{"id":48722,"student_id":10,"content":"var SIZE = 60;\nvar count = 0;\n\nfor (var i = 0; i \u003c SIZE; i++) {\n let car = new Car();\n car.reset(200, 50, 90);\n car.score = 0;\n car.gens = randomDNA(32);\n car.status = 'running';\n car.xx = car.x;\n car.yy = car.y;\n\n forever(function(){\n\n if (car.status != 'running') return;\n\n var outputs = NN([\n car.sensorsData[0],\n car.sensorsData[1],\n car.sensorsData[2],\n car.sensorsData[3],\n car.sensorsData[4],\n car.speed\n ], car.gens);\n \n car.turn(outputs[0]*30);\n car.speedUp(outputs[1]*30);\n \n car.score += car.speed*car.speed;\n });\n}\n\nforever(function(){\n count++;\n print(count)\n if (count == 1000 || count == 2000 || count == 3000 || count == 4000) {\n for (var i=0; i\u003ccars.length; i++) {\n var x = cars[i].xx - cars[i].x;\n var y = cars[i].yy - cars[i].y;\n if (x \u003c 50 \u0026\u0026 y \u003c 50) cars[i].score -= 10000;\n cars[i].xx = cars[i].x;\n cars[i].yy = cars[i].y;\n \n }\n }\n if (count \u003e= 5000) {\n for (var i=0; i\u003ccars.length; i++) {\n cars[i].status = 'borken'\n }\n }\n \n for (var i=0; i\u003ccars.length; i++) {\n if (cars[i].status == 'running') return;\n }\n count = 0;\n \n console.log('next generation')\n \n cars.sort(function (a, b) {\n return a.score - b.score; \n });\n \n let newGens = [];\n \n for (let i=0; i\u003cSIZE - 0; i++) {\n let rand1 = Math.floor(Math.sqrt(Math.random() * SIZE*SIZE));\n let rand2 = Math.floor(Math.sqrt(Math.random() * SIZE*SIZE));\n let newDNA = crossover(cars[rand1].gens, cars[rand2].gens);\n newGens.push(newDNA);\n }\n \n // newGens.push(cars[SIZE - 1].gens);\n // newGens.push(cars[SIZE - 2].gens);\n // newGens.push(cars[SIZE - 3].gens);\n // newGens.push(cars[SIZE - 4].gens);\n // newGens.push(cars[SIZE - 5].gens);\n // newGens.push(randomDNA(32));\n // newGens.push(randomDNA(32));\n // newGens.push(randomDNA(32));\n // newGens.push(randomDNA(32));\n // newGens.push(randomDNA(32));\n \n for (var i=0; i\u003ccars.length; i++) {\n cars[i].gens = newGens[i];\n cars[i].reset(200, 50, 90)\n cars[i].score = 0;\n }\n});\n\nfunction crossover(a, b) {\n let dna = [];\n for (let i = 0; i \u003c a.length; i++) {\n dna[i] = Math.random() \u003e 0.5 ? a[i] : b[i];\n if (Math.random() \u003c 0.04) dna[i] = Math.random() * 0.2 - 0.1; // mutation\n }\n return dna;\n}\n\n\nfunction randomDNA(length) {\n let dna = [];\n dna.fitness = 0;\n for (let i = 0; i \u003c length; i++) dna.push(Math.random() * 0.2 - 0.1);\n return dna;\n}\n\n\nfunction sigmoid(x) {\n return (Math.exp(x) - Math.exp(-x)) / (Math.exp(x) + Math.exp(-x));\n}\n\n// input*6 hidden*4 output*2\nfunction NN(inputs, weights) {\n let w = weights;\n let i = inputs;\n let a = i[0]*w[0] + i[1]*w[1] + i[2] *w[2] + i[3]*w[3] + i[4]*w[4] + i[5]*w[5];\n let b = i[0]*w[6] + i[1]*w[7] + i[2] *w[8] + i[3]*w[9] + i[4]*w[10] + i[5]*w[11];\n let c = i[0]*w[12] + i[1]*w[13] + i[2] *w[14] + i[3]*w[15] + i[4]*w[16] + i[5]*w[17];\n let d = i[0]*w[18] + i[1]*w[19] + i[2] *w[20] + i[3]*w[21] + i[4]*w[22] + i[5]*w[23];\n\n a = sigmoid(a);\n b = sigmoid(b);\n c = sigmoid(c);\n d = sigmoid(d);\n\n let e = a*w[24] + b*w[25] + c*w[26] +d*w[27];\n let f = a*w[28] + b*w[29] + c*w[30] +d*w[31];\n\n e = sigmoid(e);\n f = sigmoid(f);\n return [e, f];\n}","created_at":"2018-11-14T17:52:43.864+08:00","updated_at":"2022-11-03T17:37:23.121+08:00","name":"self driving","language":"javascript","screenshot":{"url":"/uploads/project/screenshot/48722/272a3e997ab093ffd9429c2803b975d7.jpg"},"parent_id":2,"plugin":"let lines = [];\n\nforever(function(){\n lines.forEach(L =\u003e L.render());\n})\n\nfunction Point (x, y) {\n this.x = x || 0;\n this.y = y || 0;\n}\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 // y = ax + b;\n // a 斜率\n // b 常數\n this.update = function () {\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 的肉眼無法看出是否垂直\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) === Infinity) this.a = 1000;\n \n this.b = this.p1.y - this.p1.x*this.a;\n }\n this.update();\n let self = this;\n \n forever(function(){\n self.update();\n })\n\n this.touched = function (line) {\n \n if (line.calc(this.p1.x, this.p1.y) * line.calc(this.p2.x, this.p2.y) \u003e 0) return false;\n if (this.calc(line.p1.x, line.p1.y) * this.calc(line.p2.x, line.p2.y) \u003e 0) return false;\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 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 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 