self driving car

2022-11-07 19:26:26 +02:00
commit f79d283c96
12 changed files with 827 additions and 0 deletions
@@ -0,0 +1,174 @@
+class Car {
+	constructor(
+		x,
+		y,
+		controlType,
+		color = "blue",
+		maxSpeed = 4,
+		width = 30,
+		height = 50
+	) {
+		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.useBrain = controlType == "AI";
+		if (controlType != "DUMMY") {
+			this.sensor = new Sensor(this);
+			this.brain = new NeuralNetwork([
+				this.sensor.rayCount,
+				6,
+				4,
+			]);
+		}
+		this.controls = new Controls(controlType);
+		this.img = new Image();
+		this.img.src = "car.png";
+		this.mask = document.createElement("canvas");
+		this.mask.width = width;
+		this.mask.height = height;
+
+		const maskCtx = this.mask.getContext("2d");
+		this.img.onload = () => {
+			maskCtx.fillStyle = color;
+			maskCtx.rect(0, 0, this.width, this.height);
+			maskCtx.fill();
+
+			maskCtx.globalCompositeOperation = "destination-atop";
+			maskCtx.drawImage(
+				this.img,
+				0,
+				0,
+				this.width,
+				this.height
+			);
+		};
+	}
+	update(roadBorders, traffic) {
+		if (!this.damaged) {
+			this.#move();
+			this.polygon = this.#createPolygon();
+			this.damaged = this.#assessDamage(roadBorders, traffic);
+		}
+		if (this.sensor) {
+			this.sensor.update(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 (polyIntersect(this.polygon, roadBorders[i]))
+				return true;
+		}
+		for (let i = 0; i < traffic.length; i++) {
+			if (polyIntersect(this.polygon, traffic[i].polygon)) {
+				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;
+		else if (this.controls.reverse) this.speed -= this.acceleration;
+		if (this.speed > this.maxSpeed) this.speed = this.maxSpeed;
+		else 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;
+		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;
+		}
+		this.x -= Math.sin(this.angle) * this.speed;
+		this.y -= Math.cos(this.angle) * this.speed;
+	}
+	draw(ctx, color, drawSensor = false) {
+		if (this.sensor && drawSensor) this.sensor.draw(ctx);
+		ctx.save();
+		ctx.translate(this.x, this.y);
+		ctx.rotate(-this.angle);
+		if (!this.damaged) {
+			ctx.drawImage(
+				this.mask,
+				-this.width / 2,
+				-this.height / 2,
+				this.width,
+				this.height
+			);
+		}
+		ctx.globalCompositeOperation = "multiply";
+		ctx.drawImage(
+			this.img,
+			-this.width / 2,
+			-this.height / 2,
+			this.width,
+			this.height
+		);
+		ctx.restore();
+	}
+}
+
+function polyIntersect(poly1, poly2) {
+	for (let i = 0; i < poly1.length; i++) {
+		for (let j = 0; j < poly2.length; j++) {
+			const touch = getIntersection(
+				poly1[i],
+				poly1[(i + 1) % poly1.length],
+				poly2[j],
+				poly2[(j + 1) % poly2.length]
+			);
+			if (touch) return true;
+		}
+	}
+	return false;
+}