自動駕駛 v2 | JavaScript 程式專案

{"id":48761,"student_id":10,"content":"","created_at":"2018-11-16T16:28:10.776+08:00","updated_at":"2019-11-08T16:50:40.579+08:00","name":"自動駕駛 v2","language":"javascript","screenshot":{"url":"https://cdn5.koding.school/uploads/project/screenshot/48761/fdf5027dfcf8a1d74ae62a222a589d32.jpg"},"parent_id":48758,"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    // 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) === Infinity) 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    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    var self = this;\n    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 = 10; // 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    // 感測器的點\n    let a = center.a = new Point();\n    let b = center.b = new Point();\n    let c = center.c = new Point();\n    let d = center.d = new Point();\n    let e = center.e = new Point();\n    center.censorPoints = [a, b, c, d, e];\n    \n    // 感測器的線段\n    center.sensors = [\n        new Line(center, a, 0, '#00000000'),\n        new Line(center, b, 0, '#00000000'),\n        new Line(center, c, 0, '#00000000'),\n        new Line(center, d, 0, '#00000000'),\n        new Line(center, e, 0, '#00000000'),\n    ]\n    \n    // 感測器讀取的資料\n    center.sensorsData = [0, 0, 0, 0, 0];\n    \n    // 車體\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    center.updateLines = function () {\n        for (var i=0; i\u003c4; i++) {\n            this.border[i].update();\n        }\n        for (var i=0; i\u003c5; 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        for (var i=0; i\u003c5; i++) {\n            center.direction += 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 -= offset[i];\n        }\n        \n        this.updateLines();\n    };\n    \n    center.turn = function (direction) {\n        if (this.status == 'broken') return;\n        this.direction += direction;\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    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\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            \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// 地圖產生工具\n// https://koding.school/projects/36ys55kv/edit\nvar shapes = [[{\"x\":98,\"y\":10},{\"x\":98,\"y\":10},{\"x\":497,\"y\":10},{\"x\":535,\"y\":10},{\"x\":567,\"y\":22},{\"x\":593,\"y\":42},{\"x\":613,\"y\":68},{\"x\":621,\"y\":94},{\"x\":628,\"y\":126},{\"x\":629,\"y\":173},{\"x\":629,\"y\":249},{\"x\":625,\"y\":266},{\"x\":615,\"y\":278},{\"x\":599,\"y\":285},{\"x\":575,\"y\":293},{\"x\":549,\"y\":301},{\"x\":533,\"y\":318},{\"x\":539,\"y\":333},{\"x\":563,\"y\":343},{\"x\":599,\"y\":356},{\"x\":625,\"y\":379},{\"x\":629,\"y\":402},{\"x\":629,\"y\":438},{\"x\":620,\"y\":455},{\"x\":593,\"y\":472},{\"x\":537,\"y\":474},{\"x\":397,\"y\":474},{\"x\":368,\"y\":465},{\"x\":361,\"y\":452},{\"x\":320,\"y\":375},{\"x\":282,\"y\":290},{\"x\":283,\"y\":269},{\"x\":299,\"y\":251},{\"x\":353,\"y\":206},{\"x\":401,\"y\":166},{\"x\":405,\"y\":154},{\"x\":402,\"y\":140},{\"x\":393,\"y\":127},{\"x\":377,\"y\":124},{\"x\":361,\"y\":125},{\"x\":338,\"y\":126},{\"x\":318,\"y\":140},{\"x\":295,\"y\":159},{\"x\":271,\"y\":181},{\"x\":243,\"y\":207},{\"x\":219,\"y\":229},{\"x\":217,\"y\":244},{\"x\":214,\"y\":266},{\"x\":225,\"y\":286},{\"x\":265,\"y\":369},{\"x\":266,\"y\":386},{\"x\":258,\"y\":410},{\"x\":245,\"y\":429},{\"x\":226,\"y\":449},{\"x\":204,\"y\":466},{\"x\":170,\"y\":474},{\"x\":126,\"y\":474},{\"x\":85,\"y\":474},{\"x\":65,\"y\":459},{\"x\":43,\"y\":430},{\"x\":26,\"y\":394},{\"x\":12,\"y\":355},{\"x\":7,\"y\":323},{\"x\":6,\"y\":271},{\"x\":5,\"y\":218},{\"x\":5,\"y\":182},{\"x\":4,\"y\":122},{\"x\":12,\"y\":88},{\"x\":37,\"y\":58},{\"x\":98,\"y\":10}],\n[{\"x\":119,\"y\":63},{\"x\":119,\"y\":63},{\"x\":487,\"y\":61},{\"x\":521,\"y\":66},{\"x\":539,\"y\":78},{\"x\":552,\"y\":97},{\"x\":559,\"y\":117},{\"x\":566,\"y\":149},{\"x\":567,\"y