diff --git a/demo/dist/metacar.min.js b/demo/dist/metacar.min.js index 77d4573..9203f42 100644 --- a/demo/dist/metacar.min.js +++ b/demo/dist/metacar.min.js @@ -95,7 +95,7 @@ window["metacar"] = /***/ (function(module, __webpack_exports__, __webpack_require__) { "use strict"; -eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export (binding) */ __webpack_require__.d(__webpack_exports__, \"AssetManger\", function() { return AssetManger; });\n/* harmony import */ var _utils__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ./utils */ \"./src/utils.ts\");\n/* harmony import */ var _global__WEBPACK_IMPORTED_MODULE_1__ = __webpack_require__(/*! ./global */ \"./src/global.ts\");\n/* harmony import */ var _car__WEBPACK_IMPORTED_MODULE_2__ = __webpack_require__(/*! ./car */ \"./src/car.ts\");\n/* harmony import */ var _basic_motion_engine__WEBPACK_IMPORTED_MODULE_3__ = __webpack_require__(/*! ./basic_motion_engine */ \"./src/basic_motion_engine.ts\");\n/* harmony import */ var _control_motion_engine__WEBPACK_IMPORTED_MODULE_4__ = __webpack_require__(/*! ./control_motion_engine */ \"./src/control_motion_engine.ts\");\n/* harmony import */ var _bot_motion_engine__WEBPACK_IMPORTED_MODULE_5__ = __webpack_require__(/*! ./bot_motion_engine */ \"./src/bot_motion_engine.ts\");\n\n\n\n\n\n\n;\nvar AssetManger = (function () {\n function AssetManger(level) {\n this.assets = [];\n this.agentMotionEngine = _basic_motion_engine__WEBPACK_IMPORTED_MODULE_3__[\"BasicMotionEngine\"];\n this.agentMotionOptions = {};\n this.agentLidarInfo = {};\n this.level = level;\n this.motion = {\n \"BasicMotionEngine\": _basic_motion_engine__WEBPACK_IMPORTED_MODULE_3__[\"BasicMotionEngine\"],\n \"ControlMotionEngine\": _control_motion_engine__WEBPACK_IMPORTED_MODULE_4__[\"ControlMotionEngine\"]\n };\n }\n AssetManger.prototype.setAgentLidar = function (options) {\n this.agentLidarInfo = options;\n };\n AssetManger.prototype.setAgentMotion = function (motion, options) {\n this.agentMotionEngine = motion;\n this.agentMotionOptions = options;\n };\n AssetManger.prototype.createRoadSide = function (info, textures) {\n var x = (info.mx) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n var y = (info.my) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n var area = new _global__WEBPACK_IMPORTED_MODULE_1__[\"Graphics\"]();\n area.beginFill(0xe8e8e8);\n area.drawRoundedRect(0, 0, _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] + 30, _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] + 30, undefined);\n area.x = x - 15;\n area.y = y - 15;\n area.endFill();\n this.level.addChild(area);\n };\n AssetManger.prototype.createRoad = function (info, textures, arrow) {\n var _this = this;\n var road = new _global__WEBPACK_IMPORTED_MODULE_1__[\"Sprite\"](textures[_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[info.type].image]);\n road.arrow = arrow;\n road.x = (info.mx) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n road.y = (info.my) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n road.obstacle = false;\n road.mapId = _global__WEBPACK_IMPORTED_MODULE_1__[\"MAP\"].ROAD;\n road.orientation = _global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[info.type].orientation;\n road.setCarPosition = function (car, line) { return _this.setCarOnRoad(road, car, line); };\n road.cars = [];\n road.mx = info.mx;\n road.my = info.my;\n this.level.addRoad(road);\n };\n AssetManger.prototype.setCarOnRoad = function (road, car, line) {\n if (line == undefined)\n line = 0;\n var carById = this.level.findCarById(road.cars[0]);\n if (road.cars.length >= 1 && carById && carById.core.line == line) {\n line = line == 0 ? 1 : 0;\n }\n if (road.cars.length >= 2) {\n car.is_valid = false;\n return;\n }\n car.line = line;\n car.x = road.x;\n car.y = road.y;\n car.x += _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] / 2;\n car.y += _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] / 2;\n var x_margin = 0;\n var y_margin = (_global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] * 1 / 4);\n road.orientation = (Math.floor(road.orientation / car.rotationStep) * car.rotationStep);\n var th = -road.orientation * (Math.PI);\n var x_m = (Math.cos(th) * x_margin) - (y_margin * Math.sin(th));\n var y_m = (Math.cos(th) * y_margin) + (x_margin * Math.sin(th));\n var line_side_factor = line == 0 ? 1 : -1;\n var line_side_factor_t = line == 0 ? 0 : Math.PI;\n car.x += line_side_factor * Math.round(x_m);\n car.y += line_side_factor * Math.round(y_m);\n car.mx = Math.floor(car.x / _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"]);\n car.my = Math.floor(car.y / _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"]);\n car.rotation = (th + line_side_factor_t);\n car.checkAndsetNewRoad(road);\n };\n AssetManger.prototype.createAsset = function (img, info, textures, type) {\n var asset = new _global__WEBPACK_IMPORTED_MODULE_1__[\"Sprite\"](textures[img]);\n asset.obstacle = false;\n asset.type = type;\n asset.mapId = 0;\n asset.x = info.x;\n asset.y = info.y;\n this.level.addChild(asset);\n this.assets.push(asset);\n };\n AssetManger.prototype.createMap = function (map, info, textures, roadside) {\n if (roadside === void 0) { roadside = true; }\n if (roadside) {\n for (var my = 0; my < map.length; my++) {\n for (var mx = 0; mx < map[my].length; mx++) {\n if (_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[map[my][mx]]) {\n this.createRoadSide({ mx: mx, my: my, type: map[my][mx] }, textures);\n }\n }\n }\n }\n for (var my = 0; my < map.length; my++) {\n for (var mx = 0; mx < map[my].length; mx++) {\n if (_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[map[my][mx]]) {\n this.createRoad({ mx: mx, my: my, type: map[my][mx] }, textures, map[my][mx]);\n }\n }\n }\n for (var key in _global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"]) {\n if (key != \"ROADS\" && info[key]) {\n for (var a = 0; a < info[key].length; a++) {\n this.createAsset(_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"][key].image, info[key][a], textures, key);\n }\n }\n }\n };\n AssetManger.prototype.createCars = function (map, info, textures) {\n for (var c in info.cars) {\n var options = { lidar: true, lidarInfo: { pts: 2, width: 0.5, height: 1, pos: 1 } };\n options.lidar = true;\n options.motionEngine = new _bot_motion_engine__WEBPACK_IMPORTED_MODULE_5__[\"BotMotionEngine\"](this.level);\n var n_car = new _car__WEBPACK_IMPORTED_MODULE_2__[\"Car\"](this.level, info.cars[c], textures, options);\n this.level.addCar(n_car);\n }\n };\n AssetManger.prototype.createAgent = function (map, info, textures) {\n var agent = new _car__WEBPACK_IMPORTED_MODULE_2__[\"Car\"](this.level, info.agent, textures, {\n image: _global__WEBPACK_IMPORTED_MODULE_1__[\"CAR_IMG\"].AGENT,\n lidar: true,\n lidarInfo: this.agentLidarInfo,\n motionEngine: new this.agentMotionEngine(this.level, this.agentMotionOptions)\n });\n this.level.addChild(agent.lidar);\n this.level.addCar(agent);\n agent.core.agent = true;\n return agent;\n };\n AssetManger.prototype.addAsset = function (asset) {\n this.assets.push(asset);\n };\n AssetManger.prototype.exportMap = function (width, height, file_name, download) {\n var file = { \"cars\": [] };\n var map = [];\n var envs = this.level.getEnvs();\n for (var y = 0; y < height; y++) {\n var line = [];\n for (var x = 0; x < width; x++) {\n line.push(0);\n }\n map.push(line);\n }\n for (var e = 0; e < envs.length; e++) {\n var elem = envs[e];\n if (!elem.isremove) {\n if (elem.mapId == _global__WEBPACK_IMPORTED_MODULE_1__[\"MAP\"].CAR && !elem.agent && elem.my < height && elem.mx < width) {\n file.cars.push({\n \"mx\": elem.mx,\n \"my\": elem.my,\n \"line\": elem.line\n });\n }\n else if (elem.mapId == _global__WEBPACK_IMPORTED_MODULE_1__[\"MAP\"].ROAD && elem.my < height && elem.mx < width) {\n map[elem.my][elem.mx] = elem.arrow;\n }\n }\n }\n for (var e = 0; e < this.assets.length; e++) {\n var elem = this.assets[e];\n if (!elem.isremove) {\n if (elem.type != \"car\" && elem.type != \"agent\") {\n if (!file[elem.type])\n file[elem.type] = [];\n file[elem.type].push({\n \"x\": elem.x,\n \"y\": elem.y\n });\n }\n }\n }\n file.map = map;\n if (this.level.agent) {\n console.log(\"enter here to create egent....