import numpy as np import random import pygame from brain import Neural_Network from params import GY, CAR_MAX_SPEED, CAR_MAX_FITNESS, 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() class Car(pygame.sprite.Sprite): def __init__(self, brain=None): 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.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 if brain : self.brain = brain else : self.brain = Neural_Network() self.reset_car_pos() self.update_sensors() self.probe_brain() self.run = True def reset_car_pos(self): self.rect.center = ( 75 - int(random.random()*20) - 10, GY -50 - int(random.random()*20)-10 ) self.speed = 1 self.heading = random.random() * 20 self.heading_change = random.random() * 30 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() self.brain.fitness += int(distance(old_center, self.rect.center)) 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 self.speed = 0 # print(f'Car {id(self)} crashed') return # 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] * 15 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 or self.brain.fitness > CAR_MAX_FITNESS : 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 * CAR_STEERING_FACTOR / 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, CAR_MAX_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)