JS_Projects/carDrivingNeuralNet/player.js

class Player {
    constructor(position) {
        this.position = position;
        this.rays = [];
        this.rawDistances = [];
        this.distances = [];
        this.fov = 90;
        this.angle = 0;
        this.acceleration = 2;
        this.momentum = createVector(0, 0, 0);
        this.velocity = createVector(0, 0, 0);
        this.sight = 300;
        this.frontalVelocity = 0;
        this.maxVel = 12;
        this.dead = false;
        this.nn = new NeuralNetwork();
        this.predictions = [];
        this.slow = 0;
        this.fitness = 0;
    }


    show(best) {
        let width = 10;
        let length = 15;
        for (let r of this.rays) {
            //r.show();
        }
        push();
        if (!best)
            fill(255, 73, 86);
        else
            fill(66, 129, 255);
        noStroke();
        translate(this.position.x, this.position.y);
        rotate(radians(this.angle));
        rect(-width / 2, -length / 2, width, length);
        pop();
    }

    update(vk, hk) {
        if (this.distances.length == 9) {
            tf.tidy(() => {
                this.predictions = this.nn.drive(this.distances);
            });

            if (this.predictions[0] >= 0) {
                hk = '1';
            } else {
                hk = '0';
            }

            if (this.predictions[1] >= 0) {
                vk = '1';
            } else if (this.predictions[1] < 0.25 && this.predictions[1] > -0.25) {
                vk = null;
            } else {
                vk = '0';
            }
            //print('1: '+this.predictions[0]+' 2: ' + this.predictions[1]);

        }


        const rotationSpeed = 2.5;
        if (hk === '1') {
            this.angle += rotationSpeed;
        }
        if (hk === '0') {
            this.angle -= rotationSpeed;
        }

        if (vk == '1') {
            this.velocity = p5.Vector.fromAngle(radians(this.angle - 90), 1);
            this.momentum.mult(0.975);
        } else if (vk == '0') {
            this.velocity = createVector(0, 0, 0);
            this.momentum.mult(0.9);
        } else {
            this.velocity = createVector(0, 0, 0);
            this.momentum.mult(0.95);
        }

        if (this.momentum.mag() < 0.1) {
            this.slow++;
        }
        if (this.slow > 15) {
            this.dead = true;
        }
        if (!this.dead) {
            this.fitness++;
        }
        //this.momentum = (this.momentum.sub(this.momentum.mult(0.00001)));
        this.momentum.add(this.velocity.mult(0.12));
        this.momentum.limit(this.maxVel);
        this.position.add(this.momentum);

        this.rays = [];
        for (let i = -180; i < 180; i += 45) {
            this.rays.push(new Ray(this.position.x, this.position.y, radians(i + this.angle), this.sight));
        }

        for (let r of this.rays) {
            for (let w of walls) {
                r.cast(w);
            }
            //r.show();
        }
        this.rawDistances = [];
        for (let i = 0; i < this.rays.length; i++) {
            this.rawDistances[i] = this.rays[i].cast();
            if (this.rawDistances[i] != null && this.rawDistances[i] < 10)
                this.dead = true;
        }
        this.frontalVelocity = map(this.momentum.mag(), 0, 5, 0, 1);

        this.distances = getDistances(this.rawDistances, this.rawDistances.length, this.sight);
        this.distances.push(this.frontalVelocity);
    }

}

function angleToVector(xCoord, yCoord, angle, length) {
    length = typeof length != 'undefined' ? length : 10;
    angle = angle * Math.PI / 180; // if you're using degrees instead of radians
    return createVector(length * Math.cos(angle) + xCoord, length * Math.sin(angle) + yCoord);
}

function getDistances(distances, l, sight) {
    let array = [];
    let length = l;
    for (let i = 0; i < length; i++) {
        if (distances[i] == null)
            array[i] = 0;
        else
            array[i] = map(distances[i], 10, sight, 1, 0);
    }
    return array;
}