diff --git a/demo/dist/metacar.min.js b/demo/dist/metacar.min.js
index c8f1cf2..d4e7f7c 100644
--- a/demo/dist/metacar.min.js
+++ b/demo/dist/metacar.min.js
@@ -1 +1 @@
-window.metacar=function(t){var e={};function i(o){if(e[o])return e[o].exports;var n=e[o]={i:o,l:!1,exports:{}};return t[o].call(n.exports,n,n.exports,i),n.l=!0,n.exports}return i.m=t,i.c=e,i.d=function(t,e,o){i.o(t,e)||Object.defineProperty(t,e,{enumerable:!0,get:o})},i.r=function(t){"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(t,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(t,"__esModule",{value:!0})},i.t=function(t,e){if(1&e&&(t=i(t)),8&e)return t;if(4&e&&"object"==typeof t&&t&&t.__esModule)return t;var o=Object.create(null);if(i.r(o),Object.defineProperty(o,"default",{enumerable:!0,value:t}),2&e&&"string"!=typeof t)for(var n in t)i.d(o,n,function(e){return t[e]}.bind(null,n));return o},i.n=function(t){var e=t&&t.__esModule?function(){return t.default}:function(){return t};return i.d(e,"a",e),e},i.o=function(t,e){return Object.prototype.hasOwnProperty.call(t,e)},i.p="",i(i.s=1)}([function(t,e){t.exports=window.PIXI},function(t,e,i){"use strict";i.r(e);var o=i(0),n=(o.Application,o.loader),a=(o.loader.resources,o.Sprite),r=o.Graphics,s=o.Container,h="https://metacar-project.com/",c=h+"public/textures/textures.json",l=h+"public/images/",d=60,p={DEFAULT:"car.png",AGENT:"car_agent.png"},u={ROAD:-1,DEFAULT:0,CAR:1,AGENT:1},v={ROADS:{"↕":{image:"road_u.png",orientation:1.5},"↔":{image:"road_r.png",orientation:0},"↱":{image:"road_rotate_ld.png",orientation:1.25},"↰":{image:"road_rotate_ul.png",orientation:.75},"↲":{image:"road_rotate_rl.png",orientation:.25},"↳":{image:"road_rotate_dl.png",orientation:1.75},"↟":{image:"road_up.png",orientation:1.5},"↠":{image:"road_rp.png",orientation:0},"↤":{image:"road_r2.png",orientation:0},"↦":{image:"road_l2.png",orientation:1},"↥":{image:"road_d2.png",orientation:.5},"↧":{image:"road_u2.png",orientation:1.5}},house:{image:"house.png"},house2:{image:"house2.png"},house3:{image:"house3.png"},bench:{image:"bench.png"},tree:{image:"tree.png"}},y={level:{fullCity:{cars:[{mx:2,my:5,line:0,auto:!0},{mx:3,my:4,line:0,auto:!0},{mx:3,my:4,line:1,auto:!0},{mx:6,my:3,line:0,auto:!0},{mx:6,my:3,line:1,auto:!0},{mx:8,my:2,line:0,auto:!0},{mx:8,my:2,line:1,auto:!0},{mx:2,my:7,line:0,auto:!0}],house:[{x:9,y:409},{x:146,y:162},{x:439,y:39}],house2:[{x:425,y:192},{x:431,y:354}],house3:[{x:426,y:281},{x:51,y:157},{x:553,y:34}],bench:[{x:259,y:206},{x:8,y:205}],tree:[{x:1,y:303},{x:54,y:357},{x:215,y:325},{x:230,y:400},{x:282,y:368},{x:182,y:433},{x:285,y:309},{x:576,y:233},{x:581,y:300},{x:519,y:388},{x:582,y:391},{x:256,y:69},{x:151,y:43},{x:77,y:77},{x:26,y:24},{x:189,y:98}],map:[[0,0,0,0,0,0,"↕",0,0,0,0],[0,0,0,0,0,0,"↟",0,0,0,0],[0,0,0,0,0,0,"↦","↔","↔","↠","↔"],[0,0,0,0,0,0,"↕",0,0,0,0],["↔","↔","↧","↔","↠","↔","↤",0,0,0,0],[0,0,"↕",0,0,0,"↕",0,0,0,0],[0,0,"↟",0,0,0,"↟",0,0,0,0],[0,0,"↕",0,0,0,"↕",0,0,0,0]]},level1:{cars:[{mx:5,my:3,line:0,auto:!0},{mx:5,my:3,line:1,auto:!0},{mx:5,my:1,line:0,auto:!0}],tree:[{x:120,y:50},{x:86.5,y:85},{x:94.5,y:135},{x:30.5,y:128},{x:72.5,y:190},{x:23.5,y:232},{x:110.5,y:242},{x:43.5,y:33},{x:18.5,y:178},{x:305.5,y:125},{x:360.5,y:122}],asset:[{x:252.5,y:142},{x:86