From 65808e4c626b679602b7305d0f78b6622520aa46 Mon Sep 17 00:00:00 2001
From: alexandre <alexandre@micouleau.info>
Date: Tue, 22 Oct 2019 11:13:31 +0200
Subject: [PATCH] code refactor

---
 car.py    | 138 +++++++++++++++++++++++++++++++++++++++++++++++++
 car20.png | Bin 0 -> 5378 bytes
 car25.png | Bin 5996 -> 0 bytes
 main.py   | 152 ++----------------------------------------------------
 params.py |   9 +++-
 5 files changed, 148 insertions(+), 151 deletions(-)
 create mode 100644 car.py
 create mode 100644 car20.png
 delete mode 100644 car25.png

diff --git a/car.py b/car.py
new file mode 100644
index 0000000..3272945
--- /dev/null
+++ b/car.py
@@ -0,0 +1,138 @@
+import numpy as np
+import pygame
+
+from brain import Neural_Network
+from params import GY, CAR_SIZE, VISION_LENGTH, VISION_SPAN, THROTTLE_POWER, screen
+from trigo import angle_to_vector, get_line_feats, segments_intersection, distance
+
+IMG = pygame.image.load("car20.png")#.convert()
+
+
+class Car(pygame.sprite.Sprite):
+    def __init__(self):
+        pygame.sprite.Sprite.__init__(self)
+        self.top_surface = pygame.Surface((CAR_SIZE, CAR_SIZE))
+        self.original_image = IMG
+        # self.image = pygame.Surface((CAR_SIZE, CAR_SIZE))
+        # self.image.fill((0,255,0))
+        # self.original_image = self.image
+
+        self.image = self.original_image
+
+        self.rect = self.image.get_rect()
+        self.rect.center = (75, GY -50)
+        self.speed = 1
+        self.heading = 0
+        self.heading_change = 0
+        self.vision_length = VISION_LENGTH # line liength
+        self.vision_span = VISION_SPAN # degrees
+        self.draw_sensors = True
+
+        # lets add 3 sensors as a start 
+        # 1 straight ahead
+        # 2 left 15°
+        # 3 right 15 °
+        # we will give each of them a max lenght to 
+        # and we will eventually detect any line crossing the sensor and 
+        # retain the min value as a distance to collision input
+        self.center_sensor = None
+        self.left_sensor = None
+        self.right_sensor = None
+        self.sensors = [self.left_sensor, self.center_sensor, self.right_sensor]
+        self.probes = [self.vision_length] *3 
+        
+        self.brain = Neural_Network()
+
+        self.update_sensors()
+        self.probe_brain()
+        self.run = True
+
+
+    def update_sensors(self):
+        center = self.rect.center
+        vc = angle_to_vector(self.heading)
+        self.center_sensor = [center, (int(self.vision_length * vc[0] + center[0]), int(-self.vision_length * vc[1] + center[1]))]
+        
+        vl = angle_to_vector(self.heading+self.vision_span)
+        self.left_sensor = [center, (int(self.vision_length * vl[0] + center[0]), int(-self.vision_length * vl[1] + center[1]))]
+        
+        vr = angle_to_vector(self.heading-self.vision_span)
+        self.right_sensor = [center, (int(self.vision_length * vr[0] + center[0]), int(-self.vision_length * vr[1] + center[1]))]
+
+
+    def update_position(self):
+        vec = angle_to_vector(self.heading)
+        old_center = self.rect.center
+        self.rect.center = (self.speed * vec[0] / 2 + old_center[0], -self.speed * vec[1] / 2 + old_center[1])
+        self.update_sensors()
+
+
+    
+    def probe_lines_proximity(self, lines):
+        # print(self.center_sensor, lines[0])
+        self.probes = [self.vision_length*2] *3 
+        for idx,sensor in enumerate([self.left_sensor, self.center_sensor, self.right_sensor]) :
+            for line in lines :
+                ip = segments_intersection(sensor, line)
+                # print(ip)
+                if ip :
+                    pygame.draw.circle(screen, (125,125,255), ip, 4, 2)
+                    dist = int(distance(ip,self.rect.center))
+                    self.probes[idx] = min(dist, self.probes[idx])
+                    if dist < 1.2 * self.speed or self.speed < 0.01 :
+                        self.run = False
+                        print(f'Car {id(self)} crashed')
+
+                # else :
+                #     self.probes[idx] = self.vision_length * 2 
+        # print(self.probes)
+
+
+    def probe_brain(self):
+        res = self.brain.predict(np.array(self.probes))
+        self.heading_change = res[0] * 10
