.back().setOrigin(AGENT_RAD + 2, AGENT_RAD + 2);
+ _noveltyMarks.back().setPosition(archive[i][0], archive[i][1]);
+ }
+ }
+ }
+
+ _stage.update();
+
+ if (_population.getUpdates() % 10000 == 0) {
+ ofstream popFile("current.population");
+ SaveFile sFile(popFile);
+ sFile.savePopulation(_population, true);
+
+ using chrono::system_clock;
+ system_clock::time_point today = system_clock::now();
+
+ time_t tt = system_clock::to_time_t(today);
+ cout << "> Saved on : " << ctime(&tt);
+ cout << "> Champ Fitness : " << _population.getChampion()._fitness << endl;
+ cout << "> Comp. Circuits : " << _completedCircuits << endl;
+
+ if (_population.isNoveltyMetricSet()) {
+ cout << "> Archive Size : " << _population.getNoveltyMetric().getArchive().size() << endl << endl;
+ } else {
+ cout << endl;
+ }
+ }
+
+ if (_globalClock.getElapsedTime().asSeconds() > _secondsToRun) {
+ _window.close();
+ _runningWOGfx = false;
+ }
+}
+
+void
+App::draw()
+{
+ if (!_isVSyncEnabled) {
+ if (_clock.getElapsedTime().asSeconds() < 1.0f / 60.0f) {
+ return;
+ }
+
+ _clock.restart();
+ }
+
+ _window.clear(BG_COLOR);
+
+ _stage.drawOn(_window);
+
+ for (auto& i : _noveltyMarks) {
+ _window.draw(i);
+ }
+
+ for (size_t i = 0, end = _agents.size(); i < end; ++i) {
+ if (!_population.isOrganismBeingGenerated(i)) {
+ _agents[i].drawOn(_window);
+ }
+ }
+
+ // Highlight champ
+ double champFtn = _population.getChampion()._fitness;
+ ssize_t champIdx = _population.getChampion().getIndex();
+ double averageFitness = _population.getAverageFitness();
+
+ if (champIdx != -1) {
+ auto cPos = _agents[champIdx]._body->GetPosition();
+ _champ.setPosition(cPos.x, cPos.y);
+ _window.draw(_champ);
+ }
+
+ // Highlight selected
+ if (_selectedIdx != -1) {
+ auto sPos = _agents[_selectedIdx]._body->GetPosition();
+ _selected.setPosition(sPos.x, sPos.y);
+ _window.draw(_selected);
+ }
+
+ // Print text
+ _updates.setString ("Simulation updates : " + toString(_population.getUpdates()));
+ _champFitness.setString("Champ's fitness : " + toString(champFtn));
+ _avergFitness.setString("Average fitness : " + toString(averageFitness));
+
+ _window.draw(_updates);
+ _window.draw(_champFitness);
+ _window.draw(_avergFitness);
+
+ _window.display();
+}
+
+void
+App::shutdown()
+{
+ _population.shutdown(true);
+
+ ofstream popFile("current.population");
+ SaveFile sFile(popFile);
+ sFile.savePopulation(_population);
+
+ cout << "SHUTTING DOWN!" << endl;
+}
+
+int
+main()
+{
+ App app;
+
+ if (app.startup() == EXIT_FAILURE || app.execute() == EXIT_FAILURE) {
+ return EXIT_FAILURE;
+ } else {
+ app.shutdown();
+ return EXIT_SUCCESS;
+ }
+}
diff --git a/src/NR_Utils.cpp b/src/NR_Utils.cpp
new file mode 100644
index 0000000..2768dad
--- /dev/null
+++ b/src/NR_Utils.cpp
@@ -0,0 +1,88 @@
+#include <NR_Utils.hpp>
+#include <Agent.hpp>
+#include <Stage.hpp>
+
+using namespace std;
+
+ssize_t
+pMod(ssize_t n, ssize_t d)
+{
+ return (n % d + d) % d;
+}
+
+float
+dist(const b2Vec2& a, const b2Vec2 b)
+{
+ auto x = a.x - b.x;
+ auto y = a.y - b.y;
+
+ return sqrt(x * x + y * y);
+}
+
