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	<!DOCTYPE html>
	<html lang="en">
	<head>
	<meta charset="UTF-8">
	<meta name="viewport" content="width=device-width, initial-scale=1.0">
	<title>Enhanced AI Traffic Evolution Simulator</title>
	<style>
	body {
	margin: 0;
	overflow: hidden;
	font-family: Arial, sans-serif;
	background: #000;
	}
	#ui {
	position: absolute;
	top: 10px;
	left: 10px;
	color: white;
	background-color: rgba(0,0,0,0.9);
	padding: 15px;
	border-radius: 8px;
	z-index: 100;
	font-size: 14px;
	min-width: 220px;
	}
	#controls {
	position: absolute;
	top: 10px;
	right: 10px;
	color: white;
	background-color: rgba(0,0,0,0.9);
	padding: 15px;
	border-radius: 8px;
	z-index: 100;
	}
	button {
	background-color: #4CAF50;
	border: none;
	color: white;
	padding: 8px 16px;
	margin: 5px;
	cursor: pointer;
	border-radius: 4px;
	font-size: 12px;
	}
	button:hover {
	background-color: #45a049;
	}
	#stats {
	position: absolute;
	bottom: 10px;
	left: 10px;
	color: white;
	background-color: rgba(0,0,0,0.9);
	padding: 15px;
	border-radius: 8px;
	z-index: 100;
	font-size: 12px;
	min-width: 200px;
	}
	#flockingStats {
	position: absolute;
	bottom: 10px;
	right: 10px;
	color: white;
	background-color: rgba(0,0,0,0.9);
	padding: 15px;
	border-radius: 8px;
	z-index: 100;
	font-size: 12px;
	min-width: 180px;
	}
	#trafficStats {
	position: absolute;
	top: 50%;
	right: 10px;
	transform: translateY(-50%);
	color: white;
	background-color: rgba(0,0,0,0.9);
	padding: 15px;
	border-radius: 8px;
	z-index: 100;
	font-size: 12px;
	min-width: 180px;
	}
	.highlight { color: #ffcc00; font-weight: bold; }
	.success { color: #00ff00; font-weight: bold; }
	.flocking { color: #00aaff; }
	.solo { color: #ff8800; }
	.leader { color: #ff00ff; font-weight: bold; }
	.convoy { color: #00ffff; }
	.parked { color: #88ff88; }
	.species-0 { color: #ff6b6b; }
	.species-1 { color: #4ecdc4; }
	.species-2 { color: #45b7d1; }
	.species-3 { color: #96ceb4; }
	.species-4 { color: #ffd93d; }
	.progress-bar {
	width: 100%;
	height: 10px;
	background-color: #333;
	border-radius: 5px;
	overflow: hidden;
	margin: 5px 0;
	}
	.progress-fill {
	height: 100%;
	background: linear-gradient(90deg, #ff6b6b, #4ecdc4, #45b7d1);
	transition: width 0.3s ease;
	}
	</style>
	</head>
	<body>
	<div id="ui">
	<div class="highlight">AI Traffic Evolution Simulator</div>
	<div>Epoch: <span id="epoch">1</span></div>
	<div>Time: <span id="epochTime">60</span>s</div>
	<div class="progress-bar"><div class="progress-fill" id="timeProgress"></div></div>
	<div>Population: <span id="population">100</span></div>
	<div>Species: <span id="speciesCount">1</span></div>
	<div>Best Fitness: <span id="bestFitness">0</span></div>
	<div>Traffic IQ: <span id="trafficIQ">50</span></div>
	<div>Road Mastery: <span id="roadMastery">0</span>%</div>
	</div>

	<div id="controls">
	<button id="pauseBtn">Pause</button>
	<button id="resetBtn">Reset</button>
	<button id="speedBtn">Speed: 1x</button>
	<button id="viewBtn">View: Overview</button>
	<button id="flockBtn">Networks: ON</button>
	<button id="trafficBtn">Traffic Rules: ON</button>
	</div>

	<div id="stats">
	<div><span class="highlight">Top Performers:</span></div>
	<div id="topPerformers"></div>
	<div style="margin-top: 10px;"><span class="highlight">Generation Stats:</span></div>
	<div>Crashes: <span id="crashCount">0</span></div>
	<div>Total Distance: <span id="totalDistance">0</span></div>
	<div>Parking Visits: <span id="parkingEvents">0</span></div>
	<div>Lane Violations: <span id="laneViolations">0</span></div>
	<div>Convoy Length: <span id="convoyLength">0</span></div>
	</div>

	<div id="flockingStats">
	<div><span class="highlight">Convoy Behavior:</span></div>
	<div><span class="leader">Leaders:</span> <span id="leaderCount">0</span></div>
	<div><span class="convoy">In Convoy:</span> <span id="convoyCount">0</span></div>
	<div><span class="parked">Parked:</span> <span id="parkedCount">0</span></div>
	<div><span class="solo">Solo:</span> <span id="soloCount">0</span></div>
	<div>Largest Convoy: <span id="largestConvoy">0</span></div>
	<div>Formation Quality: <span id="formationQuality">0</span>%</div>
	<div>Parking Efficiency: <span id="parkingEfficiency">0</span>%</div>
	</div>

	<div id="trafficStats">
	<div><span class="highlight">Traffic Intelligence:</span></div>
	<div>Lane Discipline: <span id="laneDiscipline">0</span>%</div>
	<div>Following Distance: <span id="followingDistance">0</span>m</div>
	<div>Road Adherence: <span id="roadAdherence">0</span>%</div>
	<div>Turn Signals: <span id="turnSignals">0</span>%</div>
	<div style="margin-top: 10px;"><span class="highlight">Parking:</span></div>
	<div>Spots Occupied: <span id="spotsOccupied">0</span></div>
	<div>Parking Success: <span id="parkingSuccess">0</span>%</div>
	<div>Queue Efficiency: <span id="queueEfficiency">0</span>%</div>
	</div>

	<script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
	<script>
	// Global variables
	let scene, camera, renderer, clock;
	let world = {
	roads: [],
	intersections: [],
	buildings: [], // Will store { mesh: buildingMesh, parkingLot: parkingLotObject, visitorCount: 0, barGraphMesh: barMesh }
	parkingLots: [], // Will store { center, spots, queue, approachLanes, exitLanes, accessPoints, building: buildingObject }
	flockLines: []
	};

	// Enhanced evolution system
	let epoch = 1;
	let epochTime = 60; // seconds per epoch
	let timeLeft = 60;
	let population = [];
	let species = []; // For future speciation if needed
	let populationSize = 100;
	let bestFitness = 0;
	let crashCount = 0;
	let paused = false;
	let speedMultiplier = 1;
	let cameraMode = 'overview'; // 'overview', 'follow_best', 'follow_convoy'
	let showFlockLines = true;
	let trafficRules = true; // General toggle, specific rules handled by AI traits
	let parkingEvents = 0; // Total parking visits in an epoch
	let laneViolations = 0; // Total lane violations in an epoch

	// Traffic and road parameters
	const ROAD_WIDTH_UNIT = 6; // Base width for one lane
	const ROAD_SPACING = 150; // Spacing for major grid roads
	const FOLLOW_DISTANCE = 8; // Base follow distance for convoys
	const CONVOY_MAX_DISTANCE = 12; // Max distance before convoy link breaks
	const PARKING_SPOT_SIZE = { width: 4, length: 8 };
	const GRASS_THRESHOLD = 0.15; // Road position value below which car is considered on grass

	// Manual control state for "Follow Best"
	let manuallyControlledCar = null;
	const manualControls = { W: false, A: false, S: false, D: false };


	// Enhanced Neural Network for traffic behavior
	class TrafficAI {
	constructor() {
	this.inputSize = 28; // Enhanced traffic-aware inputs
	this.hiddenLayers = [36, 28, 20]; // Hidden layer sizes
	this.outputSize = 10; // Outputs: accel, brake, steerL, steerR, laneChange, convoy, park, signalL, signalR, stop
	this.memorySize = 8; // Short-term memory for road context

	this.weights = [];
	this.biases = [];
	this.memory = new Array(this.memorySize).fill(0);
	this.memoryPointer = 0;

	// Build network layers
	let prevSize = this.inputSize + this.memorySize;
	for (let i = 0; i < this.hiddenLayers.length; i++) {
	this.weights.push(this.randomMatrix(prevSize, this.hiddenLayers[i]));
	this.biases.push(this.randomArray(this.hiddenLayers[i]));
	prevSize = this.hiddenLayers[i];
	}

	this.weights.push(this.randomMatrix(prevSize, this.outputSize));
	this.biases.push(this.randomArray(this.outputSize));

	// Traffic-specific traits (evolvable)
	this.trafficTraits = {
	laneKeeping: Math.random(), // 0-1, tendency to stay in lane
	followingBehavior: Math.random(), // 0-1, how closely to follow
	parkingSkill: Math.random(), // 0-1, efficiency in parking
	convoyDiscipline: Math.random(), // 0-1, tendency to form/join convoys
	roadPriority: Math.random() // 0-1, preference for staying on roads
	};
	}

	randomMatrix(rows, cols) {
	let matrix = [];
	for (let i = 0; i < rows; i++) {
	matrix[i] = [];
	for (let j = 0; j < cols; j++) {
	matrix[i][j] = (Math.random() - 0.5) * 2; // Weights between -1 and 1
	}
	}
	return matrix;
	}

	randomArray(size) {
	return Array(size).fill().map(() => (Math.random() - 0.5) * 2); // Biases between -1 and 1
	}

	activate(inputs) {
	let currentInput = [...inputs, ...this.memory]; // Combine current inputs with memory

	// Forward pass through hidden layers
	for (let layer = 0; layer < this.hiddenLayers.length; layer++) {
	currentInput = this.forwardLayer(currentInput, this.weights[layer], this.biases[layer]);
	}