+        self.throttle = res[1] * 10 
+
+
+    def update(self):
+        # rotate
+        old_center = self.rect.center
+        self.image = pygame.transform.rotate(self.original_image, self.heading)
+        self.rect = self.image.get_rect()
+        self.rect.center = old_center
+        self.update_position()
+        if self.speed < 0.01 :
+            self.run = False
+            print(f'Car {id(self)} crashed')
+        print(
+            'id', id(self),
+            'Speed', self.speed,
+            'heading', self.heading,
+            'throttle', self.throttle,
+            'heading change', self.heading_change,
+        )
+
+        if self.speed : 
+            self.heading += self.heading_change * 10 / self.speed 
+            self.heading = self.heading % 360
+
+            self.speed += self.throttle #THROTTLE_POWER
+            # if self.throttle :
+                # self.speed += self.throttle #THROTTLE_POWER
+            # else :
+                # self.speed -= self.throttle #THROTTLE_POWER
+
+            self.speed = max(0, self.speed)
+            self.speed = min(self.speed, 7)
+
+        super().update()
+
+
+    def show_features(self):
+        if self.draw_sensors:
+            pygame.draw.line(screen, (255,0,0), self.center_sensor[0], self.center_sensor[1])
+            pygame.draw.line(screen, (0,255,0), self.left_sensor[0], self.left_sensor[1])
+            pygame.draw.line(screen, (0,0,255), self.right_sensor[0], self.right_sensor[1])
+            pygame.draw.circle(screen, (125,255,125), self.rect.center, 4, 2)
+
+
diff --git a/car20.png b/car20.png
new file mode 100644
index 0000000000000000000000000000000000000000..390690c859aadcaf981300aeb2fd4042b87ce4d0
GIT binary patch
literal 5378
zcmV+d75(aoP)<h;3K|Lk000e1NJLTq000yK000yS1^@s6jfou%00009a7bBm000~y
z000~y0nHDao&W$6OL|mTbW&k=AaHVTW@&6?Aar?fWgumEX=VTbXo2OLS#l#Wl0^S;
zia7%I<v3W)`UZ3Sd5)wcN~&(NuAZ-%k`+mTOe7HD;o%O-?En79G5^KC*h)4rm6}`5
zmVdFu<~uK{ef~Yq&c^%r{L)_Ux$ooV^9|2X;5j_M=KcD7XFPpfP~vNRd>=PuzUHZ~
ziC%AfOc-=$&x`e1<ZGhfpK<s4-8BEa==p6sumAC5i?7Ll{ay&hO3W9$@jJL+@1uY2
z6j()Qp=<m;I<Jw$>&SE0`@iF7zTM+T06$;-h@YLW@$eOnXQGd7<sWf+jl1;c_}wVI
zugLk&JNx$)rQ*DO|MwQZb5=cPKfCJ@9JQEVoBG(weZ>a{;SBe(%unHe;&r({jh||}
zon&pX)nV-5m*zZ?JubTCx;t*)=jkR(jDGvVv-i`7J61#S&Ci>Zs2_KHG2~~3O0FiE
z3k>_uwYYoVru%WT%AJ?vlio2IIsX1*eh&QY&$o%r5zL*l^)pti%PZh4Lz&YfpCTdd
zykeSee4Tlo?9YEnY#@W_hPkrAZpSmlNbU<;;pREmWcX;bPrbOZUK0=^?wwc+xQ@<d
zfbFug#rxtMajfL0vvMDzA7sEKll)?pK8BD<PW8Gs*A#a@>yv+mp%)U7LJo!0P(UOr
z#uPL4R)J7ADWsTE%BiH9TIxCEm{ZQVWbsrlp~R9(E~V7cO0S{Dnrg14*4k=sz6EG3
znU-5=wYAneH|?=ASLgGcf#F9Oaioz)8FjSLC-9kZrkQ7%b+*};UtvK3X602@U2XO4
zHc;Aer=54%b+_FQSUcgwlTJS6)YDG?%-Sof-?R2JbN@PP?v*uv6Q$3UudFd#%EuH=
zbdr=aGUlTr<3$+&&|W#S)y3$QIpxeYA4~|zv&y98ET@c-!ML4I$9?ARD|7!eZ-(gp
zyLt0}%A8T^{x>pbl)AUf{m$DTvbOrA+i(-4DkP>bWT5=`z^>ibuD<kF&*pD0{J%C)
zCwZuW-Gx_g2T-u5Y;e$x-F}dFK`WJb2z*YX=((Lz$JwX4#LHl390l&qfug9JiBIga
zyOiQub(=Zkwmn7f=3Hw|-Io`=_dR*ECGG0_NB~Pz7n4*&q7wGvv3s9dbYToLxN<j@
zh-Gfe(4anTZ@MH&ZTxs<N;fh>%4>}|9##RgOdTbhb=X7*XFE#4F5gux(Up1zo6<0d
z9yW~;`VN&DCg=@BAyx{r=CsTrLLfH!aHb|$-mi&>8o-;oRYlA8vGVC<4!8Flo~qsT
z#<M2wIAXKG*wE6pr>_#`=C<54tV*|}j%kEp-ugJzCwKOAgV$}hK&o`-`Z;F42345u
z<R0$hE>xG_yYxML>u%-NgD+=T3iB`=*J-cy21d>AVM@4`#isl`1G35|?46hwmeMCS
zZ_-YGOlh8r(;t@23g-xWMHr_inC0XgC)0~Zw(q$Tvu=|}{6y1)ITXltk(+)De~qTz
z+AJ<EzisI&l@SU3oG2E$?0|A&&TeUI(P~xcb0ti|-ty3BSU#UQVIts@k6qJFBuOt@
z7%BcvSIBfVv$Lx(GAo$h!?)J}M*e(kwA>^_uK>0~&QI}W_fm;ViYBL9Uv5!gWvAEe
zi2+h;ZLr}W*3nY7(ELX_+#*6SWC?Ms9?z)Dpbw~reoC@q$9^tPhg4@gzGV{E0^myt
z<l8b9f`4$cfa0RaGR<WWvAsLBR%kLi%--oU0kHdQTXCbo-C<cR;=%W`*&k3T+-@xD
z(Cie{FUA8u!mwHZ{eY#l@DcU5n1}HjlYPZw{L+Ns0d?F!hk#htR}aw1w6q=pR2(Cv
zO$(xu+67B&_YI0FHQq3K$31`v!vbY@9|>R)oe8OJ25khK6YrZEyZSRCz=b=n5ek0|
zr@r1M4O+{ZG|{;1!=0d-{SnQCa%PRwnOV}kR0&%?P$pCtd<qM+HOp>^OszgJiQ<X4
za^Ah6EXHYcZ4!b!VrB!A!$K|Omgcd=wN_$pODZh-b#p@s#I10-V}@Gk(-YeUhh;dJ
zj~But3z2345ox7BUUr|rv2Ca^k69ZSsfQieRr5}5?d|<3+#BM}9+syC!1CS9OU7#-
zJOy;U8TEOO2;;XHXC^*#uguMn0*tYO<T|xWaiAXS4tgq3?LH_7JM!W_t=|3-%Gw<w
z+v4@eP2rik#%x116cHtKs)USz);DinS<_YXnm3+Wj`Le^B2R4Br2w_?#>yjrb+;No
zE94>7;<yv6-wr!Ox@5ELo)t7UNIUV0YNoj)wKq$doz~MF6K;Zr3Usu<1ATz-u*^Pp
zE3jxx$85SxIJ84XnuS%*+R(#*I*2^|nF2@7(KIRVioash7_qd8iDrT&;=*Z}URkmy
z8lx-Ht;G=!Veb7jTM8sg{{{r`z>z2hSPYINWRx9JPnM1_K{ha9|J!9jQS?Xb58h9#
z<*3w@1DRrlFiaNac1NPuQ^QP9?J6|hm9Xn)E%3IYQlayW<M|Y<R>=>6C|xSKcH+I!