.5,y:85},{x:94.5,y:135},{x:30.5,y:128},{x:252.5,y:26},{x:195.5,y:0},{x:307.5,y:1},{x:72.5,y:190},{x:23.5,y:232},{x:110.5,y:242},{x:43.5,y:33},{x:35.5,y:185},{x:18.5,y:178},{x:289.5,y:126},{x:337.5,y:126},{x:305.5,y:125},{x:360.5,y:122},{x:492.5,y:56},{x:503.5,y:136},{x:504.5,y:58}],bench:[{x:252.5,y:142},{x:252.5,y:26}],road:[{x:240,y:60},{x:240,y:60},{x:480,y:0},{x:480,y:60},{x:480,y:120},{x:480,y:180},{x:480,y:240},{x:300,y:180},{x:300,y:180},{x:360,y:180},{x:420,y:180},{x:420,y:120},{x:420,y:60},{x:360,y:60},{x:300,y:60},{x:420,y:120}],house3:[{x:503.5,y:136}],house:[{x:504.5,y:58}],map:[[0,0,0,0,0,0,0,0,0,0],[0,0,0,"↱","↠","↔","↔","↰",0,0],[0,0,0,"↕",0,0,0,"↟",0,0],[0,0,0,"↳","↔","↔","↔","↲",0,0],[0,0,0,0,0,0,0,0,0,0]],agent:{mx:4,my:3,line:0,motion:{type:"BasicMotionEngine",options:{rotationStep:.5,actions:["UP","LEFT","RIGHT"]}}}},level0:{cars:[],house:[{x:263,y:108},{x:112,y:258}],house3:[{x:262,y:16}],bench:[{x:135,y:34}],tree:[{x:124,y:134},{x:7,y:11},{x:69,y:10},{x:19,y:238},{x:5,y:133},{x:260,y:211}],map:[[0,0,0,0,0],[0,"↱","↔","↰",0],[0,"↕",0,"↕",0],[0,"↳","↠","↲",0],[0,0,0,0,0]],agent:{mx:2,my:1,line:1,motion:{type:"BasicMotionEngine",options:{rotationStep:.5,actions:["UP","LEFT","RIGHT","DOWN","WAIT"]}}}},level2:{cars:[{mx:7,my:7,line:0},{mx:9,my:6,line:0},{mx:8,my:6,line:1},{mx:10,my:6,line:1}],house:[{x:68,y:317}],house2:[{x:624,y:84},{x:-15,y:144}],house3:[{x:618,y:231},{x:13,y:441}],bench:[{x:318,y:216},{x:422,y:36}],tree:[{x:151,y:144},{x:229,y:175},{x:326,y:132},{x:413,y:167},{x:487,y:157},{x:445,y:123},{x:511,y:429},{x:584,y:427},{x:80,y:391},{x:219,y:409},{x:207,y:326},{x:156,y:426},{x:162,y:13}],map:[[0,0,0,0,0,0,0,0,0,0,0],[0,"↱","↔","↔","↔","↔","↔","↔","↔","↰",0],[0,"↕",0,0,0,0,0,0,0,"↕",0],[0,"↕",0,0,0,0,0,0,0,"↕",0],[0,"↳","↔","↔","↔","↧","↔","↔","↔","↲",0],[0,0,0,0,0,"↕",0,0,0,0,0],[0,0,0,0,0,"↕",0,"↱","↔","↔","↔"],[0,0,0,0,0,"↕",0,"↕",0,0,0]],agent:{mx:2,my:4,line:0,motion:{type:"BasicMotionEngine",options:{rotationStep:.5,actions:["UP","LEFT","RIGHT","DOWN","WAIT"]}}}}}};function m(t,e){var i=new XMLHttpRequest;i.overrideMimeType("application/json"),i.open("GET",t,!0),i.onreadystatechange=function(){4==i.readyState&&200==i.status&&e(JSON.parse(i.responseText))},i.send(null)}function f(t,e){var i=t.split("//");i=i[1].split("/"),e(y[i[0]][i[1]])}function g(t,e){({"embedded:":f,"http:":m,"https:":m})[t.split("//")[0]](t,e)}function x(t,e){var i=document.createElement("a");document.body.appendChild(i);var o=new Blob([t],{type:"application/octet-binary"}),n=window.URL.createObjectURL(o);i.href=n,i.download=e,i.click(),window.URL.revokeObjectURL(n),i.href=""}function _(t){var e={};return e.code=t,e.isDown=!1,e.isUp=!0,e.press=void 0,e.release=void 0,e.downHandler=function(t){t.keyCode===e.code&&(e.isUp&&e.press&&e.press(),e.isDown=!0,e.isUp=!1),t.preventDefault()},e.upHandler=function(t){t.keyCode===e.code&&(e.isDown&&e.release&&e.release(),e.isDown=!1,e.isUp=!0),t.preventDefault()},window.addEventListener("keydown",e.downHandler.bind(e),!1),window.addEventListener("keyup",e.upHandler.bind(e),!1),e}var I,C=0,w=function(){function t(t,e,i,o){void 0===o&&(o={});var n=this;this.level=t,o.image=o.image||p.DEFAULT,o.lidar=o.lidar||!1,o.lidarInfo=o.lidarInfo||{pts:5,width:4,height:5,pos:0},this.core=new a(i[o.image]),this.info=e,this.core.scale.x=.8,this.core.scale.y=.8,this.core.anchor.x=.5,this.core.anchor.y=.5,this.core.road=void 0,this.core.carId=C,C+=1,this.core.agent=!1,this.core.obstacle=!0,this.core.mapId=u.CAR,o.lidar&&(this.createLidar(o.lidarInfo),this.core.lidar=this.lidar),o.motionEngine?