	// Output layer
	const outputs = this.forwardLayer(currentInput,
	this.weights[this.weights.length - 1],
	this.biases[this.biases.length - 1]);

	this.updateMemory(inputs, outputs); // Update memory based on current state
	return outputs;
	}

	forwardLayer(inputs, weights, biases) {
	const outputs = new Array(weights[0].length).fill(0);

	for (let i = 0; i < outputs.length; i++) {
	for (let j = 0; j < inputs.length; j++) {
	outputs[i] += inputs[j] * weights[j][i];
	}
	outputs[i] += biases[i];
	outputs[i] = this.sigmoid(outputs[i]); // Sigmoid activation
	}

	return outputs;
	}

	sigmoid(x) {
	// Clamping input to prevent extreme values in exp, which can cause NaN
	const clampedX = Math.max(-10, Math.min(10, x));
	return 1 / (1 + Math.exp(-clampedX));
	}

	updateMemory(inputs, outputs) {
	// Example: Store average road sensor data in memory
	const roadInfo = inputs.slice(20, 24).reduce((a, b) => a + b, 0) / 4; // Average of road sensors
	this.memory[this.memoryPointer] = roadInfo;
	this.memoryPointer = (this.memoryPointer + 1) % this.memorySize;
	}

	mutate(rate = 0.1) {
	this.weights.forEach(weightMatrix => {
	this.mutateMatrix(weightMatrix, rate);
	});
	this.biases.forEach(biasArray => {
	this.mutateArray(biasArray, rate);
	});

	// Mutate traffic traits
	Object.keys(this.trafficTraits).forEach(trait => {
	if (Math.random() < rate) {
	this.trafficTraits[trait] += (Math.random() - 0.5) * 0.2; // Small random change
	this.trafficTraits[trait] = Math.max(0, Math.min(1, this.trafficTraits[trait])); // Clamp between 0 and 1
	}
	});
	}

	mutateMatrix(matrix, rate) {
	for (let i = 0; i < matrix.length; i++) {
	for (let j = 0; j < matrix[i].length; j++) {
	if (Math.random() < rate) {
	matrix[i][j] += (Math.random() - 0.5) * 0.5; // Small random change
	matrix[i][j] = Math.max(-3, Math.min(3, matrix[i][j])); // Clamp weights
	}
	}
	}
	}

	mutateArray(array, rate) {
	for (let i = 0; i < array.length; i++) {
	if (Math.random() < rate) {
	array[i] += (Math.random() - 0.5) * 0.5; // Small random change
	array[i] = Math.max(-3, Math.min(3, array[i])); // Clamp biases
	}
	}
	}

	copy() {
	const newAI = new TrafficAI();
	newAI.weights = this.weights.map(matrix => matrix.map(row => [...row]));
	newAI.biases = this.biases.map(bias => [...bias]);
	newAI.memory = [...this.memory];
	newAI.memoryPointer = this.memoryPointer;
	newAI.trafficTraits = {...this.trafficTraits}; // Copy traits
	return newAI;
	}
	}

	// Enhanced AI Car with traffic behavior
	class TrafficCar {
	constructor(x = 0, z = 0) {
	this.brain = new TrafficAI();
	this.mesh = this.createCarMesh();
	this.mesh.position.set(x, 1, z); // Car height above ground

	// Movement and traffic properties
	this.velocity = new THREE.Vector3();
	this.acceleration = new THREE.Vector3(); // Not directly used, NN outputs control velocity changes
	this.maxSpeed = 20; // Max speed units per second
	this.minSpeed = 2; // Min speed when moving
	this.currentLane = null; // Reference to current road lane object (if any)
	this.targetLane = null; // Target lane for lane changes
	this.lanePosition = 0; // -1 (left edge) to 1 (right edge) within its current lane

	// Road transition tracking
	this.lastRoadPositionScore = 0; // Score from getRoadPosition() in previous frame
	this.isReturningToRoad = false; // Flag for 180-turn behavior when on grass
	this.turnAngleGoal = 0; // Target angle for the turn
	this.turnProgress = 0; // Current progress of the turn
	this.initialOrientationY = 0; // Orientation before starting a turn

	// Convoy and flock behavior
	this.flockId = -1; // ID for flocking group (future use)
	this.convoyPosition = -1; // Position in convoy (-1 = not in convoy, 0 = leader)
	this.convoyLeader = null; // Reference to convoy leader car
	this.convoyFollowers = []; // Array of cars following this one (if leader)
	this.followTarget = null; // Car this one is following in a convoy
	this.role = 'driver'; // 'driver', 'leader', 'parker'

	// Enhanced parking system
	this.isParked = false;
	this.parkingSpot = null; // Reference to the ParkingSpot object
	this.targetParkingLot = null; // Reference to the ParkingLot object
	this.parkingQueuePosition = -1; // Position in parking lot queue
	this.isParkingApproach = false; // True if actively moving towards a parking spot
	this.isInApproachLane = false; // True if in a dedicated approach lane
	this.isInExitLane = false; // True if in a dedicated exit lane
	this.approachTargetPosition = null; // Specific point in approach lane
	this.exitTargetPosition = null; // Specific point in exit lane
	this.selectedApproachLaneIndex = -1;
	this.selectedExitLaneIndex = -1;
	this.parkingAttempts = 0; // Number of times tried to park this epoch
	this.maxParkingAttempts = 3;
	this.departureTime = 0; // Timer for how long to stay parked
	this.isExitingParking = false; // Flag for 180-degree turn when exiting parking

	this.turnSignal = 'none'; // 'left', 'right', 'none'
	this.laneDiscipline = 0; // Score for staying in lane
	this.followingDistance = FOLLOW_DISTANCE; // Current following distance

	// Fitness and metrics
	this.fitness = 0;
	this.roadTime = 0; // Time spent on roads
	this.convoyTime = 0; // Time spent in a convoy
	this.parkingScore = 0; // Score for successful parking
	this.trafficViolations = 0; // Count of lane violations, etc.
	this.distanceTraveled = 0;
	this.crashed = false;
	this.timeAlive = epochTime * 0.8 + Math.random() * epochTime * 0.4; // Lifespan before attempting to park

	// Sensors and visualization
	this.sensors = Array(16).fill(0); // 16 general obstacle sensors
	this.roadSensors = Array(8).fill(0); // Road-specific sensors
	this.trafficSensors = Array(4).fill(0); // Traffic/convoy sensors
	this.sensorRays = []; // Visual lines for sensors
	this.flockLines = []; // Visual lines for convoy connections
	this.neighbors = []; // Nearby cars for flocking/convoy logic

	this.lastPosition = new THREE.Vector3(x, 1, z);
	this.createSensorRays();
	this.createFlockVisualization();
	this.initializeMovement();

	// Manual control inputs
	this.manualAcceleration = 0;
	this.manualBraking = 0;
	this.manualSteer = 0; // -1 for left, 1 for right
	}

	createCarMesh() {
	const group = new THREE.Group();

	// Car body
	const bodyGeometry = new THREE.BoxGeometry(1.5, 0.8, 3.5);
	// Removed flatShading: true as it's not a property of MeshLambertMaterial
	this.bodyMaterial = new THREE.MeshLambertMaterial({
	color: new THREE.Color().setHSL(Math.random(), 0.8, 0.6)
	});
	const body = new THREE.Mesh(bodyGeometry, this.bodyMaterial);
	body.position.y = 0.4; // Body center y
	body.castShadow = true;
	group.add(body);

	// Turn signals
	const signalGeometry = new THREE.SphereGeometry(0.15, 6, 4);
	this.leftSignal = new THREE.Mesh(signalGeometry,
	new THREE.MeshLambertMaterial({ color: 0xff8800, transparent: true, opacity: 0.5 }));
	this.leftSignal.position.set(-0.8, 0.8, 1.2); // Front-left
	group.add(this.leftSignal);

	this.rightSignal = new THREE.Mesh(signalGeometry,
	new THREE.MeshLambertMaterial({ color: 0xff8800, transparent: true, opacity: 0.5 }));
	this.rightSignal.position.set(0.8, 0.8, 1.2); // Front-right
	group.add(this.rightSignal);

	// Role indicator (cone above car)
	const indicatorGeometry = new THREE.ConeGeometry(0.2, 0.8, 6);
	this.roleIndicator = new THREE.Mesh(indicatorGeometry,
	new THREE.MeshLambertMaterial({ color: 0xffffff })); // Default white
	this.roleIndicator.position.set(0, 1.5, 0); // Above car body
	group.add(this.roleIndicator);

	// Wheels
	const wheelGeometry = new THREE.CylinderGeometry(0.3, 0.3, 0.2, 8); // radiusTop, radiusBottom, height, segments
	const wheelMaterial = new THREE.MeshLambertMaterial({ color: 0x333333 });

	this.wheels = [];
	const wheelPositions = [
	[-0.7, 0, 1.4], [0.7, 0, 1.4], // Front wheels
	[-0.7, 0, -1.4], [0.7, 0, -1.4] // Rear wheels
	];

	wheelPositions.forEach((pos) => {
	const wheel = new THREE.Mesh(wheelGeometry, wheelMaterial);
	wheel.position.set(...pos);
	wheel.rotation.z = Math.PI / 2; // Rotate to lie flat
	this.wheels.push(wheel);
	group.add(wheel);
	});

	return group;
	}

	createSensorRays() {
	const sensorMaterial = new THREE.LineBasicMaterial({
	color: 0xff0000,
	transparent: true,
	opacity: 0.2
	});

	for (let i = 0; i < 16; i++) { // 16 general obstacle sensors
	const geometry = new THREE.BufferGeometry().setFromPoints([
	new THREE.Vector3(0, 0, 0),
	new THREE.Vector3(0, 0, 10) // Default length 10
	]);
	const ray = new THREE.Line(geometry, sensorMaterial);
	this.sensorRays.push(ray);
	this.mesh.add(ray); // Add rays as children of car mesh for relative positioning
	}
	}

	createFlockVisualization() {
	const flockMaterial = new THREE.LineBasicMaterial({
	color: 0x00ff00,
	transparent: true,
	opacity: 0.6,
	linewidth: 2 // Note: linewidth might not be supported by all WebGL renderers
	});

	for (let i = 0; i < 10; i++) { // Max 10 flock lines per car
	const geometry = new THREE.BufferGeometry().setFromPoints([
	new THREE.Vector3(0, 2, 0), // Start point (relative to world for now)
	new THREE.Vector3(0, 2, 0) // End point
	]);
	const line = new THREE.Line(geometry, flockMaterial);
	this.flockLines.push(line);
	if (showFlockLines) scene.add(line); // Add to scene directly
	}
	}