+float
+dotP(const b2Vec2& a, const b2Vec2 b)
+{
+ return a.x * b.x + a.y * b.y;
+}
+
+float32
+RayCastCallback::ReportFixture(b2Fixture* fixture, const b2Vec2& point, const b2Vec2& normal, float32 fraction)
+{
+ if (fixture->GetFilterData().groupIndex == -1 || fixture->IsSensor()) {
+ return -1.0f;
+ }
+
+ _fixture = fixture;
+ _fraction = 1.0f - fraction;
+
+ return fraction;
+}
+
+bool
+QueryCallback::ReportFixture(b2Fixture* fixture)
+{
+ _fixture = fixture;
+
+ return false;
+}
+
+bool
+TrapCallback::ReportFixture(b2Fixture* fixture)
+{
+ if (fixture->GetBody()->GetType() != b2_dynamicBody) {
+ return true;
+ }
+
+ Agent& agent = *static_cast<Agent*>(fixture->GetUserData());
+ agent._isOnTrap = true;
+ agent._body->SetLinearVelocity({ 0.0f, 0.0f });
+ agent._body->SetAngularVelocity(0.0f);
+
+ return true;
+}
+
+void
+ContactListener::BeginContact(b2Contact* contact)
+{
+ b2Fixture* fixA = contact->GetFixtureA();
+ b2Fixture* fixB = contact->GetFixtureB();
+
+ if (!fixA->IsSensor() && !fixB->IsSensor()) {
+ return;
+ }
+
+ Agent* agent = nullptr;
+ b2Fixture* check = nullptr;
+
+ if (fixA->IsSensor()) {
+ check = fixA;
+ agent = static_cast<Agent*>(fixB->GetUserData());
+ } else {
+ check = fixB;
+ agent = static_cast<Agent*>(fixA->GetUserData());
+ }
+
+ if (check->GetUserData() == agent->_nextCheckPoint) {
+ agent->incrementCheckPoint(*_stage);
+ }
+}
diff --git a/src/Stage.cpp b/src/Stage.cpp
new file mode 100644
index 0000000..b9fa67a
--- /dev/null
+++ b/src/Stage.cpp
@@ -0,0 +1,192 @@
+#include <Stage.hpp>
+
+using namespace sf;
+using namespace std;
+
+int
+Stage::load(const std::string& fileName)
+{
+ ifstream stageFile(fileName);
+
+ if (!stageFile) {
+ return EXIT_FAILURE;
+ }
+
+ auto until = numeric_limits<streamsize>::max();
+
+ while (!stageFile.eof()) {
+ stageFile.ignore(until, '<');
+
+ string command;
+ getline(stageFile, command, '>');
+
+ if (command == "WALL") {
+ _walls.emplace_back(LinesStrip);
+ hn::Vector<b2Vec2> vertices;
+
+ stageFile.ignore(until, '<');
+
+ while (stageFile.peek() != '/') {
+ Vector2f vtxPos;
+
+ stageFile >> vtxPos.x;
+ stageFile.ignore(until, ',');
+ stageFile >> vtxPos.y;
+ stageFile.ignore(until, '<');
+
+ _walls.back().append({ vtxPos, WALL_COLOR });
+ vertices.emplace_back(vtxPos.x, vtxPos.y);
+ }
+
+ b2ChainShape shape;
+ shape.CreateChain(vertices.data(), vertices.size());
+
+ b2BodyDef bodyDef;
+ _wallBodies.emplace_back(_world.CreateBody(&bodyDef));
+ _wallBodies.back()->CreateFixture(&shape, 0.0f);
+ } else if (command == "FACTORY") {
+ Vector2f factPos;
+ double factRot = 0.0;
+
+ stageFile.ignore(until, '<');
+ stageFile >> factPos.x;
+ stageFile.ignore(until, ',');
+ stageFile >> factPos.y;
+ stageFile.ignore(until, ',');
+ stageFile >> factRot;
+ stageFile.ignore(until, '<');
+
+ _factory.setPosition(factPos);
+ _factory.setRotation(factRot);
+ _factory.setOrigin(AGENT_RAD + 2, AGENT_RAD + 2);
+ _factory.setFillColor(Color::Black);
+ _factory.setOutlineColor(FACTORY_COLOR);
+ _factory.setOutlineThickness(2.0f);
+ } else if (command == "CHECKPOINT") {