(this.motion=o.motionEngine,this.motion.setUp(this.core,this.lidar),this.core.rotationStep=.5):this.core.rotationStep=.5,this.core.mx=this.info.mx,this.core.my=this.info.my,this.core.x=this.info.mx*d,this.core.y=this.info.my*d,this.core.checkAndsetNewRoad=function(t){return n.checkAndsetNewRoad(t)};var r=this.level.getRoad(this.core.my,this.core.mx);this.core.line=0,r&&r.setCarPosition(this.core,this.info.line)}return t.prototype.checkAndsetNewRoad=function(t){var e=this.core.road;t||(t=this.level.getRoad(this.core.my,this.core.mx)),t!=e&&(e&&e.cars.splice(e.cars.indexOf(this.core.carId),1),this.core.road=t,this.core.haveTurned=!1,this.core.optionalTurn=!1,this.turnedRandom=void 0,t&&t.cars.push(this.core.carId))},t.prototype.reset=function(){this.core.mx=this.info.mx,this.core.my=this.info.my;var t=this.level.getRoad(this.core.my,this.core.mx);t&&t.setCarPosition(this.core,this.info.line,!0)},t.prototype.getState=function(t){if(void 0===t&&(t=!1),t){var e=[];return this.motion.state.map(function(t){e=e.concat(t)}),e}return this.motion.state.map(function(t){return t.slice()})},t.prototype.step=function(t,e){if(void 0===e&&(e=null),null==e)var i=this.motion.step(t),o=i.agentCollisions,n=i.onRoad;else{var a=this.motion.actionStep(t,e);o=a.agentCollisions,n=a.onRoad}return{agentCollisions:o,onRoad:n}},t.prototype.createLidar=function(t){t.pts=t.pts||5,t.width=t.width||4,t.height=t.height||5,t.pos=t.pos||0,this.lidar=new s,this.lidar.lidarPts=[],this.lidar.collisionPts=[];var e=new r;e.pt=!1,e.alpha=.3,e.beginFill(5329233),e.drawRect(0,0,this.core.width*t.width,this.core.height*t.height),e.endFill();var i=new r;i.pt=!1,i.alpha=0,i.beginFill(5308416),i.drawRect(this.core.width-5,e.height/2,3,3),i.endFill();var o=new r;o.pt=!1,o.alpha=0,o.beginFill(5308416),o.drawRect(-1,e.height/2-2,3,3),o.endFill();var n=new r;n.pt=!1,n.alpha=0,n.beginFill(5308416),n.drawRect(this.core.width/2,e.height/2-this.core.height/2+5,3,3),n.endFill();var a=new r;a.pt=!1,a.alpha=0,a.beginFill(5308416),a.drawRect(this.core.width/2,e.height/2+this.core.height/2-8,3,3),a.endFill(),o.x-=t.pos*this.core.width,i.x-=t.pos*this.core.width,a.x-=t.pos*this.core.width,n.x-=t.pos*this.core.width;for(var h=e.width/t.pts,c=e.height/t.pts,l=t.pts-1;l>=0;l--)for(var d=0;d<t.pts;d++){var p=h/4+l*h,u=c/4+d*c,v=new r;v.pt=!0,v.beginFill(16777215),v.drawRect(p,u,5,5),v.endFill(),this.lidar.addChild(v),this.lidar.lidarPts.push(v)}this.lidar.pts=t.pts,this.lidar.addChild(e),this.lidar.addChild(i),this.lidar.addChild(o),this.lidar.addChild(n),this.lidar.addChild(a),this.lidar.collisionPts.push(i),this.lidar.collisionPts.push(o),this.lidar.collisionPts.push(n),this.lidar.collisionPts.push(a),this.lidar.x=this.core.x,this.lidar.y=this.core.y,this.lidar.pivot.y=this.lidar.height/2,this.lidar.pivot.x=this.core.width/2-t.pos*this.core.width,this.lidar.rotation=this.core.rotation},t}(),M=function(){function t(t){this.level=t}return