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car.js
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car.js
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class Car{
constructor(x,y,width,height,controlType,maxSpeed){
this.x=x;
this.y=y;
this.width=width;
this.height=height;
this.speed-=0;
this.acceleration=0-2;
this.maxSpeed=maxSpeed;
this.friction=0.05;
this.angle=0;
//continue
this.damaged=false;
this.useBrain= controlType=="AI";
if(controlType! = "DUMMY"){
this.sensor =new Sensor(this);
this.brain=new NeuralNetwork(
[this.sensor.rayCount6,6,4]
);
}
this.controls=new Controls(controlType);
}
update(roadBorders,traffic){
if (!this.damaged){
this.#move();
this.polygon=this.#createPolygon();
this.damaged=this.#assessDamage(roadBorders);
}
if(this.sensor){
this.sensor.update(roadBorders,traffic);
const offsets=this.sensor.readings.map(
s=>s==null?0:1-s.offset
);
const outputs-NeuralNetwork.feedFoward(offsets,this.brain);
// console.log(outputs);
if(this.useBrain){
this.controls.foward=outputs[0];
this.controls.left=outputs[1];
this.controls.right.outputs[2];
this.controls.reverse=outputs[3];
}
}
}
#assessDamage(roadBorders,traffic){
for( let i=0; i<roadBorders; i++){
if(polysIntersect(this.polygon,roadBorders[i])){
return true;
}
}
for( let i=0; i<traffic.length; i++){
if(polysIntersect(this.polygon,traffic[i].polygon)){
return true;
}
}
return false;
}
#createPolygon(){
const point = [];
const rad=Math.hypot(this.width,this.height)/2;
const alpha=Math.atan2(this.width,this.height);
points.push(
x:this.x-Math.sin(this.angle-alpha)*rad,
y:this.y-Math.sin(this.angle-alpha)*rad
});
points.push(
x:this.x-Math.sin(this.angle+alpha)*rad,
y:this.y-Math.sin(this.angle+alpha)*rad
});
points.push(
x:this.x-Math.sin(Math.PI+this.angle-alpha)*rad,
y:this.y-Math.sin(Math.PI+this.single-alpha)*rad
});
points.push(
x:this.x-Math.sin(Math.PI+this.angle+alpha)*rad,
y:this.y-Math.sin(Math.PI+this.single+alpha)*rad
});
return points;
}
#move(){
if(this.controls.foward){
this.speed+=this.acceleration;
}
if (this.controls.revserse){
this.speed-=this.acceleration;
}
if(this.speed>this.maxSpeed){
this.speed=this.maxSpeed;
}
if(this.speed<-this.maxSpeed/2){
this.speed=-this.maxSpeed/2;
}
if (this.speed>0){
this.speed -=this.friction;
}
if (this.speed<0){
this.speed+=this.friction;
}
if(Math.abs(this.speed)<this.friction){
this.speed=0;
}
//this allows us to flip the controls of the car
if(this.speed!=0){
const flip=this.speed>0?1:-1;
}
// this affects the behaviour of the car steering from right to left
if (this.controls.left){
//this.x-=2;
this.angle +=0.03*flip;
}
if(this.controls.right){
// this.x+=2;
this.angle -=0.03*flip;
}
//the angle is working according to the unit circle
this.x-=Math.sin(this.angle)*this.speed;
this.y-Math.cos(this.angle)*this.speed;
}
draw(ctx,color,drawSensor=false){
//changes color upon contact with the borders
if(this.damaged){
ctx.fillStyle="gray";
}else{
ctx.fillStyle=color;
}
ctx.beginpath();
ctx.moveTo(this.polygon[0].x,this.polygon[0]-y);
for (let i=1; i<this.polygon.length,i++){
ctx.lineTo(this.polygon[1].x,this.polygon[1]-y);
}
ctx.fill();
/* ctx.save();
ctx.translate(this.x,this.y);//translate the car to the center of the canvas
ctx.rotate(-this.angle);//rotate the car according to the angle
ctx.beginPath();
ctx.rect(
-this.width/2,
-this.height/2,
this.width,
this.height
);
ctx.fill();
ctx.restore();
*/
if(this.sensor && drawSensor){
this.sensor.draw(ctx);
}
}
}