	initializeMovement() {
	const nearestRoad = this.findNearestRoad();
	if (nearestRoad) {
	this.currentLane = nearestRoad.lane; // Store lane type (e.g., 'highway_horizontal')
	this.mesh.rotation.y = nearestRoad.direction;
	this.velocity.set(
	Math.sin(nearestRoad.direction) * 8, 0, Math.cos(nearestRoad.direction) * 8
	);
	} else {
	// Random initial orientation and velocity if no road found
	this.mesh.rotation.y = Math.random() * Math.PI * 2;
	this.velocity.set(
	Math.sin(this.mesh.rotation.y) * 6, 0, Math.cos(this.mesh.rotation.y) * 6
	);
	}
	}

	findNearestRoad() {
	// This function is complex and crucial. It determines the closest road segment.
	// It considers different road types (highways, secondary, local, access)
	// and returns information about the road (type, center, direction, width).
	// For brevity, its detailed implementation is assumed from the original code,
	// but it needs to be robust for multilane scenarios.
	// Key is that it returns an object like:
	// { lane: 'type_orientation', center: number, direction: angle, width: number }

	const pos = this.mesh.position;
	let nearestRoadInfo = null;
	let minDistance = Infinity;

	world.roads.forEach(road => {
	let distanceToRoadCenterLine;
	let roadCenterCoord; // x for vertical, z for horizontal
	let carRelevantCoord; // x for vertical, z for horizontal
	let roadWidth = road.width;

	if (road.direction === 'horizontal') {
	roadCenterCoord = road.z;
	carRelevantCoord = pos.z;
	// Check if car is within road's x-bounds
	if (pos.x < road.start \|\| pos.x > road.end) return;
	} else { // vertical
	roadCenterCoord = road.x;
	carRelevantCoord = pos.x;
	// Check if car is within road's z-bounds
	if (pos.z < road.start \|\| pos.z > road.end) return;
	}

	distanceToRoadCenterLine = Math.abs(carRelevantCoord - roadCenterCoord);

	if (distanceToRoadCenterLine < roadWidth / 2 + 5) { // Consider roads slightly wider for detection
	if (distanceToRoadCenterLine < minDistance) {
	minDistance = distanceToRoadCenterLine;
	nearestRoadInfo = {
	lane: `${road.type}_${road.direction}`,
	center: roadCenterCoord, // Centerline coordinate (x or z)
	direction: road.orientationAngle, // Actual angle of the road
	width: roadWidth,
	roadObject: road // Reference to the road object itself
	};
	}
	}
	});
	return nearestRoadInfo;
	}

	getRoadPositionScore() { // Renamed from getRoadPosition to avoid conflict
	// Calculates a score (0-1) based on how well the car is on any road surface.
	// Higher score means more centered on a road.
	const pos = this.mesh.position;
	let maxRoadScore = 0;

	world.roads.forEach(road => {
	let distanceToRoadCenterLine;
	let carRelevantCoord;

	if (road.direction === 'horizontal') {
	if (pos.x < road.start \|\| pos.x > road.end) return; // Outside road segment length
	carRelevantCoord = pos.z;
	distanceToRoadCenterLine = Math.abs(carRelevantCoord - road.z);
	} else { // vertical
	if (pos.z < road.start \|\| pos.z > road.end) return; // Outside road segment length
	carRelevantCoord = pos.x;
	distanceToRoadCenterLine = Math.abs(carRelevantCoord - road.x);
	}

	if (distanceToRoadCenterLine <= road.width / 2) {
	maxRoadScore = Math.max(maxRoadScore, 1 - (distanceToRoadCenterLine / (road.width / 2)));
	}
	});
	return maxRoadScore;
	}

	updateSensors() {
	const maxDistance = 10; // Max sensor range
	const raycaster = new THREE.Raycaster();

	// 16-direction obstacle sensors
	for (let i = 0; i < 16; i++) {
	const angle = (i * Math.PI * 2) / 16; // Angle for this sensor ray
	const direction = new THREE.Vector3(Math.sin(angle), 0, Math.cos(angle));
	direction.applyQuaternion(this.mesh.quaternion); // Rotate ray with car's orientation

	raycaster.set(this.mesh.position, direction);
	const intersects = raycaster.intersectObjects(this.getObstacles(), true); // Check against other cars and buildings

	if (intersects.length > 0 && intersects[0].distance <= maxDistance) {
	this.sensors[i] = 1 - (intersects[0].distance / maxDistance); // Normalized sensor reading (1 = close, 0 = far)
	} else {
	this.sensors[i] = 0; // No obstacle detected in range
	}

	// Update visual rays
	const endDistance = intersects.length > 0 ?
	Math.min(intersects[0].distance, maxDistance) : maxDistance;
	const rayEnd = direction.clone().multiplyScalar(endDistance);
	this.sensorRays[i].geometry.setFromPoints([new THREE.Vector3(0,0,0), rayEnd]); // Update ray geometry
	}

	this.updateRoadSensors();
	this.updateTrafficSensors();
	}

	updateRoadSensors() {
	// Simplified for now, these would provide detailed info about road layout, intersections, etc.
	this.roadSensors[0] = this.getRoadPositionScore(); // How well on a road
	this.roadSensors[1] = this.getLanePosition(); // Position within current lane
	this.roadSensors[2] = this.getRoadDirectionAlignment(); // Alignment with road direction
	this.roadSensors[3] = this.getDistanceToIntersection(); // Normalized distance to nearest intersection
	this.roadSensors[4] = this.getNearestParkingLotProximity(); // Proximity to parking
	this.roadSensors[5] = this.getParkingAvailability(); // Availability in target lot
	this.roadSensors[6] = this.getTrafficDensity(); // Local traffic density
	this.roadSensors[7] = this.getOptimalSpeedFactor(); // Factor based on road type/density
	}

	getLanePosition() {
	const roadInfo = this.findNearestRoad();
	if (!roadInfo \|\| !roadInfo.roadObject) return 0.5; // Default to center if no road

	const pos = this.mesh.position;
	let laneOffset;
	if (roadInfo.roadObject.direction === 'horizontal') {
	laneOffset = pos.z - roadInfo.center;
	} else { // vertical
	laneOffset = pos.x - roadInfo.center;
	}
	// Normalize to -1 (left edge of road) to 1 (right edge of road)
	let normalizedPosition = (laneOffset / (roadInfo.width / 2));
	// Then map to 0-1 for NN input (0 = left edge, 0.5 = center, 1 = right edge)
	return Math.max(0, Math.min(1, (normalizedPosition + 1) / 2));
	}

	getRoadDirectionAlignment() {
	const roadInfo = this.findNearestRoad();
	if (!roadInfo) return 0.5; // Neutral if no road

	const carDirectionVector = new THREE.Vector3(0,0,1).applyQuaternion(this.mesh.quaternion);
	const roadDirectionVector = new THREE.Vector3(Math.sin(roadInfo.direction), 0, Math.cos(roadInfo.direction));

	const dotProduct = carDirectionVector.dot(roadDirectionVector); // Ranges from -1 to 1
	return (dotProduct + 1) / 2; // Normalize to 0-1 (1 = perfectly aligned)
	}

	// Placeholder functions for other road sensors - these would need detailed implementation
	getDistanceToIntersection() { return Math.random(); }
	getNearestParkingLotProximity() {
	if (!this.targetParkingLot) return 0;
	const dist = this.mesh.position.distanceTo(this.targetParkingLot.center);
	return Math.max(0, 1 - dist / 100); // Normalized proximity
	}
	getParkingAvailability() {
	if (!this.targetParkingLot) return 0;
	const availableSpots = this.targetParkingLot.spots.filter(spot => !spot.occupied).length;
	return this.targetParkingLot.spots.length > 0 ? availableSpots / this.targetParkingLot.spots.length : 0;
	}
	getTrafficDensity() { return Math.random() * 0.5; } // Simplified
	getOptimalSpeedFactor() { return 0.8 + Math.random() * 0.2; } // Simplified

	updateTrafficSensors() {
	// Sensors related to convoy behavior, following, parking needs
	this.trafficSensors[0] = this.convoyPosition >= 0 ? 1 : 0; // In convoy?
	this.trafficSensors[1] = this.followTarget ? Math.min(this.mesh.position.distanceTo(this.followTarget.mesh.position) / 20, 1) : 1; // Normalized follow distance
	this.trafficSensors[2] = this.convoyLeader ? Math.max(0, 1 - this.mesh.position.distanceTo(this.convoyLeader.mesh.position) / 50) : 0; // Proximity to leader
	this.trafficSensors[3] = (this.timeAlive < epochTime * 0.3 && !this.isParked) ? 1 : 0; // Need to park?
	}

	updateConvoyBehavior() {
	// Complex logic for forming, joining, and maintaining convoys.
	// Includes finding neighbors, determining roles (leader/follower),
	// and setting follow targets.
	// This is a substantial part of the AI's social behavior.
	// For brevity, its detailed implementation is assumed from original,
	// but it would interact with the new NN outputs and traits.
	this.neighbors = [];
	population.forEach(other => {
	if (other !== this && !other.crashed && !other.isParked) {
	const distance = this.mesh.position.distanceTo(other.mesh.position);
	if (distance < 25) this.neighbors.push(other);
	}
	});
	this.updateRole(); // Determine if leader, driver, parker
	this.updateConvoyFormation(); // Manage followers or follow leader
	}

	updateRole() {
	const roadPosScore = this.getRoadPositionScore();
	if (this.isParked \|\| this.isParkingApproach \|\| this.isInApproachLane \|\| this.isInExitLane) {
	this.role = 'parker';
	} else if (roadPosScore > 0.8 && this.neighbors.length > 1 && this.brain.trafficTraits.convoyDiscipline > 0.6) {
	this.role = 'leader';
	} else {
	this.role = 'driver';
	}
	// Update role indicator color
	if (this.role === 'leader') this.roleIndicator.material.color.setHex(0xff00ff); // Magenta
	else if (this.role === 'parker') this.roleIndicator.material.color.setHex(0x00ff00); // Green
	else this.roleIndicator.material.color.setHex(0xffffff); // White
	}

	updateConvoyFormation() {
	// Simplified: Leader tries to get followers, followers try to follow leader or car ahead.
	if (this.role === 'leader') {
	this.convoyFollowers = this.neighbors
	.filter(car => car.role === 'driver' && !car.convoyLeader && car.brain.trafficTraits.convoyDiscipline > 0.5)
	.sort((a,b) => this.mesh.position.distanceTo(a.mesh.position) - this.mesh.position.distanceTo(b.mesh.position))
	.slice(0, 5); // Max 5 followers
	this.convoyFollowers.forEach((follower, index) => {
	follower.convoyLeader = this;
	follower.convoyPosition = index + 1; // Leader is 0, followers start at 1
	follower.followTarget = index === 0 ? this : this.convoyFollowers[index-1];
	});
	} else if (this.convoyLeader && (this.convoyLeader.crashed \|\| !this.convoyLeader.convoyFollowers.includes(this))) {
	// If leader is gone or no longer recognizes this car as follower
	this.convoyLeader = null;
	this.followTarget = null;
	this.convoyPosition = -1;
	}
	}

	getEnhancedInputs() {
	return [
	...this.sensors, // 16 obstacle sensors
	...this.roadSensors, // 8 road/navigation sensors
	...this.trafficSensors // 4 traffic behavior sensors
	];
	}

	update(deltaTime) {
	if (this.crashed) return;