z!OB5Yk3E@fFiSy`;2o<W9V+ui0qnstsRr3z+87N)J@GKSND>KUazZp3wUozF$0E%n
zO_!Po?$=xuG?ViQ8=X>^y5&V-Eu>~ecceg~@Ul5v%Zl8f{bzdfT5uAp$VMtB!(tnj
z-$ytk<H%|UAGbV7Jlfkysc)nfgh+)9TpA=74nU(`LDd<iiKSbAI!swwQKA7By4zrf
z6G@Irps_yJz2B1T)BF_!`jAmS$#mF5tN;?7l<uPs(g-n&b^|kR12w?Jx&=fqC=G6r
zhp!fePj+23b<=etHO7cY8r_F2r;4aPVg>_bT1JF_wJ^Yi$3JB#Agwvr0g7MU4?`g7
zoVyliVBk$N!jLF~sM-mVc!2H^8ghiPX(%296{s#N7JLUQCyJD^X<XN-8~8g$D9F>s
zf=_)@dj}Fl9&rh%MVfgy4Osb6sn<Pe)o@pfr8T<@ou)OyN=vB`u`t(wn-<Otg5EZ6
z-lnyenYU|PH<7^=A<Tzj!oExjk=jZE<eDN&hi;~*figHMeFDn?wua6>c822+bB<(p
z8b4)w1QdxsmQEY!=GF&7nhq>YiERUY6;nq$V$B71N@s{Sdvhe3c*5Lli`bru<8u{+
zddMFGngV@io~)~>Q!s<pS(noMkf6H7CfkP^pv0-#>ID$*<O=*CG#Ec=2wE_FBgqVe
zCAK=#DSv1bOC(kUYm}GJ%HxJ@Fm8m8>>&Y|&B)=tDf;Jm<t;sfiKA0Os6GA|0Ig;8
zP+_=Z=OF7QTt!cC3&i^+@5?Cam{b`W2QV_=m_R_Ta554>m4vy0cqq+?U8kOcs@)H~
z2f|>HlmimxifDHd6dZCCeNVXa&agE08Jw_3LX?R`ra}(V4`mI`K>fOflrbjV0gs&#
zEwr*%)&f~8%34*@o}3X|{PyBL+raF20$Jonv%mw)ES~PJ7A6?1j6DZGpd83793MsZ
zs$7&9RZ6QOfA$!#<lfUp?;fYJ155{Fdy8iX^@+fCAxNN?U0-Rb>(dvSj~CebNLRl4
zC((A<yAK~juYsNd1V0Hcx5CGz7mOCnV^CN3w<?cT?j|vl6n~spAX?NaAcw_~KINp#
zt!e7ArJR6&qATS>?|%gH)<)wqDF$iSuccc091Kt$Sn|--3aYBflDJ2Pst_E}{78vU
zC=zv|l;2{H<C_q{oR&p(bqX-KEJB}V*29h=7%2HTGy>sl-aX4ee_+*UWp}M`J4><a
zGeHz!=ujUUDyT0!1664jg-YFIx&#uHe!~8q>0+)w4K0wS9El_m!%~uN_c35zBhVW=
zL${|ggGbfX2Q7O@sMOD53<vHbD^|?@$_KW=PxCt=O8<|P+>D??I`#IfPNz$sHC~|{
zqkPa2M|)D!98;8ABy{S&v;E*RIqEA99O3{SkCt@skc39=HXD+rSmsR(mdL#}HWeu+
zw-6?<H&P1>9~S~fDejWG%AXEueS7wgjHZj!^p=jlFBkJ(FaJronD=^lFBkX>?43N*
zJxh^yL2ne00LoZ3`j&}-7(t?yH3gfckks8z$kJ0J39saUzlEk&6{IGLh))u=v|_AD
zXNQ^A3$GQL!69p)f&LRd>xs{(h#ZtPFu#bpADS*kxQW)HQ&J|QQ_~5uGffKgL=m!d
zHx02QkH4dHOahyvhLAsi4NlC!>>>@V9EJ{RWJ$&B7(dL%v6<eVpkWLMR%@bZ7d9#&
zQq-d8MQ*Q#f;>9k>`ewF)ta#unk^9*TDE3Eb!FrTVqRylJEE%*wDeh;85i;)pbz@c
z1dpge+-IGYT+zWIwyE&21Wf4z4FZq?ew#~>N_NSfO4l8gW5M0X=^|d&Bk3lRZdb{@
zS`11PNBCSvSbL@yU!tqT6Q8=}iGN&4x`_38ytg)wSTL35?3rWhi$pp7UIWuf+xUyi
z9?^s^(!jENs0h2NFN)YRVZpM{(Y8U?Z`L$@nqB8A5C}1u^6F#Aol4#jE6Ql44JHts
z5_bw(=mUug)z0osOAR~wkWJlIB`H5S>Ab6>$s0tFBAi#G-Ex<gE*?>mu<6LHjdx+m
zbXsK=wBs_UW|?`qEY()=ew*N;4UV4$u63|p0LU;E^@4bBQlwRib6_C~x~F3x@z+o)
zANA}WCkc%}Q>Y0dhxnj%(D~^M60zt_k3`g&-GUBvh<1#%BJ3;T4u*<CjkpxJX@m-&
zhEawb`bkFu6?9@|0&W#g73`c{ni;F5!@8`qZ>{t?YbJ@uAt+ozLe~Urq64i7OCgh7
zs3^D(Qc6@u)^}<W%*p5ki(yLFQv5rziQFU(sAWVL38~x$o!@)q9SS=^i<vx-;vH2J
z_Rs?jfJty7PQUGpV}j^$DsVsnFR9aQ5=#y<G^A?IsPA$Q|DwJp!IvNTAFQ@PVIg3~
zggFqvQD?39{G)m#>ayBrx!UnMpSkFR4Yz%OUZpdlX<O#kXdc%+v@Noo@lUgk7Aa9F
