finalizing the new steering example

shiffman · shiffman · commit 28be083f7b52 · 2023-08-16T14:03:23.000-04:00
diff --git a/examples/NeuroEvolution-steering/creature.js b/examples/NeuroEvolution-steering/creature.js
@@ -1,4 +1,4 @@
-class Vehicle {
+class Creature {
   constructor(x, y, brain) {
     this.position = createVector(x, y);
     this.velocity = createVector(0, 0);
@@ -11,44 +11,48 @@ class Vehicle {
       this.brain = brain;
     } else {
       this.brain = ml5.neuralNetwork({
-        inputs: 2,
+        inputs: 5,
         outputs: 2,
         task: "regression",
         neuroEvolution: true,
       });
     }
   }
 
-  eat(food) {
-    let d = p5.Vector.dist(this.position, food);
-    if (d < 10) {
-      this.fitness++;
-      target = createVector(random(width), random(height));
-    }
-  }
-
-  think(food) {
-    let v = p5.Vector.sub(food, this.position);
+  seek(target) {
+    let v = p5.Vector.sub(target.position, this.position);
+    let distance = v.mag();
     v.normalize();
-    let inputs = [v.x, v.y];
+    let inputs = [
+      v.x,
+      v.y,
+      distance / width,
+      this.velocity.x / this.maxspeed,
+      this.velocity.y / this.maxspeed,
+    ];
 
     // Predicting the force to apply
-    const outputs = this.brain.predictSync(inputs);
+    let outputs = this.brain.predictSync(inputs);
     let angle = outputs[0].value * TWO_PI;
     let magnitude = outputs[1].value;
     let force = p5.Vector.fromAngle(angle).setMag(magnitude);
     this.applyForce(force);
   }
 
   // Method to update location
-  update() {
+  update(target) {
     // Update velocity
     this.velocity.add(this.acceleration);
     // Limit speed
     this.velocity.limit(this.maxspeed);
     this.position.add(this.velocity);
     // Reset acceleration to 0 each cycle
     this.acceleration.mult(0);
+
+    let d = p5.Vector.dist(this.position, target.position);
+    if (d < this.r + target.r) {
+      this.fitness++;
+    }
   }
 
   applyForce(force) {
@@ -61,6 +65,7 @@ class Vehicle {
     let angle = this.velocity.heading();
     fill(127);
     stroke(0);
+    strokeWeight(1);
     push();
     translate(this.position.x, this.position.y);
     rotate(angle);
diff --git a/examples/NeuroEvolution-steering/glow.js b/examples/NeuroEvolution-steering/glow.js
@@ -0,0 +1,22 @@
+class Glow {
+  constructor() {
+    this.xoff = 0;
+    this.yoff = 1000;
+    this.position = createVector();
+    this.r = 24;
+  }
+
+  update() {
+    this.position.x = noise(this.xoff) * width;
+    this.position.y = noise(this.yoff) * height;
+    this.xoff += 0.01;
+    this.yoff += 0.01;
+  }
+
+  show() {
+    stroke(0);
+    strokeWeight(2);
+    fill(200);
+    circle(this.position.x, this.position.y, this.r * 2);
+  }
+}
diff --git a/examples/NeuroEvolution-steering/index.html b/examples/NeuroEvolution-steering/index.html
@@ -9,7 +9,8 @@
     <script src="../../dist/ml5.js"></script>
   </head>
   <body>
-    <script src="vehicle.js"></script>
+    <script src="glow.js"></script>
+    <script src="creature.js"></script>
     <script src="sketch.js"></script>
   </body>
 </html>
diff --git a/examples/NeuroEvolution-steering/sketch.js b/examples/NeuroEvolution-steering/sketch.js
@@ -1,79 +1,82 @@
-let vehicles = [];
+let creatures = [];
 let timeSlider;
-let lifetime = 0;
-let target;
+let lifeSpan = 250; // How long should each generation live
+let lifeCounter = 0; // Timer for cycle of generation
+let food;
+let generations = 0;
 
 function setup() {
   createCanvas(640, 240);
+  ml5.tf.setBackend("cpu");
   for (let i = 0; i < 50; i++) {
-    vehicles[i] = new Vehicle(random(width), random(height));
+    creatures[i] = new Creature(random(width), random(height));
   }
-  ml5.tf.setBackend("cpu");
-  target = createVector(random(width), random(height));
+  glow = new Glow();
   timeSlider = createSlider(1, 20, 1);
 }
 
 function draw() {
   background(255);
-  for (let i = 0; i < timeSlider.value(); i++) {
-    for (let v of vehicles) {
-      v.think(target);
-      v.eat(target);
-      v.update();
-    }
-    lifetime++;
-  }
 
-  for (let v of vehicles) {
-    v.show();
+  glow.update();
+  glow.show();
+
+  for (let creature of creatures) {
+    creature.show();
   }
 
-  fill(0, 0, 255, 150);
-  noStroke();
-  circle(target.x, target.y, 32);
+  for (let i = 0; i < timeSlider.value(); i++) {
+    for (let creature of creatures) {
+      creature.seek(glow);
+      creature.update(glow);
+    }
+    lifeCounter++;
+  }
 
-  if (lifetime > 500) {
+  if (lifeCounter > lifeSpan) {
     normalizeFitness();
     reproduction();
-    target = createVector(random(width), random(height));
-    lifetime = 0;
+    lifeCounter = 0;
+    generations++;
   }
   fill(0);
-  text(lifetime, 10, 30);
+  noStroke();
+  text("Generation #: " + generations, 10, 18);
+  text("Cycles left: " + (lifeSpan - lifeCounter), 10, 36);
 }
 
 function normalizeFitness() {
-  for (let v of vehicles) {
-    v.fitness = pow(2, v.fitness);
+  for (let creature of creatures) {
+    creature.fitness = pow(2, creature.fitness);
   }
   let sum = 0;
-  for (let v of vehicles) {
-    sum += v.fitness;
+  for (let creature of creatures) {
+    sum += creature.fitness;
   }
-  for (let v of vehicles) {
-    v.fitness = v.fitness / sum;
+  for (let creature of creatures) {
+    creature.fitness = creature.fitness / sum;
   }
 }
 
 function reproduction() {
-  let nextVehicles = [];
-  for (let i = 0; i < vehicles.length; i++) {
+  let nextCreatures = [];
+  for (let i = 0; i < creatures.length; i++) {
     let parentA = weightedSelection();
     let parentB = weightedSelection();
     let child = parentA.crossover(parentB);
     child.mutate(0.1);
-    nextVehicles[i] = new Vehicle(random(width), random(height), child);
+    nextCreatures[i] = new Creature(random(width), random(height), child);
   }
-  vehicles = nextVehicles;
+  creatures = nextCreatures;
 }
 
 function weightedSelection() {
   let index = 0;
   let start = random(1);
   while (start > 0) {
-    start = start - vehicles[index].fitness;
+    start = start - creatures[index].fitness;
     index++;
   }
   index--;
-  return vehicles[index].brain;
+  return creatures[index].brain;
 }