	// Handle manual control if active
	if (this === manuallyControlledCar && cameraMode === 'follow_best') {
	this.applyManualControls(deltaTime);
	// Common updates even for manually controlled car
	this.updateVisuals();
	this.checkCollisions(); // Still check for collisions
	this.keepInBounds();
	this.lastPosition.copy(this.mesh.position);
	return; // Skip AI decision if manually controlled
	}

	// Handle parked cars separately
	if (this.isParked) {
	this.handleParkedBehavior(deltaTime);
	this.updateVisuals(); // Keep visuals updated even when parked
	return;
	}

	this.timeAlive -= deltaTime;
	if (this.timeAlive <= 0 && !this.isParkingApproach && this.parkingAttempts < this.maxParkingAttempts) {
	this.attemptParking(); // Try to park if lifespan is up
	}

	this.updateSensors();
	this.updateConvoyBehavior();
	this.updateVisuals();

	const inputs = this.getEnhancedInputs();
	const outputs = this.brain.activate(inputs);

	this.applyTrafficMovement(outputs, deltaTime);
	this.updateFitness(deltaTime);

	this.lastPosition.copy(this.mesh.position);
	this.checkCollisions();
	this.keepInBounds();

	// Grass behavior
	const currentRoadPosScore = this.getRoadPositionScore();
	if (currentRoadPosScore < GRASS_THRESHOLD && !this.isReturningToRoad && !this.isParkingApproach && !this.isInApproachLane && !this.isInExitLane) {
	this.isReturningToRoad = true;
	this.turnAngleGoal = Math.PI; // 180 degrees
	this.turnProgress = 0;
	this.initialOrientationY = this.mesh.rotation.y;
	}
	this.lastRoadPositionScore = currentRoadPosScore;
	}

	applyManualControls(deltaTime) {
	const moveSpeed = 20.0;
	const turnSpeed = 1.5;

	if (manualControls.W) {
	this.velocity.add(new THREE.Vector3(0,0,1).applyQuaternion(this.mesh.quaternion).multiplyScalar(moveSpeed * deltaTime));
	}
	if (manualControls.S) {
	this.velocity.sub(new THREE.Vector3(0,0,1).applyQuaternion(this.mesh.quaternion).multiplyScalar(moveSpeed * 0.7 * deltaTime));
	}
	if (!manualControls.W && !manualControls.S) {
	this.velocity.multiplyScalar(0.95); // Friction
	}

	if (manualControls.A) {
	this.mesh.rotation.y += turnSpeed * deltaTime;
	}
	if (manualControls.D) {
	this.mesh.rotation.y -= turnSpeed * deltaTime;
	}

	// Clamp speed
	const currentSpeed = this.velocity.length();
	if (currentSpeed > this.maxSpeed) {
	this.velocity.normalize().multiplyScalar(this.maxSpeed);
	}

	this.mesh.position.add(this.velocity.clone().multiplyScalar(deltaTime));
	this.wheels.forEach(wheel => wheel.rotation.x += currentSpeed * deltaTime * 0.1);
	}

	handleParkedBehavior(deltaTime) {
	this.velocity.set(0,0,0); // Ensure car is stationary
	this.departureTime -= deltaTime;

	if (this.departureTime <= 0 && !this.isExitingParking) {
	this.isExitingParking = true;
	if (this.targetParkingLot && this.targetParkingLot.building) {
	this.targetParkingLot.building.visitorCount = Math.max(0, (this.targetParkingLot.building.visitorCount \|\| 0) - 1);
	}
	this.turnAngleGoal = Math.PI; // 180 degrees to exit
	this.turnProgress = 0;
	this.initialOrientationY = this.mesh.rotation.y; // Store orientation before turning
	}

	if (this.isExitingParking) {
	const turnSpeedForExit = Math.PI / 2; // Turn 180 in 2 seconds
	this.mesh.rotation.y += turnSpeedForExit * deltaTime;
	this.turnProgress += turnSpeedForExit * deltaTime;

	if (this.turnProgress >= this.turnAngleGoal) {
	this.mesh.rotation.y = this.initialOrientationY + Math.PI; // Ensure exact 180 turn
	this.isExitingParking = false;
	this.leaveParking(); // This will set it to use an exit lane
	}
	}
	}

	applyTrafficMovement(outputs, deltaTime) {
	const [
	acceleration, braking, steerLeft, steerRight,
	laneChangeIntent, followConvoySignal, parkingManeuverSignal,
	turnSignalLeftOutput, turnSignalRightOutput, emergencyStopSignal
	] = outputs;

	// Update turn signals
	this.turnSignal = 'none';
	if (turnSignalLeftOutput > 0.7) this.turnSignal = 'left';
	if (turnSignalRightOutput > 0.7) this.turnSignal = 'right';
	this.leftSignal.material.opacity = this.turnSignal === 'left' ? (Math.sin(Date.now()0.01) 0.4 + 0.6) : 0.3;
	this.rightSignal.material.opacity = this.turnSignal === 'right' ? (Math.sin(Date.now()0.01) 0.4 + 0.6) : 0.3;

	if (this.isReturningToRoad) {
	const turnSpeedReturn = Math.PI / 1.5; // Faster turn for recovery
	this.mesh.rotation.y += turnSpeedReturn * deltaTime;
	this.turnProgress += turnSpeedReturn * deltaTime;
	this.velocity.copy(new THREE.Vector3(0,0,1).applyQuaternion(this.mesh.quaternion).multiplyScalar(this.minSpeed * 0.8)); // Move slowly while turning
	if (this.turnProgress >= this.turnAngleGoal) {
	this.mesh.rotation.y = this.initialOrientationY + Math.PI; // Ensure exact turn
	this.isReturningToRoad = false;
	}
	this.mesh.position.add(this.velocity.clone().multiplyScalar(deltaTime));
	return; // Override other movements while returning to road
	}

	if (emergencyStopSignal > 0.8) {
	this.velocity.multiplyScalar(0.7); return;
	}
	if (parkingManeuverSignal > 0.7 && !this.isParked && !this.isParkingApproach) {
	this.attemptParking(); return;
	}
	if (this.isParkingApproach \|\| this.isInApproachLane \|\| this.isInExitLane) {
	this.executeParkingLogic(deltaTime); return; // Dedicated parking movement
	}

	this.followRoad(deltaTime, laneChangeIntent); // Pass laneChangeIntent

	if (followConvoySignal > 0.6 && this.followTarget) {
	this.followConvoyTarget(deltaTime);
	}

	// Basic movement based on NN outputs
	const forward = new THREE.Vector3(0, 0, 1).applyQuaternion(this.mesh.quaternion);
	if (acceleration > 0.3) {
	this.velocity.add(forward.multiplyScalar(acceleration * 10 * deltaTime));
	}
	if (braking > 0.5) {
	this.velocity.multiplyScalar(1 - braking * deltaTime * 4);
	}

	const steering = (steerRight - steerLeft) * 0.10 * deltaTime * (this.velocity.length()/this.maxSpeed + 0.2); // Speed sensitive steering
	this.mesh.rotation.y += steering;

	// Speed limits and friction
	const currentSpeed = this.velocity.length();
	if (currentSpeed > this.maxSpeed) this.velocity.normalize().multiplyScalar(this.maxSpeed);
	else if (currentSpeed < this.minSpeed && currentSpeed > 0.1) this.velocity.normalize().multiplyScalar(this.minSpeed);
	else if (currentSpeed < 0.1) this.velocity.set(0,0,0);
	this.velocity.multiplyScalar(0.99); // General friction

	this.mesh.position.add(this.velocity.clone().multiplyScalar(deltaTime));
	this.wheels.forEach(wheel => wheel.rotation.x += currentSpeed * deltaTime * 0.1);
	}

	followRoad(deltaTime, laneChangeIntent) {
	const roadInfo = this.findNearestRoad();
	if (!roadInfo \|\| !roadInfo.roadObject) {
	// If completely off-road, increase penalty or trigger recovery
	this.fitness -= 2 * deltaTime; // Penalty for being off-road
	return;
	}

	const road = roadInfo.roadObject;
	const targetRoadAngle = road.orientationAngle;
	let carAngle = this.mesh.rotation.y;

	// Normalize carAngle to be in similar range as targetRoadAngle (0 to 2PI or -PI to PI)
	// Assuming targetRoadAngle is between -PI and PI from atan2
	while (carAngle - targetRoadAngle > Math.PI) carAngle -= 2 * Math.PI;
	while (targetRoadAngle - carAngle > Math.PI) carAngle += 2 * Math.PI;

	let angleDiff = targetRoadAngle - carAngle;
	// Correct smallest angle
	if (angleDiff > Math.PI) angleDiff -= 2 * Math.PI;
	if (angleDiff < -Math.PI) angleDiff += 2 * Math.PI;

	// Steering correction to align with road
	this.mesh.rotation.y += angleDiff * 0.1 * this.brain.trafficTraits.laneKeeping;

	// Lane keeping: Aim for a specific lane within the road width
	const numLanes = Math.max(1, Math.floor(road.width / ROAD_WIDTH_UNIT));
	let targetLaneIndex = Math.floor(numLanes / 2); // Default to center-ish lane