\");\n file.agent = {\n \"mx\": this.level.agent.core.mx,\n \"my\": this.level.agent.core.my,\n \"line\": this.level.agent.core.line,\n \"motion\": {\n \"type\": \"BasicMotionEngine\",\n \"options\": {\n \"rotationStep\": 0.5,\n \"actions\": [\"UP\", \"LEFT\", \"RIGHT\", \"DOWN\", \"WAIT\"]\n }\n }\n };\n }\n var fileCOntent = JSON.stringify(file, null, 4);\n if (download)\n _utils__WEBPACK_IMPORTED_MODULE_0__[\"saveAs\"](fileCOntent, file_name);\n return file;\n };\n return AssetManger;\n}());\n\n\n\n//# sourceURL=webpack://metacar/./src/asset_manager.ts?"); +eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export (binding) */ __webpack_require__.d(__webpack_exports__, \"AssetManger\", function() { return AssetManger; });\n/* harmony import */ var _utils__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ./utils */ \"./src/utils.ts\");\n/* harmony import */ var _global__WEBPACK_IMPORTED_MODULE_1__ = __webpack_require__(/*! ./global */ \"./src/global.ts\");\n/* harmony import */ var _car__WEBPACK_IMPORTED_MODULE_2__ = __webpack_require__(/*! ./car */ \"./src/car.ts\");\n/* harmony import */ var _basic_motion_engine__WEBPACK_IMPORTED_MODULE_3__ = __webpack_require__(/*! ./basic_motion_engine */ \"./src/basic_motion_engine.ts\");\n/* harmony import */ var _control_motion_engine__WEBPACK_IMPORTED_MODULE_4__ = __webpack_require__(/*! ./control_motion_engine */ \"./src/control_motion_engine.ts\");\n/* harmony import */ var _bot_motion_engine__WEBPACK_IMPORTED_MODULE_5__ = __webpack_require__(/*! ./bot_motion_engine */ \"./src/bot_motion_engine.ts\");\n\n\n\n\n\n\n;\nvar AssetManger = (function () {\n function AssetManger(level) {\n this.assets = [];\n this.agentMotionEngine = _basic_motion_engine__WEBPACK_IMPORTED_MODULE_3__[\"BasicMotionEngine\"];\n this.agentMotionOptions = {};\n this.agentLidarInfo = {};\n this.level = level;\n this.motion = {\n \"BasicMotionEngine\": _basic_motion_engine__WEBPACK_IMPORTED_MODULE_3__[\"BasicMotionEngine\"],\n \"ControlMotionEngine\": _control_motion_engine__WEBPACK_IMPORTED_MODULE_4__[\"ControlMotionEngine\"]\n };\n }\n AssetManger.prototype.setAgentLidar = function (options) {\n this.agentLidarInfo = options;\n };\n AssetManger.prototype.setAgentMotion = function (motion, options) {\n this.agentMotionEngine = motion;\n this.agentMotionOptions = options;\n };\n AssetManger.prototype.createRoadSide = function (info, textures) {\n var x = (info.mx) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n var y = (info.my) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n var area = new _global__WEBPACK_IMPORTED_MODULE_1__[\"Graphics\"]();\n area.beginFill(0xe8e8e8);\n area.drawRoundedRect(0, 0, _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] + 30, _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] + 30, undefined);\n area.x = x - 15;\n area.y = y - 15;\n area.endFill();\n this.level.addChild(area);\n };\n AssetManger.prototype.createRoad = function (info, textures, arrow) {\n var _this = this;\n var road = new _global__WEBPACK_IMPORTED_MODULE_1__[\"Sprite\"](textures[_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[info.type].image]);\n road.arrow = arrow;\n road.x = (info.mx) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n road.y = (info.my) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n road.obstacle = false;\n road.mapId = _global__WEBPACK_IMPORTED_MODULE_1__[\"MAP\"].ROAD;\n road.orientation = _global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[info.type].orientation;\n road.setCarPosition = function (car, line, force) {\n if (force === void 0) { force = false; }\n return _this.setCarOnRoad(road, car, line, force);\n };\n road.cars = [];\n road.mx = info.mx;\n road.my = info.my;\n this.level.addRoad(road);\n };\n AssetManger.prototype.setCarOnRoad = function (road, car, line, force) {\n if (force === void 0) { force = false; }\n if (line == undefined)\n line = 0;\n var carById = this.level.findCarById(road.cars[0]);\n if (!force && road.cars.length >= 1 && carById && carById.core.line == line) {\n line = line == 0 ? 1 : 0;\n }\n car.line = line;\n car.x = road.x;\n car.y = road.y;\n car.x += _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] / 2;\n car.y += _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] / 2;\n var x_margin = 0;\n var y_margin = (_global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] * 1 / 4);\n road.orientation = (Math.floor(road.orientation / car.rotationStep) * car.rotationStep);\n var th = -road.orientation * (Math.PI);\n var x_m = (Math.cos(th) * x_margin) - (y_margin * Math.sin(th));\n var y_m = (Math.cos(th) * y_margin) + (x_margin * Math.sin(th));\n var line_side_factor = line == 0 ? 1 : -1;\n var line_side_factor_t = line == 0 ? 0 : Math.PI;\n car.x += line_side_factor * Math.round(x_m);\n car.y += line_side_factor * Math.round(y_m);\n car.mx = Math.floor(car.x / _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"]);\n car.my = Math.floor(car.y / _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"]);\n car.rotation = (th + line_side_factor_t);\n car.checkAndsetNewRoad(road);\n };\n AssetManger.prototype.createAsset = function (img, info, textures, type) {\n var asset = new _global__WEBPACK_IMPORTED_MODULE_1__[\"Sprite\"](textures[img]);\n asset.obstacle = false;\n asset.type = type;\n asset.mapId = 0;\n asset.x = info.x;\n asset.y = info.y;\n this.level.addChild(asset);\n this.assets.push(asset);\n };\n AssetManger.prototype.createMap = function (map, info, textures, roadside) {\n if (roadside === void 0) { roadside = true; }\n if (roadside) {\n for (var my = 0; my < map.length; my++) {\n for (var mx = 0; mx < map[my].length; mx++) {\n if (_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[map[my][mx]]) {\n this.createRoadSide({ mx: mx, my: my, type: map[my][mx] }, textures);\n }\n }\n }\n }\n for (var my = 0; my < map.length; my++) {\n for (var mx = 0; mx < map[my].length; mx++) {\n if (_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[map[my][mx]]) {\n this.createRoad({ mx: mx, my: my, type: map[my][mx] }, textures, map[my][mx]);\n }\n }\n }\n for (var key in _global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"]) {\n if (key != \"ROADS\" && info[key]) {\n for (var a = 0; a < info[key].length; a++) {\n this.createAsset(_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"][key].image, info[key][a], textures, key);\n }\n }\n }\n };\n AssetManger.prototype.createCars = function (map, info, textures) {\n for (var c in info.cars) {\n var options = { lidar: true, lidarInfo: { pts: 2, width: 0.5, height: 1, pos: 1 } };\n options.lidar = true;\n options.motionEngine = new _bot_motion_engine__WEBPACK_IMPORTED_MODULE_5__[\"BotMotionEngine\"](this.level);\n var n_car = new _car__WEBPACK_IMPORTED_MODULE_2__[\"Car\"](this.level, info.cars[c], textures, options);\n this.level.addCar(n_car);\n }\n };\n AssetManger.prototype.createAgent = function (map, info, textures) {\n var agent = new _car__WEBPACK_IMPORTED_MODULE_2__[\"Car\"](this.level, info.agent, textures, {\n image: _global__WEBPACK_IMPORTED_MODULE_1__[\"CAR_IMG\"].AGENT,\n lidar: true,\n lidarInfo: this.agentLidarInfo,\n motionEngine: new this.agentMotionEngine(this.level, this.agentMotionOptions)\n });\n this.level.addChild(agent.lidar);\n this.level.addCar(agent);\n agent.core.agent = true;\n return agent;\n };\n AssetManger.prototype.addAsset = function (asset) {\n this.assets.push(asset);\n };\n AssetManger.prototype.exportMap = function (width, height, file_name, download) {\n var file = { \"cars\": [] };\n var map = [];\n var envs = this.level.getEnvs();\n for (var y = 0; y < height; y++) {\n var line = [];\n for (var x = 0; x < width; x++) {\n line.push(0);\n }\n map.push(line);\n }\n for (var e = 0; e < envs.length; e++) {\n var elem = envs[e];\n if (!elem.isremove) {\n if (elem.mapId == _global__WEBPACK_IMPORTED_MODULE_1__[\"MAP\"].CAR && !elem.agent && elem.my < height && elem.mx < width) {\n file.cars.push({\n \"mx\": elem.mx,\n \"my\": elem.my,\n \"line\": elem.line\n });\n }\n else if (elem.mapId == _global__WEBPACK_IMPORTED_MODULE_1__[\"MAP\"].ROAD && elem.my < height && elem.mx < width) {\n map[elem.my][elem.mx] = elem.arrow;\n }\n }\n }\n for (var e = 0; e < this.assets.length; e++) {\n var elem = this.assets[e];\n if (!elem.isremove) {\n if (elem.type != \"car\" && elem.type != \"agent\") {\n if (!file[elem.type])\n file[elem.type] = [];\n file[elem.type].push({\n \"x\": elem.x,\n \"y\": elem.y\n });\n }\n }\n }\n file.map = map;\n if (this.level.agent) {\n console.log(\"enter here to create egent....\");\n file.agent = {\n \"mx\": this.level.agent.core.mx,\n \"my\": this.level.agent.core.my,\n \"line\": this.level.agent.core.line,\n \"motion\": {\n \"type\": \"BasicMotionEngine\",\n \"options\": {\n \"rotationStep\": 0.5,\n \"actions\": [\"UP\", \"LEFT\", \"RIGHT\", \"DOWN\", \"WAIT\"]\n }\n }\n };\n }\n var fileCOntent = JSON.stringify(file, null, 4);\n if (download)\n _utils__WEBPACK_IMPORTED_MODULE_0__[\"saveAs\"](fileCOntent, file_name);\n return file;\n };\n return AssetManger;\n}());\n\n\n\n//# sourceURL=webpack://metacar/./src/asset_manager.ts?"); /***/ }), @@ -131,7 +131,7 @@ eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export (binding) * /***/ (function(module, __webpack_exports__, __webpack_require__) { "use strict"; -eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export (binding) */ __webpack_require__.d(__webpack_exports__, \"Car\", function() { return Car; });\n/* harmony import */ var _global__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ./global */ \"./src/global.ts\");\n\nvar Global_carId = 0;\nvar Car = (function () {\n function Car(level, info, textures, options) {\n if (options === void 0) { options = {}; }\n var _this = this;\n this.level = level;\n options.image = options.image || _global__WEBPACK_IMPORTED_MODULE_0__[\"CAR_IMG\"].DEFAULT;\n options.lidar = options.lidar || false;\n options.lidarInfo = options.lidarInfo || { pts: 5, width: 4, height: 5, pos: 0 };\n this.core = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Sprite\"](textures[options.image]);\n this.info = info;\n this.core.scale.x = 0.8;\n this.core.scale.y = 0.8;\n this.core.anchor.x = 0.5;\n this.core.anchor.y = 0.5;\n this.core.road = undefined;\n this.core.carId = Global_carId;\n Global_carId += 1;\n this.core.agent = false;\n this.core.obstacle = true;\n this.core.mapId = _global__WEBPACK_IMPORTED_MODULE_0__[\"MAP\"].CAR;\n if (options.lidar) {\n this.createLidar(options.lidarInfo);\n this.core.lidar = this.lidar;\n }\n if (options.motionEngine) {\n this.motion = options.motionEngine;\n this.motion.setUp(this.core, this.lidar);\n this.core.rotationStep = 0.5;\n }\n else {\n this.core.rotationStep = 0.5;\n }\n this.core.mx = this.info.mx;\n this.core.my = this.info.my;\n this.core.x = (this.info.mx) * _global__WEBPACK_IMPORTED_MODULE_0__[\"ROADSIZE\"];\n this.core.y = (this.info.my) * _global__WEBPACK_IMPORTED_MODULE_0__[\"ROADSIZE\"];\n this.core.checkAndsetNewRoad = function (road) { return _this.checkAndsetNewRoad(road); };\n var road = this.level.getRoad(this.core.my, this.core.mx);\n this.core.line = 0;\n if (road) {\n road.setCarPosition(this.core, this.info.line);\n }\n }\n Car.prototype.checkAndsetNewRoad = function (n_road) {\n var current_road = this.core.road;\n if (!n_road) {\n n_road = this.level.getRoad(this.core.my, this.core.mx);\n ;\n }\n if (n_road != current_road) {\n if (current_road) {\n current_road.cars.splice(current_road.cars.indexOf(this.core.carId), 1);\n }\n this.core.road = n_road;\n this.core.haveTurned = false;\n this.core.optionalTurn = false;\n this.turnedRandom = undefined;\n if (n_road)\n n_road.cars.push(this.core.carId);\n }\n };\n Car.prototype.reset = function () {\n this.core.mx = this.info.mx;\n this.core.my = this.info.my;\n var road = this.level.getRoad(this.core.my, this.core.mx);\n if (road) {\n road.setCarPosition(this.core, this.info.line);\n }\n };\n Car.prototype.getState = function (linear) {\n if (linear === void 0) { linear = false; }\n if (!linear)\n return this.motion.state.map(function (arr) { return arr.slice(); });\n else {\n var state_1 = [];\n this.motion.state.map(function (row) { state_1 = state_1.concat(row); });\n return state_1;\n }\n };\n Car.prototype.step = function (delta, action) {\n if (action === void 0) { action = null; }\n if (action == null) {\n var _a = this.motion.step(delta), agentCollisions = _a.agentCollisions, onRoad = _a.onRoad;\n }\n else {\n var _b = this.motion.actionStep(delta, action), agentCollisions = _b.agentCollisions, onRoad = _b.onRoad;\n }\n return { agentCollisions: agentCollisions, onRoad: onRoad };\n };\n Car.prototype.createLidar = function (lidarOptions) {\n lidarOptions.pts = lidarOptions.pts || 5;\n lidarOptions.width = lidarOptions.width || 4;\n lidarOptions.height = lidarOptions.height || 5;\n lidarOptions.pos = lidarOptions.pos || 0;\n this.lidar = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Container\"]();\n this.lidar.lidarPts = [];\n this.lidar.collisionPts = [];\n var area = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n area.pt = false;\n area.alpha = 0.3;\n area.beginFill(0x515151);\n area.drawRect(0, 0, this.core.width * lidarOptions.width, this.core.height * lidarOptions.height);\n area.endFill();\n var front = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n front.pt = false;\n front.alpha = 0;\n front.beginFill(0x510000);\n front.drawRect(this.core.width - 5, area.height / 2, 3, 3);\n front.endFill();\n var back = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n back.pt = false;\n back.alpha = 0;\n back.beginFill(0x510000);\n back.drawRect(-1, area.height / 2 - 2, 3, 3);\n back.endFill();\n var left = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n left.pt = false;\n left.alpha = 0;\n left.beginFill(0x510000);\n left.drawRect(this.core.width / 2, area.height / 2 - this.core.height / 2 + 5, 3, 3);\n left.endFill();\n var right = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n right.pt = false;\n right.alpha = 0;\n right.beginFill(0x510000);\n right.drawRect(this.core.width / 2, area.height / 2 + this.core.height / 2 - 8, 3, 3);\n right.endFill();\n back.x -= (lidarOptions.pos * this.core.width);\n front.x -= (lidarOptions.pos * this.core.width);\n right.x -= (lidarOptions.pos * this.core.width);\n left.x -= (lidarOptions.pos * this.core.width);\n var x_step = area.width / lidarOptions.pts;\n var y_step = area.height / lidarOptions.pts;\n for (var xs = lidarOptions.pts - 1; xs >= 0; xs--) {\n for (var ys = 0; ys < lidarOptions.pts; ys++) {\n var x = (x_step / 4) + xs * x_step;\n var y = (y_step / 4) + ys * y_step;\n var pt = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n pt.pt = true;\n pt.beginFill(0xffffff);\n pt.drawRect(x, y, 5, 5);\n pt.endFill();\n this.lidar.addChild(pt);\n this.lidar.lidarPts.push(pt);\n }\n }\n this.lidar.pts = lidarOptions.pts;\n this.lidar.addChild(area);\n this.lidar.addChild(front);\n this.lidar.addChild(back);\n this.lidar.addChild(left);\n this.lidar.addChild(right);\n this.lidar.collisionPts.push(front);\n this.lidar.collisionPts.push(back);\n this.lidar.collisionPts.push(left);\n this.lidar.collisionPts.push(right);\n this.lidar.x = this.core.x;\n this.lidar.y = this.core.y;\n this.lidar.pivot.y = this.lidar.height / 2;\n this.lidar.pivot.x = this.core.width / 2 - (lidarOptions.pos * this.core.width);\n this.lidar.rotation = this.core.rotation;\n };\n return Car;\n}());\n\n\n\n//# sourceURL=webpack://metacar/./src/car.ts?"); +eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export (binding) */ __webpack_require__.d(__webpack_exports__, \"Car\", function() { return Car; });\n/* harmony import */ var _global__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ./global */ \"./src/global.ts\");\n\nvar Global_carId = 0;\nvar Car = (function () {\n function Car(level, info, textures, options) {\n if (options === void 0) { options = {}; }\n var _this = this;\n this.level = level;\n options.image = options.image || _global__WEBPACK_IMPORTED_MODULE_0__[\"CAR_IMG\"].DEFAULT;\n options.lidar = options.lidar || false;\n options.lidarInfo = options.lidarInfo || { pts: 5, width: 4, height: 5, pos: 0 };\n this.core = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Sprite\"](textures[options.image]);\n this.info = info;\n this.core.scale.x = 0.8;\n this.core.scale.y = 0.8;\n this.core.anchor.x = 0.5;\n this.core.anchor.y = 0.5;\n this.core.road = undefined;\n this.core.carId = Global_carId;\n Global_carId += 1;\n this.core.agent = false;\n this.core.obstacle = true;\n this.core.mapId = _global__WEBPACK_IMPORTED_MODULE_0__[\"MAP\"].CAR;\n if (options.lidar) {\n this.createLidar(options.lidarInfo);\n this.core.lidar = this.lidar;\n }\n if (options.motionEngine) {\n this.motion = options.motionEngine;\n this.motion.setUp(this.core, this.lidar);\n this.core.rotationStep = 0.5;\n }\n else {\n this.core.rotationStep = 0.5;\n }\n this.core.mx = this.info.mx;\n this.core.my = this.info.my;\n this.core.x = (this.info.mx) * _global__WEBPACK_IMPORTED_MODULE_0__[\"ROADSIZE\"];\n this.core.y = (this.info.my) * _global__WEBPACK_IMPORTED_MODULE_0__[\"ROADSIZE\"];\n this.core.checkAndsetNewRoad = function (road) { return _this.checkAndsetNewRoad(road); };\n var road = this.level.getRoad(this.core.my, this.core.mx);\n this.core.line = 0;\n if (road) {\n road.setCarPosition(this.core, this.info.line);\n }\n }\n Car.prototype.checkAndsetNewRoad = function (n_road) {\n var current_road = this.core.road;\n if (!n_road) {\n n_road = this.level.getRoad(this.core.my, this.core.mx);\n ;\n }\n if (n_road != current_road) {\n if (current_road) {\n current_road.cars.splice(current_road.cars.indexOf(this.core.carId), 1);\n }\n this.core.road = n_road;\n this.core.haveTurned = false;\n this.core.optionalTurn = false;\n this.turnedRandom = undefined;\n if (n_road)\n n_road.cars.push(this.core.carId);\n }\n };\n Car.prototype.reset = function () {\n this.core.mx = this.info.mx;\n this.core.my = this.info.my;\n var road = this.level.getRoad(this.core.my, this.core.mx);\n if (road) {\n road.setCarPosition(this.core, this.info.line, true);\n }\n };\n Car.prototype.getState = function (linear) {\n if (linear === void 0) { linear = false; }\n if (!linear)\n return this.motion.state.map(function (arr) { return arr.slice(); });\n else {\n var state_1 = [];\n this.motion.state.map(function (row) { state_1 = state_1.concat(row); });\n return state_1;\n }\n };\n Car.prototype.step = function (delta, action) {\n if (action === void 0) { action = null; }\n if (action == null) {\n var _a = this.motion.step(delta), agentCollisions = _a.agentCollisions, onRoad = _a.onRoad;\n }\n else {\n var _b = this.motion.actionStep(delta, action), agentCollisions = _b.agentCollisions, onRoad = _b.onRoad;\n }\n return { agentCollisions: agentCollisions, onRoad: onRoad };\n };\n Car.prototype.createLidar = function (lidarOptions) {\n lidarOptions.pts = lidarOptions.pts || 5;\n lidarOptions.width = lidarOptions.width || 4;\n lidarOptions.height = lidarOptions.height || 5;\n lidarOptions.pos = lidarOptions.pos || 0;\n this.lidar = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Container\"]();\n this.lidar.lidarPts = [];\n this.lidar.collisionPts = [];\n var area = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n area.pt = false;\n area.alpha = 0.3;\n area.beginFill(0x515151);\n area.drawRect(0, 0, this.core.width * lidarOptions.width, this.core.height * lidarOptions.height);\n area.endFill();\n var front = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n front.pt = false;\n front.alpha = 0;\n front.beginFill(0x510000);\n front.drawRect(this.core.width - 5, area.height / 2, 3, 3);\n front.endFill();\n var back = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n back.pt = false;\n back.alpha = 0;\n back.beginFill(0x510000);\n back.drawRect(-1, area.height / 2 - 2, 3, 3);\n back.endFill();\n