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gostuff.js
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gostuff.js
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var Team = function(num_rovers,num_inputs,num_hidden,num_outputs) {
this.team_name = "make_team";
this.num_rovers = num_rovers;
this.num_inputs = num_inputs;
this.num_hidden = num_hidden;
this.num_outputs = num_outputs;
}
//end of function
function make_rovers(team) {
rovers = [];
for (var ri = 0; ri < team.num_rovers; ri++) {
rovers[ri] = new Rover(ri);
}
reset_rover_positions(rovers)
return rovers;
}
//end of function make_rovers
function Rover(id) {
this.id = id;
this.x = width / 2 + getRandomInt(-5, 5);
this.y = height / 2 + getRandomInt(-5, 5);
this.r = 10;
this.sensors = [];
this.num_antennae = 3;
this.num_sensors_per_antenna = 2;
this.num_sensors = this.num_antennae * this.num_sensors_per_antenna;
this.velocity = 2.0;
this.antenna_length = 10
//this.delta_radians = (2.0 * Math.PI) * (1.0 / this.num_sensors)
this.delta_radians = Math.PI/4.0
this.state = [];
this.reward = 0.0;
this.angle = 2.0*Math.PI * Math.random();
this.last_food_x = 0.0;
this.last_food_y = 0.0;
this.dx = this.velocity * Math.cos(this.angle);
this.dy = this.velocity * Math.sin(this.angle);
this.make_sensors();
this.move = function() {
this.dx = this.velocity * Math.cos(this.angle)
this.dy = this.velocity * Math.sin(this.angle)
this.x += this.dx;
this.y += this.dy;
}
this.draw = function() {
ctx = myGameArea.context;
ctx.beginPath();
ctx.arc(this.x, this.y, this.r, 0, 2 * Math.PI);
ctx.fillStyle = "red";
ctx.fill();
ctx.beginPath();
ctx.strokeStyle = '#000000';
tangle = this.angle- this.delta_radians;
this.set_sensor_positions();
for (var s=0;s<this.num_antennae;s++) {
ctx.moveTo(this.x,this.y);
ctx.lineTo(this.sensors[s].xpos, this.sensors[s].ypos)
}
//end of loop on sensors
ctx.stroke();
ctx.closePath();
}
//end of rover draw
}
//end of Rover function
function update_rovers(team, rovers) {
all_rovers = {};
all_rovers['status'] = "state";
all_recs = [];
best_score = -9999.9
worst_score = 99999.9
for (var i = 0; i < team.num_rovers; i++) {
my_data = {};
my_data['id'] = i;
my_data['reward'] = 0;
rovers[i].get_sensor_data(i);
rrr = rovers[i].get_reward();
my_data['state'] = rovers[i].state;
my_data['reward'] = rrr
//console.log('my_data state',my_data.state);
all_recs.push(my_data);
rovers[i].reward += my_data['reward'];
rovers[i].move();
rovers[i].draw();
}
//end of loop on rovers
all_rovers['all_recs'] = all_recs;
senddata(all_rovers);
}
//end of function
Rover.prototype.get_reward = function() {
//first num_sensors are food
//second num_sensors are other rovers
//third num_sensors are walls
//food
no_change = true;
new_reward = 0;
for (ij = 0; ij < num_foods; ij++) {
dist = Math.hypot((foods[ij].x - this.x), (foods[ij].y - this.y));
test = foods[ij].r + this.r;
if (dist <= test) {
new_reward += 50;
no_change = false;
}
//end of if
}
//end of loop on food
//if hit another rover
test = this.r*2.0;
for (var rk=0;rk<rovers.length;rk++) {
if (rk != this.id) {
dist = Math.hypot((rovers[rk].x - this.x), (rovers[rk].y - this.y));
if (dist <= test) {
new_reward -= 1;
no_change = false;
}
} //end of if on not self
} //end of loop on other rovers
//now for borders
if (this.x > myGameArea.canvas.width - 5 || this.x < 5) {
if (this.velocity > 0.0) {
new_reward += -2;
no_change = false;
this.velocity = 0.0;
}
}
if (this.y > myGameArea.canvas.height - 2 || this.y < 5) {
if (this.velocity > 0.0) {
new_reward += -2;
no_change = false;
this.velocity = 0.0;
}
}
//end of if
if (no_change) {
new_reward+= 1;
}
return new_reward;
}
//end of get_reward
function reset_rover_positions(rovers) {
sum = 0;
best = -9999;
worst = 9999;
for (var nn = 0; nn < num_rovers; nn++) {
rovers[nn].reset_position();
r = rovers[nn].reward;
if (r > best) {
best = r;
}
if (r < worst) {
worst = r;
}
sum += r
rovers[nn].reward = 0;
}
//end of loop
console.log("SUM: \t", sum, "\tBEST:\t", best, "\tWORST:\t", worst);
}
Rover.prototype.reset_position = function() {
this.x = width / 2 + getRandomInt(-5, 5);
this.y = height / 2 + getRandomInt(-5, 5);
junk = getRandomInt(0, 4)
this.angle = junk * Math.PI / 2;
this.velocity = 2.0;
}