Implemented issue #15

index.html

@@ -43,7 +43,7 @@
     <script src="js/agent/body.js"></script>
     <script src="js/agent/eyes.js"></script>
     <script src="js/agent/mouth.js"></script>
-    <script src="js/agent/tentacles.js"></script>
+    <script src="js/agent/tentacle/tentacles.js"></script>
     <script src="js/agent/agent.js"></script>
     <script src="js/rater.js"></script>
     <script src="js/selector.js"></script>

js/agent/agent.js

@@ -1,32 +1,37 @@
 const Agent = function(dna, position, direction) {
     this.dna = dna;
     this.position = position;
+    this.positionPrevious = this.position.copy();
     this.direction = direction;
+    this.directionPrevious = this.direction.copy();
     this.velocity = new Vector();
-    this.body = new Body(dna.body, this.position, this.direction);
+    this.body = new Body(dna.body, this.position, this.positionPrevious, this.direction, this.directionPrevious);
     this.impulse = new Vector();
     this.mass = this.body.getMass();
     this.eaten = 0;
 };
 
-Agent.FRICTION = 1;
-Agent.TORQUE = .5;
-Agent.IMPULSE = 150;
+Agent.FRICTION = .88;
+Agent.TORQUE = .65;
+Agent.IMPULSE = 20;
 
-Agent.prototype.update = function(timeStep) {
-    this.velocity.divide(1 + Agent.FRICTION * timeStep);
+Agent.prototype.update = function() {
+    this.positionPrevious.set(this.position);
+    this.directionPrevious.set(this.direction);
 
-    this.position.x += this.velocity.x * timeStep;
-    this.position.y += this.velocity.y * timeStep;
+    this.velocity.multiply(Agent.FRICTION);
+
+    this.position.x += this.velocity.x;
+    this.position.y += this.velocity.y;
 
     this.impulse.zero();
-    this.body.update(timeStep, this.impulse);
+    this.body.update(this.impulse);
 
     this.velocity.add(this.impulse.copy().multiply(Agent.IMPULSE / this.mass));
-    this.direction.add(this.impulse.copy().multiply(Agent.TORQUE / this.mass));
+    this.direction.subtract(this.impulse.copy().multiply(Agent.TORQUE / this.mass));
     this.direction.normalize();
 };
 
-Agent.prototype.draw = function(context) {
-    this.body.draw(context);
+Agent.prototype.draw = function(context, f) {
+    this.body.draw(context, f);
 };

js/agent/body.js

@@ -1,6 +1,8 @@
-const Body = function(dna, position, direction) {
+const Body = function(dna, position, positionPrevious, direction, directionPrevious) {
     this.position = position;
+    this.positionPrevious = positionPrevious;
     this.direction = direction;
+    this.directionPrevious = directionPrevious;
     this.brain = new Brain(dna.brain);
     this.mouth = new Mouth(dna.mouth);
     this.eyes = new Eyes(dna.eyes);
@@ -10,31 +12,36 @@ const Body = function(dna, position, direction) {
 
 Body.MASS_BASE = 50;
 
-Body.prototype.update = function(timeStep, impulse) {
-    this.brain.update(timeStep);
-    this.tentacles.update(timeStep, impulse, this.brain.outputs);
-    this.mouth.update(timeStep);
-    this.eyes.update(timeStep);
+Body.prototype.update = function(impulse) {
+    this.brain.update();
+    this.tentacles.update(impulse, this.brain.outputs);
+    this.mouth.update();
+    this.eyes.update();
 };
 