zcPE*qqc7h}8?X#$h+_|(Oybp|zUx4(hV0GLlrg6kEr%P=`tG7mTp!LDzQBiQi7YVp
z0itPXPDC;h_V@wnA45!PRsGTFr~`L^VZ|wy4L>x+6&*|I#LlgOnWV%^R?H9k4R~a~
zv8<FxS7$y~tp+TE9sV>Ozmoz!K=)-ubTi26{K0<%B$WQPMzoKAxU6wx(I9eY8p1&T
z)A~_fU=J=Q(mGC&DN;kPI%G#e#Hzz5?+g@&fCxGVxIzj06lY>H3w+@tCJKGvLk_|o
z2eEhb(`Lt<^k-5HPg?FUQ6mSkv_<}74i;)%b*uTSH#Dl)Is#fNkikx%;u9z;ItUp8
zGuT6sP_#$2mrxYk`gKA((byo1X>?jxUeWp-EMe#vV3vU#SoeIenmlw~z2bdLa<yaq
zn$G=kREKd)N5!M<un_p&$_|zeyjzg-_@|Sd-z(NB^uQOIiG)S1j15_nrg?iOvCp>=
zLb0!-#c+?fb(R^>9bF~E60%A!2Czk~;p=6dJz<)F23w8F*g!kES0E=dZ?60nDD~fb
zkE$DuCmPMx$D$a9)7kr|2p|*!wMCtvAhZ^WH|x}2rvkt%z3o;iM~9u}_`6zKX4Chc
ztEeM}4rU2NK!)m12VzADy`uMV<?BM|A|W@5p>y)lasMbL>(m~_xq^(eSi8zW<FVle
z=&bUBs=H8&jZ#swqeG)NGRSTgkwg2II056_fXZ8RVvtWEcb!|FwqN^Pcb^&T(r@ez
zC}WBg#r9zO_nOhglhz;jebCy@flUyX&qOTe9$U`{%}A;5ZQ?lXZb+?F7^c#jzDBq_
z$#982Ez$MPup=rj=!*eixHNr_F#NsHe7n;1-?O=%HvA>6thLoECZfc_`($M8_k~*T
zehdu}{XkrO3L?rwSE-ANTrbW0G4#g^rc$!>f2sox6Eo|ZH7;NEs5eFwS)X<?gO6=W
ztKA4fV&Kig@|kx--lmZ1=||sE@ib}JuFyDIMa~f&r*8{zR8?mYJ+<zG8~Up${rv<2
z@d|&--C;-sCsH`Q9MEiETKnI5HrLDMr6ajs<NdQHmeNS`m2}wlO=MO;LmXNAr-YyH
zONUPQ3%WDlARU2mpcp|_y6D^`R2P#BH9|yIMkvr{X}ZuVA}}G6SJt7v4o$jjO@?yK
zuLG99eE$D15oLLB3D*1%VlaG1fYA1`0007ANkl<ZIF0R+O^X~=6o#L3>ULFi^>k0C
z$%J5>k+_LpFa*LZgsif1$Zv4ve-K>6O<aj9e}Ld$kQkDUh~PpIaT5q3kPk+bFw>ct
z?y6MPz2~?{#4+f=Y{h4Fxt#N!d(ZpA{~X6hD=XK5>c~|F$k7`4xGXmcxN_Egdu+BP
z?rXhBUFZ33EApff*>^|=a;EP$llw!3gWP?+bid&4?IMJm_e4JXq-lPVFZ2A1*ZThb
z(p?j<RAr|q_;EaD0Zc@gnlVlZjgi$DNx*v7F;0mjg1Y+;RrTHNs`?;I&9(}6eHsEg
zMZsK^jke{@#exJBz{H&@M!s2H<<@jc5@CBj=k2<td;Vt`!Ml@`wu88z*$;smvl(}X
zLuOsarNcuuy6$iLJ5c38QE(6f0FQ=4HtU+qj8>KNZ5y^zx*8nDkMo>6!y$)RMx~02
zfcvoqJsu2bMOZT<nej{&g^MbXFH~8G94qiLOI6Ylt4C(c`hKb>QaQrEjCXbD#%7Go
zP9!)oBYSa9z(SSzU@%vQ!}YG?t)}5rj8tamKkV=27p?a_g&9w?jNK4uRf+I(5Ru;}
zF`mA<x5uTjWKV?O@|<4>0}RN4i5V*?alUQovWy<ssB5AK{fhzjiz41C%df&b%f4Sp
z>5WNB*=V`stOz@0$^FrYn!kcQiILaamd&~*@;unppTP!i;M*q4zLx95;kf{pXYTKv
zGTRcfwU}jf6T<ERJXxyli+eJVS7O|H2KU5le*~|VX79L2vlO{;Cxp*Gt?OS-WW<M6
gbqy#_)b!uy51)n*>;s2tKmY&$07*qoM6N<$f)oHuF8}}l

literal 0
HcmV?d00001

diff --git a/car25.png b/car25.png
deleted file mode 100644
index cc3bae4078bff3d2b069ef9e1e69f1f1d987eee5..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 5996
zcmV-y7nA6TP)<h;3K|Lk000e1NJLTq000>P000>X1^@s6#OZ}&000t8dQ@0+Qek%>
zaB^>EX>4U6ba`-PAZ2)IW&i+q+U1&Aaw9R4ME`M$IRf_OI9Sd426Oy*j-(_?s&2Ec
zp0Amb6-j|iBoN`@;SS2||Nh4@|HZ%9N;WZ-np@76f3d~pJ1?qz{yopm#{2mE(q8Ym