t.prototype.boxesIntersect=function(t,e){var i=t.getBounds(),o=e.getBounds();return i.x+i.width>o.x&&i.x<o.x+o.width&&i.y+i.height>o.y&&i.y<o.y+o.height},t.prototype.carIntersect=function(t,e){for(var i=t.lidar.collisionPts.length,o=0;o<i;o++)if(this.boxesIntersect(t.lidar.collisionPts[o],e))return!0;return!1},t.prototype.carCaptorInObject=function(t,e){for(var i=t.lidar.collisionPts.length,o=0,n=0;n<i;n++)this.boxesIntersect(t.lidar.collisionPts[n],e)&&(o+=1);return o},t.prototype.detectInteractions=function(t,e){void 0===t&&(t=!0),void 0===e&&(e=!1);for(var i=this.level.getEnvs(),o=[],n=[],a=0,r=!1,s=0;s<i.length;s++)i[s]!=this.car&&(Math.abs(i[s].mx-this.car.mx)<2&&Math.abs(i[s].my-this.car.my)<2||e)&&(t&&i[s].obstacle&&this.carIntersect(this.car,i[s])?o.push(i[s]):t&&i[s].mapId==u.ROAD&&(a+=this.carCaptorInObject(this.car,i[s])),this.boxesIntersect(i[s],this.lidar)&&n.push(i[s]));return this.setState(n),(a>=4||!t)&&(r=!0),{agentCollisions:o,onRoad:r}},t.prototype.setState=function(t){for(var e=0,i=0;i<this.lidar.lidarPts.length;i++){this.lidar.lidarPts[i].alpha=.3;var o=Math.floor(e/this.lidar.pts),n=Math.floor(e%this.lidar.pts);this.state[o][n]=u.DEFAULT;for(var a=0;a<t.length;a++)if(t[a]!=this.car){var r=this.boxesIntersect(t[a],this.lidar.lidarPts[i]);r&&t[a].obstacle&&(this.lidar.lidarPts[i].alpha=1),r&&(t[a].mapId>this.state[o][n]||t[a].mapId==u.ROAD&&this.state[o][n]==u.DEFAULT)&&(this.state[o][n]=t[a].mapId)}e+=1}},t}(),b=(I=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])},function(t,e){function i(){this.constructor=t}I(t,e),t.prototype=null===e?Object.create(e):(i.prototype=e.prototype,new i)}),R=function(t){function e(e,i){var o=t.call(this,e)||this;return o.rotationStep=i.rotationStep||.5,o.actions=i.actions||["UP","LEFT","RIGHT","DOWN","WAIT"],o}return b(e,t),e.prototype.setUp=function(t,e){this.car=t,this.lidar=e,this.state=[];for(var i=0;i<e.pts;i++){for(var o=[],n=0;n<e.pts;n++)o.push(u.DEFAULT);this.state.push(o)}this.setUpKeyboard(),this.car.v=0,this.detectInteractions()},e.prototype.setUpKeyboard=function(){var t=this,e=_(37),i=_(38),o=_(39),n=_(40);-1!=this.actions.indexOf("LEFT")&&(e.press=function(){t.turnLeft()}),-1!=this.actions.indexOf("RIGHT")&&(o.press=function(){t.turnRight()}),-1!=this.actions.indexOf("UP")&&(i.press=function(){t.moveForward()},i.release=function(){t.car.v=0}),-1!=this.actions.indexOf("DOWN")&&(n.press=function(){t.moveBackward()},n.release=function(){t.car.v=0})},e.prototype.turnLeft=function(){this.car.rotation-=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.turnRight=function(){this.car.rotation+=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.moveForward=function(){this.car.v=1},e.prototype.moveBackward=function(){this.car.v=-1},e.prototype.actionStep=function(t,e){"LEFT"==this.actions[e]&&this.turnLeft(),"RIGHT"==this.actions[e]&&this.turnRight(),"UP"==this.actions[e]&&this.moveForward(),"DOWN"==this.actions[e]&&this.moveBackward();var i=this.step(t),o=i.agentCollisions,n=i.onRoad;return this.car.v=0,{agentCollisions:o,onRoad:n}},e.prototype.actionSpace=function(){return{type:"Discrete",size:1,range:[0,1,2,3,4]}},e.prototype.step=function(t){this.car.x+=this.car.v*Math.cos(this.car.rotation)*t,this.car.y+=this.car.v*Math.sin(this.car.rotation)*t,this.car.mx=Math.floor(this.car.x/d),this.car.my=Math.floor(this.car.y/d),this.car.checkAndsetNewRoad(),this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation;var e=this.detectInteractions(!0,!0),i=e.agentCollisions,o=e.onRoad;return i.length>0&&(this.car.v=0,this.car.vy=0),{agentCollisions:i,onRoad:o}},e}(M),E=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])};return function(e,i){function o(){this.constructor=e}t(e,i),e.