+ stageFile.ignore(until, '<');
+
+ while (stageFile.peek() != '/') {
+ _checkPoints.emplace_back();
+
+ Vector2f vtx1Pos;
+ Vector2f vtx2Pos;
+ b2Vec2 shVx[2];
+
+ stageFile >> vtx1Pos.x;
+ shVx[0].x = vtx1Pos.x;
+ stageFile.ignore(until, ',');
+ stageFile >> vtx1Pos.y;
+ shVx[0].y = vtx1Pos.y;
+ stageFile.ignore(until, ',');
+ stageFile >> vtx2Pos.x;
+ shVx[1].x = vtx2Pos.x;
+ stageFile.ignore(until, ',');
+ stageFile >> vtx2Pos.y;
+ shVx[1].y = vtx2Pos.y;
+ stageFile.ignore(until, ',');
+ stageFile >> _checkPoints.back()._value;
+ stageFile.ignore(until, '<');
+
+ _checkPoints.back()._line.append({ vtx1Pos, CHECKPNT_COLOR });
+ _checkPoints.back()._line.append({ vtx2Pos, CHECKPNT_COLOR });
+
+ _checkPoints.front().calculateSegment(_checkPoints.back());
+
+ b2ChainShape cpShape;
+ cpShape.CreateChain(shVx, 2);
+
+ b2FixtureDef cpFixture;
+ cpFixture.shape = &cpShape;
+ cpFixture.isSensor = true;
+
+ b2BodyDef cpDef;
+ _checkPoints.back()._body = _world.CreateBody(&cpDef);
+ _checkPoints.back()._body->CreateFixture(&cpFixture);
+
+ if (_checkPoints.size() > 1) {
+ auto& prev = _checkPoints[_checkPoints.size() - 2];
+
+ _checkPoints.back().calculateSegment(prev);
+ }
+ }
+
+ for (auto & i : _checkPoints) {
+ i._body->GetFixtureList()->SetUserData(&i);
+ }
+ } else if (command == "TRAP") {
+ stageFile.ignore(until, '<');
+
+ while (stageFile.peek() != '/') {
+ sf::Vector2f v1;
+ sf::Vector2f v2;
+
+ stageFile >> v1.x;
+ stageFile.ignore(until, ',');
+ stageFile >> v1.y;
+ stageFile.ignore(until, ',');
+ stageFile >> v2.x;
+ stageFile.ignore(until, ',');
+ stageFile >> v2.y;
+ stageFile.ignore(until, '<');
+
+ _trapRects.emplace_back(sf::Vector2f(v2.x - v1.x, v2.y - v1.y));
+ _trapRects.back().setPosition(v1);
+ _trapRects.back().setFillColor({ 128, 32, 32, 128 });
+
+ _traps.emplace_back();
+ _traps.back().lowerBound.Set(v1.x, v1.y);
+ _traps.back().upperBound.Set(v2.x, v2.y);
+ }
+ }
+ }
+
+ _world.SetContactListener(&_listener);
+ _listener._stage = this;
+
+ return EXIT_SUCCESS;
+}
+
+void
+Stage::update()
+{
+ _world.Step(_TIME_STEP, _VEL_ITERS, _POS_ITERS);
+}
+
+void
+Stage::drawOn(RenderWindow& surface) const
+{
+ for (auto& i : _trapRects) {
+ surface.draw(i);
+ }
+
+ for (auto& i : _walls) {
+ surface.draw(i);
+ }
+
+ surface.draw(_factory);
+
+ for (auto& i : _checkPoints) {
+ surface.draw(i._line);
+ }
+}
+
+void
+Stage::CheckPoint::calculateSegment(const CheckPoint& prev)
+{
+ float32 a0X = prev._line[0].position.x;
+ float32 a0Y = prev._line[0].position.y;
+ float32 a1X = prev._line[1].position.x;
+ float32 a1Y = prev._line[1].position.y;
+
+ float32 b0X = _line[0].position.x;
+ float32 b0Y = _line[0].position.y;
+ float32 b1X = _line[1].position.x;
+ float32 b1Y = _line[1].position.y;
+
+ float32 dA0B0 = dist( { a0X, a0Y }, { b0X, b0Y });
+ float32 dA0B1 = dist( { a0X, a0Y }, { b1X, b1Y });
+ float32 dA1B0 = dist( { a1X, a1Y }, { b0X, b0Y });
+ float32 dA1B1 = dist( { a1X, a1Y }, { b1X, b1Y });
+
+ _segment = min(min(dA0B0, dA0B1), min(dA1B0, dA1B1));
+}
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