z@8jn44bM>EIXu7S{rY@oJbhhI;%j_-A2(&b=BclVUT=I%7<6aPi}hOMYog$vargS&
zH2=Kl`E5I||FM2<<No{gdm$JrF<<b;@8E*HkN&w+U=^W-uJQZmyhakQBhOv$|Bj#e
zc8?zc{CxEzes;db!&f+-i9WWKf5hoE?$V#*ccb*aBIiHv?B7?Eiu3mU-&_37S@oR#
z?5;;})M9>Z>SHVS6(1agGu+EEKZXB^*X8~+eyZ(ulC{NFhp~fSn)5{VxagMa?znxQ
zr<*J>`t1wP-cKLySPjKDKW|c^e%$fJke?MQxte4yFzi3q;_iK$?#In4cV3Q9ddFns
z`1_CfIq<hX-zGXoFn7+@&sec8uYj`*WloQLiiEiHifOv>b>?}pKmRGQfefY_=E?@U
z9nTaaxi4&mo9AGY;iJ($_2SBUO+bjacVaQ%Iy##Hw#&{I?~8N9v67$8%6*7_kO7xW
z@{3ja7(ymF)$86|Q{4TmPyQK(UPwd=ITTVu0g<d2Q_R#`1w!4VkYY+Hr;=)FsppVm
zPC4h2#Z$e65=$z%lu}D8y@ncVs=1b0YpcEa7ND_YT5hG))>`k}w8zd|ozHg$h96<X
zkwzY6)X_$tz-PvpW}ao%*=ApUg#`tel~-AHwbi%VKxxOFcHU*z-F81<?SvCgI{B1S
zPdoiHYp<++&)Uz-{p+l`SJwPZls;F!vc_;JA5%EdNm9<pn2(N(7i9oId*#el7o%6^
zlr!6WFd-z*DwC44oH9lR<90qB_nEt|%>C268KV2|=FR^pb4IEA-^iR%>fSQ<J8yr;
z+Ul2X!%dK?keI@df%4-6yLMl@`qE!Lo4>vA|Jp>I<e>(37hb&`K*64}!9h26`$66X
ztyJP6@Hvg5=XOdRXP@d4FN2+N6u3JFilS~NKC#d4Qi^NUZRU*I_7uIFbFDdbUtaXy
z_vF!*w5#tU0W48nOi~SrO4y6X?tN;}g)z+F%H32VmbooMgZi|+>5?S1@#C2(-N*<j
zuQld)SOw5Bb(C<{VG|*o?I;Did{?zZSLzvTO2Z&}*fd7yJ5*+vpf?bOSSie!(=v+)
zf!OH7nVMjEza}DT0B`PA6)oGx%BPn(+}?9|s&>~K&ziX7h|LCLLrdG9zDk&z+j7&e
zD&3MgrV)mD>*G|P+}YC&Ubo!>snVV6=a~5#RAIW4d$^CgP+flS()aMKyOmoHzMNqx
z%)@Y8r@hu27&X6#DdAccoAUDv$SR+(cVb>xN}t%gNjv>9rFkw+e^@pvoFnWNVVs^|
zmXmXwOfMeUzUNBJx=kYS6HOE5P$1hyZu&9&HJW;Bv$(kYwxzFBMkMreqFCs%1Imdx
zyQQr~t5v1Xl`si=%R{4K`F!StiGWW&c1=5xB)x25r1(2sA=A~&&aT49tYCf*-(CY4
z`SY>Sa+46f0@w~YKgE~bOC>HTnw)NZxkZ7MonE&m21u>7!G?oaM@!j4^B?JOiwMDx
zCB(6MJfkjyKA;}@Dano<`?)+FQl0VmmPuR-fG;JGZ_8K+{=v-xii;x4G?zid_U_bL
zp~>tpd#BF?!0xkc#f=7chh?>h2j9<Te?X;hyRoQ4vr|yN7!Uji!)gKa1D4jpN7Ub9
z9>#A>_7#uuOB03%)NunH0%BQTJwPYZ(s~3?ag3BUEr?2L7c8;eHz=yqc*E!&_W&jg
z3zXe`B!ES9CZx6*v=MMlyl-mk>d%M(7w)`9DEu{?`g)r*Xf12fMB}m#cY<p6M>G@4
znKe#lW=Z!_C2aXXnNVHuDJ;;|EW0H#wfev$iYMaAdH0607^l&-NeJ?YnGH-13$>72
zn#UH`T8X_asj%qR%?&9Kx5DL)8EU0ZPiz|;mf>JNUI>pYM4AOeq?H1B*?j`XwxPy6
zW^G`k9(H6`%{#TVxA&)TZ-_U0Se_OD%Xc#`8Lxft6wvi%)aN}SjNf9MnfT1TGB-yG
zFvbd!>(nmAfqJYv=&3-p`=B7~$cy{5dizHxYj=oji`OGJg=gv-vklcyM3m5}5;6u_
z-@JKcO;^op-gs&`&TqkqJh5Gu0@T7AD~|xy-D&`>kcU)@<4&-CJM0kYlFhPvR?yfW
z?ZhjpndXwz-YjKyT2FIKxCt66(9r@9^Z~-dGW*=Ez@jl7v*|M7&<+`C7FIoLLk|P$
zAoBEQ3LH5{)1<sB{)$aw#L^}vnhBPO3#VmzWyzjsjIKzx7DqgUx%bm-DUdAv8xX()
zN1_;DF*uTtQFcf@SvtZ5*}#PTZ<hr{(I2rtct5e0qf%22WQrBSFj<(}9f@8~4KqQt
ztI&8?!mgjSz}t#Sh0ZsQ=Top+B|ikBbgAUpiT6eaD+f_M_GGrfECo%1cdUkVsLUG$
zum{Ve8f1HEV>A%;#KZ6+NhFlX3DIcOQXWeki!_roU1}n@UvpK^OwK24bV_0BmKTM!