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}}(),L=function(t){function e(e){var i=t.call(this,e)||this;return i.map=i.level.getMap(),i.mapSizeY=i.map.length,i.mapSizeX=i.map[0].length,i.rotationStep=.5,i.rotationToNextCase={},i.rotationToNextCase[0]={mx:1,my:0},i.rotationToNextCase[.5]={mx:0,my:1},i.rotationToNextCase[1]={mx:-1,my:0},i.rotationToNextCase[1.5]={mx:0,my:-1},i.rotationToNextCase[-.5]={mx:0,my:-1},i.rotationToNextCase[-1]={mx:-1,my:0},i.rotationToNextCase[-1.5]={mx:0,my:1},i}return E(e,t),e.prototype.setUp=function(t,e){this.car=t,this.lidar=e,this.state=[];for(var i=0;i<e.pts;i++){for(var o=[],n=0;n<e.pts;n++)o.push(u.DEFAULT);this.state.push(o)}this.car.v=0,this.detectInteractions()},e.prototype.turnLeft=function(){this.car.rotation-=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.turnRight=function(){this.car.rotation+=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.moveUp=function(){this.car.v=1},e.prototype.moveDown=function(){this.car.v=-1},e.prototype.isRoad=function(t,e,i){if(void 0===i&&(i=!1),e<0||e>=this.mapSizeY||t<0||t>=this.mapSizeX||0==this.map[e][t])return!1;if(i&&this.level.getRoad(e,t).cars.length>0)return!1;return!0},e.prototype.autoRotation=function(){var t=d+d/3,e=d-d/3.5,i=d;if(this.car.next_road){var o=Math.abs((this.car.next_road.outroad.y+d/2-this.car.y)*this.car.next_road.outroad_np.my),n=Math.abs((this.car.next_road.outroad.x+d/2-this.car.x)*this.car.next_road.outroad_np.mx);if(0==this.car.next_road.rotation_type&&o<t&&n<t)return this.car.haveTurned=!0,this.car.previousRotation=this.car.rotation,this.car.rotation=this.car.rotation+=Math.PI/2,this.car.rotation=this.car.rotation%(2*Math.PI),void(this.car.next_road=void 0);if(1==this.car.next_road.rotation_type&&o<e&&n<e)return this.car.previousRotation=this.car.rotation,this.car.haveTurned=!0,this.car.rotation=this.car.rotation-=Math.PI/2,this.car.rotation=this.car.rotation%(2*Math.PI),void(this.car.next_road=void 0);if(2==this.car.next_road.rotation_type&&o<i&&n<i)return this.car.haveTurned=!0,this.car.previousRotation=this.car.rotation,this.car.rotation=this.car.rotation-=Math.PI,this.car.rotation=this.car.rotation%(2*Math.PI),0!=o&&this.car.x<this.car.next_road.outroad.x+d/2?(this.car.x=this.car.next_road.outroad.x+d/2+d/4,this.car.y=this.car.next_road.outroad.y):0!=o&&this.car.x>this.car.next_road.outroad.x+d/2?(this.car.x=this.car.next_road.outroad.x+d-d/2-d/4,this.car.y=this.car.next_road.outroad.y):0!=n&&this.car.y<this.car.next_road.outroad.y+d/2?(this.car.y=this.car.next_road.outroad.y+d/2+d/4,this.car.x=this.car.next_road.outroad.x):0!