Create car.js

car.js

@@ -0,0 +1,146 @@
+class Car{
+    constructor(x,y,width,height,controlType,maxSpeed=3){
+        this.x=x;
+        this.y=y;
+        this.width=width;
+        this.height=height;
+
+        this.speed=0;
+        this.acceleration=0.2;
+        this.maxSpeed=maxSpeed;
+        this.friction=0.05;
+        this.angle=0;
+
+        this.damaged=false;
+
+        this.useBrain=controlType=="AI";
+
+        if(controlType!="DUMMY"){
+            this.sensor=new Sensor();
+            this.brain=new NeuralNetwork(
+                [this.sensor.rayCount,6,4]
+            );
+        }       
+        this.controls=new Controls(controlType);
+    }
+
+    update(roadBorders,traffic){
+        if(!this.damaged){
+            this.#move();
+            this.polygon=this.#createPolygon();
+            this.damaged=this.#assessDamage(roadBorders,traffic);
+        }
+        if(this.sensor){
+            this.sensor.update(this.x,this.y,this.angle,roadBorders,traffic);
+            const offsets=this.sensor.readings.map(
+                s=>s==null?0:1-s.offset
+            );
+            const outputs=NeuralNetwork.feedForward(offsets,this.brain);
+            if(this.useBrain){
+                this.controls.forward=outputs[0];
+                this.controls.left=outputs[1];
+                this.controls.right=outputs[2];
+                this.controls.reverse=outputs[3];
+            }
+        }     
+    }
+
+    #assessDamage(roadBorders,traffic){
+        for(let i=0;i<roadBorders.length;i++){
+            if(polysIntersect(
+                [...this.polygon,this.polygon[0]],
+                roadBorders[i])
+                ){
+                return true;
+            }
+        }
+        for(let i=0;i<traffic.length;i++){
+            const poly=traffic[i].polygon;
+            if(polysIntersect(
+                [...this.polygon,this.polygon[0]],
+                [...poly,poly[0]])
+                ){
+                return true;
+            }
+        }
+        return false;
+    }
+
+    #createPolygon(){
+        const points=[];
+        const rad=Math.hypot(this.width,this.height)/2;
+        const alpha=Math.atan2(this.width,this.height);
+        points.push({
+            x:this.x-Math.sin(this.angle-alpha)*rad,
+            y:this.y-Math.cos(this.angle-alpha)*rad
+        });
+        points.push({
+            x:this.x-Math.sin(this.angle+alpha)*rad,
+            y:this.y-Math.cos(this.angle+alpha)*rad
+        });
+        points.push({
+            x:this.x-Math.sin(Math.PI+this.angle-alpha)*rad,
+            y:this.y-Math.cos(Math.PI+this.angle-alpha)*rad
+        });
+        points.push({
+            x:this.x-Math.sin(Math.PI+this.angle+alpha)*rad,
+            y:this.y-Math.cos(Math.PI+this.angle+alpha)*rad
+        });
+        return points;
+    }
+
+    #move(){
+        if(this.controls.forward){
+            this.speed+=this.acceleration; 
+         }
+         if(this.controls.reverse){
+             this.speed-=this.acceleration;
+         }
+ 
+         if(this.speed!=0){
+             const flip=this.speed>0?1:-1;
+             if(this.controls.left){
+                 this.angle+=0.03*flip;
+             }
+             if(this.controls.right){
+                 this.angle-=0.03*flip;
+             }
+         }
+ 
+         if(this.speed>this.maxSpeed){
+             this.speed=this.maxSpeed;
+         }
+         if(this.speed<-this.maxSpeed/2){
+             this.speed=-this.maxSpeed/2;
+         }
+ 
+         if(this.speed>0){
+             this.speed-=this.friction;
+         }
+         if(this.speed<0){
+             this.speed+=this.friction;
+         }
+         if(Math.abs(this.speed)<this.friction){
+             this.speed=0;
+         }
+         this.x-=Math.sin(this.angle)*this.speed;
+         this.y-=Math.cos(this.angle)*this.speed;
+    }
+
+    draw(ctx,drawSensor=false){
+        if(this.damaged){
+            ctx.fillStyle="gray";
+        }else{
+            ctx.fillStyle="black";
+        }
+        ctx.beginPath();
+        ctx.moveTo(this.polygon[0].x,this.polygon[0].y);
+        for(let i=1;i<this.polygon.length;i++){
+            ctx.lineTo(this.polygon[i].x,this.polygon[i].y);
+        }
+        ctx.fill();
+        if(this.sensor && drawSensor){
+            this.sensor.draw(ctx);
+        }
+    }
+}