zkeU_UkphXr%jR$`D{_POpXtqO!AYzl8>yTOi)~nbAK{RUBdZ;J-0~#xXm2N_zL8oG
zA{8=lX^>nv0F8PDRcDwcmTvv&FlA{)i3V8cZi5|8BsnU9#`;|MeoL}X^H&V$Lq`21
z(_s&>0!VaHx{p3cBg8D)4a~R=)BqFf77)RpG`K|`zFHJM*>%;_P1lXo7$YKSbRV{y
zDx&&`84QqV84>=~!T=W@|CFJCwB}$3D1LQ641uI`?pmOMfj7+vL!u0#Y9~nI0lG(M
z$Pvn>p?DBfpt`JB@Exq2C{oI%ab2fw;O`irAWs_$KJ`uQ9Y_>;#3i5>Y3AWHVC6@p
zUiYL`!(A<w*6cELn$`#_Eu}`p!dwGxS~xQZdfT{po7P@t-mY=oL<U!cFdvEu`!Xp+
zYAXqlYl<u#x|yN|%HXK<2`mTL8an^j8ID8DIg;IJ{FLnxP$d3XI&GkvTOSB%I<Pb)
zwhi=EOdairH5b?^ogv=r&5>y033Ib8VtXo%&s7lWA%6^L3iO?MvaY61!3<hwT}tyq
zg6bBVY#(ZX5~pgb7eKs|EAWHRVEm*ZXu<G}Br_0}*y>ED{Gm}Skys6^QC>nTj~lkZ
zxDh_GhXi0YBZvE@=%446xAY7qj!p@o_V{A}w3g9Bh2f5!gRGly6+OW%5bu|~FQceq
zQe|iyz{r4O0s*<g$w&lM66OZtp)@0Qoq7tYc0ceQ2!lmZ4oH|QqTNYQaL7^gJ>kwf
z!_wGiaKau5Q6?6d3OPtWlr=a5_3IW=#+Y;mJa$I3(8^v}3uLV*YgI{maz<?N+l%{b
z1GD1^WRV-q0uL~=c)Gh<m|(Cn_8k0xav-yCd=%ZQa#3PbDXoh9*<-+xdrup^dz{J+
zFddBTEuJCNCj#4rAc0<XeWj(YPhV(0USR7ZUHR&tMB8QWK70(l26_q*{3N{G3LlqV
zFj_E=L0#S7syte`o5V~~{BdG|Xi=+x92Q6Vl#?#Erm4%8asvK|u9OSC{}ISr8;#GT
z7^GppmTKv9FhF%+$wOBwsH!GQ;vN~QLU2U$BPBkeNYsf^ev3VhZ$bofS{BvSDZu2i
z2z{Da4?BinpycDw2!ykF_bdbbfmNfG-L=B)EXA(R1W|yYLw#(hpuX@7RHa!IDs_|T
z5=d0~3Hy7di@E+Zv_P72B$7l7OG&!j$AEc_KyT~}-JZ$}9#vN#wCo|FQa_6^9Jr6H
zSTXx6AJ_&z&F_RL{XbH2GlB}~)Z4Q<oi2UWc!hF|@<B%&?MY2@Oi^x;(5d^*_Jhyl
zsINS5hy!#yTGGKo5*oSNY)G17nKv<5BKO+ZRHU5TLYTnbNG&jYTnHGYxJ&9Pe>$l3
z?b$yvnl4h)TRQ%}T+DmD{3qpN-s|PPT;MaXck)d4EJfZ0y-`2{C}Y*=TP6l#1c_GG
z6l|74Qg=TgOHYv`ypjX{7MfaBkeVnWK1tNlim@i09cEfDyjExihpd4H`cL?*CqAPh
za!}U5{37apXu25TCR&S5NtujJO()3CG%3&%Maa_KG{llT{*KNu32c%YLjC|YI57jW
zi!`)y7&@qtB^9${{4gKKW_o{uhA|*mt%;^x*r<R=QH!D%xxE?+^5}fCHyMyrYsOk=
zwnSWL*_s8_m60Qed7Z`Xh^|J^(r0OAT*!xjKIlUeJfa41pLJGpMF)%6rozJ#Fr^PP
z2tW$>Z7xA7*(G}_U3XND1$QH-i+Ej+q?<^(T_yKwF(^$O;d32f?U`PDiLMe)eCn1b
z{&6MgBG%{e-r783!Bm>FXO68e66N%J4NNC(<1a3IL=(P91IzBABJ8TZC}Piq1<OK5
z+Xh{~S=01scAcw0AjD+KtB)afDtSk&D5I4&m_T$&+$m_G4<ss7JG(b6HSFv|Hg#K-
zr2OQh^RA92ZxBI>a9)vi%Uxc&ctlCUrX#mD-i0O8X_Z;fj?18$W#;L!R9nUSZGww7
zIDQtm*1>uKAj4GD3*x;=kya_rfrTjOo{oXUUqh*U)U$h>Bs2m|p(cnN;)B*f=chAB
z#G*Gn5>aP%3p&&x+A-FOu&;<a7%B=i;!@zI5h{EdMj3MGCmjh?(21D|xK%t=uyb~4
zW~`PD>$1+iwbJXXnIs;Epl}HZT@$d04zwmLg-mjxqToJADN!9+->FG3C!-TAhACZ3
z@$bkca+5fqmJwkjq;eZ{e(#lcDC`6+X7WIacT`Q-Lk~0nCc%j~{kAiX38KfTzySrk
zq)xX<EIG{3kg7SOzRNxQi~61fUw-6&u-XQNg@73o=0E^PoweTckLr=A%W9wHYRBt*
z=AsWa-1Y%_mClH!ZJA%Ad0h9<w#atIKg~K?q(r6Mon)GhzI-ojz%rmAjy-fTiC2sI
zt^>6ivNumt#++KT9Bw@8yNfz;eK=$I0w1C!vcTL2h^D1E5y?c@;|HjJ3^A!y^+%_p
z4%`8T6{lD>{LmCvbS$M4JGTaAk`gajF+c1#;F0~tvQi>lo%vj~8n6s@_|tU!P73${
z-Io>7%^<7u2mcL_Q2N^%(LVm+vc{1`gUF$22m}33>qmKkJ-D1m>o`TGNDaN}kR1sT
zs}7&MGf*4?BIq383MK4QoQcgW@P&_<DD;63IS6|k#NN?Qn;mn~pGh@5X}QBhjU33*
z7Wt1kSg3W?t>&-Z(5PbT2xzT920MX@PoSviAY=&4U=Kw?(H_-aLQ!z**9q-JV}mTF
z(P?3MMeB30grQ@ASq5@o-Sfd}^3ZwpiuW<e)sFRRI`_v>9mX*o6_2*VLg05RJ6JmK
zZb8oDpH6muuUMzh17Bz+5*D>GHe^kj=Ix!tKHo+N#lDUf!#(2GS!O_Ybd?NC$SS=U
zz!tTJua|lDglPgAY&9xl1MTEqft<{|x$;|})PM6ms%|u%Xf#_Ni((i~XYZpTfKUk3
z7IlJx&{`<otW$rT3IMb8wp*zj9d?@I?`mn8P2YR2qK+6km?aPa8LB@Wh!rLDir&YS
zuM44zgxn~G&dEo|{iB$yQ+pKW3Nq4S?J5V2$A%lAv&svq?m{g#N=40%4vpT(AiG&a
z4((gw1dMY7DsRz=K|Y1tb#8gue(iJJeP*yrzp*=@j44tS+k@%fYepAOT7Tg8L2Ek)
zHbGoI6S16oY&|11Bc;B#iQ}}pA+=Uvm`ZQ@8sYLJ!zKE(MAtjRj;Oq#F9w9+()2yT
z@b^OV?Ml~w&*pmC@Rzi*)>f~Wh!O|ylaaOG7izuxF*HQ<199~!h$s(Tr7kLRy)^H~
z&>t_DO3BjysSY?y%&c$LxO~;4-WXA2ecH(kKDH^Xb|VOhfj1A!XWk8Yn?kCmAAL*3
z)1+a$LgQ!^IY)GyzAeB}Rh>oj)VdFD=&z>q_Y(-jEBq~YhanN1Na6HyK(l>m?SJRl
zTrZoKj^uic_s^PGN+Zoz(qY>-ky!x^ab)eE5`Mlf9XjDJ=+1zHbOgqMVgyy`qH~u}
zT}(362oYHsp+KLd=|ZcBz=TL%S%>;MH0iQ68Ok-k4p{#3`TxU2l;y!CSo1$(FnmWb
zC2_X^00D(*LqkwWLqi~Na&Km7Y-Iodc$|HaJxIeq9K~N#rBYiQ>>%P0p^AeAQ4vS2
zLJ=y2TA@`3lS@B@CJjl8i=*ILaPVWX>fqw6tAnc`2!4RLxH>7iNQwVT3N2zhIPS;0
zdyl(!fKV?n&FUBfG`(V`5^*t;T@eGX2%;Ndj9^e^mN6?yNqCO0d-(Wz7vovp=l&dF
zHD@uvClb#v!>kam6Hjec49@$+5muB{;&b9rlP*a7$aTf#H_ioz1)do()2TV)2(egb
zW2KE*(bR}1iKD8fQ@)UKS>?RNSu0gp^Pc>Lp`5<F#C4hjNMHerkRU=q6&om_f*7qj
zDHc++ANTP0JAR2=3b{7G$T5#HG{}x0{11M2Yvm`#-K0<)=zOv5k0Bti3p8rB{e5iP
zjT6BC3|#3gf4L4!f0ABnY0)E~XB)V<ZfVLMaJd8YJsGkoJCdKKkk13}XY@^3p!XIC
