class Dot:
def __init__(self, position, goalPosition, baby=False):
self.brain = Brain(400, baby)
self.dead = False
self.reachedGoal = False
self.fitness = 0
self.goalPosition = goalPosition
self.position = position
self.velocity = (0, 0)
self.acceleration = ()
self.color = (0, 0, 0)
def show(self, container):
pygame.draw.circle(container, self.color, self.position, 3)
def move(self, obstacles=[]):
if not self.dead and not self.reachedGoal:
self.acceleration = self.brain.getNextDirection()
if self.acceleration is None:
self.dead = True
else:
self.__updateVelocity()
self.__updatePosition(obstacles)
def calculateFitness(self):
if self.reachedGoal:
self.fitness = 1.0 / 16 + 1000 / (self.brain.step**2)
else:
distance = math.hypot((self.position[0] - self.goalPosition[0]),
(self.position[1] - self.goalPosition[1]))
if distance == 0:
distance = 1
self.fitness = 1.0 / (distance**2)
def getFitness(self):
return self.fitness
def gimmeBaby(self, position):
baby = Dot(position, self.goalPosition, True)
baby.brain = self.brain.clone()
return baby
def setColor(self, color):
self.color = color
def __updateVelocity(self):
vx = self.velocity[0] + self.acceleration[0]
vy = self.velocity[1] + self.acceleration[1]
if vx > 5:
vx = 5
if vy > 5:
vy = 5
self.velocity = (vx, vy)
def __updatePosition(self, obstacles=[]):
px = self.position[0] + self.velocity[0]
py = self.position[1] + self.velocity[1]
distance = math.hypot((px - self.goalPosition[0]),
(py - self.goalPosition[1]))
if distance < 6:
self.reachedGoal = True
else:
for obstacle in obstacles:
if obstacle.checkColision(px, py):
self.dead = True
if px < 0:
px = 0
self.dead = True
elif px > 800:
px = 800
self.dead = True
if py < 0:
py = 0
self.dead = True
elif py > 800:
py = 800
self.dead = True
self.position = (px, py)
class Dot:
def __init__(self):
self.brain = Brain(110)
self.pos = (main.WIDTH / 2, main.HEIGHT - 200)
self.vel = (0, 0)
self.acc = (0, 0)
self.dead = False
self.reachedGoal = False
self.fitness = 0
self.isBest = False
self.checkpointsReached = 0
self.checkpoints = []
def show(self):
if self.isBest:
dot = pygame.Rect(self.pos[0], self.pos[1], 8, 8)
pygame.draw.rect(main.WIN, main.GREEN, dot)
else:
dot = pygame.Rect(self.pos[0], self.pos[1], 4, 4)
pygame.draw.rect(main.WIN, main.YELLOW, dot)
def move(self):
if len(self.brain.directions) > self.brain.step:
self.acc = self.brain.directions[self.brain.step]
self.brain.step += 1
else:
self.dead = True
self.vel = np.add(self.vel, self.acc)
if self.vel[0] > 5:
self.vel[0] = 5
elif self.vel[0] < -5:
self.vel[0] = -5
if self.vel[1] > 5:
self.vel[1] = 5
elif self.vel[1] < -5:
self.vel[1] = -5
self.pos = np.add(self.vel, self.pos)
def update(self, obstacles, checkpoints):
if not self.dead and not self.reachedGoal:
self.move()
if self.pos[0] < 10 or self.pos[1] < 10 or self.pos[
0] > main.WIDTH - 10 or self.pos[1] > main.HEIGHT - 10:
self.dead = True
elif math.sqrt(((self.pos[0] - main.goal.center[0])**2) +
((self.pos[1] - main.goal.center[1])**2)) < 10:
self.reachedGoal = True
for obs in obstacles:
if obs.colliderect(pygame.Rect(self.pos[0], self.pos[1], 8,
8)):
self.dead = True
for check in checkpoints:
if check.colliderect(
pygame.Rect(self.pos[0], self.pos[1], 8,
8)) and check not in self.checkpoints:
self.checkpointsReached += 1
self.checkpoints.append(check)
def calculateFitness(self):
if self.reachedGoal:
self.fitness = 1.0 / 8.0 + 1000.0 / (self.brain.step *
self.brain.step)
else:
distanceToGoal = math.sqrt((
(self.pos[0] - main.goal.center[0])**2) + (
(self.pos[1] - main.goal.center[1])**2))
self.fitness = 1.0 / (distanceToGoal * distanceToGoal)
self.fitness += (self.checkpointsReached *
self.checkpointsReached) / 1000
def getBaby(self):
baby = Dot()
baby.brain = self.brain.clone()
return baby
class Dot(object):
def __init__(self, goal, screen, steps, pos=PVector(10, 10)):
self.screen = screen
width = screen[0]
height = screen[1]
self.pos = pos.copy()
self.startpos = pos.copy()
self.vel = PVector(0, 0)
self.acc = PVector(0, 0)
self.brain = Brain(steps)
self.radius = 2
self.color = (0, 0, 0)
self.dead = False
self.goal = goal
self.fitness = 0.0
self.reachedGoal = False
self.isBest = False
def getGenome(self):
genome = []
for i in self.brain.directions:
genome.append(PVector(i.x, i.y))
return genome
def show(self, surface):
if self.isBest:
circle(surface, (0, 255, 0), (int(self.pos.x), int(self.pos.y)),
self.radius * 4)
else:
circle(surface, self.color, (int(self.pos.x), int(self.pos.y)),
self.radius)
def move(self):
if self.brain.step < len(self.brain.directions):
self.acc = self.brain.directions[self.brain.step]
self.brain.step += 1
else:
self.dead = True
self.vel += self.acc
self.pos += self.vel
self.vel.limit(5)
def update(self, obstacles):
width = self.screen[0]
height = self.screen[1]
if not self.dead and not self.reachedGoal:
self.move()
for i in obstacles:
if i.isIn(self.pos):
self.dead = True
if self.pos.x < self.radius or self.pos.y < self.radius or self.pos.x > width - self.radius or self.pos.y > height - self.radius:
self.dead = True
elif dist(self.pos.x, self.pos.y, self.goal.x, self.goal.y) < 5:
self.reachedGoal = True
self.dead = True
def calculateFitness(self):
distanceToGoal = dist(self.pos.x, self.pos.y, self.goal.x, self.goal.y)
if self.reachedGoal:
self.fitness = 1.0 / 16.0 + 10000.0 / (self.brain.step**2)
else:
self.fitness = 1.0 / (distanceToGoal**2)
def gimmieBaby(self, newSteps, newPos):
baby = Dot(self.goal, self.screen, newSteps, newPos)
baby.brain = self.brain.clone()
if newSteps > len(self.brain.directions):
baby.brain.addSteps(newSteps - len(self.brain.directions))
if len(baby.brain.directions) > newSteps:
for i in range(len(baby.brain.directions) - newSteps):
baby.brain.directions.pop()
return baby