=n&&this.car.y>this.car.next_road.outroad.y+d/2&&(this.car.y=this.car.next_road.outroad.y+d-d/2-d/4,this.car.x=this.car.next_road.outroad.x),void(this.car.next_road=void 0)}else{var a=this.car.rotation/Math.PI,r=(this.car.rotation/Math.PI+.5)%2,s=(this.car.rotation/Math.PI-.5)%2,h=this.rotationToNextCase[a],c=this.rotationToNextCase[r],l=this.rotationToNextCase[s],p=!1,u=this.car.mx+h.mx,v=this.car.my+h.my;if(this.isRoad(u,v)?this.car.haveTurned||this.car.turnedRandom?!this.car.haveTurned&&this.car.turnedRandom<.5&&this.isRoad(this.car.mx+c.mx,this.car.my+c.my)?(p=!0,this.car.optionalTurn=!0):!this.car.haveTurned&&this.car.turnedRandom>=.5&&this.isRoad(this.car.mx+l.mx,this.car.my+l.my)&&(p=!0,this.car.optionalTurn=!0):this.car.turnedRandom=Math.random():(p=!0,this.car.optionalTurn=!1),p)for(var y=[(a+.5)%2,(a-.5)%2,null],m=0;m<y.length;m++){var f=void 0;f=null!=y[m]?this.rotationToNextCase[y[m]]:{mx:0,my:0};var g=this.car.mx+f.mx,x=this.car.my+f.my;if(this.isRoad(g,x))return void(this.car.next_road={outroad:{y:v*d,x:u*d},outroad_np:h,rotation_type:m})}}},e.prototype.step=function(t){-1!=this.state.toString().indexOf(","+u.CAR.toString())?(this.car.v=0,0==this.car.v&&this.car.haveTurned&&1==this.car.optionalTurn&&(this.car.rotation=this.car.previousRotation)):(this.car.v=.8,this.autoRotation()),this.level.isCarsMoving&&(this.car.x+=this.car.v*Math.cos(this.car.rotation)*t,this.car.y+=this.car.v*Math.sin(this.car.rotation)*t),this.car.mx=Math.floor(this.car.x/d),this.car.my=Math.floor(this.car.y/d),this.car.checkAndsetNewRoad(),this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation,this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation;var e=this.detectInteractions(!1);return{agentCollisions:e.agentCollisions,onRoad:e.onRoad}},e}(M),T=function(){function t(t){this.assets=[],this.agentMotionEngine=R,this.agentMotionOptions={},this.agentLidarInfo={},this.level=t}return t.prototype.setAgentLidar=function(t){this.agentLidarInfo=t},t.prototype.setAgentMotion=function(t,e){this.agentMotionEngine=t,this.agentMotionOptions=e},t.prototype.createRoadSide=function(t){var e=t.mx*d,i=t.my*d,o=new r;o.beginFill(15263976),o.drawRoundedRect(0,0,d+30,d+30,void 0),o.x=e-15,o.y=i-15,o.endFill(),this.level.addChild(o)},t.prototype.createRoad=function(t,e,i){var o=this,n=new a(e[v.ROADS[t.type].image]);n.arrow=i,n.x=t.mx*d,n.y=t.my*d,n.obstacle=!1,n.mapId=u.ROAD,n.orientation=v.ROADS[t.type].orientation,n.setCarPosition=function(t,e,i){return void 0===i&&(i=!1),o.setCarOnRoad(n,t,e,i)},n.cars=[],n.mx=t.mx,n.my=t.my,this.level.addRoad(n)},t.prototype.setCarOnRoad=function(t,e,i,o){void 0===o&&(o=!1),void 0==i&&(i=0);var n=this.level.findCarById(t.cars[0]);!o&&t.cars.length>=1&&n&&n.core.line==i&&(i=0==i?1:0),e.line=i,e.x=t.x,e.y=t.y,e.x+=d/2,e.y+=d/2;var a=1*d/4;t.orientation=Math.floor(t.orientation/e.rotationStep)*e.rotationStep;var r=-t.orientation*Math.PI,s=0*Math.cos(r)-a*Math.sin(r),h=Math.cos(r)*a+0*Math.sin(r),c=0==i?1:-1,l=0==i?0:Math.PI;e.x+=c*Math.round(s),e.y+=c*Math.round(h),e.mx=Math.floor(e.x/d),e.my=Math.floor(e.y/d),e.rotation=r+l,e.checkAndsetNewRoad(t)},t.prototype.createAsset=function(t,e,i,o){var n=new a(i[t]);n.obstacle=!1,n.type=o,n.mapId=0,n.x=e.x,n.y=e.y,this.level.addChild(n),this.assets.push(n)},t.prototype.createMap=function(t,e,i,o){if(void 0===o&&(o=!0),o)for(var n=0;n<t.length;n++)for(var a=0;a<t[n].length;a++)v.ROADS[t[n][a]]&&this.createRoadSide({mx:a,my:n,type:t[n][a]});for(n=0;n<t.length;n++)for(a=0;a<t[n].length;a++)v.ROADS[t[n][a]]&&this.createRoad({mx:a,my:n,type:t[n][a]},i,t[n][a]);for(var r in v)if("ROADS"!