zuDZQ7_i_3Fq^Yaq4RCM>3>PSS&Ewr&?Y;ebrrF;Qa_w@b2-44X00006VoOIv0RI60
z0RN!9r;`8x010qNS#tmY93TJy93TPB51XC<000McNliru;|dE6DFS09F}MH#0})9?
zK~zY`?UhYvTvZr`pYNP=XYO?FOnxWM2pa98#vg=2H%5yEG2lil6a*D<BXl9S715RA
zUUcC~MK`)tp>&}Op$Z}dK`U6)Duhm^nM`ssleu$$&gUYTkc7ILmC|>4{+@Hb_vJfq
zTmKuq9!0D3^Yhb(#~O`B2{6ak%Kl{Q>Cx!IBYD0O7R6~%omEH?=^A4?Baxds5a%Kp
zsv;nZS@zUlL9i;&K}2SYVma{sUJqGn?T?qs<+ncD+PVZFZ`NuT&kTp}HS^pZrYrE%
z)D(Y&AwJKEjG+X0AQ2%*5}t@-9FU5D2qo_i_V<m^cV=c@`nucw#66s*=MMuC5!%j?
zS<6>ZL=32N)I_+WD7Y`nxPNDd-5}tjR*S2p5|0lCJlX59>l}$OI8~<dT;{EPztw78
za(KTuzWJ|F#NU+)>(=r@yUiPGYq#{HXAJMQS|9?zH}yJa;+U%USnt^uL9FF$lGLtM
zDla;LIrdBQ;oRK8LFbL3e(3p!l^SyZ80&hy&SM)J42?mp#R3lw2E3Z4D+bjn!1vYa
zL}|Mg1OQaLXCcd|cuyiiY|H~rpbYS*a}z-}%+chQy{GIwO_2pN&h@Uf6G2AD$~Tr#
zEt&mPQZ0&!Aff6l#|x2>Q5XT7%(96f^T$FmG=@#*=mf#KQIS5t@?bC#<W!mhFtC>O
zARrZ?tV-ScUmVZ{8V|)WuVfiFs#R_nL-a549h-{kkr>|-$Ml?|0Qw>r5w2FNd{C)e
zb{KOVSQ6mWaLC<B!n(Em9)^6}Xt1M-0+9#{MZr>@bF$y(VyDAut;Wwmz@xjnM5+`(
zZVWT3Oce!J%H^$1?>}{`rPAl({kglcEF2rSnCEDo^W4@JYhj2lioM>YN+Ck~#0fOZ
zc(&c<`8{(H)g$e9+uCBYC|>S#yPE>gY&NIQCCM{q({yFp`_rmAyVv(*Q;k{QhMU_W
zaju#P2qLnSrWbxImA*r@Eg*M#zwEqULS#5J=7%rB@a->qy>BNn`n4#!(rh;Cw}00E
arv3rKl1y(C_8Qs%0000<MNUMnLSTY?A8h^r

diff --git a/main.py b/main.py
index d5a922d..ab10a35 100755
--- a/main.py
+++ b/main.py
@@ -2,165 +2,22 @@
 import math
 import pygame
 import random
-import numpy as np
 
-from brain import Neural_Network
+from car import Car
 from maps import map1
-from trigo import angle_to_vector, get_line_feats, segments_intersection, distance
-from params import FLAGS, GX, GY, CELL_COLOR, CAR_SIZE, VISION_LENGTH, VISION_SPAN, THROTTLE_POWER
-
-
-
-pygame.init()
-IMG = pygame.image.load("car25.png")#.convert()
-
-
-
-
-
-class Car(pygame.sprite.Sprite):
-    def __init__(self):
-        pygame.sprite.Sprite.__init__(self)
-        self.top_surface = pygame.Surface((CAR_SIZE, CAR_SIZE))
-        self.original_image = IMG
-        # self.image = pygame.Surface((CAR_SIZE, CAR_SIZE))
-        # self.image.fill((0,255,0))
-        # self.original_image = self.image
-
-        self.image = self.original_image
-
-        self.rect = self.image.get_rect()
-        self.rect.center = (75, GY -50)
-        self.speed = 1
-        self.heading = 0
-        self.heading_change = 0
-        self.vision_length = VISION_LENGTH # line liength
-        self.vision_span = VISION_SPAN # degrees
-        self.draw_sensors = True
-
-        # lets add 3 sensors as a start 
-        # 1 straight ahead
-        # 2 left 15°
-        # 3 right 15 °
-        # we will give each of them a max lenght to 
-        # and we will eventually detect any line crossing the sensor and 
-        # retain the min value as a distance to collision input
-        self.center_sensor = None
-        self.left_sensor = None
-        self.right_sensor = None
-        self.sensors = [self.left_sensor, self.center_sensor, self.right_sensor]
-        self.probes = [self.vision_length] *3 
-        
-        self.brain = Neural_Network()
-
-        self.update_sensors()
-        self.probe_brain()
-        self.run = True
-
-
-    def update_sensors(self):
-        center = self.rect.center
-        vc = angle_to_vector(self.heading)
-        self.center_sensor = [center, (int(self.vision_length * vc[0] + center[0]), int(-self.vision_length * vc[1] + center[1]))]
-        
-        vl = angle_to_vector(self.heading+self.vision_span)
-        self.left_sensor = [center, (int(self.vision_length * vl[0] + center[0]), int(-self.vision_length * vl[1] + center[1]))]
-        
-        vr = angle_to_vector(self.heading-self.vision_span)
-        self.right_sensor = [center, (int(self.vision_length * vr[0] + center[0]), int(-self.vision_length * vr[1] + center[1]))]
-
-
-    def update_position(self):
-        vec = angle_to_vector(self.heading)
-        old_center = self.rect.center
-        self.rect.center = (self.speed * vec[0] + old_center[0], -self.speed * vec[1] + old_center[1])
