{"id":208701,"student_id":12205,"content":"var SIZE = 50; // 每個世代的個數\nvar DNA_LENGTH = 30; // DNA 的長度\nvar generation = 0; // 紀錄目前是第幾代\nvar count = 0;\n\n// 初始化第一代車子\nfor (var i = 0; i \u003c SIZE; i++) {\n let car = new Car();\n car.reset(50, 250, 0);\n car.addSensor(45);\n car.addSensor(0);\n car.addSensor(-45);\n car.score = 0;\n car.speed = 0;\n car.gens = randomDNA(DNA_LENGTH);\n car.xx = car.x; //car.xx 前一輪的 x 座標\n car.yy = car.y; //car.yy 前一輪的 y 座標\n \n forever(function(){\n if (car.status != 'running'){\n return;\n }\n var outputs = NN(car.sensorsData.concat(car.speed), car.gens);\n car.turn(outputs[0]*3); // 控制左轉/右轉\n car.speedUp(outputs[1]/10); // 控制加速/減速\n car.score += car.speed;\n\n if (count % 30 === 0) { // 每30 tick 計算一次分數\n var diff = (car.xx - car.x)**2 + (car.yy - car.y)**2;\n if (car.speed == 0) car.status = 'broken';\n car.score += diff;\n car.xx = car.x;\n car.yy = car.y;\n }\n count++;\n });\n}\n\n// 避免緩慢的車子消耗時間，手動進入下一個世代來加速學習\nwhen('keydown', 'space', nextGeneration);\nwhen('keydown', 'enter', function(){\n console.log(cars[0].sensorsData)\n console.log(cars[0].speed)\n});\n\nforever(function(){\n // count++;\n print('generation:' + generation);\n for (var i=0; i\u003ccars.length; i++) {\n if (cars[i].status == 'running'){\n // console.log(\"Running Car Speed:\", cars[i].speed)\n return;\n } \n }\n nextGeneration();\n});\n\nfunction nextGeneration () {\n cars.sort(function (a, b) {\n return b.score - a.score;\n });\n // 取出表現最佳的兩台車基因(參數)，產生下一代車子\n var parentA = cars[0].gens;\n var parentB = cars[1].gens;\n \n for (var i=0; i\u003ccars.length; i++) {\n cars[i].gens = crossover(parentA, parentB);\n cars[i].reset(50, 250, 0);\n cars[i].score = 0;\n cars[i].speed = 0;\n }\n \n generation++;\n}\n\nfunction crossover(a, b) {\n var dna = [];\n for (var i = 0; i \u003c DNA_LENGTH; i++) {\n dna[i] = Math.random() \u003e 0.5 ? a[i] : b[i];\n if (Math.random() \u003c 0.1) dna[i] = Math.random() * 2 - 1; // 變異\n }\n return dna;\n}\n\nfunction randomDNA(length) {\n var dna = [];\n for (var i = 0; i \u003c length; i++) dna.push(Math.random() * 2 - 1);\n return dna;\n}\n\nfunction sigmoid(x) {\n return (Math.exp(x) - Math.exp(-x)) / (Math.exp(x) + Math.exp(-x));\n}\n\n\n// input*4 hidden*5 output*2\n//weights: 基因\nfunction NN (inputs, weights) {\n // Input Layer -\u003e Hidden Layer\n var A = inputs[0], B = inputs[1], C = inputs[2], D = inputs[3];\n\n a = A * weights[0] + B * weights[1] + C * weights[2] + D * weights[3];\n b = A * weights[4] + B * weights[5] + C * weights[6] + D * weights[7];\n c = A * weights[8] + B * weights[9] + C * weights[10] + D * weights[11];\n d = A * weights[12] + B * weights[13] + C * weights[14] + D * weights[15];\n e = A * weights[16] + B * weights[17] + C * weights[18] + D * weights[19];\n \n a = sigmoid(a); //介於 -1 ~ 1\n b = sigmoid(b); //介於 -1 ~ 1\n c = sigmoid(c); //介於 -1 ~ 1\n d = sigmoid(d); //介於 -1 ~ 1\n e = sigmoid(e); //介於 -1 ~ 1\n \n // Hidden Layer -\u003e Output Layer\n output1 = a * weights[20] + b * weights[21] + c * weights[22] + d * weights[23] + e * weights[24];\n output2 = a * weights[25] + b * weights[26] + c * weights[27] + d * weights[28] + e * weights[29];\n \n output1 = sigmoid(output1); //介於 -1 ~ 1, direction\n output2 = sigmoid(output2); //介於 -1 ~ 1, speed\n \n return [output1, output2];\n}\n","created_at":"2020-12-02T19:36:36.729+08:00","updated_at":"2020-12-02T19:36:36.729+08:00","name":"自動駕駛(賽車版) 副本 副本","language":"javascript","screenshot":{"url":null},"parent_id":204467,"plugin":"function Point (x, y) {\n this.x = x || 0;\n this.y = y || 