自動駕駛副本 | JavaScript 程式專案

{"id":105117,"student_id":142,"content":"var SIZE = 50; // 每個世代的個數\nvar DNA_LENGTH = 30; // DNA 的長度\nvar generation = 0; // 紀錄目前是第幾代\n\n//===========示範程式開始實作後可移除===========//\n// var car = new Car();\n// car.speed = 3; // 設定車速\n// car.reset(50, 50, 90);\n\n// forever(function () {\n//   if (key.right) car.turn(3);\n//   if (key.left) car.turn(-3);\n//   if (key.up) car.speedUp(0.1);\n//   if (key.down) car.speedUp(-0.1);\n// });\n//============================================//\n\n// 手動進入下一個世代來加速學習\nwhen('keydown', 'space', nextGeneration);\n\n// 不斷檢查所有車子的狀態是否都毀損\n// 如果是則進入下一個世代\nvar newcars = []\n\nfor (var i = 0; i \u003c 20; i++) {\n    var put = new Car()\n    put.reset(60, 44, 90)\n    put.speed=3\n    put.addSensor(-60)\n    put.addSensor(-30)\n    put.addSensor(0)\n    put.addSensor(60)\n    put.addSensor(30)\n    put.score = 0\n\n    newcars.push(put)\n    put.gens = randomDNA(DNA_LENGTH)\n}\nforever(function() {\n    for (var i = 0; i \u003c newcars.length; i++) {\n        if (newcars[i].status == \"running\") {\n            var put2 = NN(newcars[i].sensorsData, newcars[i].gens)\n            newcars[i].turn(put2*3)\n            newcars[i].score += 1\n        }\n\n    }\n    for (var i = 0; i \u003c newcars.length; i++) {\n        if (newcars[i].status == \"running\") {\n            return;\n        }\n\n    }\n    nextGeneration()\n    \n});\n\n\n\n// 當所有車子都壞掉時，會觸發這個函式\nfunction nextGeneration () {\n    newcars.sort(function(a, b) {\n        return b.score-a.score\n    })\n    var newput = newcars[0].gens\n    var newput2 = newcars[1].gens\n    for (var i = 0; i \u003c 20; i++) {\n        newcars[i].gens = crossover(newput, newput2)\n       newcars[i].reset(60, 44, 90)\n    }\n\n}\n// 產生 dna1 dna2 的下一代基因\nfunction crossover (a, b) {\n    var idk = []\n    var num = Math.floor(Math.random()*2)\n    var num1 = Math.floor(Math.random()*1)\n    for (var i = 0; i \u003c DNA_LENGTH; i++) {\n        if (num \u003c 1) {\n            idk.push(a[i])\n        } else {\n            idk.push(b[i])\n        }\n        var change = Math.random()\n        if (change \u003c 0.02) {\n            var change1 = Math.random()*2\n            change1 -= 1\n            idk[i] = change1\n        }\n    }\n    return idk\n}\n\n// length 要產生的 dna 長度\nfunction randomDNA (length) {\n    var place = []\n\n    for (var i = 0; i \u003c DNA_LENGTH; i++) {\n        var num = Math.random()*2\n        num -= 1\n        place.push(num)\n    }\n    return place\n}\n\n// S型函數\nfunction sigmoid(x) {\n    return (Math.exp(x)-Math.exp(-x))/(Math.exp(x)+Math.exp(-x))\n}\n\n// input*5 hidden*4 output*1\nfunction NN (inputs, weights) {\n    var a = inputs[0]*weights[0]+inputs[1]*weights[1]+inputs[2]*weights[2]+inputs[3]*weights[3]+inputs[4]*weights[4]\n    var b = inputs[0]*weights[5]+inputs[1]*weights[6]+inputs[2]*weights[7]+inputs[3]*weights[8]+inputs[4]*weights[9]\n    var c = inputs[0]*weights[10]+inputs[1]*weights[11]+inputs[2]*weights[12]+inputs[3]*weights[13]+inputs[4]*weights[14]\n    var d = inputs[0]*weights[15]+inputs[1]*weights[16]+inputs[2]*weights[17]+inputs[3]*weights[18]*inputs[4]*weights[19]\n\n    