-Body.prototype.draw = function(context) {
-    this.tentacles.draw(context);
+Body.prototype.draw = function(context, f) {
+    const x = this.positionPrevious.x + (this.position.x - this.positionPrevious.x) * f;
+    const y = this.positionPrevious.y + (this.position.y - this.positionPrevious.y) * f;
+    const dx = this.directionPrevious.x + (this.direction.x - this.directionPrevious.x) * f;
+    const dy = this.directionPrevious.y + (this.direction.y - this.directionPrevious.y) * f;
+
+    this.tentacles.draw(context, f);
     this.mouth.draw(context);
     this.eyes.draw(context);
 
     context.strokeStyle = "red";
     context.beginPath();
     context.moveTo(
-        this.position.x - this.direction.x * this.radius,
-        this.position.y - this.direction.y * this.radius);
+        x - dx * this.radius,
+        y - dy * this.radius);
     context.lineTo(
-        this.position.x + this.direction.x * this.radius,
-        this.position.y + this.direction.y * this.radius);
+        x + dx * this.radius,
+        y + dy * this.radius);
     context.stroke();
 
     context.strokeStyle = "white";
     context.beginPath();
-    context.arc(this.position.x, this.position.y, this.radius, 0, Math.PI * 2);
+    context.arc(x, y, this.radius, 0, Math.PI * 2);
     context.stroke();
 };
 

js/agent/brain/axon.js

@@ -4,6 +4,6 @@ const Axon = function(dna, from, to) {
     this.to = to;
 };
 
-Axon.prototype.update = function(timeStep) {
-    this.to.activation += this.from.output * this.weight * timeStep;
+Axon.prototype.update = function() {
+    this.to.activation += this.from.output * this.weight;
 };

js/agent/brain/brain.js

@@ -31,13 +31,13 @@ Brain.prototype.getNeuron = function(axonIndex) {
     }
 };
 
-Brain.prototype.update = function(timeStep) {
+Brain.prototype.update = function() {
     for (const neuron of this.neurons)
-        neuron.update(timeStep);
+        neuron.update();
 
     for (const output of this.outputs)
-        output.update(timeStep);
+        output.update();
 
     for (const axon of this.axons)
-        axon.update(timeStep);
+        axon.update();
 };

js/agent/brain/neuron.js

@@ -1,10 +1,15 @@
 const Neuron = function(dna) {
     this.decay = dna.decay;
     this.activation = .5;
+    this.activationPrevious = this.activation;
     this.output = 0;
+    this.outputPrevious = this.output;
 };
 
-Neuron.prototype.update = function(timeStep) {
+Neuron.prototype.update = function() {
+    this.activationPrevious = this.activation;
+    this.outputPrevious = this.output;
+
     const d = .2;
     let a = this.activation;
 
@@ -16,19 +21,7 @@ Neuron.prototype.update = function(timeStep) {
         a = 0;
 
     this.output = 1 / (1 + Math.exp(-a)); // Logistic function
-    // this.output = Math.tanh(a * .1); // Tanh
-
-    // Linear decay
-    // if (this.activation > 0) {
-    //     if ((this.activation -= this.decay * timeStep) < 0)
-    //         this.activation = 0;
-    // }
-    // else {
-    //     if ((this.activation += this.decay * timeStep) > 0)
-    //         this.activation = 0;
-    // }
 
     // Quadratic decay
-    this.activation /= 1 + this.decay * timeStep;
-    // this.activation -= this.activation * Math.min(this.decay * timeStep, 1);
+    this.activation *= this.decay;
 };

js/agent/dna/dnaAxon.js

@@ -1,7 +1,7 @@
 const DNAAxon = function(
     from,
     to,
-    weight = (-.5 + Math.random()) * 50) {
+    weight = (-.5 + Math.random()) * 2) {
     this.from = from;
     this.to = to;
     this.weight = weight;

js/agent/dna/dnaNeuron.js

@@ -3,7 +3,7 @@ const DNANeuron = function(
     this.decay = decay;
 };
 
-DNANeuron.DEFAULT_DECAY = 1;
+DNANeuron.DEFAULT_DECAY = .95;
 
