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@MarkusGutjahr
MarkusGutjahr committed Apr 23, 2024
1 parent 0142732 commit 10cf80d
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Showing 2 changed files with 122 additions and 15 deletions.
2 changes: 1 addition & 1 deletion .idea/inspectionProfiles/Project_Default.xml
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135 changes: 121 additions & 14 deletions cars/script.js
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
let savedPopulation ;
let population;
let populationSize = 1500;
let populationSize = 1000;
let lifespan = 1000;
let generation = 1;
let generationInfo = [];
let count = 0;
let target;
let maxfore = 0.3;
let maxfore = 0.15;

let obstacles = [];
let maxFit = 0;
Expand All @@ -18,6 +18,9 @@ let firstCompletionIndex = -1;
let maxGottenLifespan = 0;
let fastestTime = lifespan;

let checkpoints = [];
let checkpointRadius = 20;

function setup() {
canvas = createCanvas(900, 1200);
canvas.parent("canvas");
Expand All @@ -34,6 +37,17 @@ function setup() {

target = createVector(width/2, 100);

checkpoints.push(new Checkpoint(700,310, checkpointRadius, checkpointRadius));
checkpoints.push(new Checkpoint(200,510, checkpointRadius, checkpointRadius));
checkpoints.push(new Checkpoint(700,710, checkpointRadius, checkpointRadius));
checkpoints.push(new Checkpoint(200,910, checkpointRadius, checkpointRadius));


checkpoints.push(new Checkpoint(450,810, checkpointRadius, checkpointRadius));
checkpoints.push(new Checkpoint(450,610, checkpointRadius, checkpointRadius));
checkpoints.push(new Checkpoint(450,410, checkpointRadius, checkpointRadius));


obstacles.push(new Obstacle(0, 300, 600, 20));
obstacles.push(new Obstacle(300, 900, 600, 20));

Expand All @@ -56,6 +70,8 @@ function draw() {
text("Fastest Time: " + fastestTime, width - 10, 80);
count++;

ellipse(target.x, target.y, 20, 20);

if (!firstCompletion && checkForCompletion()) {
firstCompletion = true;
firstCompletionIndex = generationInfo.length - 1;
Expand All @@ -69,7 +85,9 @@ function draw() {
obstacles[i].show();
}

ellipse(target.x, target.y, 20, 20);
for (let i = 0; i < checkpoints.length; i++) {
checkpoints[i].show();
}
}

function displayInfo() {
Expand All @@ -95,6 +113,23 @@ function checkForCompletion() {
return false;
}


function Checkpoint (x, y, w, h) {
this.x = x;
this.y = y;
this.w = w;
this.h = h;

this.show = function () {
fill('lightblue');
ellipse(this.x, this.y, this.w, this.h);
}

this.checkCollision = function (carX, carY) {
return (carX > this.x && carX < this.x + this.w && carY > this.y && carY < this.y + this.h);
}
}

function Obstacle(x, y, w, h) {
this.x = x;
this.y = y;
Expand Down Expand Up @@ -187,10 +222,14 @@ function Car(dna) {
this.maxSpeed = 5;
this.maxForce = 0.1;
this.fitness = 0;

this.completed = false;
this.crashed = false;
this.time = lifespan;

this.checkpointsCleared = 0;
this.nearestCheckpoint = false;

if(dna){
this.dna = dna;
}else {
Expand All @@ -205,16 +244,24 @@ function Car(dna) {
let d = dist(this.pos.x, this.pos.y, target.x, target.y);
this.fitness = map(d, 0, width, width, 0);
let timeFactor = map(count, 0, lifespan, 10, 1);

this.fitness /= 5;
this.fitness *= this.checkpointsCleared;

//console.log("fitness before:", this.fitness)
if(this.completed) {
this.fitness *= timeFactor * 10;
if(fastestTime < count){
fastestTime = count;
}
}else if(this.crashed) {
this.fitness /= timeFactor;
this.fitness /= (timeFactor * 10);
}else if(!this.crashed && !this.completed) {
this.fitness /= timeFactor/2;
this.fitness /= timeFactor * 6;
}
//console.log("d:", d)
//console.log("timefactor:", timeFactor)
//console.log("fitness after:", this.fitness)
}

this.update = function () {
Expand All @@ -237,13 +284,41 @@ function Car(dna) {
}
}
}

