File size: 4,186 Bytes
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class Car{
constructor(x,y,width,height,controlType,maxSpeed=3){
this.x=x;
this.y=y;
this.width=width;
this.height=height;
this.speed=0;
this.acceleration=0.2;
this.maxSpeed=maxSpeed;
this.friction=0.05;
this.angle=0;
this.damaged=false;
this.useBrain=controlType=="AI";
if(controlType!="DUMMY"){
this.sensor=new Sensor();
this.brain=new NeuralNetwork(
[this.sensor.rayCount,6,4]
);
}
this.controls=new Controls(controlType);
}
update(roadBorders,traffic){
if(!this.damaged){
this.#move();
this.polygon=this.#createPolygon();
this.damaged=this.#assessDamage(roadBorders,traffic);
}
if(this.sensor){
this.sensor.update(this.x,this.y,this.angle,roadBorders,traffic);
const offsets=this.sensor.readings.map(
s=>s==null?0:1-s.offset
);
const outputs=NeuralNetwork.feedForward(offsets,this.brain);
if(this.useBrain){
this.controls.forward=outputs[0];
this.controls.left=outputs[1];
this.controls.right=outputs[2];
this.controls.reverse=outputs[3];
}
}
}
#assessDamage(roadBorders,traffic){
for(let i=0;i<roadBorders.length;i++){
if(polysIntersect(
[...this.polygon,this.polygon[0]],
roadBorders[i])
){
return true;
}
}
for(let i=0;i<traffic.length;i++){
const poly=traffic[i].polygon;
if(polysIntersect(
[...this.polygon,this.polygon[0]],
[...poly,poly[0]])
){
return true;
}
}
return false;
}
#createPolygon(){
const points=[];
const rad=Math.hypot(this.width,this.height)/2;
const alpha=Math.atan2(this.width,this.height);
points.push({
x:this.x-Math.sin(this.angle-alpha)*rad,
y:this.y-Math.cos(this.angle-alpha)*rad
});
points.push({
x:this.x-Math.sin(this.angle+alpha)*rad,
y:this.y-Math.cos(this.angle+alpha)*rad
});
points.push({
x:this.x-Math.sin(Math.PI+this.angle-alpha)*rad,
y:this.y-Math.cos(Math.PI+this.angle-alpha)*rad
});
points.push({
x:this.x-Math.sin(Math.PI+this.angle+alpha)*rad,
y:this.y-Math.cos(Math.PI+this.angle+alpha)*rad
});
return points;
}
#move(){
if(this.controls.forward){
this.speed+=this.acceleration;
}
if(this.controls.reverse){
this.speed-=this.acceleration;
}
if(this.speed!=0){
const flip=this.speed>0?1:-1;
if(this.controls.left){
this.angle+=0.03*flip;
}
if(this.controls.right){
this.angle-=0.03*flip;
}
}
if(this.speed>this.maxSpeed){
this.speed=this.maxSpeed;
}
if(this.speed<-this.maxSpeed/2){
this.speed=-this.maxSpeed/2;
}
if(this.speed>0){
this.speed-=this.friction;
}
if(this.speed<0){
this.speed+=this.friction;
}
if(Math.abs(this.speed)<this.friction){
this.speed=0;
}
this.x-=Math.sin(this.angle)*this.speed;
this.y-=Math.cos(this.angle)*this.speed;
}
draw(ctx,drawSensor=false){
if(this.damaged){
ctx.fillStyle="gray";
}else{
ctx.fillStyle="black";
}
ctx.beginPath();
ctx.moveTo(this.polygon[0].x,this.polygon[0].y);
for(let i=1;i<this.polygon.length;i++){
ctx.lineTo(this.polygon[i].x,this.polygon[i].y);
}
ctx.fill();
if(this.sensor && drawSensor){
this.sensor.draw(ctx);
}
}
} |