=r&&e[r])for(var s=0;s<e[r].length;s++)this.createAsset(v[r].image,e[r][s],i,r)},t.prototype.createCars=function(t,e){for(var i in t.cars){var o={lidar:!0,lidarInfo:{pts:2,width:.5,height:1,pos:1}};o.lidar=!0,o.motionEngine=new L(this.level);var n=new w(this.level,t.cars[i],e,o);this.level.addCar(n)}},t.prototype.createAgent=function(t,e,i){void 0===i&&(i=!0);var o=new w(this.level,t.agent,e,{image:p.AGENT,lidar:!0,lidarInfo:this.agentLidarInfo,motionEngine:new this.agentMotionEngine(this.level,this.agentMotionOptions)});return i&&this.level.addChild(o.lidar),this.level.addCar(o),o.core.agent=!0,o},t.prototype.addAsset=function(t){this.assets.push(t)},t.prototype.exportMap=function(t,e,i,o){for(var n={cars:[]},a=[],r=this.level.getEnvs(),s=0;s<e;s++){for(var h=[],c=0;c<t;c++)h.push(0);a.push(h)}for(var l=0;l<r.length;l++){(d=r[l]).isremove||(d.mapId==u.CAR&&!d.agent&&d.my<e&&d.mx<t?n.cars.push({mx:d.mx,my:d.my,line:d.line}):d.mapId==u.ROAD&&d.my<e&&d.mx<t&&(a[d.my][d.mx]=d.arrow))}for(l=0;l<this.assets.length;l++){var d;(d=this.assets[l]).isremove||"car"!=d.type&&"agent"!=d.type&&(n[d.type]||(n[d.type]=[]),n[d.type].push({x:d.x,y:d.y}))}n.map=a,this.level.agent&&(n.agent={mx:this.level.agent.core.mx,my:this.level.agent.core.my,line:this.level.agent.core.line,motion:{type:"BasicMotionEngine",options:{rotationStep:.5,actions:["UP","LEFT","RIGHT","DOWN","WAIT"]}}});var p=JSON.stringify(n,null,4);return o&&x(p,i),n},t}(),A=function(){function t(t,e){this.agent=null,this.app=null,this.map=null,this.info=null,this.envs=[],this.roads={},this.cars=[],this.info=t,this.canvasId=e}return t.prototype.load=function(t){var e=this;return this.loop=t,new Promise(function(t){e.createLevel(e.info).then(function(){return t()})})},t.prototype.createLevel=function(t){var e=this;return this.map=t.map,this.app=new PIXI.Application({width:this.map[0].length*d,height:this.map.length*d,backgroundColor:8437566}),document.getElementById(this.canvasId).appendChild(this.app.view),new Promise(function(i){n.add([c,"https://metacar-project.com/public/textures/textures.png"],{crossOrigin:!0}).load(function(){e._setup(t),i()})})},t.prototype._setup=function(t){console.warn("This method should be implemented.",t)},t.prototype.getRoads=function(){return this.roads},t.prototype.findCarById=function(t){return this.cars.find(function(e){return e.core.carId==t})},t.prototype.getRoad=function(t,e){return this.roads[[t.toString(),e.toString()].toString()]},t.prototype.addRoad=function(t){this.roads[[t.my.toString(),t.mx.toString()].toString()]=t,this.envs.push(t),this.app.stage.addChild(t)},t.prototype.addCar=function(t){this.cars.push(t),this.app.stage.addChild(t.core),this.envs.push(t.core)},t.prototype.getEnvs=function(){return this.envs},t.prototype.getMap=function(){return this.map},t.prototype.addChild=function(t){this.app.stage.addChild(t)},t.prototype.render=function(t){t?this.app.ticker.start():this.app.ticker.stop()},t.prototype.reset=function(){},t.prototype.resize=function(t,e){this.app.renderer.resize(t*d,e*d)},t.prototype.getMousePosition=function(){return this.app.renderer.plugins.interaction.mouse.global},t}(),S=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])};return function(e,i){function o(){this.constructor=e}t(e,i),e.