var left = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n left.pt = false;\n left.alpha = 0;\n left.beginFill(0x510000);\n left.drawRect(this.core.width / 2, area.height / 2 - this.core.height / 2 + 5, 3, 3);\n left.endFill();\n var right = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n right.pt = false;\n right.alpha = 0;\n right.beginFill(0x510000);\n right.drawRect(this.core.width / 2, area.height / 2 + this.core.height / 2 - 8, 3, 3);\n right.endFill();\n back.x -= (lidarOptions.pos * this.core.width);\n front.x -= (lidarOptions.pos * this.core.width);\n right.x -= (lidarOptions.pos * this.core.width);\n left.x -= (lidarOptions.pos * this.core.width);\n var x_step = area.width / lidarOptions.pts;\n var y_step = area.height / lidarOptions.pts;\n for (var xs = lidarOptions.pts - 1; xs >= 0; xs--) {\n for (var ys = 0; ys < lidarOptions.pts; ys++) {\n var x = (x_step / 4) + xs * x_step;\n var y = (y_step / 4) + ys * y_step;\n var pt = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n pt.pt = true;\n pt.beginFill(0xffffff);\n pt.drawRect(x, y, 5, 5);\n pt.endFill();\n this.lidar.addChild(pt);\n this.lidar.lidarPts.push(pt);\n }\n }\n this.lidar.pts = lidarOptions.pts;\n this.lidar.addChild(area);\n this.lidar.addChild(front);\n this.lidar.addChild(back);\n this.lidar.addChild(left);\n this.lidar.addChild(right);\n this.lidar.collisionPts.push(front);\n this.lidar.collisionPts.push(back);\n this.lidar.collisionPts.push(left);\n this.lidar.collisionPts.push(right);\n this.lidar.x = this.core.x;\n this.lidar.y = this.core.y;\n this.lidar.pivot.y = this.lidar.height / 2;\n this.lidar.pivot.x = this.core.width / 2 - (lidarOptions.pos * this.core.width);\n this.lidar.rotation = this.core.rotation;\n };\n return Car;\n}());\n\n\n\n//# sourceURL=webpack://metacar/./src/car.ts?"); /***/ }), @@ -239,7 +239,7 @@ eval("__webpack_require__.r(__webpack_exports__);\n/* harmony import */ var _met /***/ (function(module, __webpack_exports__, __webpack_require__) { "use strict"; -eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export (binding) */ __webpack_require__.d(__webpack_exports__, \"Level\", function() { return Level; });\n/* harmony import */ var _global__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ./global */ \"./src/global.ts\");\n/* harmony import */ var _asset_manager__WEBPACK_IMPORTED_MODULE_1__ = __webpack_require__(/*! ./asset_manager */ \"./src/asset_manager.ts\");\n/* harmony import */ var _world__WEBPACK_IMPORTED_MODULE_2__ = __webpack_require__(/*! ./world */ \"./src/world.ts\");\nvar __extends = (undefined && undefined.__extends) || (function () {\n var extendStatics = Object.setPrototypeOf ||\n ({ __proto__: [] } instanceof Array && function (d, b) { d.__proto__ = b; }) ||\n function (d, b) { for (var p in b) if (b.hasOwnProperty(p)) d[p] = b[p]; };\n return function (d, b) {\n extendStatics(d, b);\n function __() { this.constructor = d; }\n d.prototype = b === null ? Object.create(b) : (__.prototype = b.prototype, new __());\n };\n})();\n\n\n\nvar Level = (function (_super) {\n __extends(Level, _super);\n function Level(levelContent, canvasId) {\n var _this = _super.call(this, levelContent, canvasId) || this;\n _this.isCarsMoving = true;\n _this.map = _this.info.map;\n _this.am = new _asset_manager__WEBPACK_IMPORTED_MODULE_1__[\"AssetManger\"](_this);\n return _this;\n }\n Level.prototype.carsMoving = function (moving) {\n this.isCarsMoving = moving;\n };\n Level.prototype.setAgentMotion = function (motion, options) {\n this.am.setAgentMotion(motion, options);\n };\n Level.prototype.setAgentLidar = function (options) {\n this.am.setAgentLidar(options);\n };\n Level.prototype._setup = function (info) {\n var _this = this;\n var textures = _global__WEBPACK_IMPORTED_MODULE_0__[\"Loader\"].resources[_global__WEBPACK_IMPORTED_MODULE_0__[\"JSON_TEXTURES\"]].textures;\n this.am.createMap(this.map, info, textures);\n this.am.createCars(this.map, info, textures);\n if (info.agent)\n this.agent = this.am.createAgent(this.map, info, textures);\n this.app.ticker.add(function (delta) { return _this.loop(delta); });\n };\n Level.prototype.reset = function () {\n this.agent.reset();\n };\n Level.prototype.setReward = function (agent_col, on_road, action) {\n var reward = -0.1;\n if (action == 0 || this.agent.core.v == 1)\n reward += 0.5;\n if (agent_col.length > 0) {\n console.log(\"collision!\");\n reward = -10;\n }\n else if (!on_road) {\n console.log(\"out\");\n reward = -10;\n }\n return reward;\n };\n Level.prototype.step = function (delta, action) {\n if (action === void 0) { action = null; }\n for (var c = 0; c < this.cars.length; c++) {\n if (this.cars[c].lidar && !this.cars[c].core.agent)\n this.cars[c].step(delta);\n }\n if (this.agent) {\n var _a = this.agent.step(delta, action), agentCollisions = _a.agentCollisions, onRoad = _a.onRoad;\n var reward = this.setReward(agentCollisions, onRoad, action);\n return reward;\n }\n return 0;\n };\n Level.prototype.stopRender = function () {\n this.app.ticker.stop();\n };\n return Level;\n}(_world__WEBPACK_IMPORTED_MODULE_2__[\"World\"]));\n\n\n\n//# sourceURL=webpack://metacar/./src/level.ts?"); +eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export (binding) */ __webpack_require__.d(__webpack_exports__, \"Level\", function() { return Level; });\n/* harmony import */ var _global__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ./global */ \"./src/global.ts\");\n/* harmony import */ var _asset_manager__WEBPACK_IMPORTED_MODULE_1__ = __webpack_require__(/*! ./asset_manager */ \"./src/asset_manager.ts\");\n/* harmony import */ var _world__WEBPACK_IMPORTED_MODULE_2__ = __webpack_require__(/*! ./world */ \"./src/world.ts\");\nvar __extends = (undefined && undefined.__extends) || (function () {\n var extendStatics = Object.setPrototypeOf ||\n ({ __proto__: [] } instanceof Array && function (d, b) { d.__proto__ = b; }) ||\n function (d, b) { for (var p in b) if (b.hasOwnProperty(p)) d[p] = b[p]; };\n return function (d, b) {\n extendStatics(d, b);\n function __() { this.constructor = d; }\n d.prototype = b === null ? Object.create(b) : (__.prototype = b.prototype, new __());\n };\n})();\n\n\n\nvar Level = (function (_super) {\n __extends(Level, _super);\n function Level(levelContent, canvasId) {\n var _this = _super.call(this, levelContent, canvasId) || this;\n _this.isCarsMoving = true;\n _this.map = _this.info.map;\n _this.am = new _asset_manager__WEBPACK_IMPORTED_MODULE_1__[\"AssetManger\"](_this);\n return _this;\n }\n Level.prototype.carsMoving = function (moving) {\n this.isCarsMoving = moving;\n };\n Level.prototype.setAgentMotion = function (motion, options) {\n this.am.setAgentMotion(motion, options);\n };\n Level.prototype.setAgentLidar = function (options) {\n this.am.setAgentLidar(options);\n };\n Level.prototype._setup = function (info) {\n var _this = this;\n var textures = _global__WEBPACK_IMPORTED_MODULE_0__[\"Loader\"].resources[_global__WEBPACK_IMPORTED_MODULE_0__[\"JSON_TEXTURES\"]].textures;\n this.am.createMap(this.map, info, textures);\n this.am.createCars(this.map, info, textures);\n if (info.agent)\n this.agent = this.am.createAgent(this.map, info, textures);\n this.app.ticker.add(function (delta) { return _this.loop(delta); });\n };\n Level.prototype.reset = function () {\n this.agent.reset();\n for (var c = 0; c < this.cars.length; c++) {\n this.cars[c].reset();\n }\n };\n Level.prototype.setReward = function (agent_col, on_road, action) {\n var reward = -0.1;\n if (action == 0 || this.agent.core.v == 1)\n reward += 0.5;\n if (agent_col.length > 0) {\n console.log(\"collision!\");\n reward = -10;\n }\n else if (!on_road) {\n console.log(\"out\");\n reward = -10;\n }\n return reward;\n };\n Level.prototype.step = function (delta, action) {\n if (action === void 0) { action = null; }\n for (var c = 0; c < this.cars.length; c++) {\n if (this.cars[c].lidar && !this.cars[c].core.agent)\n this.cars[c].step(delta);\n }\n if (this.agent) {\n var _a = this.agent.step(delta, action), agentCollisions = _a.agentCollisions, onRoad = _a.onRoad;\n var reward = this.setReward(agentCollisions, onRoad, action);\n return reward;\n }\n return 0;\n };\n Level.prototype.stopRender = function () {\n this.app.ticker.stop();\n };\n return Level;\n}(_world__WEBPACK_IMPORTED_MODULE_2__[\"World\"]));\n\n\n\n//# sourceURL=webpack://metacar/./src/level.ts?"); /***/ }), diff --git a/dist/metacar.min.js b/dist/metacar.min.js index 77d4573..9203f42 100644 --- a/dist/metacar.min.js +++ b/dist/metacar.min.js @@ -95,7 +95,7 @@ window["metacar"] = /***/ (function(module, __webpack_exports__, __webpack_require__) { "use strict"; -eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export (binding) */ __webpack_require__.d(__webpack_exports__, \"AssetManger\", function() { return AssetManger; });\n/* harmony import */ var _utils__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ./utils */ \"./src/utils.ts\");\n/* harmony import */ var _global__WEBPACK_IMPORTED_MODULE_1__ = __webpack_require__(/*! ./global */ \"./src/global.ts\");\n/* harmony import */ var _car__WEBPACK_IMPORTED_MODULE_2__ = __webpack_require__(/*! ./car */ \"./src/car.ts\");\n/* harmony import */ var _basic_motion_engine__WEBPACK_IMPORTED_MODULE_3__ = __webpack_require__(/*! ./basic_motion_engine */ \"./src/basic_motion_engine.ts\");\n/* harmony import */ var _control_motion_engine__WEBPACK_IMPORTED_MODULE_4__ = __webpack_require__(/*! ./control_motion_engine */ \"./src/control_motion_engine.ts\");\n/* harmony import */ var _bot_motion_engine__WEBPACK_IMPORTED_MODULE_5__ = __webpack_require__(/*! ./bot_motion_engine */ \"./src/bot_motion_engine.ts\");\n\n\n\n\n\n\n;\nvar AssetManger = (function () {\n function AssetManger(level) {\n this.assets = [];\n this.agentMotionEngine = _basic_motion_engine__WEBPACK_IMPORTED_MODULE_3__[\"BasicMotionEngine\"];\n this.agentMotionOptions = {};\n this.agentLidarInfo = {};\n this.level = level;\n this.motion = {\n \"BasicMotionEngine\": _basic_motion_engine__WEBPACK_IMPORTED_MODULE_3__[\"BasicMotionEngine\"],\n \"ControlMotionEngine\": _control_motion_engine__WEBPACK_IMPORTED_MODULE_4__[\"ControlMotionEngine\"]\n };\n }\n AssetManger.prototype.setAgentLidar = function (options) {\n this.agentLidarInfo = options;\n };\n AssetManger.prototype.setAgentMotion = function (motion, options) {\n this.agentMotionEngine = motion;\n this.agentMotionOptions = options;\n };\n AssetManger.prototype.createRoadSide = function (info, textures) {\n var x = (info.mx) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n var y = (info.my) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n var area = new _global__WEBPACK_IMPORTED_MODULE_1__[\"Graphics\"]();\n area.beginFill(0xe8e8e8);\n area.drawRoundedRect(0, 0, _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] + 30, _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] + 30, undefined);\n area.x = x - 15;\n area.y = y - 15;\n area.endFill();\n this.level.addChild(area);\n };\n AssetManger.prototype.createRoad = function (info, textures, arrow) {\n var _this = this;\n var road = new _global__WEBPACK_IMPORTED_MODULE_1__[\"Sprite\"](textures[_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[info.type].image]);\n road.arrow = arrow;\n road.x = (info.mx) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n road.y = (info.my) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n road.obstacle = false;\n road.mapId = _global__WEBPACK_IMPORTED_MODULE_1__[\"MAP\"].ROAD;\n road.orientation = _global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[info.type].orientation;\n road.setCarPosition = function (car, line) { return _this.setCarOnRoad(road, car, line); };\n road.cars = [];\n road.mx = info.mx;\n road.my = info.my;\n this.level.addRoad(road);\n };\n AssetManger.prototype.setCarOnRoad = function (road, car, line) {\n if (line == undefined)\n line = 0;\n var carById = this.level.findCarById(road.cars[0]);\n if (road.cars.length >= 1 && carById && carById.core.line == line) {\n line = line == 0 ? 1 : 0;\n }\n if (road.cars.length >= 2) {\n car.is_valid = false;\n return;\n }\n car.line = line;\n car.x = road.x;\n car.y = road.y;\n car.x += _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] / 2;\n car.y += _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] / 2;\n var x_margin = 0;\n var y_margin = (_global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] * 1 / 4);\n road.orientation = (Math.floor(road.orientation / car.rotationStep) * car.rotationStep);\n var th = -road.orientation * (Math.PI);\n var x_m = (Math.cos(th) * x_margin) - (y_margin * Math.sin(th));\n var y_m = (Math.cos(th) * y_margin) + (x_margin * Math.sin(th));\n var line_side_factor = line == 0 ? 1 : -1;\n var line_side_factor_t = line == 0 ? 0 : Math.PI;\n car.x += line_side_factor * Math.round(x_m);\n car.y += line_side_factor * Math.round(y_m);\n car.mx = Math.floor(car.x / _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"]);\n car.my = Math.floor(car.y / _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"]);\n car.rotation = (th + line_side_factor_t);\n car.checkAndsetNewRoad(road);\n };\n AssetManger.prototype.createAsset = function (img, info, textures, type) {\n var asset = new _global__WEBPACK_IMPORTED_MODULE_1__[\"Sprite\"](textures[img]);\n asset.obstacle = false;\n asset.type = type;\n asset.mapId = 0;\n asset.x = info.x;\n asset.y = info.y;\n this.level.addChild(asset);\n this.assets.push(asset);\n };\n AssetManger.prototype.createMap = function (map, info, textures, roadside) {\n if (roadside === void 0) { roadside = true; }\n if (roadside) {\n for (var my = 0; my < map.length; my++) {\n for (var mx = 0; mx < map[my].length; mx++) {\n if (_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[map[my][mx]]) {\n this.createRoadSide({ mx: mx, my: my, type: map[my][mx] }, textures);\n }\n }\n }\n }\n for (var my = 0; my < map.length; my++) {\n for (var mx = 0; mx < map[my].length; mx++) {\n if (_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[map[my][mx]]) {\n this.createRoad({ mx: mx, my: my, type: map[my][mx] }, textures, map[my][mx]);\n }\n }\n }\n for (var key in _global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"]) {\n if (key != \"ROADS\" && info[key]) {\n for (var a = 0; a < info[key].length; a++) {\n this.createAsset(_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"][key].image, info[key][a], textures, key);\n }\n }\n }\n };\n AssetManger.prototype.createCars = function (map, info, textures) {\n for (var c in info.cars) {\n var options = { lidar: true, lidarInfo: { pts: 2, width: 0.5, height: 1, pos: 1 } };\n options.lidar = true;\n options.motionEngine = new _bot_motion_engine__WEBPACK_IMPORTED_MODULE_5__[\"BotMotionEngine\"](this.level);\n var n_car = new _car__WEBPACK_IMPORTED_MODULE_2__[\"Car\"](this.level, info.cars[c], textures, options);\n this.level.addCar(n_car);\n }\n };\n AssetManger.prototype.createAgent = function (map, info, textures) {\n var agent = new _car__WEBPACK_IMPORTED_MODULE_2__[\"Car\"](this.level, info.agent, textures, {\n image: _global__WEBPACK_IMPORTED_MODULE_1__[\"CAR_IMG\"].AGENT,\n lidar: true,\n lidarInfo: this.agentLidarInfo,\n motionEngine: new this.agentMotionEngine(this.level, this.agentMotionOptions)\n });\n this.level.addChild(agent.lidar);\n this.level.addCar(agent);\n agent.core.agent = true;\n return agent;\n };\n AssetManger.prototype.addAsset = function (asset) {\n this.assets.push(asset);\n };\n AssetManger.prototype.exportMap = function (width, height, file_name, download) {\n var file = { \"cars\": [] };\n var map = [];\n var envs = this.level.getEnvs();\n for (var y = 0; y < height; y++) {\n var line = [];\n for (var x = 0; x < width; x++) {\n line.push(0);\n }\n map.push(line);\n }\n for (var e = 0; e < envs.length; e++) {\n var elem = envs[e];\n if (!elem.isremove) {\n if (elem.mapId == _global__WEBPACK_IMPORTED_MODULE_1__[\"MAP\"].CAR && !elem.agent && elem.my < height && elem.mx < width) {\n file.cars.push({\n \"mx\": elem.mx,\n \"my\": elem.my,\n \"line\": elem.line\n });\n }\n else if (elem.mapId == _global__WEBPACK_IMPORTED_MODULE_1__[\"MAP\"].ROAD && elem.my < height && elem.mx < width) {\n map[elem.my][elem.mx] = elem.arrow;\n }\n }\n }\n for (var e = 0; e < this.assets.length; e++) {\n var elem = this.assets[e];\n if (!elem.isremove) {\n if (elem.type != \"car\" && elem.type != \"agent\") {\n if (!file[elem.type])\n file[elem.type] = [];\n file[elem.type].push({\n \"x\": elem.x,\n \"y\": elem.y\n });\n }\n }\n }\n file.map = map;\n if (this.level.agent) {\n console.log(\"enter here to create egent....\");\n file.agent = {\n \"mx\": this.level.agent.core.mx,\n \"my\": this.level.agent.core.my,\n \"line\": this.level.agent.core.line,\n \"motion\": {\n \"type\": \"BasicMotionEngine\",\n \"options\": {\n \"rotationStep\": 0.5,\n \"actions\": [\"UP\", \"LEFT\", \"RIGHT\", \"DOWN\", \"WAIT\"]\n }\n }\n };\n }\n var fileCOntent = JSON.stringify(file, null, 4);\n if (download)\n _utils__WEBPACK_IMPORTED_MODULE_0__[\"saveAs\"](fileCOntent, file_name);\n return file;\n };\n return AssetManger;\n}());\n\n\n\n//# sourceURL=webpack://metacar/./src/asset_manager.ts?"); +eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export (binding) */ __webpack_require__.d(__webpack_exports__, \"AssetManger\", function() { return AssetManger; });\n/* harmony import */ var _utils__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ./utils */ \"./src/utils.ts\");\n/* harmony import */ var _global__WEBPACK_IMPORTED_MODULE_1__ = __webpack_require__(/*! ./global */ \"./src/global.ts\");\n/* harmony import */ var _car__WEBPACK_IMPORTED_MODULE_2__ = __webpack_require__(/*! ./car */ \"./src/car.ts\");\n/* harmony import */ var _basic_motion_engine__WEBPACK_IMPORTED_MODULE_3__ = __webpack_require__(/*! ./basic_motion_engine */ \"./src/basic_motion_engine.ts\");\n/* harmony import */ var _control_motion_engine__WEBPACK_IMPORTED_MODULE_4__ = __webpack_require__(/*! ./control_motion_engine */ \"./src/control_motion_engine.ts\");\n/* harmony import */ var _bot_motion_engine__WEBPACK_IMPORTED_MODULE_5__ = __webpack_require__(/*! ./bot_motion_engine */ \"./src/bot_motion_engine.ts\");\n\n\n\n\n\n\n;\nvar AssetManger = (function () {\n function AssetManger(level) {\n this.assets = [];\n this.agentMotionEngine = _basic_motion_engine__WEBPACK_IMPORTED_MODULE_3__[\"BasicMotionEngine\"];\n this.agentMotionOptions = {};\n this.agentLidarInfo = {};\n this.level = level;\n this.motion = {\n \"BasicMotionEngine\": _basic_motion_engine__WEBPACK_IMPORTED_MODULE_3__[\"BasicMotionEngine\"],\n \"ControlMotionEngine\": _control_motion_engine__WEBPACK_IMPORTED_MODULE_4__[\"ControlMotionEngine\"]\n };\n }\n AssetManger.prototype.setAgentLidar = function (options) {\n this.agentLidarInfo = options;\n };\n AssetManger.prototype.setAgentMotion = function (motion, options) {\n this.agentMotionEngine = motion;\n this.agentMotionOptions = options;\n };\n AssetManger.prototype.createRoadSide = function (info, textures) {\n var x = (info.mx) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n var y = (info.my) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n var area = new _global__WEBPACK_IMPORTED_MODULE_1__[\"Graphics\"]();\n area.beginFill(0xe8e8e8);\n area.drawRoundedRect(0, 0, _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] + 30, _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] + 30, undefined);\n area.x = x - 15;\n area.y = y - 15;\n area.endFill();\n this.level.addChild(area);\n };\n AssetManger.prototype.createRoad = function (info, textures, arrow) {\n var _this = this;\n var road = new _global__WEBPACK_IMPORTED_MODULE_1__[\"Sprite\"](textures[_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[info.type].image]);\n road.arrow = arrow;\n road.x = (info.mx) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n road.y = (info.my) * _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"];\n road.obstacle = false;\n road.mapId = _global__WEBPACK_IMPORTED_MODULE_1__[\"MAP\"].ROAD;\n road.orientation = _global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[info.type].orientation;\n road.setCarPosition = function (car, line, force) {\n if (force === void 0) { force = false; }\n return _this.setCarOnRoad(road, car, line, force);\n };\n road.cars = [];\n road.mx = info.mx;\n road.my = info.my;\n this.level.addRoad(road);\n };\n AssetManger.prototype.setCarOnRoad = function (road, car, line, force) {\n if (force === void 0) { force = false; }\n if (line == undefined)\n line = 0;\n var carById = this.level.findCarById(road.cars[0]);\n if (!force && road.cars.length >= 1 && carById && carById.core.line == line) {\n line = line == 0 ? 1 : 0;\n }\n car.line = line;\n car.x = road.x;\n car.y = road.y;\n car.x += _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] / 2;\n car.y += _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] / 2;\n var x_margin = 0;\n var y_margin = (_global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"] * 1 / 4);\n road.orientation = (Math.floor(road.orientation / car.rotationStep) * car.rotationStep);\n var th = -road.orientation * (Math.PI);\n var x_m = (Math.cos(th) * x_margin) - (y_margin * Math.sin(th));\n var y_m = (Math.cos(th) * y_margin) + (x_margin * Math.sin(th));\n var line_side_factor = line == 0 ? 1 : -1;\n var line_side_factor_t = line == 0 ? 0 : Math.PI;\n car.x += line_side_factor * Math.round(x_m);\n car.y += line_side_factor * Math.round(y_m);\n car.mx = Math.floor(car.x / _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"]);\n car.my = Math.floor(car.y / _global__WEBPACK_IMPORTED_MODULE_1__[\"ROADSIZE\"]);\n car.rotation = (th + line_side_factor_t);\n car.checkAndsetNewRoad(road);\n };\n AssetManger.prototype.createAsset = function (img, info, textures, type) {\n var asset = new _global__WEBPACK_IMPORTED_MODULE_1__[\"Sprite\"](textures[img]);\n asset.obstacle = false;\n asset.type = type;\n asset.mapId = 0;\n asset.x = info.x;\n asset.y = info.y;\n this.level.addChild(asset);\n this.assets.push(asset);\n };\n AssetManger.prototype.createMap = function (map, info, textures, roadside) {\n if (roadside === void 0) { roadside = true; }\n if (roadside) {\n for (var my = 0; my < map.length; my++) {\n for (var mx = 0; mx < map[my].length; mx++) {\n if (_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[map[my][mx]]) {\n this.createRoadSide({ mx: mx, my: my, type: map[my][mx] }, textures);\n }\n }\n }\n }\n for (var my = 0; my < map.length; my++) {\n for (var mx = 0; mx < map[my].length; mx++) {\n if (_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"].ROADS[map[my][mx]]) {\n this.createRoad({ mx: mx, my: my, type: map[my][mx] }, textures, map[my][mx]);\n }\n }\n }\n for (var key in _global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"]) {\n if (key != \"ROADS\" && info[key]) {\n for (var a = 0; a < info[key].length; a++) {\n this.createAsset(_global__WEBPACK_IMPORTED_MODULE_1__[\"ASSETS\"][key].image, info[key][a], textures, key);\n }\n }\n }\n };\n AssetManger.prototype.createCars = function (map, info, textures) {\n for (var c in info.cars) {\n var options = { lidar: true, lidarInfo: { pts: 2, width: 0.5, height: 1, pos: 1 } };\n options.lidar = true;\n options.motionEngine = new _bot_motion_engine__WEBPACK_IMPORTED_MODULE_5__[\"BotMotionEngine\"](this.level);\n var n_car = new _car__WEBPACK_IMPORTED_MODULE_2__[\"Car\"](this.level, info.cars[c], textures, options);\n this.level.addCar(n_car);\n }\n };\n AssetManger.prototype.createAgent = function (map, info, textures) {\n var agent = new _car__WEBPACK_IMPORTED_MODULE_2__[\"Car\"](this.level, info.agent, textures, {\n image: _global__WEBPACK_IMPORTED_MODULE_1__[\"CAR_IMG\"].AGENT,\n lidar: true,\n lidarInfo: this.agentLidarInfo,\n motionEngine: new this.agentMotionEngine(this.level, this.agentMotionOptions)\n });\n this.level.addChild(agent.lidar);\n this.level.addCar(agent);\n agent.core.agent = true;\n return agent;\n };\n AssetManger.prototype.addAsset = function (asset) {\n this.assets.push(asset);\n };\n AssetManger.prototype.exportMap = function (width, height, file_name, download) {\n var file = { \"cars\": [] };\n var map = [];\n var envs = this.level.getEnvs();\n for (var y = 0; y < height; y++) {\n var line = [];\n for (var x = 0; x < width; x++) {\n line.push(0);\n }\n map.push(line);\n }\n for (var e = 0; e < envs.length; e++) {\n var elem = envs[e];\n if (!elem.isremove) {\n if (elem.mapId == _global__WEBPACK_IMPORTED_MODULE_1__[\"MAP\"].CAR && !elem.agent && elem.my < height && elem.mx < width) {\n file.cars.push({\n \"mx\": elem.mx,\n \"my\": elem.my,\n \"line\": elem.line\n });\n }\n else if (elem.mapId == _global__WEBPACK_IMPORTED_MODULE_1__[\"MAP\"].ROAD && elem.my < height && elem.mx < width) {\n map[elem.my][elem.mx] = elem.arrow;\n }\n }\n }\n for (var e = 0; e < this.assets.length; e++) {\n var elem = this.assets[e];\n if (!elem.isremove) {\n if (elem.type != \"car\" && elem.type != \"agent\") {\n if (!file[elem.type])\n file[elem.type] = [];\n file[elem.type].push({\n \"x\": elem.x,\n \"y\": elem.y\n });\n }\n }\n }\n file.map = map;\n if (this.level.agent) {\n console.log(\"enter here to create egent....\");\n file.agent = {\n \"mx\": this.level.agent.core.mx,\n \"my\": this.level.agent.core.my,\n \"line\": this.level.agent.core.line,\n \"motion\": {\n \"type\": \"BasicMotionEngine\",\n \"options\": {\n \"rotationStep\": 0.5,\n \"actions\": [\"UP\", \"LEFT\", \"RIGHT\", \"DOWN\", \"WAIT\"]\n }\n }\n };\n }\n var fileCOntent = JSON.stringify(file, null, 4);\n if (download)\n _utils__WEBPACK_IMPORTED_MODULE_0__[\"saveAs\"](fileCOntent, file_name);\n return file;\n };\n return AssetManger;\n}());\n\n\n\n//# sourceURL=webpack://metacar/./src/asset_manager.ts?"); /***/ }), @@ -131,7 +131,7 @@ eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export (binding) * /***/ (function(module, __webpack_exports__, __webpack_require__) { "use strict"; -eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export (binding) */ __webpack_require__.d(__webpack_exports__, \"Car\", function() { return Car; });\n/* harmony import */ var _global__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ./global */ \"./src/global.ts\");\n\nvar Global_carId = 0;\nvar Car = (function () {\n function Car(level, info, textures, options) {\n if (options === void 0) { options = {}; }\n var _this = this;\n this.level = level;\n options.image = options.image || _global__WEBPACK_IMPORTED_MODULE_0__[\"CAR_IMG\"].DEFAULT;\n options.lidar = options.lidar || false;\n options.lidarInfo = options.lidarInfo || { pts: 5, width: 4, height: 5, pos: 0 };\n this.core = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Sprite\"](textures[options.image]);\n this.info = info;\n this.core.scale.x = 0.8;\n this.core.scale.y = 0.8;\n this.core.anchor.x = 0.5;\n this.core.anchor.y = 0.5;\n this.core.road = undefined;\n this.core.carId = Global_carId;\n Global_carId += 1;\n this.core.agent = false;\n this.core.obstacle = true;\n this.core.mapId = _global__WEBPACK_IMPORTED_MODULE_0__[\"MAP\"].CAR;\n if (options.lidar) {\n this.createLidar(options.lidarInfo);\n this.core.lidar = this.lidar;\n }\n if (options.motionEngine) {\n this.motion = options.motionEngine;\n this.motion.setUp(this.core, this.lidar);\n this.core.rotationStep = 0.5;\n }\n else {\n this.core.rotationStep = 0.5;\n }\n this.core.mx = this.info.mx;\n this.core.my = this.info.my;\n this.core.x = (this.info.mx) * _global__WEBPACK_IMPORTED_MODULE_0__[\"ROADSIZE\"];\n this.core.y = (this.info.my) * _global__WEBPACK_IMPORTED_MODULE_0__[\"ROADSIZE\"];\n this.core.checkAndsetNewRoad = function (road) { return _this.checkAndsetNewRoad(road); };\n var road = this.level.getRoad(this.core.my, this.core.mx);\n this.core.line = 0;\n if (road) {\n road.setCarPosition(this.core, this.info.line);\n }\n }\n Car.prototype.checkAndsetNewRoad = function (n_road) {\n var current_road = this.core.road;\n if (!n_road) {\n n_road = this.level.getRoad(this.core.my, this.core.mx);\n ;\n }\n if (n_road != current_road) {\n if (current_road) {\n current_road.cars.splice(current_road.cars.indexOf(this.core.carId), 1);\n }\n this.core.road = n_road;\n this.core.haveTurned = false;\n this.core.optionalTurn = false;\n this.turnedRandom = undefined;\n if (n_road)\n n_road.cars.push(this.core.carId);\n }\n };\n Car.prototype.reset = function () {\n this.core.mx = this.info.mx;\n this.core.my = this.info.my;\n var road = this.level.getRoad(this.core.my, this.core.mx);\n if (road) {\n road.setCarPosition(this.core, this.info.line);\n }\n };\n Car.prototype.getState = function (linear) {\n if (linear === void 0) { linear = false; }\n if (!linear)\n return this.motion.state.map(function (arr) { return arr.slice(); });\n else {\n var state_1 = [];\n this.motion.state.map(function (row) { state_1 = state_1.concat(row); });\n return state_1;\n }\n };\n Car.prototype.step = function (delta, action) {\n if (action === void 0) { action = null; }\n if (action == null) {\n var _a = this.motion.step(delta), agentCollisions = _a.agentCollisions, onRoad = _a.onRoad;\n }\n else {\n var _b = this.motion.actionStep(delta, action), agentCollisions = _b.agentCollisions, onRoad = _b.onRoad;\n }\n return { agentCollisions: agentCollisions, onRoad: onRoad };\n };\n Car.prototype.createLidar = function (lidarOptions) {\n lidarOptions.pts = lidarOptions.pts || 5;\n lidarOptions.width = lidarOptions.width || 4;\n lidarOptions.height = lidarOptions.height || 5;\n lidarOptions.pos = lidarOptions.pos || 0;\n this.lidar = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Container\"]();\n this.lidar.lidarPts = [];\n this.lidar.collisionPts = [];\n var area = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n area.pt = false;\n area.alpha = 0.3;\n area.beginFill(0x515151);\n area.drawRect(0, 0, this.core.width * lidarOptions.width, this.core.height * lidarOptions.height);\n area.endFill();\n var front = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n front.pt = false;\n front.alpha = 0;\n front.beginFill(0x510000);\n front.drawRect(this.core.width - 5, area.height / 2, 3, 3);\n front.endFill();\n var back = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n back.pt = false;\n back.alpha = 0;\n back.beginFill(0x510000);\n back.drawRect(-1, area.height / 2 - 2, 3, 3);\n back.endFill();\n var left = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n left.pt = false;\n left.alpha = 0;\n left.beginFill(0x510000);\n left.drawRect(this.core.width / 2, area.height / 2 - this.core.height / 2 + 5, 3, 3);\n left.endFill();\n var right = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n right.pt = false;\n right.alpha = 0;\n right.beginFill(0x510000);\n right.drawRect(this.core.width / 2, area.height / 2 + this.core.height / 2 - 8, 3, 3);\n right.endFill();\n back.x -= (lidarOptions.pos * this.core.width);\n front.x -= (lidarOptions.pos * this.core.width);\n right.x -= (lidarOptions.pos * this.core.width);\n left.x -= (lidarOptions.pos * this.core.width);\n var x_step = area.width / lidarOptions.pts;\n var y_step = area.height / lidarOptions.pts;\n for (var xs = lidarOptions.pts - 1; xs >= 0; xs--) {\n for (var ys = 0; ys < lidarOptions.pts; ys++) {\n var x = (x_step / 4) + xs * x_step;\n var y = (y_step / 4) + ys * y_step;\n var pt = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n pt.pt = true;\n pt.beginFill(0xffffff);\n pt.drawRect(x, y, 5, 5);\n pt.endFill();\n this.lidar.addChild(pt);\n this.lidar.lidarPts.push(pt);\n }\n }\n this.lidar.pts = lidarOptions.pts;\n this.lidar.addChild(area);\n this.lidar.addChild(front);\n this.lidar.addChild(back);\n this.lidar.addChild(left);\n this.lidar.addChild(right);\n this.lidar.collisionPts.push(front);\n this.lidar.collisionPts.push(back);\n this.lidar.collisionPts.push(left);\n this.lidar.collisionPts.push(right);\n this.lidar.x = this.core.x;\n this.lidar.y = this.core.y;\n this.lidar.pivot.y = this.lidar.height / 2;\n this.lidar.pivot.x = this.core.width / 2 - (lidarOptions.pos * this.core.width);\n this.lidar.rotation = this.core.rotation;\n };\n return Car;\n}());\n\n\n\n//# sourceURL=webpack://metacar/./src/car.ts?"); +eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export (binding) */ __webpack_require__.d(__webpack_exports__, \"Car\", function() { return Car; });\n/* harmony import */ var _global__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ./global */ \"./src/global.ts\");\n\nvar Global_carId = 0;\nvar Car = (function () {\n function Car(level, info, textures, options) {\n if (options === void 0) { options = {}; }\n var _this = this;\n this.level = level;\n options.image = options.image || _global__WEBPACK_IMPORTED_MODULE_0__[\"CAR_IMG\"].DEFAULT;\n options.lidar = options.lidar || false;\n options.lidarInfo = options.lidarInfo || { pts: 5, width: 4, height: 5, pos: 0 };\n this.core = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Sprite\"](textures[options.image]);\n this.info = info;\n this.core.scale.x = 0.8;\n this.core.scale.y = 0.8;\n this.core.anchor.x = 0.5;\n this.core.anchor.y = 0.5;\n this.core.road = undefined;\n this.core.carId = Global_carId;\n Global_carId += 1;\n this.core.agent = false;\n this.core.obstacle = true;\n this.core.mapId = _global__WEBPACK_IMPORTED_MODULE_0__[\"MAP\"].CAR;\n if (options.lidar) {\n this.createLidar(options.lidarInfo);\n this.core.lidar = this.lidar;\n }\n if (options.motionEngine) {\n this.motion = options.motionEngine;\n this.motion.setUp(this.core, this.lidar);\n this.core.rotationStep = 0.5;\n }\n else {\n this.core.rotationStep = 0.5;\n }\n this.core.mx = this.info.mx;\n this.core.my = this.info.my;\n this.core.x = (this.info.mx) * _global__WEBPACK_IMPORTED_MODULE_0__[\"ROADSIZE\"];\n this.core.y = (this.info.my) * _global__WEBPACK_IMPORTED_MODULE_0__[\"ROADSIZE\"];\n this.core.checkAndsetNewRoad = function (road) { return _this.checkAndsetNewRoad(road); };\n var road = this.level.getRoad(this.core.my, this.core.mx);\n this.core.line = 0;\n if (road) {\n road.setCarPosition(this.core, this.info.line);\n }\n }\n Car.prototype.checkAndsetNewRoad = function (n_road) {\n var current_road = this.core.road;\n if (!n_road) {\n n_road = this.level.getRoad(this.core.my, this.core.mx);\n ;\n }\n if (n_road != current_road) {\n if (current_road) {\n current_road.cars.splice(current_road.cars.indexOf(this.core.carId), 1);\n }\n this.core.road = n_road;\n this.core.haveTurned = false;\n this.core.optionalTurn = false;\n this.turnedRandom = undefined;\n if (n_road)\n n_road.cars.push(this.core.carId);\n }\n };\n Car.prototype.reset = function () {\n this.core.mx = this.info.mx;\n this.core.my = this.info.my;\n var road = this.level.getRoad(this.core.my, this.core.mx);\n if (road) {\n road.setCarPosition(this.core, this.info.line, true);\n }\n };\n Car.prototype.getState = function (linear) {\n if (linear === void 0) { linear = false; }\n if (!linear)\n return this.motion.state.map(function (arr) { return arr.slice(); });\n else {\n var state_1 = [];\n this.motion.state.map(function (row) { state_1 = state_1.concat(row); });\n return state_1;\n }\n };\n Car.prototype.step = function (delta, action) {\n if (action === void 0) { action = null; }\n if (action == null) {\n var _a = this.motion.step(delta), agentCollisions = _a.agentCollisions, onRoad = _a.onRoad;\n }\n else {\n var _b = this.motion.actionStep(delta, action), agentCollisions = _b.agentCollisions, onRoad = _b.onRoad;\n }\n return { agentCollisions: agentCollisions, onRoad: onRoad };\n };\n Car.prototype.createLidar = function (lidarOptions) {\n lidarOptions.pts = lidarOptions.pts || 5;\n lidarOptions.width = lidarOptions.width || 4;\n lidarOptions.height = lidarOptions.height || 5;\n lidarOptions.pos = lidarOptions.pos || 0;\n this.lidar = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Container\"]();\n this.lidar.lidarPts = [];\n this.lidar.collisionPts = [];\n var area = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n area.pt = false;\n area.alpha = 0.3;\n area.beginFill(0x515151);\n area.drawRect(0, 0, this.core.width * lidarOptions.width, this.core.height * lidarOptions.height);\n area.endFill();\n var front = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n front.pt = false;\n front.alpha = 0;\n front.beginFill(0x510000);\n front.drawRect(this.core.width - 5, area.height / 2, 3, 3);\n front.endFill();\n var back = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n back.pt = false;\n back.alpha = 0;\n back.beginFill(0x510000);\n back.drawRect(-1, area.height / 2 - 2, 3, 3);\n back.endFill();\n var left = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n left.pt = false;\n left.alpha = 0;\n left.beginFill(0x510000);\n left.drawRect(this.core.width / 2, area.height / 2 - this.core.height / 2 + 5, 3, 3);\n left.endFill();\n var right = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n right.pt = false;\n right.alpha = 0;\n right.beginFill(0x510000);\n right.drawRect(this.core.width / 2, area.height / 2 + this.core.height / 2 - 8, 3, 3);\n right.endFill();\n back.x -= (lidarOptions.pos * this.core.width);\n front.x -= (lidarOptions.pos * this.core.width);\n right.x -= (lidarOptions.pos * this.core.width);\n left.x -= (lidarOptions.pos * this.core.width);\n var x_step = area.width / lidarOptions.pts;\n var y_step = area.height / lidarOptions.pts;\n for (var xs = lidarOptions.pts - 1; xs >= 0; xs--) {\n for (var ys = 0; ys < lidarOptions.pts; ys++) {\n var x = (x_step / 4) + xs * x_step;\n var y = (y_step / 4) + ys * y_step;\n var pt = new _global__WEBPACK_IMPORTED_MODULE_0__[\"Graphics\"]();\n