Wowww your proof looks awesome!
How are your creatures evolving? Do you mutate some every generation or are they learning on the go?
Also, how do you make them steer? Do they give a direction of output or a rotation (do they strafe or do they rotate)?
Well let me try to briefly explain what I got so far:
Every creature as you might see has green parts, and each green part has inputs/neurons/and outputs. Each part could be connected to other creature parts as well.
The output could be a central force applied by a vector defined on each part…or also a torque with the direction of a vector too.
The population is for instance 10 creatures, and on each generation I took the best ones (lets say I took 5) and fill the remaining population with a cloned version of those best ones, but with some slight mutation on the weights of the neurons - and evaluate again and again…
I did many tests but I still don´t see a good result…I suspect my evaluation function is the problem but Im having so much fun.
Anyways, I could share the code if you like, just ping me.