 DNANeuron.prototype.copy = function() {
     return new DNANeuron(

js/agent/dna/dnaTentacle.js

@@ -11,7 +11,7 @@ const DNATentacle = function(
 
 DNATentacle.DEFAULT_ANGLE = 0;
 DNATentacle.DEFAULT_LENGTH = 8;
-DNATentacle.DEFAULT_SPRING = 10;
+DNATentacle.DEFAULT_SPRING = .5;
 DNATentacle.DEFAULT_SPRING_POWER = 3;
 
 DNATentacle.prototype.copy = function() {

js/agent/eyes.js

@@ -2,7 +2,7 @@ const Eyes = function(dna) {
 
 };
 
-Eyes.prototype.update = function(timeStep) {
+Eyes.prototype.update = function() {
 
 };
 

js/agent/mouth.js

@@ -2,7 +2,7 @@ const Mouth = function(dna) {
 
 };
 
-Mouth.prototype.update = function(timeStep) {
+Mouth.prototype.update = function() {
 
 };
 

js/agent/tentacle/segment.js

@@ -1,5 +1,6 @@
 const Segment = function(position, spring = 0, spacing = 0, parent = null) {
     this.position = position.copy();
+    this.positionPrevious = this.position.copy();
     this.spring = spring;
     this.spacing = spacing;
     this.parent = parent;
@@ -9,8 +10,12 @@ const Segment = function(position, spring = 0, spacing = 0, parent = null) {
         this.direction = this.parent.position.copy().subtract(this.position).normalize();
     else
         this.direction = new Vector();
+
+    this.directionPrevious = this.direction.copy();
 };
 
+Segment.PUSH_POWER = 3;
+
 Segment.prototype.getHead = function() {
     if (this.parent)
         return this.parent.getHead();
@@ -25,27 +30,27 @@ Segment.prototype.getLength = function() {
     return 0;
 };
 
-Segment.prototype.update = function(timeStep, velocity) {
+Segment.prototype.update = function(velocity) {
     if (!this.parent)
         return;
 
-    const xp = this.position.x;
-    const yp = this.position.y;
+    this.positionPrevious.set(this.position);
+    this.directionPrevious.set(this.direction);
 
-    this.parent.update(timeStep, velocity);
+    this.parent.update(velocity);
     this.direction.set(this.parent.position).subtract(this.position).normalize();
     this.delta.set(this.direction).negate();
 
     const lateralDot = (this.direction.x * this.parent.direction.y - this.direction.y * this.parent.direction.x);
 
     if (this.direction.dot(this.parent.direction) < 0) {
-        const force = this.spring * Math.sign(lateralDot) * timeStep;
+        const force = this.spring * Math.sign(lateralDot);
 
         this.delta.x += this.direction.y * force;
         this.delta.y -= this.direction.x * force;
     }
     else {
-        const force = this.spring * lateralDot * timeStep;
+        const force = this.spring * lateralDot;
 
         this.delta.x += this.direction.y * force;
         this.delta.y -= this.direction.x * force;
@@ -58,35 +63,42 @@ Segment.prototype.update = function(timeStep, velocity) {
     else
         this.position.set(this.parent.position).add(this.delta.multiply(this.spacing / this.delta.length()));
 
-    const dx = this.position.x - xp;
-    const dy = this.position.y - yp;
-    const push = (this.direction.y * dx - this.direction.x * dy) * lateralDot * lateralDot;
+    const dx = this.position.x - this.positionPrevious.x;
+    const dy = this.position.y - this.positionPrevious.y;
+    const push = (this.direction.y * dx - this.direction.x * dy) * Math.pow(Math.abs(lateralDot), Segment.PUSH_POWER);
 
     velocity.x -= this.direction.y * push;
     velocity.y += this.direction.x * push;
 };
 
-Segment.prototype.draw = function(context) {
+Segment.prototype.draw = function(context, f) {
     if (!this.parent)
         return;
 
