191 lines
6.1 KiB
Python
191 lines
6.1 KiB
Python
import datetime
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import math
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import numpy as np
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import random
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import pygame
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from brain import Neural_Network
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from params import (
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GY,
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CAR_MAX_SPEED,
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CAR_MAX_FITNESS,
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CAR_SIZE,
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CAR_STEERING_FACTOR,
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MAX_RUN_TIME,
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VISION_LENGTH,
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VISION_SPAN,
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THROTTLE_POWER,
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screen,
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)
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from trigo import angle_to_vector, get_line_feats, segments_intersection, distance
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IMG = pygame.image.load("car20.png") # .convert()
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class Car(pygame.sprite.Sprite):
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def __init__(self, brain=None):
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pygame.sprite.Sprite.__init__(self)
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self.top_surface = pygame.Surface((CAR_SIZE, CAR_SIZE))
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self.original_image = IMG
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# self.image = pygame.Surface((CAR_SIZE, CAR_SIZE))
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# self.image.fill((0,255,0))
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# self.original_image = self.image
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self.image = self.original_image
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self.rect = self.image.get_rect()
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self.vision_length = VISION_LENGTH # line liength
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self.vision_span = VISION_SPAN # degrees
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self.draw_sensors = False
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# lets add 3 sensors as a start
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# 1 straight ahead
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# 2 left 15°
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# 3 right 15 °
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# we will give each of them a max lenght to
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# and we will eventually detect any line crossing the sensor and
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# retain the min value as a distance to collision input
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self.center_sensor = None
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self.left_sensor = None
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self.right_sensor = None
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self.sensors = [self.left_sensor, self.center_sensor, self.right_sensor]
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self.probes = [1] * 3
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if brain:
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self.brain = brain
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else:
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self.brain = Neural_Network()
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self.reset_car_pos()
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self.update_sensors()
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self.probe_brain()
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self.run = True
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self.distance_run = 0
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self.creation_dt = datetime.datetime.now()
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self.run_time = 0
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def reset_car_pos(self):
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self.rect.center = (
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75 - int(random.random() * 20) - 10,
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GY - 50 - int(random.random() * 20) - 10,
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)
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self.speed = 1
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self.heading = random.random() * 20
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self.heading_change = random.random() * 30
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def update_sensors(self):
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center = self.rect.center
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vc = angle_to_vector(self.heading)
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self.center_sensor = [
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center,
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(
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int(self.vision_length * vc[0] + center[0]),
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int(-self.vision_length * vc[1] + center[1]),
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),
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]
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vl = angle_to_vector(self.heading + self.vision_span)
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self.left_sensor = [
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center,
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(
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int(self.vision_length * vl[0] + center[0]),
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int(-self.vision_length * vl[1] + center[1]),
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),
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]
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vr = angle_to_vector(self.heading - self.vision_span)
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self.right_sensor = [
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center,
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(
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int(self.vision_length * vr[0] + center[0]),
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int(-self.vision_length * vr[1] + center[1]),
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),
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]
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def update_position(self):
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vec = angle_to_vector(self.heading)
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old_center = self.rect.center
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self.rect.center = (
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self.speed * vec[0] / 2 + old_center[0],
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-self.speed * vec[1] / 2 + old_center[1],
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)
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self.update_sensors()
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if self.run:
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self.distance_run += int(distance(old_center, self.rect.center))
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self.brain.fitness = math.sqrt(self.distance_run)
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def probe_lines_proximity(self, lines):
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# print(self.center_sensor, lines[0])
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self.probes = [1] * 3
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for idx, sensor in enumerate(
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[self.left_sensor, self.center_sensor, self.right_sensor]
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):
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for line in lines:
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ip = segments_intersection(sensor, line)
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# print(ip)
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if ip:
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if self.draw_sensors:
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pygame.draw.circle(screen, (125, 125, 255), ip, 4, 2)
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dist = distance(ip, self.rect.center)
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self.probes[idx] = min(dist / self.vision_length, self.probes[idx])
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if dist < 5 * self.speed or self.speed < 1:
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self.run = False
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self.speed = 0
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# print(f'Car {id(self)} crashed')
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return
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# print(self.probes)
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def probe_brain(self):
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res = self.brain.predict(np.array(self.probes + [self.speed]))
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self.heading_change = res[0]
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self.throttle = res[1]
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def update(self):
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# rotate
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old_center = self.rect.center
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self.image = pygame.transform.rotate(self.original_image, self.heading)
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self.rect = self.image.get_rect()
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self.rect.center = old_center
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self.update_position()
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self.run_time = (datetime.datetime.now() - self.creation_dt).seconds
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if self.run_time > MAX_RUN_TIME:
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print("RUNTIME EXCEEDED")
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if (
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self.speed < 0.01
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or self.brain.fitness > CAR_MAX_FITNESS
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or self.run_time > MAX_RUN_TIME
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):
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self.run = False
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# print(f"Car {id(self)} crashed")
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# print(
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# 'id', id(self),
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# 'Speed', self.speed,
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# 'heading', self.heading,
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# 'throttle', self.throttle,
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# 'heading change', self.heading_change,
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# )
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if self.speed:
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self.heading += self.heading_change * CAR_STEERING_FACTOR / self.speed
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self.heading = self.heading % 360
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self.speed += self.throttle * THROTTLE_POWER
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self.speed = max(0, self.speed)
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self.speed = min(self.speed, CAR_MAX_SPEED)
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super().update()
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def show_features(self):
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if self.draw_sensors:
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pygame.draw.line(
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screen, (255, 0, 0), self.center_sensor[0], self.center_sensor[1]
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)
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pygame.draw.line(
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screen, (0, 255, 0), self.left_sensor[0], self.left_sensor[1]
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)
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pygame.draw.line(
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screen, (0, 0, 255), self.right_sensor[0], self.right_sensor[1]
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)
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pygame.draw.circle(screen, (125, 255, 125), self.rect.center, 4, 2)
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