Auto-driving Car | JavaScript 程式專案

{"id":61716,"student_id":1976,"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\nvar ticks = 0\n//===========示範程式開始實作後可移除===========//\nvar car = new Car();\nvar count = 0\ncar.speed = 3; // 設定車速\ncar.reset(50, 50, 90);\n\n\nforever(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\nfor (var i = 0; i \u003c SIZE; i++) {\n    var newcar = new Car()\n    newcar.addSensor(45)\n    newcar.addSensor(0)\n    newcar.addSensor(-45)\n    newcar.speed = 3\n    newcar.score = 0\n    \n    newcar.xx = newcar.x\n    newcar.yy = newcar.y\n    \n    newcar.gens = randomDNA(DNA_LENGTH)\n    newcar.reset(50, 250, 0)\n}\n\n// 手動進入下一個世代來加速學習\nwhen('keydown', 'space', nextGeneration);\n\n\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\nforever(function() {\n    ticks += 1\n    for (var i = 1; i \u003c cars.length; i++) {\n        var gens = cars[i].gens\n        var sensors = cars[i].sensorsData\n        sensors[3] = (cars[i].speed)\n        var output = NN(sensors, gens)\n        cars[i].turn(output[0] * 3)\n        cars[i].speedUp(output[1] / 10)\n        if (cars[i].status == 'running') {\n            if(cars[i].speed == 0) {\n                cars[i].status = 'broken'\n            }\n            if(ticks % 30 == 0) {\n                var diff =  (cars[i].xx - cars[i].x)**2 + (cars[i].yy - cars[i].y) ** 2\n                cars[i].score += diff\n                cars[i].xx = cars[i].x\n                cars[i].yy = cars[i]\n            }\n            cars[i].score += cars[i].speed\n            count += 1\n        }\n    }\n    if (count == 0) {\n        nextGeneration()\n    }\n\n    count = 0\n});\n\n// 當所有車子都壞掉時，會觸發這個函式\nfunction nextGeneration () {\n    console.log('產生下一代車子...');\n    cars.sort(function(a, b) {\n        return b.score - a.score\n    })\n\n    var mom = cars[1].gens\n    var dad = cars[2].gens\n\n    for (var i = 1; i \u003c cars.length; i++) {\n        cars[i].gens = crossover(mom, dad)\n        cars[i].reset(50, 250, 0)\n        cars[i].speed = 3\n        cars[i].score = 0\n    }\n\n\n}\n\n// 產生 dna1 dna2 的下一代基因\nfunction crossover (a, b) {\n    var gens = []\n    for (var i = 0; i \u003c DNA_LENGTH; i++) {\n        var prob = Math.random()\n        \n        if(prob \u003e 0.5) {\n            gens[i] = a[i]\n        } else {\n            if(prob \u003c 0.01) {\n                gens[i] = Math.random() * 2 - 1\n            } else {\n                gens[i] = b[i]\n            }\n        }\n    }\n    \n    return gens\n}\n\n// length 要產生的 dna 長度\nfunction randomDNA (length) {\n    var dna = []\n    for (var i = 0; i \u003c length; i++) {\n        dna.push(Math.random() * 2 - 1)\n    }\n    return dna\n}\n\n// S型函數\nfunction activation(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 output1 = 0\n    var output2 = 0\n    var i = inputs\n    var w = weights\n    \n    var a = w[0]  * i[0] + w[1]  * i[1] + w[2]  * i[2] + w[3]  * i[3]\n    var b = w[4]  * i[0] + w[5]  * i[1] + w[6]  * i[2] + w[7]  * i[3]\n    var c = w[8]  * i[0] + w[9]  * i[1] + w[10] * i[2] + w[1]  * i[3] \n    var d = w[12] * i[0] + w[13] * i[1] + w[14] * i[2] + w[15] * i[3] \n    var e = w[16] * i[0] + w[17] * i[1] + w[18] * i[2] + w[19] * i[3]\n\n    a = activation(a)\n    b = activation(b)\n    c = activation(c)\n    d = activation(d)\n    e = activation(e)\n\n    output1 = w[20] * a + w[21] * b + w[22] * c + w[23] * d + w[24] * e\n    output2 = w[25] * a + w[26] * b + w[27] * c + w[28] * d + w[29] * e\n\n    return [output1, output2]\n}","created_at":"2019-04-08T04:36:48.469+08:00","updated_at":"2019-11-12T07:30:59.851+08:00","name":"Auto-driving Car","language":"javascript","screenshot":{"url":"https://cdn9.koding.school/uploads/project/screenshot/61716/289edc23590932291726a9402c38a09b.jpg"},"parent_id":61709,"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\":4,\"y\":92},{\"x\":6,\"y\":67},{\"x\":14,\"y\":46},{\"x\":31,\"y\":28},{\"x\":52,\"y\":14},{\"x\":79,\"y\":9},{\"x\":542,\"y\":8},{\"x\":571,\"y\":11},{\"x\":594,\"y\":21},{\"x\":611,\"y\":38},{\"x\":623,\"y\":63},{\"x\":629,\"y\":90},{\"x\":631,\"y\":394},{\"x\":623,\"y\":419},{\"x\":611,\"y\":438},{\"x\":594,\"y\":454},{\"x\":567,\"y\":464},{\"x\":536,\"y\":467},{\"x\":120,\"y\":469},{\"x\":90,\"y\":467},{\"x\":62,\"y\":461},{\"x\":38,\"y\":446},{\"x\":22,\"y\":427},{\"x\":12,\"y\":399},{\"x\":9,\"y\":364},{\"x\":5,\"y\":93}],[{\"x\":103,\"y\":143},{\"x\":104,\"y\":121},{\"x\":116,\"y\":104},{\"x\":135,\"y\":92},{\"x\":161,\"y\":84},{\"x\":481,\"y\":84},{\"x\":508,\"y\":90},{\"x\":525,\"y\":107},{\"x\":533,\"y\":130},{\"x\":533,\"y\":169},{\"x\":532,\"y\":340},{\"x\":527,\"y\":360},{\"x\":514,\"y\":372},{\"x\":496,\"y\":381},{\"x\":471,\"y\":384},{\"x\":166,\"y\":384},{\"x\":146,\"y\":381},{\"x\":126,\"y\":371},{\"x\":112,\"y\":351},{\"x\":106,\"y\":325},{\"x\":103,\"y\":144}]]\ninitalMaps(maps);\n","description":null,"note":null,"status":"public","like_student_ids":[],"is_featured":false,"views":402,"hashid":"882sdw68","is_content_changed":false,"review_status":"pending","submitted_at":"2019-04-08T04:38:10.947+08:00","reviewed_at":null,"advise":null,"is_deleted":false}