genetics code (untested)

car.py

@@ -2,7 +2,7 @@ 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 params import GY, CAR_MAX_SPEED, CAR_SIZE, CAR_STEERING_FACTOR, 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()
@@ -65,6 +65,7 @@ class Car(pygame.sprite.Sprite):
         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()
+        self.brain.fitness += int(distance(old_center, self.rect.center))
 
 
     
@@ -81,6 +82,7 @@ class Car(pygame.sprite.Sprite):
                     self.probes[idx] = min(dist, self.probes[idx])
                     if dist < 1.2 * self.speed or self.speed < 0.01 :
                         self.run = False
+                        self.speed = 0
                         print(f'Car {id(self)} crashed')
 
                 # else :
@@ -113,7 +115,7 @@ class Car(pygame.sprite.Sprite):
         )
 
         if self.speed : 
-            self.heading += self.heading_change * 10 / self.speed 
+            self.heading += self.heading_change * CAR_STEERING_FACTOR / self.speed 
             self.heading = self.heading % 360
 
             self.speed += self.throttle #THROTTLE_POWER
@@ -123,7 +125,7 @@ class Car(pygame.sprite.Sprite):
                 # self.speed -= self.throttle #THROTTLE_POWER
 
             self.speed = max(0, self.speed)
-            self.speed = min(self.speed, 7)
+            self.speed = min(self.speed, CAR_MAX_SPEED)
 
         super().update()