0;\n}\n\nfunction Line (p1, p2, size, color) {\n\n this.p1 = p1;\n this.p2 = p2;\n this.size = size || 1;\n this.color = color || 'black';\n this.a = 0;\n this.b = 0;\n \n // 使用在繪圖用對應的 forever\n this.instance = createSprite('dot.jpg');\n this.instance.hidden = true;\n \n // y = ax + b\n // a:斜率 b:常數\n this.update = function () {\n // 計算斜率\n this.a = (this.p1.y - this.p2.y) / (this.p1.x - this.p2.x);\n \n // 這招真的很無恥，斜率 1000 畫面上分辨不出是否垂直線\n // 在計算交會點的時候就很方便，不用再判斷是否為垂直線\n if (Math.abs(this.a) \u003e 1000) this.a = 1000;\n \n // 計算常數項\n this.b = this.p1.y - this.p1.x*this.a;\n }\n this.update(); // 初始化更新\n \n \n // 取得兩線斷相交的座標，如果沒有相交就回傳 undefined\n this.touched = function (line) {\n\n if (!this.isCrossWith(line)) return; // undefined\n \n let x = (line.b - this.b)/(this.a - line.a);\n let y = this.a*x + this.b;\n return {x: x, y: y};\n }\n \n // 兩線斷是否相交\n this.isCrossWith = function (line) {\n return line._calc(this.p1.x, this.p1.y) * line._calc(this.p2.x, this.p2.y) \u003c 0 \u0026\u0026\n this._calc(line.p1.x, line.p1.y) * this._calc(line.p2.x, line.p2.y) \u003c 0\n }\n\n this._calc = function (x, y) {\n if (Math.abs(this.a) == Infinity) return x - this.b;\n return this.a*x + this.b - y;\n }\n \n // 渲染線條\n this.render = function () {\n pen.size = this.size;\n pen.color = this.color;\n pen.drawLine(this.p1.x, this.p1.y, this.p2.x, this.p2.y);\n }\n \n // 刪除線條\n this.destroy = this.instance.destroy.bind(this.instance);\n \n var self = this;\n this.instance.forever(function(){\n self.update();\n self.render();\n });\n}\n\n\nvar walls = []; // 存放賽道線條\nvar cars = []; // 存放所有製造出來的車子\n\n\nfunction Car (x, y) {\n \n let width = 17; // 車體中心到四個角的距離\n let sensorLength = 1000; // 感測器的長度距離\n\n let center = createSprite('dot.jpg');\n center.x = x || 320;\n center.y = y || 240;\n center.speed = 1; // 預設車速\n center.status = 'running'; // running, broken\n \n // 車體的四個點\n let p1 = new Point();\n let p2 = new Point();\n let p3 = new Point();\n let p4 = new Point();\n center.corner = [p1, p2, p3, p4];\n \n // 車體邊框\n center.border = [\n new Line(p1, p2, 2),\n new Line(p2, p3, 2),\n new Line(p3, p4, 2),\n new Line(p4, p1, 2),\n ];\n \n // 感測器的線段終點\n center.censorPoints = [];\n // 感測器的線段\n center.sensors = []\n // sensors 角度\n center.offset = [];\n // 感測器讀取的資料\n center.sensorsData = [];\n \n\n center.updateLines = function () {\n for (var i=0; i\u003c4; i++) {\n this.border[i].update();\n }\n for (var i=0; i\u003cthis.offset.length; i++) {\n this.sensors[i].update();\n }\n }\n \n center.update = function () {\n var self = this;\n this.border.forEach((line) =\u003e {\n if (self.status == 'broken') line.color = 'gray';\n else line.color = 'black';\n });\n \n // 更新車體的四個點座標\n var offset = [30, 150, -150, -30];\n for (var i=0; i\u003c4; i++) {\n this.direction += offset[i];\n this.stepForward(width);\n this.corner[i].x = this.x;\n this.corner[i].y = this.y;\n this.stepForward(-width);\n this.direction -= offset[i];\n }\n \n // 更新感測器的線\n var offset = [-45, -22.5, 0, 22.5, 45];\n var offset = [-60, 0, 60];\n for (var i=0; i\u003cthis.offset.length; i++) {\n center.direction += this.offset[i];\n center.stepForward(sensorLength);\n center.censorPoints[i].x = center.x;\n center.censorPoints[i].y = center.y;\n center.stepForward(-sensorLength);\n center.direction -= this.offset[i];\n }\n \n this.updateLines();\n };\n \n center.turn = function (direction) {\n if (isNaN(direction) || this.status == 'broken') return;\n if (direction \u003e this.speed) direction = this.speed;\n if (direction \u003c -this.speed) direction = -this.speed;\n this.direction += direction;\n }\n \n center.speedUp = function (speed) {\n if (isNaN(speed) || this.status == 'broken') return;\n this.speed += speed;\n if (this.speed \u003c 0) this.speed = 0;\n }\n \n center.reset = function (x, y, direction) {\n this.x = x;\n this.y = y;\n this.direction = direction;\n this.update();\n this.status = 'running';\n }\n \n center.addSensor = function (direction) {\n let point = new Point();\n let line = new Line(this, point, 0, '#00000000');\n this.censorPoints.push(point);\n this.sensors.push(line);\n this.offset.push(direction);\n }\n \n forever(function () {\n if (center.status == 'running') {\n center.stepForward(center.speed);\n }\n center.update();\n });\n \n center.update(); // 初始化更新\n \n cars.push(center);\n return center;\n}\n\n\nforever(function(){\n \n // 檢查車子是否碰到賽道邊界，碰到則將車子狀態改成 broken\n cars.forEach(function (car) {\n for (var x=0; x\u003ccar.border.length; x++) {\n for (var y=0; y\u003cwalls.length; y++) {\n if (car.border[x].touched(walls[y])) {\n car.status = 'broken';\n return;\n }\n }\n }\n });\n \n // 更新車子感測器的數值\n cars.forEach(function (car) {\n if (car.status == 'broken') return;\n for (var x=0; x\u003ccar.sensors.length; x++) {\n \n var shortest = Infinity;\n var target = {};\n \n for (var y=0; y\u003cwalls.length; y++) {\n let pos = car.sensors[x].touched(walls[y]);\n if (pos) {\n let length = Math.sqrt((pos.x - car.x)**2 + (pos.y - car.y)**2);\n if (length \u003c shortest) {\n shortest = Math.round(length);\n target = pos;\n }\n }\n }\n \n car.sensorsData[x] = shortest;\n pen.color = '#aaa';\n pen.size = 1;\n pen.drawLine(car.x, car.y, target.x, target.y);\n pen.fillColor = 'red';\n pen.drawCircle(target.x, target.y, 3);\n }\n });\n});\n\n// 初始化賽道牆壁\nfunction initalMaps (map) {\n walls.forEach(function (line) { line.destroy() });\n walls = [];\n map.forEach(function (points) {\n for (var i=1; i\u003cpoints.length; i++) {\n let p1 = new Point(points[i - 1].x, points[i - 1].y);\n let p2 = new Point(points[i].x, points[i].y);\n let l =new Line(p1, p2, 3);\n walls.push(l)\n }\n });\n}\n\nlet maps = [[{\"x\":4,\"y\":92},{\"x\":6,\"y\":67},{\"x\":14,\"y\":46},{\"x\":31,\"y\":28},{\"x\":52,\"y\":14},{\"x\":79,\"y\":9},{\"x\":542,\"y\":8},{\"x\":571,\"y\":11},{\"x\":594,\"y\":21},{\"x\":611,\"y\":38},{\"x\":623,\"y\":63},{\"x\":629,\"y\":90},{\"x\":631,\"y\":394},{\"x\":623,\"y\":419},{\"x\":611,\"y\":438},{\"x\":594,\"y\":454},{\"x\":567,\"y\":464},{\"x\":536,\"y\":467},{\"x\":120,\"y\":469},{\"x\":90,\"y\":467},{\"x\":62,\"y\":461},{\"x\":38,\"y\":446},{\"x\":22,\"y\":427},{\"x\":12,\"y\":399},{\"x\":9,\"y\":364},{\"x\":5,\"y\":93}],[{\"x\":103,\"y\":143},{\"x\":104,\"y\":121},{\"x\":116,\"y\":104},{\"x\":135,\"y\":92},{\"x\":161,\"y\":84},{\"x\":481,\"y\":84},{\"x\":508,\"y\":90},{\"x\":525,\"y\":107},{\"x\":533,\"y\":130},{\"x\":533,\"y\":169},{\"x\":532,\"y\":340},{\"x\":527,\"y\":360},{\"x\":514,\"y\":372},{\"x\":496,\"y\":381},{\"x\":471,\"y\":384},{\"x\":166,\"y\":384},{\"x\":146,\"y\":381},{\"x\":126,\"y\":371},{\"x\":112,\"y\":351},{\"x\":106,\"y\":325},{\"x\":103,\"y\":144}]]\ninitalMaps(maps);\n","description":null,"note":null,"status":"public","like_student_ids":[],"is_featured":false,"views":207,"hashid":"5j3s99zvj","is_content_changed":false,"review_status":"unsubmitted","submitted_at":null,"reviewed_at":null,"advise":null,"is_deleted":false}
[{"id":3637398,"file_name":"dot.jpg","project_id":208701,"asset_id":113889,"created_at":"2020-12-02T19:36:36.736+08:00","updated_at":"2020-12-02T19:36:36.736+08:00"}]
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