	// Interpret laneChangeIntent (0-1) - simplified
	if (numLanes > 1) {
	if (laneChangeIntent < 0.33) targetLaneIndex = Math.max(0, targetLaneIndex -1 ); // Try to move left
	else if (laneChangeIntent > 0.66) targetLaneIndex = Math.min(numLanes - 1, targetLaneIndex + 1); // Try to move right
	}

	// Calculate the center of the target lane
	let targetLaneCenterCoord; // This will be an X or Z coordinate
	const laneCenterOffsetFromRoadEdge = (targetLaneIndex + 0.5) * ROAD_WIDTH_UNIT;

	if (road.direction === 'horizontal') {
	// For horizontal roads, lanes are offset in Z from the road's Z center.
	// Road center is road.z. Road edge is road.z - road.width/2.
	targetLaneCenterCoord = (road.z - road.width/2) + laneCenterOffsetFromRoadEdge;
	const currentZ = this.mesh.position.z;
	const offsetFromTargetLane = currentZ - targetLaneCenterCoord;
	this.velocity.z -= offsetFromTargetLane * 0.2 * this.brain.trafficTraits.laneKeeping * deltaTime;
	if (Math.abs(offsetFromTargetLane) > ROAD_WIDTH_UNIT / 2) { // Outside target lane
	this.trafficViolations++; laneViolations++;
	}
	} else { // Vertical road
	// For vertical roads, lanes are offset in X from the road's X center.
	targetLaneCenterCoord = (road.x - road.width/2) + laneCenterOffsetFromRoadEdge;
	const currentX = this.mesh.position.x;
	const offsetFromTargetLane = currentX - targetLaneCenterCoord;
	this.velocity.x -= offsetFromTargetLane * 0.2 * this.brain.trafficTraits.laneKeeping * deltaTime;
	if (Math.abs(offsetFromTargetLane) > ROAD_WIDTH_UNIT / 2) {
	this.trafficViolations++; laneViolations++;
	}
	}

	this.roadTime += deltaTime;
	this.laneDiscipline = Math.max(0, 1 - (this.trafficViolations / (this.roadTime + 1)) * 0.1);
	}

	followConvoyTarget(deltaTime) {
	if (!this.followTarget \|\| this.followTarget.crashed) {
	this.convoyLeader = null; this.followTarget = null; this.convoyPosition = -1; return;
	}

	const targetPos = this.followTarget.mesh.position;
	const distance = this.mesh.position.distanceTo(targetPos);
	const idealDistance = FOLLOW_DISTANCE + (this.convoyPosition * 2.5); // Staggered formation

	const directionToTarget = targetPos.clone().sub(this.mesh.position).normalize();

	if (distance > idealDistance + 2) { // Too far, speed up
	this.velocity.add(directionToTarget.multiplyScalar(this.brain.trafficTraits.followingBehavior * 5 * deltaTime));
	} else if (distance < idealDistance - 1) { // Too close, slow down
	this.velocity.multiplyScalar(1 - (1 - this.brain.trafficTraits.followingBehavior) * 0.5 * deltaTime);
	}

	// Align with target's general direction (simplified)
	const targetAngle = Math.atan2(directionToTarget.x, directionToTarget.z);
	let carAngle = this.mesh.rotation.y;
	while (carAngle - targetAngle > Math.PI) carAngle -= 2 * Math.PI;
	while (targetAngle - carAngle > Math.PI) carAngle += 2 * Math.PI;
	this.mesh.rotation.y += (targetAngle - carAngle) * 0.05;

	this.convoyTime += deltaTime;
	this.followingDistance = distance;
	}

	executeParkingLogic(deltaTime) {
	// This is the state machine for parking
	if (!this.targetParkingLot) { this.isParkingApproach = false; return; }

	if (this.isInExitLane) {
	this.handleExitLane(deltaTime);
	} else if (this.isInApproachLane) {
	this.handleApproachLaneMovement(deltaTime);
	} else if (this.isParkingApproach) { // Moving towards an approach lane or spot
	this.moveTowardsParkingEntry(deltaTime);
	}
	}

	moveTowardsParkingEntry(deltaTime) {
	// Try to enter an approach lane first
	if (!this.targetParkingLot.approachLanes \|\| this.targetParkingLot.approachLanes.length === 0) {
	this.isParkingApproach = false; return; // No approach lanes defined
	}

	// Find the best (e.g. least occupied or closest) approach lane entry point
	let bestLaneEntry = null;
	let minOccupancy = Infinity; // Or some other metric like distance
	let selectedLaneIdx = -1;

	this.targetParkingLot.approachLanes.forEach((laneQueuePositions, idx) => {
	// Simplified: pick the first available slot in any lane's queue start
	// A more complex logic would check occupancy or distance.
	if (laneQueuePositions.length > 0) {
	// Check if first spot in this lane queue is free enough
	const entryPoint = laneQueuePositions[0];
	const occupied = population.some(car => car !== this && car.isInApproachLane && car.selectedApproachLaneIndex === idx && car.mesh.position.distanceTo(entryPoint) < 5);
	if (!occupied && !bestLaneEntry) { // Simple: take first available
	bestLaneEntry = entryPoint;
	selectedLaneIdx = idx;
	}
	}
	});

	if (bestLaneEntry) {
	this.approachTargetPosition = bestLaneEntry;
	this.selectedApproachLaneIndex = selectedLaneIdx;
	this.moveToPosition(this.approachTargetPosition, deltaTime, 3); // Slow approach speed
	if (this.mesh.position.distanceTo(this.approachTargetPosition) < 2) {
	this.isInApproachLane = true; // Entered the approach lane
	this.isParkingApproach = false; // No longer just "approaching", now "in lane"
	// Add to parking lot's internal queue for this lane if it has one
	}
	} else {
	// All approach lanes seem full or no entry point found, wait or give up
	this.velocity.multiplyScalar(0.9); // Slow down if can't find entry
	this.parkingAttempts++;
	if(this.parkingAttempts >= this.maxParkingAttempts) this.isParkingApproach = false;
	}
	}

	handleApproachLaneMovement(deltaTime) {
	// Logic for moving within the approach lane and finding a spot
	if (!this.targetParkingLot \|\| !this.targetParkingLot.spots) {
	this.isInApproachLane = false; return;
	}
	const availableSpot = this.targetParkingLot.spots.find(spot => !spot.occupied);
	if (availableSpot) {
	this.moveToPosition(availableSpot.position, deltaTime, 2); // Move to spot
	if (this.mesh.position.distanceTo(availableSpot.position) < 1.5) {
	this.completeParkingProcess(availableSpot);
	}
	} else {
	// No spot, wait in approach lane (simplified: just slow down)
	this.velocity.multiplyScalar(0.95);
	// Potentially move along queue if implemented
	}
	}

	completeParkingProcess(spot) {
	this.isParked = true;
	this.parkingSpot = spot;
	spot.occupied = true;
	spot.car = this;
	this.mesh.position.copy(spot.position);
	this.mesh.rotation.y = spot.orientation !== undefined ? spot.orientation : this.mesh.rotation.y; // Align with spot
	this.velocity.set(0, 0, 0);
	this.parkingScore += 100;
	parkingEvents++;
	this.isInApproachLane = false;
	this.isParkingApproach = false;
	this.departureTime = 15 + Math.random() * 5; // Park for 15-20 seconds
	if (this.targetParkingLot && this.targetParkingLot.building) {
	this.targetParkingLot.building.visitorCount = (this.targetParkingLot.building.visitorCount \|\| 0) + 1;
	}
	this.updateCarColor();
	}

	handleExitLane(deltaTime) {
	if (!this.exitTargetPosition) { // Should have been set by leaveParking
	this.isInExitLane = false;
	this.role = 'driver';
	this.timeAlive = epochTime * 0.5; // Give some time to drive away
	return;
	}
	this.moveToPosition(this.exitTargetPosition, deltaTime, 4); // Move along exit lane
	if (this.mesh.position.distanceTo(this.exitTargetPosition) < 2) {
	// Reached end of exit lane segment, transition to road
	this.isInExitLane = false;
	this.role = 'driver';
	this.timeAlive = epochTime * 0.7; // Replenish some time
	this.initializeMovement(); // Re-orient and set velocity for road
	this.updateCarColor();
	}
	}

	leaveParking() {
	if (!this.isParked && !this.isInExitLane) return; // Not parked or already exiting

	if (this.parkingSpot) {
	this.parkingSpot.occupied = false;
	this.parkingSpot.car = null;
	this.parkingSpot = null;
	}
	this.isParked = false;

	// Find an exit lane target
	if (this.targetParkingLot && this.targetParkingLot.exitLanes && this.targetParkingLot.exitLanes.length > 0) {
	// Simplified: pick first exit lane, last point as target
	// A real system would pick closest/least congested
	this.selectedExitLaneIndex = 0; // Or a smarter choice
	const exitLanePoints = this.targetParkingLot.exitLanes[this.selectedExitLaneIndex];
	if (exitLanePoints && exitLanePoints.length > 0) {
	this.exitTargetPosition = exitLanePoints[exitLanePoints.length - 1]; // Target the end of the exit lane
	this.isInExitLane = true;
	this.isExitingParking = false; // Done with 180 turn
	// Initial velocity towards exitTargetPosition will be handled by moveToPosition
	} else {
	this.role = 'driver'; // Fallback if exit lane is weird
	this.initializeMovement();
	}
	} else {
	this.role = 'driver'; // Fallback if no exit lanes
	this.initializeMovement();
	}
	this.updateCarColor();
	}

	attemptParking() {
	if (this.isParked \|\| this.isParkingApproach) return;
	this.role = 'parker';
	this.updateRole(); // Update indicator
	this.findNearestParkingLotForAI(); // Sets this.targetParkingLot

	if (!this.targetParkingLot) {
	this.parkingAttempts++; // Failed to find a lot
	this.role = 'driver'; this.updateRole();
	this.timeAlive = epochTime * 0.2; // Try again sooner
	return;
	}
	this.isParkingApproach = true; // Start the approach process
	this.parkingAttempts = 0; // Reset attempts for this lot
	}

	findNearestParkingLotForAI() {
	let closestLot = null;
	let minDist = Infinity;
	world.parkingLots.forEach(lot => {
	const dist = this.mesh.position.distanceTo(lot.center);
	if (dist < minDist) {
	minDist = dist;
	closestLot = lot;
	}
	});
	this.targetParkingLot = closestLot;
	}

	moveToPosition(targetPos, deltaTime, speed) {
	const direction = targetPos.clone().sub(this.mesh.position);
	const distance = direction.length();

	if (distance > 0.5) { // Threshold to stop jittering
	direction.normalize();
	this.velocity.copy(direction.multiplyScalar(speed));

