From c88b707e58a6d1b021529e2572a695b7edd4a6a9 Mon Sep 17 00:00:00 2001
From: Matteo De Carlo <matteo.dek@gmail.com>
Date: Fri, 19 Jun 2020 17:58:45 +0200
Subject: [PATCH 1/2] Fixed MultiNEAT NN activation bug in CPG controller
 initialization

---
 cpprevolve/revolve/brains/controller/DifferentialCPG.cpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/cpprevolve/revolve/brains/controller/DifferentialCPG.cpp b/cpprevolve/revolve/brains/controller/DifferentialCPG.cpp
index 46a21cc525..7f6cc701a6 100644
--- a/cpprevolve/revolve/brains/controller/DifferentialCPG.cpp
+++ b/cpprevolve/revolve/brains/controller/DifferentialCPG.cpp
@@ -95,6 +95,7 @@ DifferentialCPG::DifferentialCPG(
     // build the NN according to the genome
     NEAT::NeuralNetwork net;
     gen.BuildPhenotype(net);
+    unsigned int net_depth = net.CalculateNetworkDepth();
 
     // get weights for each connection
     // assuming that connections are distinct for each direction
@@ -112,7 +113,9 @@ DifferentialCPG::DifferentialCPG(
         inputs[7] = -1;
 
         net.Input(inputs);
-        net.Activate();
+        for (unsigned int i=0; i<net_depth; i++) {
+            net.Activate();
+        }
         double weight = net.Output()[0];
 #ifdef DifferentialCPG_PRINT_INFO
         std::cout << "Creating weight ["
@@ -129,7 +132,9 @@ DifferentialCPG::DifferentialCPG(
         // convert tuple to vector
         std::tie(inputs[0], inputs[1], inputs[2], inputs[3], inputs[4], inputs[5], inputs[6], inputs[7]) = con.first;
         net.Input(inputs);
-        net.Activate();
+        for (unsigned int i=0; i<net_depth; i++) {
+            net.Activate();
+        }
         double weight = net.Output()[0];
 #ifdef DifferentialCPG_PRINT_INFO
         std::cout << "Creating weight ["

From 585b44095ba44b9914c8a87fbce316122d962a11 Mon Sep 17 00:00:00 2001
From: Matteo De Carlo <matteo.dek@gmail.com>
Date: Fri, 19 Jun 2020 17:58:58 +0200
Subject: [PATCH 2/2] update MultiNEAT library

---
 thirdparty/MultiNEAT | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/thirdparty/MultiNEAT b/thirdparty/MultiNEAT
index 45819e6d85..d9c90995a6 160000
--- a/thirdparty/MultiNEAT
+++ b/thirdparty/MultiNEAT
@@ -1 +1 @@
-Subproject commit 45819e6d851ce7ded8142144cbe12aa7ac02ba7f
+Subproject commit d9c90995a6fdb10f3e5d6e2e93cba834e1c8fd27