car.js

class Car{
    constructor(x, y, width, height, type, 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.maxReverseSpeed = 1;
        this.friction = 0.05;
        this.angle = 0;
        this.damaged = false;

        this.useBrain = type == "AI";

        if (type != "DUMMY") {
            this.sensor = new Sensor(this);
            this.brain = new NeuralNetwork([this.sensor.rayCount,6,4]);
        }
        this.controls = new Controls(type);
    }

    update(roadBorders,traffic) {
        if (!this.damaged) {
            this.#move();
            this.polygon = this.#createPolygon();
            this.damaged = this.#assessDamage(roadBorders,traffic);
        }
        if (this.sensor) {
            this.sensor.update(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, roadBorders[i])) {
                return true;
            }
        }
        for (let i = 0; i < traffic.length; i++){
            if (polysIntersect(this.polygon, traffic[i].polygon)) {
                return true;
            }
        }
    }

    #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 > this.maxSpeed) {
            this.speed = this.maxSpeed;
        }
        if (this.speed < -this.maxReverseSpeed) {
            this.speed = -this.maxReverseSpeed;
        }
        if (this.speed != 0) {
            const flip = this.speed > 0 ? 1 : -1;
            this.speed -= this.friction * flip;
            if (this.controls.left) {
                this.angle += 0.03*flip;
            }
            if (this.controls.right) {
                this.angle -= 0.03*flip;
            }
        }
        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,color,drawSensor=false) {
        if (this.damaged) {
            ctx.fillStyle = "gray";
        } else {
            ctx.fillStyle = color;
        }
        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);
        }
    }
}