/*
// Find the nearest checkpoint
let nearestCheckpoint = this.findNearestCheckpoint(this.pos, checkpoints);
// Move the car towards the nearest checkpoint
let desired = p5.Vector.sub(createVector(nearestCheckpoint.x, nearestCheckpoint.y), this.pos);
desired.setMag(this.maxSpeed);
//let steer = p5.Vector.sub(createVector(desired.x, desired.y), this.vel);
//steer.limit(this.maxForce);
//this.applyForce(steer);
// Update the car's position and velocity
this.vel.add(this.acc);
this.pos.add(this.vel);
this.acc.mult(0);
// Check if the car has reached the checkpoint
if (p5.Vector.dist(this.pos, createVector(nearestCheckpoint.x, nearestCheckpoint.y)) < checkpointRadius) {
this.checkpointsCleared++;
// If all checkpoints are cleared, set completed to true
if (this.checkpointsCleared === checkpoints.length) {
this.completed = true;
}
}
*/


// Obstacle avoidance using raycasting
let avoidanceForce = this.avoidObstacles();
this.applyForce(avoidanceForce);
//console.log("Avoidance force:", avoidanceForce);

// Apply steering behaviors (acceleration and turning)
let desired = createVector(); // Calculate desired velocity
//let desired = createVector(); // Calculate desired velocity
//let steer = createVector(); // Calculate steering force


Expand All @@ -256,6 +331,8 @@ function Car(dna) {

// Create a vector manually
let steer = p5.Vector.fromAngle(angle);
//steer = p5.Vector.sub(desired, steer);

//console.log("Steer:", steer)

steer.mult(2); // Adjust for steering force
Expand All @@ -268,13 +345,12 @@ function Car(dna) {
//console.log("Steer after applying force:", steer); // Check steer after applying force




// Update angle based on velocity direction
this.angle = this.vel.heading();
//console.log("angle update:", this.angle);



// Update velocity, position, and angle
//console.log("Before velocity update:", this.vel);
this.vel.add(this.acc);
Expand All @@ -288,6 +364,23 @@ function Car(dna) {

this.vel.limit(this.maxSpeed);


this.nearestCheckpoint = this.findNearestCheckpoint(this.pos, checkpoints);
if (p5.Vector.dist(this.pos, createVector(this.nearestCheckpoint.x, this.nearestCheckpoint.y)) < checkpointRadius) {
// Check if the checkpoint hasn't been cleared before
if (!this.nearestCheckpoint.cleared) {
this.checkpointsCleared++;
// Award extra points to the car
// Mark the checkpoint as cleared
this.nearestCheckpoint.cleared = true;

// If all checkpoints are cleared, set completed to true
if (this.checkpointsCleared === checkpoints.length) {
this.completed = true;
}
}
}

/*
this.applyForce(this.dna.genes[count]);
if(!this.completed && !this.crashed){
Expand All @@ -297,7 +390,6 @@ function Car(dna) {
this.vel.limit(5);
}
*/

}

this.avoidObstacles = function () {
Expand Down Expand Up @@ -337,6 +429,22 @@ function Car(dna) {
return avoidance;
}

this.findNearestCheckpoint = function (position, checkpoints) {
let nearestCheckpoint = checkpoints[0];
let nearestDistance = dist(position.x, position.y, nearestCheckpoint.x, nearestCheckpoint.y);

for (let i = 1; i < checkpoints.length; i++) {
let distance = dist(position.x, position.y, checkpoints[i].x, checkpoints[i].y);
if (distance < nearestDistance) {
nearestCheckpoint = checkpoints[i];
nearestDistance = distance;
}
}

return nearestCheckpoint;
//return createVector(nearestCheckpoint.x, nearestCheckpoint.y);
}

this.show = function () {
push();
noStroke();
Expand Down Expand Up @@ -364,6 +472,7 @@ function Population() {


this.evaluate = function() {
this.matingpool = [];
let maxfit = 0;
for (let i = 0; i < this.popsize; i++) {
this.cars[i].calcFitness();
Expand All @@ -379,8 +488,6 @@ function Population() {
for (let i = 0; i < this.popsize; i++) {
this.cars[i].fitness /= maxfit;
}

this.matingpool = [];
for (let i = 0; i < this.popsize; i++) {
//let n = floor(this.cars[i].fitness * 100);
let n = this.cars[i].fitness * 100;
Expand Down Expand Up @@ -440,9 +547,9 @@ function DNA(genes) {
let newgenes = [];
let mid = floor(random(this.genes.length));
for (let i = 0; i < this.genes.length; i++) {
if(i > mid){
if(i > mid) {
newgenes[i] = this.genes[i];
}else{
}else {
newgenes[i] = partner.genes[i];
}
}
Expand All @@ -451,7 +558,7 @@ function DNA(genes) {

this.mutation = function () {
for (let i = 0; i < this.genes.length; i++) {
if(random(1) < 0.01) {
if(random(1) < 0.03) {
this.genes[i] = p5.Vector.random2D();
this.genes[i].setMag(maxfore);
}
Expand Down

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