a = sigmoid(a)\n    b = sigmoid(b)\n    c = sigmoid(c)\n    d = sigmoid(d)\n\n    a *= weights[20]\n    b *= weights[21]\n    c *= weights[22]\n    d *= weights[23]\n    var output = a+b+c+d\n\n\n\n    return output\n}","created_at":"2019-11-08T18:47:34.264+08:00","updated_at":"2019-11-15T20:44:48.253+08:00","name":"自動駕駛 副本","language":"javascript","screenshot":{"url":"https://cdn4.koding.school/uploads/project/screenshot/105117/df379b989b1a1a55ef44c65b2c96c6b1.jpg"},"parent_id":70443,"plugin":"function Point (x, y) {\n    this.x = x || 0;\n    this.y = y || 0;\n}\n\nfunction Line (p1, p2, size, color) {\n\n    this.p1 = p1;\n    this.p2 = p2;\n    this.size = size || 1;\n    this.color = color || 'black';\n    this.a = 0;\n    this.b = 0;\n    \n    // 使用在繪圖用對應的 forever\n    this.instance = createSprite('dot.jpg');\n    this.instance.hidden = true;\n    \n    // y = ax + b\n    // a:斜率 b:常數\n    this.update = function () {\n        // 計算斜率\n        this.a = (this.p1.y - this.p2.y) / (this.p1.x - this.p2.x);\n        \n        // 這招真的很無恥，斜率 1000 畫面上分辨不出是否垂直線\n        // 在計算交會點的時候就很方便，不用再判斷是否為垂直線\n        if (Math.abs(this.a) \u003e 1000) this.a = 1000;\n        \n        // 計算常數項\n        this.b = this.p1.y - this.p1.x*this.a;\n    }\n    this.update(); // 初始化更新\n    \n    \n    // 取得兩線斷相交的座標，如果沒有相交就回傳 undefined\n    this.touched = function (line) {\n\n        if (!this.isCrossWith(line)) return; // undefined\n        \n        let x = (line.b - this.b)/(this.a - line.a);\n        let y = this.a*x + this.b;\n        return {x: x, y: y};\n    }\n    \n    // 兩線斷是否相交\n    this.isCrossWith = function (line) {\n        return line._calc(this.p1.x, this.p1.y) * line._calc(this.p2.x, this.p2.y) \u003c 0 \u0026\u0026\n               this._calc(line.p1.x, line.p1.y) * this._calc(line.p2.x, line.p2.y) \u003c 0\n    }\n\n    this._calc = function (x, y) {\n        if (Math.abs(this.a) == Infinity) return x - this.b;\n        return this.a*x + this.b - y;\n    }\n    \n    // 渲染線條\n    this.render = function () {\n        pen.size = this.size;\n        pen.color = this.color;\n        pen.drawLine(this.p1.x, this.p1.y, this.p2.x, this.p2.y);\n    }\n    \n    // 刪除線條\n    this.destroy = this.instance.destroy.bind(this.instance);\n    \n    var self = this;\n    this.instance.forever(function(){\n        self.update();\n        self.render();\n    });\n}\n\n\nvar walls = []; // 存放賽道線條\nvar cars = []; // 存放所有製造出來的車子\n\n\nfunction Car (x, y) {\n    \n    let width = 17; // 車體中心到四個角的距離\n    let sensorLength = 1000; // 感測器的長度距離\n\n    let center = createSprite('dot.jpg');\n    center.x = x || 320;\n    center.y = y || 240;\n    center.speed = 1; // 預設車速\n    center.status = 'running'; // running, broken\n    \n    // 車體的四個點\n    let p1 = new Point();\n    let p2 = new Point();\n    let p3 = new Point();\n    let p4 = new Point();\n    center.corner = [p1, p2, p3, p4];\n    \n    // 車體邊框\n    center.border = [\n        new Line(p1, p2, 2),\n        new Line(p2, p3, 2),\n        new Line(p3, p4, 2),\n        new Line(p4, p1, 2),\n    ];\n    \n    // 感測器的線段終點\n    center.censorPoints = [];\n    // 感測器的線段\n    center.sensors = []\n    // sensors 角度\n    center.offset = [];\n    // 感測器讀取的資料\n    center.sensorsData = [];\n    \n\n    center.updateLines = function () {\n        for (var i=0; i\u003c4; i++) {\n            this.border[i].update();\n        }\n        for (var i=0; i\u003cthis.offset.length; i++) {\n            this.sensors[i].update();\n        }\n    }\n    \n    center.update = function () {\n        var self = this;\n        this.border.forEach((line) =\u003e {\n           if (self.status == 'broken') line.color = 'gray';\n           else line.color = 'black';\n        });\n        \n        // 更新車體的四個點座標\n        var offset = [30, 150, -150, -30];\n        for (var i=0; i\u003c4; i++) {\n            this.direction += offset[i];\n            this.stepForward(width);\n            this.corner[i].x = this.x;\n            this.corner[i].y = this.y;\n            this.stepForward(-width);\n            this.direction -= offset[i];\n        }\n        \n        // 更新感測器的線\n        var offset = [-45, -22.5, 0, 22.5, 45];\n        var offset = [-60, 0, 60];\n        for (var i=0; i\u003cthis.offset.length; i++) {\n            center.direction += this.offset[i];\n            center.stepForward(sensorLength);\n            center.censorPoints[i].x = center.x;\n            center.censorPoints[i].y = center.y;\n            center.stepForward(-sensorLength);\n            center.direction -= this.offset[i];\n        }\n        \n        this.updateLines();\n    };\n    \n    center.turn = function (direction) {\n        if (isNaN(direction) || this.status == 'broken') return;\n        if (direction \u003e this.speed) direction = this.speed;\n        if (direction \u003c -this.speed) direction = -this.speed;\n        this.direction += direction;\n    }\n    \n    center.speedUp = function (speed) {\n        if (isNaN(speed) || this.status == 'broken') return;\n        this.speed += speed;\n        if (this.speed \u003c 0) this.speed = 0;\n    }\n    \n    center.reset = function (x, y, direction) {\n        this.x = x;\n        this.y = y;\n        this.direction = direction;\n        this.update();\n        this.status = 'running';\n    }\n    \n    center.addSensor = function (direction) {\n        let point = new Point();\n        let line = new Line(this, point, 0, '#00000000');\n        this.censorPoints.push(point);\n        this.sensors.push(line);\n        this.offset.push(direction);\n    }\n    \n    forever(function () {\n        if (center.status == 'running') {\n            center.stepForward(center.speed);\n        }\n        center.update();\n    });\n    \n    center.update(); // 初始化更新\n    \n    cars.push(center);\n    return center;\n}\n\n\nforever(function(){\n    \n    // 檢查車子是否碰到賽道邊界，碰到則將車子狀態改成 broken\n    cars.forEach(function (car) {\n        for (var x=0; x\u003ccar.border.length; x++) {\n            for (var y=0; y\u003cwalls.length; y++) {\n                if (car.border[x].touched(walls[y])) {\n                    car.status = 'broken';\n                    return;\n                }\n            }\n        }\n    });\n    \n    // 更新車子感測器的數值\n    cars.forEach(function (car) {\n        if (car.status == 'broken') return;\n        for (var x=0; x\u003ccar.sensors.length; x++) {\n            \n            var shortest = Infinity;\n            var target = {};\n            \n            for (var y=0; y\u003cwalls.length; y++) {\n                let pos = car.sensors[x].touched(walls[y]);\n                if (pos) {\n                    let length = Math.sqrt((pos.x - car.x)**2 + (pos.y - car.y)**2);\n                    if (length \u003c shortest) {\n                        shortest = Math.round(length);\n                        target = pos;\n                    }\n                }\n            }\n            \n            car.sensorsData[x] = shortest;\n            pen.color = '#aaa';\n            pen.size = 1;\n            pen.drawLine(car.x, car.y, target.x, target.y);\n            pen.fillColor = 'red';\n            pen.drawCircle(target.x, target.y, 3);\n        }\n    });\n});\n\n// 初始化賽道牆壁\nfunction initalMaps (map) {\n    walls.forEach(function (line) { line.destroy() });\n    walls = [];\n    map.forEach(function (points) {\n        for (var i=1; i\u003cpoints.length; i++) {\n            let p1 = new Point(points[i - 1].x, points[i - 1].y);\n            let p2 = new Point(points[i].x, points[i].y);\n            let l =new Line(p1, p2, 3);\n            walls.push(l)\n        }\n    });\n}\n\nlet maps = [[{\"x\":7,\"y\":91},{\"x\":10,\"y\":65},{\"x\":24,\"y\":40},{\"x\":45,\"y\":22},{\"x\":70,\"y\":10},{\"x\":93,\"y\":6},{\"x\":532,\"y\":4},{\"x\":563,\"y\":7},{\"x\":593,\"y\":15},{\"x\":614,\"y\":33},{\"x\":628,\"y\":58},{\"x\":632,\"y\":84},{\"x\":632,\"y\":112},{\"x\":629,\"y\":389},{\"x\":626,\"y\":416},{\"x\":613,\"y\":441},{\"x\":594,\"y\":459},{\"x\":563,\"y\":469},{\"x\":523,\"y\":471},{\"x\":432,\"y\":471},{\"x\":327,\"y\":470},{\"x\":308,\"y\":462},{\"x\":293,\"y\":440},{\"x\":292,\"y\":409},{\"x\":292,\"y\":381},{\"x\":369,\"y\":189},{\"x\":369,\"y\":174},{\"x\":360,\"y\":160},{\"x\":324,\"y\":160},{\"x\":284,\"y\":160},{\"x\":248,\"y\":162},{\"x\":238,\"y\":180},{\"x\":234,\"y\":205},{\"x\":235,\"y\":378},{\"x\":235,\"y\":412},{\"x\":229,\"y\":440},{\"x\":204,\"y\":461},{\"x\":164,\"y\":470},{\"x\":121,\"y\":474},{\"x\":76,\"y\":472},{\"x\":45,\"y\":464},{\"x\":26,\"y\":446},{\"x\":12,\"y\":422},{\"x\":7,\"y\":389},{\"x\":8,\"y\":92}],[{\"x\":100,\"y\":106},{\"x\":102,\"y\":89},{\"x\":114,\"y\":82},{\"x\":492,\"y\":81},{\"x\":510,\"y\":86},{\"x\":519,\"y\":100},{\"x\":521,\"y\":367},{\"x\":514,\"y\":382},{\"x\":495,\"y\":388},{\"x\":421,\"y\":388},{\"x\":406,\"y\":374},{\"x\":478,\"y\":188},{\"x\":486,\"y\":163},{\"x\":489,\"y\":136},{\"x\":477,\"y\":112},{\"x\":456,\"y\":97},{\"x\":425,\"y\":90},{\"x\":171,\"y\":91},{\"x\":147,\"y\":98},{\"x\":135,\"y\":118},{\"x\":131,\"y\":141},{\"x\":131,\"y\":362},{\"x\":131,\"y\":379},{\"x\":118,\"y\":390},{\"x\":105,\"y\":379},{\"x\":102,\"y\":361},{\"x\":100,\"y\":105}]]\ninitalMaps(maps);\n","description":null,"note":null,"status":"public","like_student_ids":[],"is_featured":false,"views":83,"hashid":"5j3sz55p","is_content_changed":false,"review_status":"unsubmitted","submitted_at":null,"reviewed_at":null,"advise":null,"is_deleted":false}