pt.pt = true;\n pt.beginFill(0xffffff);\n pt.drawRect(x, y, 5, 5);\n pt.endFill();\n this.lidar.addChild(pt);\n this.lidar.lidarPts.push(pt);\n }\n }\n this.lidar.pts = lidarOptions.pts;\n this.lidar.addChild(area);\n this.lidar.addChild(front);\n this.lidar.addChild(back);\n this.lidar.addChild(left);\n this.lidar.addChild(right);\n this.lidar.collisionPts.push(front);\n this.lidar.collisionPts.push(back);\n this.lidar.collisionPts.push(left);\n this.lidar.collisionPts.push(right);\n this.lidar.x = this.core.x;\n this.lidar.y = this.core.y;\n this.lidar.pivot.y = this.lidar.height / 2;\n this.lidar.pivot.x = this.core.width / 2 - (lidarOptions.pos * this.core.width);\n this.lidar.rotation = this.core.rotation;\n };\n return Car;\n}());\n\n\n\n//# sourceURL=webpack://metacar/./src/car.ts?"); /***/ }), @@ -239,7 +239,7 @@ eval("__webpack_require__.r(__webpack_exports__);\n/* harmony import */ var _met /***/ (function(module, __webpack_exports__, __webpack_require__) { "use strict"; -eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export (binding) */ __webpack_require__.d(__webpack_exports__, \"Level\", function() { return Level; });\n/* harmony import */ var _global__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ./global */ \"./src/global.ts\");\n/* harmony import */ var _asset_manager__WEBPACK_IMPORTED_MODULE_1__ = __webpack_require__(/*! ./asset_manager */ \"./src/asset_manager.ts\");\n/* harmony import */ var _world__WEBPACK_IMPORTED_MODULE_2__ = __webpack_require__(/*! ./world */ \"./src/world.ts\");\nvar __extends = (undefined && undefined.__extends) || (function () {\n var extendStatics = Object.setPrototypeOf ||\n ({ __proto__: [] } instanceof Array && function (d, b) { d.__proto__ = b; }) ||\n function (d, b) { for (var p in b) if (b.hasOwnProperty(p)) d[p] = b[p]; };\n return function (d, b) {\n extendStatics(d, b);\n function __() { this.constructor = d; }\n d.prototype = b === null ? Object.create(b) : (__.prototype = b.prototype, new __());\n };\n})();\n\n\n\nvar Level = (function (_super) {\n __extends(Level, _super);\n function Level(levelContent, canvasId) {\n var _this = _super.call(this, levelContent, canvasId) || this;\n _this.isCarsMoving = true;\n _this.map = _this.info.map;\n _this.am = new _asset_manager__WEBPACK_IMPORTED_MODULE_1__[\"AssetManger\"](_this);\n return _this;\n }\n Level.prototype.carsMoving = function (moving) {\n this.isCarsMoving = moving;\n };\n Level.prototype.setAgentMotion = function (motion, options) {\n this.am.setAgentMotion(motion, options);\n };\n Level.prototype.setAgentLidar = function (options) {\n this.am.setAgentLidar(options);\n };\n Level.prototype._setup = function (info) {\n var _this = this;\n var textures = _global__WEBPACK_IMPORTED_MODULE_0__[\"Loader\"].resources[_global__WEBPACK_IMPORTED_MODULE_0__[\"JSON_TEXTURES\"]].textures;\n this.am.createMap(this.map, info, textures);\n this.am.createCars(this.map, info, textures);\n if (info.agent)\n this.agent = this.am.createAgent(this.map, info, textures);\n this.app.ticker.add(function (delta) { return _this.loop(delta); });\n };\n Level.prototype.reset = function () {\n this.agent.reset();\n };\n Level.prototype.setReward = function (agent_col, on_road, action) {\n var reward = -0.1;\n if (action == 0 || this.agent.core.v == 1)\n reward += 0.5;\n if (agent_col.length > 0) {\n console.log(\"collision!\");\n reward = -10;\n }\n else if (!on_road) {\n console.log(\"out\");\n reward = -10;\n }\n return reward;\n };\n Level.prototype.step = function (delta, action) {\n if (action === void 0) { action = null; }\n for (var c = 0; c < this.cars.length; c++) {\n if (this.cars[c].lidar && !this.cars[c].core.agent)\n this.cars[c].step(delta);\n }\n if (this.agent) {\n var _a = this.agent.step(delta, action), agentCollisions = _a.agentCollisions, onRoad = _a.onRoad;\n var reward = this.setReward(agentCollisions, onRoad, action);\n return reward;\n }\n return 0;\n };\n Level.prototype.stopRender = function () {\n this.app.ticker.stop();\n };\n return Level;\n}(_world__WEBPACK_IMPORTED_MODULE_2__[\"World\"]));\n\n\n\n//# sourceURL=webpack://metacar/./src/level.ts?"); +eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export (binding) */ __webpack_require__.d(__webpack_exports__, \"Level\", function() { return Level; });\n/* harmony import */ var _global__WEBPACK_IMPORTED_MODULE_0__ = __webpack_require__(/*! ./global */ \"./src/global.ts\");\n/* harmony import */ var _asset_manager__WEBPACK_IMPORTED_MODULE_1__ = __webpack_require__(/*! ./asset_manager */ \"./src/asset_manager.ts\");\n/* harmony import */ var _world__WEBPACK_IMPORTED_MODULE_2__ = __webpack_require__(/*! ./world */ \"./src/world.ts\");\nvar __extends = (undefined && undefined.__extends) || (function () {\n var extendStatics = Object.setPrototypeOf ||\n ({ __proto__: [] } instanceof Array && function (d, b) { d.__proto__ = b; }) ||\n function (d, b) { for (var p in b) if (b.hasOwnProperty(p)) d[p] = b[p]; };\n return function (d, b) {\n extendStatics(d, b);\n function __() { this.constructor = d; }\n d.prototype = b === null ? Object.create(b) : (__.prototype = b.prototype, new __());\n };\n})();\n\n\n\nvar Level = (function (_super) {\n __extends(Level, _super);\n function Level(levelContent, canvasId) {\n var _this = _super.call(this, levelContent, canvasId) || this;\n _this.isCarsMoving = true;\n _this.map = _this.info.map;\n _this.am = new _asset_manager__WEBPACK_IMPORTED_MODULE_1__[\"AssetManger\"](_this);\n return _this;\n }\n Level.prototype.carsMoving = function (moving) {\n this.isCarsMoving = moving;\n };\n Level.prototype.setAgentMotion = function (motion, options) {\n this.am.setAgentMotion(motion, options);\n };\n Level.prototype.setAgentLidar = function (options) {\n this.am.setAgentLidar(options);\n };\n Level.prototype._setup = function (info) {\n var _this = this;\n var textures = _global__WEBPACK_IMPORTED_MODULE_0__[\"Loader\"].resources[_global__WEBPACK_IMPORTED_MODULE_0__[\"JSON_TEXTURES\"]].textures;\n this.am.createMap(this.map, info, textures);\n this.am.createCars(this.map, info, textures);\n if (info.agent)\n this.agent = this.am.createAgent(this.map, info, textures);\n this.app.ticker.add(function (delta) { return _this.loop(delta); });\n };\n Level.prototype.reset = function () {\n this.agent.reset();\n for (var c = 0; c < this.cars.length; c++) {\n this.cars[c].reset();\n }\n };\n Level.prototype.setReward = function (agent_col, on_road, action) {\n var reward = -0.1;\n if (action == 0 || this.agent.core.v == 1)\n reward += 0.5;\n if (agent_col.length > 0) {\n console.log(\"collision!\");\n reward = -10;\n }\n else if (!on_road) {\n console.log(\"out\");\n reward = -10;\n }\n return reward;\n };\n Level.prototype.step = function (delta, action) {\n if (action === void 0) { action = null; }\n for (var c = 0; c < this.cars.length; c++) {\n if (this.cars[c].lidar && !this.cars[c].core.agent)\n this.cars[c].step(delta);\n }\n if (this.agent) {\n var _a = this.agent.step(delta, action), agentCollisions = _a.agentCollisions, onRoad = _a.onRoad;\n var reward = this.setReward(agentCollisions, onRoad, action);\n return reward;\n }\n return 0;\n };\n Level.prototype.stopRender = function () {\n this.app.ticker.stop();\n };\n return Level;\n}(_world__WEBPACK_IMPORTED_MODULE_2__[\"World\"]));\n\n\n\n//# sourceURL=webpack://metacar/./src/level.ts?"); /***/ }), diff --git a/src/asset_manager.ts b/src/asset_manager.ts index f9f6910..3d2655f 100644 --- a/src/asset_manager.ts +++ b/src/asset_manager.ts @@ -125,7 +125,7 @@ export class AssetManger { road.obstacle = false; road.mapId = MAP.ROAD; road.orientation = ASSETS.ROADS[info.type].orientation; - road.setCarPosition = (car: any, line: number) => this.setCarOnRoad(road, car, line); + road.setCarPosition = (car: any, line: number, force: boolean=false) => this.setCarOnRoad(road, car, line, force); road.cars = []; road.mx = info.mx; // Map x road.my = info.my; // Map y @@ -133,7 +133,7 @@ export class AssetManger { this.level.addRoad(road); } - setCarOnRoad(road: RoadSprite, car: any, line: number){ + setCarOnRoad(road: RoadSprite, car: any, line: number, force: boolean=false){ /* @road: (Obejct) road to position the car on @car: (Object) car object to position @@ -142,13 +142,9 @@ export class AssetManger { if (line == undefined) line = 0; let carById = this.level.findCarById(road.cars[0]); - if (road.cars.length >= 1 && carById && carById.core.line == line){ + if (!force && road.cars.length >= 1 && carById && carById.core.line == line){ line = line == 0 ? 1:0; } - if (road.cars.length >= 2){ - car.is_valid = false; - return; - } car.line = line; // Set the car on the road diff --git a/src/car.ts b/src/car.ts index 2c574c5..df4c5dd 100644 --- a/src/car.ts +++ b/src/car.ts @@ -178,7 +178,7 @@ export class Car { this.core.my = this.info.my; let road = this.level.getRoad(this.core.my, this.core.mx); if (road){ // If the car is on a road - road.setCarPosition(this.core, this.info.line); + road.setCarPosition(this.core, this.info.line, true); } } diff --git a/src/level.ts b/src/level.ts index a91ae22..097516f 100644 --- a/src/level.ts +++ b/src/level.ts @@ -91,6 +91,9 @@ export class Level extends World { useless collisions. */ this.agent.reset(); + for (var c = 0; c < this.cars.length; c++) { + this.cars[c].reset(); + } } setReward(agent_col: any, on_road: any, action: any){