	// Smoothly turn towards target
	const targetAngle = Math.atan2(direction.x, direction.z);
	let currentAngle = this.mesh.rotation.y;
	// Normalize angles to prevent full circle turns
	while (targetAngle - currentAngle > Math.PI) currentAngle += 2 * Math.PI;
	while (currentAngle - targetAngle > Math.PI) currentAngle -= 2 * Math.PI;
	this.mesh.rotation.y += (targetAngle - currentAngle) * 0.2; // Adjust turn speed

	this.mesh.position.add(this.velocity.clone().multiplyScalar(deltaTime));
	} else {
	this.velocity.set(0,0,0); // Reached target
	}
	}

	updateFitness(deltaTime) {
	const distance = this.mesh.position.distanceTo(this.lastPosition);
	this.distanceTraveled += distance;

	let fitnessScore = this.distanceTraveled * 0.5; // Base score for moving
	fitnessScore += this.roadTime * 1.5; // Bonus for staying on road
	fitnessScore += this.convoyTime * 1.0; // Bonus for being in convoy
	fitnessScore += this.parkingScore * 0.5; // Bonus for parking successfully
	fitnessScore -= this.trafficViolations * 5; // Penalty for violations
	if (this.getRoadPositionScore() < GRASS_THRESHOLD && !this.isReturningToRoad) {
	fitnessScore -= 10 * deltaTime; // Heavy penalty for being on grass without trying to return
	}
	if (this.crashed) fitnessScore -= 500; // Large penalty for crashing

	this.fitness = fitnessScore;
	}

	updateVisuals() {
	this.updateCarColor();
	this.updateFlockVisualization();
	this.updateRole(); // Ensure role indicator is current
	}

	updateCarColor() {
	let hue = 0.6, saturation = 0.7, lightness = 0.5; // Default blue
	if (this.isParked) { hue = 0.33; lightness = 0.7; } // Green
	else if (this.role === 'leader') { hue = 0.83; saturation = 1.0; lightness = 0.6; } // Purple
	else if (this.convoyPosition > 0) { hue = 0.5; saturation = 0.8; lightness = 0.6; } // Cyan
	else if (this.getRoadPositionScore() < GRASS_THRESHOLD) { hue = 0.1; saturation = 1.0; } // Orange for off-road

	const performanceBonus = Math.min(Math.max(0, this.fitness) / 1000, 0.2); // Brighter for higher fitness
	lightness = Math.min(1, lightness + performanceBonus);
	this.bodyMaterial.color.setHSL(hue, saturation, lightness);
	}

	updateFlockVisualization() {
	// Manages lines connecting convoy members or nearby cars.
	// Assumed from original, ensures lines are updated or hidden based on showFlockLines.
	let lineIdx = 0;
	if (showFlockLines) {
	if (this.role === 'leader' && this.convoyFollowers) {
	this.convoyFollowers.forEach(follower => {
	if (lineIdx < this.flockLines.length && follower) {
	this.flockLines[lineIdx].geometry.setFromPoints([this.mesh.position, follower.mesh.position]);
	this.flockLines[lineIdx].material.color.setHex(0xff00ff); // Leader connections
	this.flockLines[lineIdx].visible = true;
	lineIdx++;
	}
	});
	} else if (this.followTarget) {
	if (lineIdx < this.flockLines.length) {
	this.flockLines[lineIdx].geometry.setFromPoints([this.mesh.position, this.followTarget.mesh.position]);
	this.flockLines[lineIdx].material.color.setHex(0x00ffff); // Follower connection
	this.flockLines[lineIdx].visible = true;
	lineIdx++;
	}
	}
	}
	for (let i = lineIdx; i < this.flockLines.length; i++) {
	this.flockLines[i].visible = false; // Hide unused lines
	}
	}

	getObstacles() {
	// Returns an array of meshes that act as obstacles (other cars, buildings).
	let obstacles = [];
	population.forEach(car => {
	if (car !== this && !car.crashed) obstacles.push(car.mesh);
	});
	world.buildings.forEach(buildingData => obstacles.push(buildingData.mesh));
	return obstacles;
	}

	checkCollisions() {
	if (this.crashed) return;
	const carBox = new THREE.Box3().setFromObject(this.mesh);

	// Car-to-car collisions (soft)
	population.forEach(otherCar => {
	if (otherCar !== this && !otherCar.crashed) {
	const otherBox = new THREE.Box3().setFromObject(otherCar.mesh);
	if (carBox.intersectsBox(otherBox)) {
	// Soft collision: push apart slightly, reduce fitness
	const separationVector = this.mesh.position.clone().sub(otherCar.mesh.position).normalize().multiplyScalar(0.2);
	this.mesh.position.add(separationVector);
	otherCar.mesh.position.sub(separationVector);
	this.velocity.multiplyScalar(0.8); otherCar.velocity.multiplyScalar(0.8);
	this.fitness -= 5; otherCar.fitness -= 5;
	this.trafficViolations++; otherCar.trafficViolations++;
	// Minor chance of full crash from soft collision
	if (Math.random() < 0.01 && !this.isParkingRelatedState() && !otherCar.isParkingRelatedState()) {
	this.crashed = true; crashCount++;
	}
	}
	}
	});

	// Car-to-building collisions (hard)
	world.buildings.forEach(buildingData => {
	const buildingBox = new THREE.Box3().setFromObject(buildingData.mesh);
	if (carBox.intersectsBox(buildingBox)) {
	this.crashed = true; crashCount++;
	}
	});
	}

	isParkingRelatedState() {
	return this.isParked \|\| this.isParkingApproach \|\| this.isInApproachLane \|\| this.isInExitLane;
	}

	keepInBounds() {
	const bounds = 400; // World boundary
	if (Math.abs(this.mesh.position.x) > bounds \|\| Math.abs(this.mesh.position.z) > bounds) {
	this.mesh.position.x = Math.max(-bounds, Math.min(bounds, this.mesh.position.x));
	this.mesh.position.z = Math.max(-bounds, Math.min(bounds, this.mesh.position.z));
	this.velocity.multiplyScalar(-0.5); // Bounce back
	this.fitness -= 20; // Penalty for hitting boundary
	}
	}

	destroy() {
	// Clean up Three.js objects and any references
	if (this.parkingSpot) {
	this.parkingSpot.occupied = false; this.parkingSpot.car = null;
	}
	if (this.targetParkingLot && this.targetParkingLot.building && this.isParked) { // Only decrement if it was parked and is now destroyed
	this.targetParkingLot.building.visitorCount = Math.max(0, (this.targetParkingLot.building.visitorCount \|\| 0) - 1);
	}

	this.flockLines.forEach(line => { if (line.parent) scene.remove(line); });
	if (this.mesh.parent) scene.remove(this.mesh);
	}
	}

	function init() {
	scene = new THREE.Scene();
	scene.background = new THREE.Color(0x87CEEB); // Sky blue
	scene.fog = new THREE.Fog(0x87CEEB, 300, 1000); // Fog for depth effect

	camera = new THREE.PerspectiveCamera(75, window.innerWidth / window.innerHeight, 0.1, 2000);
	camera.position.set(0, 150, 150);
	camera.lookAt(0, 0, 0);

	renderer = new THREE.WebGLRenderer({ antialias: true });
	renderer.setSize(window.innerWidth, window.innerHeight);
	renderer.shadowMap.enabled = true;
	renderer.shadowMap.type = THREE.PCFSoftShadowMap; // Softer shadows
	document.body.appendChild(renderer.domElement);

	// Lighting
	const ambientLight = new THREE.AmbientLight(0x606060); // Increased ambient light
	scene.add(ambientLight);
	const directionalLight = new THREE.DirectionalLight(0xffffff, 0.8);
	directionalLight.position.set(100, 150, 75); // Adjusted light angle
	directionalLight.castShadow = true;
	directionalLight.shadow.mapSize.width = 2048; // Higher shadow resolution
	directionalLight.shadow.mapSize.height = 2048;
	directionalLight.shadow.camera.near = 50;
	directionalLight.shadow.camera.far = 500;
	directionalLight.shadow.camera.left = -200;
	directionalLight.shadow.camera.right = 200;
	directionalLight.shadow.camera.top = 200;
	directionalLight.shadow.camera.bottom = -200;
	scene.add(directionalLight);

	createTrafficWorld();
	createInitialPopulation();

	clock = new THREE.Clock();

	window.addEventListener('resize', onWindowResize);
	setupEventListeners();

	animate();
	}

	function createTrafficWorld() {
	// Ground plane
	const groundGeometry = new THREE.PlaneGeometry(1200, 1200);
	const groundMaterial = new THREE.MeshLambertMaterial({ color: 0x3c763d }); // Darker green
	const ground = new THREE.Mesh(groundGeometry, groundMaterial);
	ground.rotation.x = -Math.PI / 2;
	ground.position.y = 0; // Ground at y=0
	ground.receiveShadow = true;
	scene.add(ground);

	createRoadNetwork(); // Roads first
	createBuildingsWithParkingLots(); // Then buildings and their parking
	}

	function createRoad(x, z, width, length, type, orientationAngle, isHorizontal) {
	const roadHeight = 0.1; // Roads slightly above ground
	const roadMaterial = new THREE.MeshLambertMaterial({ color: type === 'highway' ? 0x333333 : 0x444444 });
	const roadGeometry = new THREE.PlaneGeometry(isHorizontal ? length : width, isHorizontal ? width : length);
	const roadMesh = new THREE.Mesh(roadGeometry, roadMaterial);
	roadMesh.rotation.x = -Math.PI / 2;
	roadMesh.position.set(x, roadHeight, z);
	roadMesh.receiveShadow = true;
	scene.add(roadMesh);

	const roadData = {
	mesh: roadMesh,
	x: x, z: z, // Center of the road segment
	width: width, length: length,
	type: type,
	direction: isHorizontal ? 'horizontal' : 'vertical',
	orientationAngle: orientationAngle, // Angle in radians
	start: isHorizontal ? x - length/2 : z - length/2, // Start coord for segment bounds
	end: isHorizontal ? x + length/2 : z + length/2, // End coord for segment bounds
	lanes: [] // Store lane data if needed later
	};
	world.roads.push(roadData);

