自動駕駛(賽車版) | JavaScript 程式專案

{"id":303728,"student_id":10,"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 count = 0;\n\n// 初始化第一代車子\nfor (var i = 0; i \u003c SIZE; i++) {\n    let car = new Car();\n    car.reset(50, 250, 0);\n    car.addSensor(45);\n    car.addSensor(0);\n    car.addSensor(-45);\n    car.score = 0;\n    car.speed = 0;\n    car.gens = randomDNA(DNA_LENGTH);\n    car.xx = car.x;\n    car.yy = car.y;\n\n    forever(function(){\n        if (car.status != 'running') return;\n        var outputs = NN(car.sensorsData.concat(car.speed), car.gens);\n        car.turn(outputs[0]*3); // 控制左轉/右轉\n        car.speedUp(outputs[1]/10); // 控制加速/減速\n        car.score += car.speed;\n        \n\n        if (count % 30 === 0) { // 每30 tick 計算一次分數\n            var diff = (car.xx - car.x)**2 + (car.yy - car.y)**2;\n            if (car.speed == 0) car.status = 'broken';\n            car.score += diff;\n            car.xx = car.x;\n            car.yy = car.y;\n        }\n    });\n}\n\n// 避免緩慢的車子消耗時間，手動進入下一個世代來加速學習\nwhen('keydown', 'space', nextGeneration);\n\nforever(function(){\n    count++;\n    print('generation:' + generation);\n    for (var i=0; i\u003ccars.length; i++) {\n        if (cars[i].status == 'running') return;\n    }\n    nextGeneration();\n});\n\nfunction nextGeneration () {\n    cars.sort(function (a, b) {\n        return b.score - a.score;\n    });\n    // 取出表現最佳的兩台車基因(參數)，產生下一代車子\n    var parentA = cars[0].gens;\n    var parentB = cars[1].gens;\n    \n    for (var i=0; i\u003ccars.length; i++) {\n        cars[i].gens = crossover(parentA, parentB);\n        cars[i].reset(50, 250, 0);\n        cars[i].score = 0;\n        cars[i].speed = 0;\n    }\n    \n    generation++;\n}\n\nfunction crossover(a, b) {\n    var dna = [];\n    for (var i = 0; i \u003c DNA_LENGTH; i++) {\n        dna[i] = Math.random() \u003e 0.5 ? a[i] : b[i];\n        if (Math.random() \u003c 0.1) dna[i] = Math.random() * 2 - 1; // 變異\n    }\n    return dna;\n}\n\nfunction randomDNA(length) {\n    var dna = [];\n    for (var i = 0; i \u003c length; i++) dna.push(Math.random() * 2 - 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*4 hidden*5 output*2\nfunction NN(inputs, weights) {\n    var w = weights;\n    var i = inputs;\n    var a = i[0]*w[0]  + i[1]*w[1]  + i[2]*w[2]  + i[3]*w[3];\n    var b = i[0]*w[4]  + i[1]*w[5]  + i[2]*w[6]  + i[3]*w[7];\n    var c = i[0]*w[8]  + i[1]*w[9]  + i[2]*w[10] + i[3]*w[11];\n    var d = i[0]*w[12] + i[1]*w[13] + i[2]*w[14] + i[3]*w[15];\n    var e = i[0]*w[16] + i[1]*w[17] + i[2]*w[18] + i[3]*w[19];\n    \n    a = sigmoid(a);\n    b = sigmoid(b);\n    c = sigmoid(c);\n    d = sigmoid(d);\n    e = sigmoid(e);\n    \n    var f = a*w[20] + b*w[21] + c*w[22] + d*w[23] + e*w[24];\n    var g = a*w[25] + b*w[26] + c*w[27] + d*w[29] + e*w[29];\n\n    f = sigmoid(f);\n    g = sigmoid(g);\n    \n    return [f, g];\n}","created_at":"2021-10-13T10:36:35.567+08:00","updated_at":"2021-10-13T10:37:04.044+08:00","name":"自動駕駛(賽車版)","language":"javascript","screenshot":{"url":"https://cdn8.koding.school/uploads/project/screenshot/303728/c7652fb8d427c9130a6eb5b974a8d704.jpg"},"parent_id":2,"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":177,"hashid":"jzmsep8vr","is_content_changed":false,"review_status":"unsubmitted","submitted_at":null,"reviewed_at":null,"advise":null,"is_deleted":false}