-    this.parent.draw(context);
+    this.parent.draw(context, f);
+
+    const x = this.positionPrevious.x + (this.position.x - this.positionPrevious.x) * f;
+    const y = this.positionPrevious.y + (this.position.y - this.positionPrevious.y) * f;
+    const px = this.parent.positionPrevious.x + (this.parent.position.x - this.parent.positionPrevious.x) * f;
+    const py = this.parent.positionPrevious.y + (this.parent.position.y - this.parent.positionPrevious.y) * f;
+    const dx = this.directionPrevious.x + (this.direction.x - this.directionPrevious.x) * f;
+    const dy = this.directionPrevious.y + (this.direction.y - this.directionPrevious.y) * f;
 
     context.strokeStyle = "white";
 
     context.beginPath();
-    context.moveTo(this.position.x, this.position.y);
-    context.lineTo(this.parent.position.x, this.parent.position.y);
+    context.moveTo(x, y);
+    context.lineTo(px, py);
     context.stroke();
 
     context.beginPath();
-    context.arc(this.position.x, this.position.y, 3, 0, Math.PI * 2);
+    context.arc(x, y, 3, 0, Math.PI * 2);
     context.stroke();
 
     context.strokeStyle = "red";
 
     context.beginPath();
-    context.moveTo(this.position.x, this.position.y);
-    context.lineTo(this.position.x - this.direction.x * 40, this.position.y - this.direction.y * 40);
+    context.moveTo(x, y);
+    context.lineTo(x - dx * 40, y - dy * 40);
     context.stroke();
 };

js/agent/tentacle/segmentHead.js

@@ -5,6 +5,9 @@ const SegmentHead = function(position) {
 SegmentHead.prototype = Object.create(Segment.prototype);
 
 SegmentHead.prototype.setAnchor = function(position, angle) {
+    this.positionPrevious.set(this.position);
+    this.directionPrevious.set(this.direction);
+
     this.position.set(position);
     this.direction.fromAngle(angle);
 };

js/agent/tentacle/tentacle.js

@@ -13,12 +13,12 @@ const Tentacle = function(dna, position, direction, radius) {
 
 Tentacle.SPACING = 18;
 
-Tentacle.prototype.update = function(timeStep, velocity) {
-    this.tail.update(timeStep, velocity);
+Tentacle.prototype.update = function(velocity) {
+    this.tail.update(velocity);
 };
 
-Tentacle.prototype.draw = function(context) {
-    this.tail.draw(context);
+Tentacle.prototype.draw = function(context, f) {
+    this.tail.draw(context, f);
 };
 
 Tentacle.prototype.getLength = function() {
@@ -36,7 +36,7 @@ Tentacle.prototype.build = function() {
     let tail = this.head;
 
     for (let i = 0; i < this.length; ++i) {
-        const spring = this.spring * Math.pow(1 - (i / (this.length - 1)) * .35, this.springPower);
+        const spring = this.spring * Math.pow(1 - (i / (this.length - 1)) * 0.35, this.springPower);
 
         tail = new Segment(
             tail.position.copy().add(this.delta.copy().normalize().multiply(Tentacle.SPACING)),

js/agent/tentacles.js → js/agent/tentacle/tentacles.js

@@ -19,14 +19,14 @@ Tentacles.prototype.getMass = function() {
     return mass;
 };
 
-Tentacles.prototype.update = function(timeStep, impulse, outputs) {
+Tentacles.prototype.update = function(impulse, outputs) {
     for (let tentacle = 0; tentacle < this.tentacles.length; ++tentacle) {
         this.tentacles[tentacle].setAnchor(this.position, 2 * outputs[tentacle].output - 1);
-        this.tentacles[tentacle].update(timeStep, impulse);
+        this.tentacles[tentacle].update(impulse);
     }
 };
 
-Tentacles.prototype.draw = function(context) {
+Tentacles.prototype.draw = function(context, f) {
     for (const tentacle of this.tentacles)
-        tentacle.draw(context);
+        tentacle.draw(context, f);
 };