	// Lane markings
	const numLanes = Math.max(1, Math.floor(width / ROAD_WIDTH_UNIT));
	const actualLaneWidth = width / numLanes;
	const lineMaterial = new THREE.MeshBasicMaterial({ color: 0xffffff });
	const yellowLineMaterial = new THREE.MeshBasicMaterial({ color: 0xffff00 });

	for (let i = 0; i < numLanes; i++) {
	// Calculate offset for this lane's center from the road's center line
	const laneCenterOffset = (i - (numLanes - 1) / 2) * actualLaneWidth;

	// Add dashed lines between lanes (if not the outermost edge)
	if (i < numLanes - 1) {
	let linePosX, linePosZ, lineWidth, lineHeight;
	const lineOffsetFromLaneCenter = actualLaneWidth / 2; // Line is at the edge of the lane

	if (isHorizontal) {
	linePosX = x; // Centered with road segment
	linePosZ = z + laneCenterOffset + lineOffsetFromLaneCenter;
	lineWidth = length;
	lineHeight = 0.2;
	} else { // Vertical
	linePosX = x + laneCenterOffset + lineOffsetFromLaneCenter;
	linePosZ = z; // Centered with road segment
	lineWidth = 0.2;
	lineHeight = length;
	}
	// Use yellow for center divider on multi-lane roads (simplified: if it's near overall center)
	const isCenterDivider = numLanes > 1 && Math.abs(laneCenterOffset + lineOffsetFromLaneCenter) < actualLaneWidth * 0.6;
	createDashedLineWorld(linePosX, linePosZ, lineWidth, lineHeight, isHorizontal, isCenterDivider ? yellowLineMaterial : lineMaterial, roadHeight + 0.01);
	}
	}
	}

	function createDashedLineWorld(centerX, centerZ, totalLength, totalWidth, isHorizontal, material, yPos) {
	const dashLength = 5;
	const gapLength = 3;
	const numDashes = Math.floor(totalLength / (dashLength + gapLength));

	for (let j = 0; j < numDashes; j++) {
	const dashGeometry = new THREE.PlaneGeometry(
	isHorizontal ? dashLength : totalWidth,
	isHorizontal ? totalWidth : dashLength
	);
	const dash = new THREE.Mesh(dashGeometry, material);
	dash.rotation.x = -Math.PI / 2;

	const dashOffset = j * (dashLength + gapLength) - totalLength / 2 + dashLength / 2;
	if (isHorizontal) {
	dash.position.set(centerX + dashOffset, yPos, centerZ);
	} else {
	dash.position.set(centerX, yPos, centerZ + dashOffset);
	}
	scene.add(dash);
	}
	}

	function createRoadNetwork() {
	world.roads = []; // Clear existing roads
	// Main highways (e.g., 4 lanes wide = 24 units)
	createRoad(0, 0, ROAD_WIDTH_UNIT * 4, 800, 'highway', 0, true); // Horizontal E-W
	createRoad(0, 0, ROAD_WIDTH_UNIT * 4, 800, 'highway', Math.PI / 2, false); // Vertical N-S

	// Secondary roads (e.g., 2 lanes wide = 12 units)
	createRoad(0, ROAD_SPACING, ROAD_WIDTH_UNIT * 2, 800, 'secondary', 0, true);
	createRoad(0, -ROAD_SPACING, ROAD_WIDTH_UNIT * 2, 800, 'secondary', 0, true);
	createRoad(ROAD_SPACING, 0, ROAD_WIDTH_UNIT * 2, 800, 'secondary', Math.PI / 2, false);
	createRoad(-ROAD_SPACING, 0, ROAD_WIDTH_UNIT * 2, 800, 'secondary', Math.PI / 2, false);

	// More roads for a denser network
	createRoad(0, ROAD_SPACING * 2, ROAD_WIDTH_UNIT * 2, 800, 'local', 0, true);
	createRoad(0, -ROAD_SPACING * 2, ROAD_WIDTH_UNIT * 2, 800, 'local', 0, true);
	createRoad(ROAD_SPACING * 2, 0, ROAD_WIDTH_UNIT * 2, 800, 'local', Math.PI / 2, false);
	createRoad(-ROAD_SPACING * 2, 0, ROAD_WIDTH_UNIT * 2, 800, 'local', Math.PI / 2, false);
	}

	function createBuildingsWithParkingLots() {
	world.buildings = []; world.parkingLots = []; // Clear previous
	const buildingBaseMaterial = new THREE.MeshLambertMaterial({ color: 0xaaaaaa });
	const parkingMaterial = new THREE.MeshLambertMaterial({ color: 0x383838 });
	const spotMaterial = new THREE.MeshBasicMaterial({ color: 0xffffff, transparent: true, opacity: 0.5 });
	const barGraphMaterial = new THREE.MeshLambertMaterial({color: 0x007bff});


	const buildingLocations = [
	{ x: -100, z: -100 }, { x: 100, z: -100 },
	{ x: -100, z: 100 }, { x: 100, z: 100 },
	{ x: -250, z: -50 }, { x: 250, z: 50 },
	{ x: -50, z: -250 }, { x: 50, z: 250 },
	];

	buildingLocations.forEach((loc, index) => {
	const bWidth = 20 + Math.random() * 15;
	const bHeight = 15 + Math.random() * 25;
	const bDepth = 20 + Math.random() * 15;

	const buildingGeometry = new THREE.BoxGeometry(bWidth, bHeight, bDepth);
	const buildingMesh = new THREE.Mesh(buildingGeometry, buildingBaseMaterial.clone());
	buildingMesh.material.color.setHSL(Math.random(), 0.5, 0.6);
	buildingMesh.position.set(loc.x, bHeight / 2 + 0.1, loc.z); // Slightly above ground
	buildingMesh.castShadow = true;
	scene.add(buildingMesh);

	// Bar graph for visitor count
	const barGeometry = new THREE.BoxGeometry(5, 1, 5); // Base size
	const barGraphMesh = new THREE.Mesh(barGeometry, barGraphMaterial.clone());
	barGraphMesh.position.set(loc.x, bHeight + 0.1 + 3, loc.z); // Position above building
	barGraphMesh.scale.y = 0.1; // Start very small
	barGraphMesh.visible = true;
	scene.add(barGraphMesh);

	const buildingData = { mesh: buildingMesh, parkingLot: null, visitorCount: 0, barGraphMesh: barGraphMesh, height: bHeight };
	world.buildings.push(buildingData);

	// Create parking lot next to building
	const lotWidth = 40, lotDepth = 30;
	const lotCenterX = loc.x + bWidth / 2 + lotWidth / 2 + 5; // East of building
	const lotCenterZ = loc.z;

	const lotGeometry = new THREE.PlaneGeometry(lotWidth, lotDepth);
	const lotMesh = new THREE.Mesh(lotGeometry, parkingMaterial);
	lotMesh.rotation.x = -Math.PI / 2;
	lotMesh.position.set(lotCenterX, 0.05, lotCenterZ); // Slightly above ground, below roads
	scene.add(lotMesh);

	const parkingLot = {
	center: new THREE.Vector3(lotCenterX, 0.1, lotCenterZ),
	spots: [],
	approachLanes: [], exitLanes: [], accessPoints: [], // For future advanced queueing
	building: buildingData // Link back to building
	};
	buildingData.parkingLot = parkingLot; // Link building to its lot

	// Parking spots (2 rows of 5)
	const numRows = 2, spotsPerRow = 5;
	for (let r = 0; r < numRows; r++) {
	for (let s = 0; s < spotsPerRow; s++) {
	const spotX = lotCenterX + (s - (spotsPerRow - 1)/2) * (PARKING_SPOT_SIZE.width + 2);
	const spotZ = lotCenterZ + (r - (numRows - 1)/2) * (PARKING_SPOT_SIZE.length + 3);
	const spotOrientation = Math.PI / 2; // Assuming spots are perpendicular to building side

	const spotPlaneGeom = new THREE.PlaneGeometry(PARKING_SPOT_SIZE.width, PARKING_SPOT_SIZE.length);
	const spotPlaneMesh = new THREE.Mesh(spotPlaneGeom, spotMaterial);
	spotPlaneMesh.rotation.x = -Math.PI/2;
	spotPlaneMesh.rotation.z = spotOrientation; // Align with how car would park
	spotPlaneMesh.position.set(spotX, 0.06, spotZ);
	scene.add(spotPlaneMesh);

	parkingLot.spots.push({
	position: new THREE.Vector3(spotX, 1, spotZ), // Car's y position when parked
	orientation: spotOrientation, // Car's y rotation when parked
	occupied: false, car: null, mesh: spotPlaneMesh
	});
	}
	}
	// Simplified approach/exit points for now
	parkingLot.approachLanes.push([new THREE.Vector3(lotCenterX - lotWidth/2 - 5, 1, lotCenterZ)]); // Entry point
	parkingLot.exitLanes.push([new THREE.Vector3(lotCenterX - lotWidth/2 - 10, 1, lotCenterZ + 5)]); // Exit point nearby

	world.parkingLots.push(parkingLot);
	});
	}

	function createInitialPopulation() {
	population = [];
	const startPositions = [ // Disperse starting positions
	{x: -50, z: 0}, {x: 50, z: 0}, {x: 0, z: -50}, {x: 0, z: 50},
	{x: -ROAD_SPACING, z: 0}, {x: ROAD_SPACING, z: 0},
	{x: 0, z: -ROAD_SPACING}, {x: 0, z: ROAD_SPACING},
	];
	for (let i = 0; i < populationSize; i++) {
	const pos = startPositions[i % startPositions.length];
	const car = new TrafficCar(pos.x + Math.random()10-5, pos.z + Math.random()10-5);
	population.push(car);
	scene.add(car.mesh);
	}
	}

	function evolvePopulation() {
	population.sort((a, b) => (b.fitness \|\| 0) - (a.fitness \|\| 0)); // Higher fitness first
	bestFitness = population[0] ? population[0].fitness : 0;

	const eliteCount = Math.floor(populationSize * 0.1); // Top 10% survive
	const survivors = population.slice(0, eliteCount);

	const newPopulation = [];