-        self.update_sensors()
-
-
-    
-    def probe_lines_proximity(self, lines):
-        # print(self.center_sensor, lines[0])
-        self.probes = [self.vision_length*2] *3 
-        for idx,sensor in enumerate([self.left_sensor, self.center_sensor, self.right_sensor]) :
-            for line in lines :
-                ip = segments_intersection(sensor, line)
-                # print(ip)
-                if ip :
-                    pygame.draw.circle(screen, (125,125,255), ip, 4, 2)
-                    dist = int(distance(ip,self.rect.center))
-                    self.probes[idx] = min(dist, self.probes[idx])
-                    if dist < 1.2 * self.speed or self.speed < 0.01 :
-                        self.run = False
-                        print(f'Car {id(self)} crashed')
-
-                # else :
-                #     self.probes[idx] = self.vision_length * 2 
-        # print(self.probes)
-
-
-    def probe_brain(self):
-        res = self.brain.predict(np.array(self.probes))
-        self.heading_change = res[0] * 10
-        self.throttle = res[1] * 10 
-
-
-    def update(self):
-        # rotate
-        old_center = self.rect.center
-        self.image = pygame.transform.rotate(self.original_image, self.heading)
-        self.rect = self.image.get_rect()
-        self.rect.center = old_center
-        self.update_position()
-        if self.speed < 0.01 :
-            self.run = False
-            print(f'Car {id(self)} crashed')
-        print(
-            'id', id(self),
-            'Speed', self.speed,
-            'heading', self.heading,
-            'throttle', self.throttle,
-            'heading change', self.heading_change,
-        )
-
-        if self.speed : 
-            self.heading += self.heading_change * 20 / self.speed
-            self.heading = self.heading % 360
-
-            self.speed += self.throttle #THROTTLE_POWER
-            # if self.throttle :
-                # self.speed += self.throttle #THROTTLE_POWER
-            # else :
-                # self.speed -= self.throttle #THROTTLE_POWER
-
-            self.speed = max(0, self.speed)
-
-        super().update()
-
-
-    def show_features(self):
-        if self.draw_sensors:
-            pygame.draw.line(screen, (255,0,0), self.center_sensor[0], self.center_sensor[1])
-            pygame.draw.line(screen, (0,255,0), self.left_sensor[0], self.left_sensor[1])
-            pygame.draw.line(screen, (0,0,255), self.right_sensor[0], self.right_sensor[1])
-            pygame.draw.circle(screen, (125,255,125), self.rect.center, 4, 2)
-
-
+from params import CELL_COLOR, screen
 
 
 #https://medium.com/intel-student-ambassadors/demystifying-genetic-algorithms-to-enhance-neural-networks-cde902384b6e
 
 
-screen = pygame.display.set_mode((GX, GY), FLAGS)
-screen.set_alpha(None)
-
 map_lines = map1
-# print(lines)
 
 
 
 all_cars = pygame.sprite.Group()
 
-for x in range(10):
+for x in range(100):
     car = Car()
     car.heading = x * 30 + 35
     all_cars.add(car)
@@ -182,9 +39,6 @@ while running_cars :
     for line in map_lines :
         pygame.draw.line(screen, (255,255,255), line[0], line[1])
 
-    # point = (int(GX/2), int(GY/2+25))
-    # print(distance(point, car2.rect.center))
-    # pygame.draw.circle(screen, (125,255,125), point, 4, 2)
 
     pygame.display.flip()
     clock.tick(24)
diff --git a/params.py b/params.py
index 79dfa8c..0f87ff5 100644
--- a/params.py
+++ b/params.py
@@ -1,3 +1,4 @@
+import pygame
 from pygame.locals import HWSURFACE, DOUBLEBUF
 
 FLAGS =  HWSURFACE | DOUBLEBUF #| FULLSCREEN
@@ -5,7 +6,11 @@ FLAGS =  HWSURFACE | DOUBLEBUF #| FULLSCREEN
 GX = 1000
 GY = 1000
 CELL_COLOR = (80,80,80)
-CAR_SIZE=25
+CAR_SIZE=20
 VISION_LENGTH = 50
 VISION_SPAN = 25 # degrees
-THROTTLE_POWER = 3
\ No newline at end of file
+THROTTLE_POWER = 3
+
+pygame.init()
+screen = pygame.display.set_mode((GX, GY), FLAGS)
+screen.set_alpha(None)