lines.push(this);\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 = 15; // 車體中心到四個角的距離\n let sensorLength = 1000; // 感測器的長度距離\n let friction = 0; // 摩擦力\n\n let center = createSprite('dot.jpg');\n center.x = x || 320;\n center.y = y || 240;\n center.speed = 0;\n center.status = 'pause'; // pause, running, broken\n\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 let a = center.a = new Point();\n let b = center.b = new Point();\n let c = center.c = new Point();\n let d = center.d = new Point();\n let e = center.e = new Point();\n center.censorPoints = [a, b, c, d, e];\n \n center.sensors = [\n new Line(center, a, 0, '#00000000'),\n new Line(center, b, 0, '#00000000'),\n new Line(center, c, 0, '#00000000'),\n new Line(center, d, 0, '#00000000'),\n new Line(center, e, 0, '#00000000'),\n ]\n \n center.sensorsData = [0, 0, 0, 0, 0];\n \n center.sensors.forEach((s) =\u003e s.length = Infinity);\n\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 center.updateLines = function () {\n for (var i=0; i\u003c4; i++) {\n this.border[i].update();\n }\n for (var i=0; i\u003c5; i++) {\n this.sensors[i].update();\n }\n }\n \n center.update = function () {\n \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 for (var i=0; i\u003c5; i++) {\n center.direction += 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 -= offset[i];\n }\n \n this.updateLines();\n };\n \n center.turn = function (direction) {\n if (this.status == 'broken') return;\n this.direction += direction;\n }\n \n center.speedUp = function (speed) {\n if (speed \u003e 0.1) speed =0.1; \n if (speed \u003c -0.1) speed = -0.1; \n this.speed += speed;\n this.speed -= friction;\n if (this.speed \u003c 1) this.speed = 1;\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.speed = 0;\n this.update();\n this.status = 'running';\n }\n \n forever(function () {\n if (center.status == 'running') {\n center.stepForward(center.speed); \n }\n \n center.update();\n });\n center.update();\n \n cars.push(center);\n return center;\n}\n\n\n\nlet outer = [\n {\"x\":114,\"y\":14},{\"x\":60,\"y\":17},{\"x\":18,\"y\":66},{\"x\":16,\"y\":136},\n {\"x\":17,\"y\":303},{\"x\":22,\"y\":446},{\"x\":57,\"y\":463},{\"x\":148,\"y\":458},\n {\"x\":216,\"y\":429},{\"x\":231,\"y\":354},{\"x\":234,\"y\":256},{\"x\":256,\"y\":220},\n {\"x\":311,\"y\":211},{\"x\":372,\"y\":228},{\"x\":374,\"y\":282},{\"x\":383,\"y\":357},\n {\"x\":376,\"y\":421},{\"x\":417,\"y\":458},{\"x\":559,\"y\":460},{\"x\":607,\"y\":432},\n {\"x\":617,\"y\":384},{\"x\":621,\"y\":285},{\"x\":617,\"y\":161},{\"x\":603,\"y\":70},\n {\"x\":552,\"y\":22},{\"x\":433,\"y\":9},{\"x\":323,\"y\":12},{\"x\":196,\"y\":11},{\"x\":114,\"y\":14}\n]\nlet inner =[ \n {\"x\":92,\"y\":76},{\"x\":73,\"y\":146},{\"x\":73,\"y\":220},{\"x\":72,\"y\":304},\n {\"x\":80,\"y\":381},{\"x\":116,\"y\":381},{\"x\":150,\"y\":350},{\"x\":167,\"y\":297},\n {\"x\":172,\"y\":229},{\"x\":178,\"y\":180},{\"x\":215,\"y\":128},{\"x\":296,\"y\":123},\n {\"x\":373,\"y\":122},{\"x\":425,\"y\":172},{\"x\":458,\"y\":217},{\"x\":461,\"y\":290},\n {\"x\":470,\"y\":358},{\"x\":486,\"y\":394},{\"x\":525,\"y\":386},{\"x\":540,\"y\":358},\n {\"x\":555,\"y\":306},{\"x\":557,\"y\":232},{\"x\":549,\"y\":160},{\"x\":528,\"y\":108},\n {\"x\":454,\"y\":78},{\"x\":362,\"y\":72},{\"x\":236,\"y\":70},{\"x\":152,\"y\":72},{\"x\":92,\"y\":76}\n]\n\nfor (var i=1; i\u003couter.length; i++) {\n let p1 = new Point(outer[i - 1].x, outer[i - 1].y);\n let p2 = new Point(outer[i].x, outer[i].y);\n let l =new Line(p1, p2, 3);\n walls.push(l)\n}\n\nfor (var i=1; i\u003cinner.length; i++) {\n let p1 = new Point(inner[i - 1].x, inner[i - 1].y);\n let p2 = new Point(inner[i].x, inner[i].y);\n let l = new Line(p1, p2, 3);\n walls.push(l);\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 \n for (var y=0; y\u003cwalls.length; y++) {\n let pos = car.sensors[x].touched(walls[y]);\n pen.color = 'blue'\n pen.drawCircle(pos.x, pos.y, 5);\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 car.sensorsData[x] = shortest;\n }\n }\n }\n });\n})\n","description":null,"note":null,"status":"public","like_student_ids":[],"is_featured":false,"views":467,"hashid":"meysggk6","is_content_changed":false,"review_status":"unsubmitted","submitted_at":null,"reviewed_at":null,"advise":null,"is_deleted":false}
[{"id":873735,"file_name":"dot.jpg","project_id":48722,"asset_id":96139,"created_at":"2018-11-14T22:21:21.913+08:00","updated_at":"2018-11-14T22:21:21.913+08:00"}]
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