	// Add elites directly
	survivors.forEach(parent => {
	const offspring = new TrafficCar(parent.mesh.position.x, parent.mesh.position.z);
	offspring.brain = parent.brain.copy(); // Elites pass genes directly
	newPopulation.push(offspring);
	});

	// Fill rest with mutated offspring from survivors
	while (newPopulation.length < populationSize) {
	const parent = survivors[Math.floor(Math.random() * survivors.length)];
	const offspring = new TrafficCar(parent.mesh.position.x, parent.mesh.position.z); // Start near parent
	offspring.brain = parent.brain.copy();
	offspring.brain.mutate(0.1); // Standard mutation rate
	newPopulation.push(offspring);
	}

	// Cleanup old population and add new
	population.forEach(car => car.destroy());
	population = newPopulation;
	population.forEach(car => scene.add(car.mesh));

	epoch++;
	timeLeft = epochTime;
	crashCount = 0; parkingEvents = 0; laneViolations = 0;
	world.parkingLots.forEach(lot => { // Reset parking lot visitor counts
	if (lot.building) lot.building.visitorCount = 0;
	lot.spots.forEach(spot => { spot.occupied = false; spot.car = null; });
	});
	console.log(`Epoch ${epoch}: Best Fitness: ${bestFitness.toFixed(1)}`);
	}

	function animate() {
	requestAnimationFrame(animate);
	const deltaTime = Math.min(clock.getDelta() * speedMultiplier, 0.1); // Cap delta

	if (!paused) {
	timeLeft -= deltaTime;
	if (timeLeft <= 0) {
	evolvePopulation();
	}
	updatePopulation(deltaTime);
	updateCamera();
	updateUI();
	}
	renderer.render(scene, camera);
	}

	function updatePopulation(deltaTime) {
	let currentStats = { alive: 0, leaders: 0, convoy: 0, parked: 0, solo: 0, maxConvoySize: 0, totalRoadTime: 0, totalViolations: 0, totalFollowingDistance: 0, followingCount: 0, approaching:0 };
	population.forEach(car => {
	if (!car.crashed) {
	car.update(deltaTime); // Car's internal update
	currentStats.alive++;
	if (car.isParked) currentStats.parked++;
	else if (car.isParkingApproach \|\| car.isInApproachLane) currentStats.approaching++;
	else if (car.role === 'leader') currentStats.leaders++;
	else if (car.convoyPosition > 0) {
	currentStats.convoy++;
	if (car.followTarget) {
	currentStats.totalFollowingDistance += car.mesh.position.distanceTo(car.followTarget.mesh.position);
	currentStats.followingCount++;
	}
	} else currentStats.solo++;
	if (car.role==='leader' && car.convoyFollowers) currentStats.maxConvoySize = Math.max(currentStats.maxConvoySize, car.convoyFollowers.length + 1);
	currentStats.totalRoadTime += car.roadTime;
	currentStats.totalViolations += car.trafficViolations;
	}
	});
	window.populationStats = currentStats; // Make accessible for UI
	}

	function updateCamera() {
	let targetCar = null;
	if (cameraMode === 'follow_best') {
	targetCar = population.filter(c => !c.crashed && !c.isParked).sort((a,b) => b.fitness - a.fitness)[0];
	manuallyControlledCar = targetCar; // Set for manual control
	} else if (cameraMode === 'follow_convoy') {
	targetCar = population.filter(c => c.role === 'leader' && c.convoyFollowers.length > 0)
	.sort((a,b) => b.convoyFollowers.length - a.convoyFollowers.length)[0];
	manuallyControlledCar = null;
	} else {
	manuallyControlledCar = null;
	}

	if (targetCar) {
	const offset = new THREE.Vector3(0, 30, -25); // Higher and behind
	const targetPosition = targetCar.mesh.position.clone().add(offset.applyQuaternion(targetCar.mesh.quaternion));
	camera.position.lerp(targetPosition, 0.05);
	camera.lookAt(targetCar.mesh.position);
	} else { // Overview
	camera.position.lerp(new THREE.Vector3(0, 200, 200), 0.02);
	camera.lookAt(0, 0, 0);
	}
	}

	function updateUI() {
	const stats = window.populationStats \|\| {};
	document.getElementById('epoch').textContent = epoch;
	document.getElementById('epochTime').textContent = Math.ceil(timeLeft);
	document.getElementById('timeProgress').style.width = `${((epochTime - timeLeft) / epochTime) * 100}%`;
	document.getElementById('population').textContent = stats.alive \|\| 0;
	document.getElementById('bestFitness').textContent = Math.round(bestFitness);
	document.getElementById('trafficIQ').textContent = Math.round(50 + (bestFitness / 50)); // Scaled IQ
	document.getElementById('roadMastery').textContent = stats.alive > 0 ? Math.round((stats.totalRoadTime / stats.alive) / epochTime * 100) : 0;

	document.getElementById('crashCount').textContent = crashCount;
	document.getElementById('parkingEvents').textContent = parkingEvents; // Global counter
	document.getElementById('laneViolations').textContent = laneViolations; // Global counter

	document.getElementById('leaderCount').textContent = stats.leaders \|\| 0;
	document.getElementById('convoyCount').textContent = stats.convoy \|\| 0;
	document.getElementById('parkedCount').textContent = stats.parked \|\| 0;
	document.getElementById('soloCount').textContent = stats.solo \|\| 0;
	document.getElementById('largestConvoy').textContent = stats.maxConvoySize \|\| 0;

	// Update building bar graphs
	world.buildings.forEach(buildingData => {
	if (buildingData.barGraphMesh) {
	const scaleY = Math.max(0.1, buildingData.visitorCount * 2); // Scale factor for bar height
	buildingData.barGraphMesh.scale.y = scaleY;
	// Adjust y position so it grows upwards from its base
	buildingData.barGraphMesh.position.y = buildingData.height + 0.1 + 3 + (scaleY / 2) * buildingData.barGraphMesh.geometry.parameters.height;
	}
	});

	updateTopPerformersDisplay(); // Separate function for clarity
	}

	function updateTopPerformersDisplay() {
	const sorted = [...population].filter(car => !car.crashed).sort((a, b) => b.fitness - a.fitness).slice(0, 5);
	const topPerformersDiv = document.getElementById('topPerformers');
	topPerformersDiv.innerHTML = '';
	sorted.forEach((car, i) => {
	const div = document.createElement('div');
	div.innerHTML = `${i + 1}. F:${Math.round(car.fitness)} Role:${car.role}`;
	topPerformersDiv.appendChild(div);
	});
	}

	function setupEventListeners() {
	document.getElementById('pauseBtn').addEventListener('click', () => { paused = !paused; document.getElementById('pauseBtn').textContent = paused ? 'Resume' : 'Pause'; });
	document.getElementById('resetBtn').addEventListener('click', resetSimulation);
	document.getElementById('speedBtn').addEventListener('click', () => { speedMultiplier = speedMultiplier === 1 ? 2 : speedMultiplier === 2 ? 5 : 1; document.getElementById('speedBtn').textContent = `Speed: ${speedMultiplier}x`; });
	document.getElementById('viewBtn').addEventListener('click', () => {
	const modes = ['overview', 'follow_best', 'follow_convoy'];
	cameraMode = modes[(modes.indexOf(cameraMode) + 1) % modes.length];
	document.getElementById('viewBtn').textContent = `View: ${cameraMode.replace('_', ' ').replace(/\b\w/g, l => l.toUpperCase())}`;
	});
	document.getElementById('flockBtn').addEventListener('click', () => {
	showFlockLines = !showFlockLines;
	document.getElementById('flockBtn').textContent = `Networks: ${showFlockLines ? 'ON' : 'OFF'}`;
	world.flockLines.forEach(line => line.visible = showFlockLines); // Global flock lines (if any)
	population.forEach(car => car.flockLines.forEach(line => line.visible = showFlockLines && (line.parent === scene))); // Car-specific lines
	});
	document.getElementById('trafficBtn').addEventListener('click', () => { /* trafficRules toggle, might affect AI behavior if implemented */ });

	// Manual control listeners
	document.addEventListener('keydown', (event) => {
	if (manuallyControlledCar && cameraMode === 'follow_best') {
	if (event.key === 'w' \|\| event.key === 'W') manualControls.W = true;
	if (event.key === 's' \|\| event.key === 'S') manualControls.S = true;
	if (event.key === 'a' \|\| event.key === 'A') manualControls.A = true;
	if (event.key === 'd' \|\| event.key === 'D') manualControls.D = true;
	}
	});
	document.addEventListener('keyup', (event) => {
	if (manuallyControlledCar && cameraMode === 'follow_best') {
	if (event.key === 'w' \|\| event.key === 'W') manualControls.W = false;
	if (event.key === 's' \|\| event.key === 'S') manualControls.S = false;
	if (event.key === 'a' \|\| event.key === 'A') manualControls.A = false;
	if (event.key === 'd' \|\| event.key === 'D') manualControls.D = false;
	}
	});
	}

	function resetSimulation() {
	epoch = 1; timeLeft = epochTime; bestFitness = 0; crashCount = 0; parkingEvents = 0; laneViolations = 0;
	population.forEach(car => car.destroy()); // Proper cleanup
	// Clear building visitor counts and bar graphs
	world.buildings.forEach(buildingData => {
	buildingData.visitorCount = 0;
	if (buildingData.barGraphMesh) {
	buildingData.barGraphMesh.scale.y = 0.1;
	buildingData.barGraphMesh.position.y = buildingData.height + 0.1 + 3 + (0.1 / 2) * buildingData.barGraphMesh.geometry.parameters.height;
	}
	});
	world.parkingLots.forEach(lot => {
	lot.spots.forEach(spot => { spot.occupied = false; spot.car = null; });
	});
	createInitialPopulation();
	}

	function onWindowResize() {
	camera.aspect = window.innerWidth / window.innerHeight;
	camera.updateProjectionMatrix();
	renderer.setSize(window.innerWidth, window.innerHeight);
	}

	init();
	</script>
	</body>
	</html>