\":169},{\"x\":569,\"y\":213},{\"x\":565,\"y\":225},{\"x\":551,\"y\":234},{\"x\":527,\"y\":247},{\"x\":498,\"y\":262},{\"x\":480,\"y\":277},{\"x\":474,\"y\":295},{\"x\":473,\"y\":321},{\"x\":479,\"y\":341},{\"x\":498,\"y\":363},{\"x\":516,\"y\":371},{\"x\":543,\"y\":384},{\"x\":562,\"y\":400},{\"x\":566,\"y\":415},{\"x\":560,\"y\":425},{\"x\":539,\"y\":427},{\"x\":420,\"y\":425},{\"x\":410,\"y\":415},{\"x\":376,\"y\":355},{\"x\":347,\"y\":294},{\"x\":361,\"y\":275},{\"x\":409,\"y\":238},{\"x\":469,\"y\":189},{\"x\":475,\"y\":162},{\"x\":474,\"y\":131},{\"x\":464,\"y\":108},{\"x\":442,\"y\":82},{\"x\":406,\"y\":71},{\"x\":368,\"y\":67},{\"x\":324,\"y\":69},{\"x\":285,\"y\":71},{\"x\":272,\"y\":78},{\"x\":240,\"y\":105},{\"x\":213,\"y\":129},{\"x\":185,\"y\":156},{\"x\":161,\"y\":182},{\"x\":143,\"y\":205},{\"x\":137,\"y\":238},{\"x\":137,\"y\":270},{\"x\":154,\"y\":306},{\"x\":194,\"y\":367},{\"x\":196,\"y\":383},{\"x\":183,\"y\":399},{\"x\":165,\"y\":409},{\"x\":128,\"y\":410},{\"x\":106,\"y\":399},{\"x\":99,\"y\":383},{\"x\":86,\"y\":359},{\"x\":78,\"y\":326},{\"x\":78,\"y\":301},{\"x\":78,\"y\":252},{\"x\":78,\"y\":198},{\"x\":78,\"y\":166},{\"x\":81,\"y\":118},{\"x\":93,\"y\":90},{\"x\":106,\"y\":76},{\"x\":119,\"y\":63}]]\n\nshapes.forEach((points) =\u003e {\n   for (var i=0; i\u003cpoints.length; i++) {\n       points[i] = new Point(points[i].x, points[i].y);\n   } \n});\n\nshapes.forEach((points) =\u003e {\n   for (var i=1; i\u003cpoints.length; i++) {\n       walls.push(new Line(points[i], points[i - 1], 2));\n   } \n});\n\n//---------------------------------------------\nvar SIZE = 70; // 每個世代的個數\n\nfor (var i = 0; i \u003c SIZE; i++) {\n    let car = new Car();\n    car.reset(100, 30, 90);\n    car.score = 0;\n    car.gens = randomDNA(32);\n    car.speed = 5;\n\n    forever(function(){\n        if (car.status != 'running') return;\n        var outputs = NN(car.sensorsData, car.gens);\n        car.turn(outputs*30);\n        car.score++;\n    });\n}\n\nforever(function(){\n    for (var i=0; i\u003ccars.length; i++) {\n        if (cars[i].status == 'running') return;\n    }\n    \n    cars.sort(function (a, b) {\n        return a.score - b.score; \n    });\n    \n    let newGens = [];\n    for (let i=0; i\u003cSIZE - 0; i++) {\n        let rand1 = Math.floor(Math.sqrt(Math.random() * SIZE*SIZE));\n        let rand2 = Math.floor(Math.sqrt(Math.random() * SIZE*SIZE));\n        let newDNA = crossover(cars[rand1].gens, cars[rand2].gens);\n        newGens.push(newDNA);\n    }\n    \n    for (var i=0; i\u003ccars.length; i++) {\n        cars[i].gens = newGens[i];\n        cars[i].reset(100, 30, 90)\n        cars[i].score = 0;\n    }\n});\n\nfunction crossover(a, b) {\n    let dna = [];\n    for (let i = 0; i \u003c a.length; i++) {\n        dna[i] = Math.random() \u003e 0.5 ? a[i] : b[i];\n        if (Math.random() \u003c 0.04) dna[i] = Math.random() * 0.2 - 0.1; // mutation\n    }\n    return dna;\n}\n\nfunction randomDNA(length) {\n    let dna = [];\n    for (let i = 0; i \u003c length; i++) dna.push(Math.random() * 0.2 - 0.1);\n    return dna;\n}\n\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    let w = weights;\n    let i = inputs;\n    let a = i[0]*w[0]  + i[1]*w[1]  + i[2] *w[2]  + i[3]*w[3]  + i[4]*w[4];\n    let b = i[0]*w[5]  + i[1]*w[6]  + i[2] *w[7]  + i[3]*w[8]  + i[4]*w[9];\n    let c = i[0]*w[10] + i[1]*w[11] + i[2] *w[12] + i[3]*w[13] + i[4]*w[14];\n    let d = i[0]*w[15] + i[1]*w[16] + i[2] *w[17] + i[3]*w[18] + i[4]*w[19];\n\n    a = sigmoid(a);\n    b = sigmoid(b);\n    c = sigmoid(c);\n    d = sigmoid(d);\n\n    let e = a*w[20] + b*w[21] + c*w[22] +d*w[23];\n    return e;\n}\n","description":null,"note":null,"status":"public","like_student_ids":[],"is_featured":false,"views":316,"hashid":"6rpsddkm","is_content_changed":false,"review_status":"unsubmitted","submitted_at":null,"reviewed_at":null,"advise":null,"is_deleted":false}