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}}(),O=function(t){function e(e,i){var o=t.call(this,e,i)||this;return o.isCarsMoving=!0,o.lastReward=0,o.rewardFunction=null,o.map=o.info.map,o.am=new T(o),o}return S(e,t),e.prototype.setRewardFunction=function(t){this.rewardFunction=t},e.prototype.carsMoving=function(t){this.isCarsMoving=t},e.prototype.setAgentMotion=function(t,e){this.am.setAgentMotion(t,e)},e.prototype.setAgentLidar=function(t){this.am.setAgentLidar(t)},e.prototype._setup=function(t){var e=this,i=n.resources[c].textures;this.am.createMap(this.map,t,i),this.am.createCars(t,i),t.agent&&(this.agent=this.am.createAgent(t,i)),this.app.ticker.add(function(t){return e.loop(t)})},e.prototype.reset=function(){this.agent.reset();for(var t=0;t<this.cars.length;t++);},e.prototype.setReward=function(t,e,i){var o=-.1;return 0!=i&&1!=this.agent.core.v||(o+=.5),t.length>0?o=-1:e||(o=-1),o},e.prototype.getLastReward=function(){return this.lastReward},e.prototype.step=function(t,e){void 0===e&&(e=null);for(var i=0;i<this.cars.length;i++)this.cars[i].lidar&&!this.cars[i].core.agent&&this.cars[i].step(t);if(this.agent){var o=this.agent.step(t,e),n=o.agentCollisions,a=o.onRoad,r=void 0;return r=this.rewardFunction?this.rewardFunction(n,a,e):this.setReward(n,a,e),this.lastReward=r,r}return 0},e.prototype.stopRender=function(){this.app.ticker.stop()},e}(A),P=function(){function t(t,e){this.level=t,this.canvasId=e;var i=document.getElementById(e),o=document.createElement("div");o.classList.add("metacar_buttons_container"),o.id="metacar_"+e+"_buttons_container",i.parentNode.insertBefore(o,i.nextSibling),this.buttonsContainer=o}return t.prototype.isPlaying=function(){return this.playing},t.prototype.getEditorSize=function(){return{width:this.editorWidth,height:this.editorHeight}},t.prototype._createButton=function(t,e){var i=document.createElement("button");return i.classList.add("metacar_button_train"),i.id="metacar_"+this.canvasId+"_button_"+e,e=e.replace(/_/g," "),i.innerHTML=e.charAt(0).toUpperCase()+e.slice(1),t.appendChild(i),i},t.prototype.onTrain=function(t){var e=this;this._createButton(this.buttonsContainer,"train").addEventListener("click",function(){e.level.render(!1),t&&t()})},t.prototype.onPlay=function(t){var e=this;this._createButton(this.buttonsContainer,"play").addEventListener("click",function(){t&&(e.playing=!0,e.playCallback=t)})},t.prototype.onStop=function(t){var e=this;this._createButton(this.buttonsContainer,"stop").addEventListener("click",function(){e.playing=!1,e.playCallback=void 0,t&&t()})},t.prototype.onResetEnv=function(t){var e=this;this._createButton(this.buttonsContainer,"reset_env").addEventListener("click",function(){e.level.reset(),t&&t()})},t.prototype.onCustomEvent=function(t,e){this._createButton(this.buttonsContainer,t).addEventListener("click",function(){e&&e()})},t.prototype.onSaveEditor=function(t,e){var i=this;this._createButton(this.buttonsContainer,"save").addEventListener("click",function(){var o=i.getEditorSize(),n=i.level.exportMap(o.width,o.height,e.name,e.download);t&&t(n)})},t.prototype.onLoad=function(t,e){void 0===e&&(e=Object()),e.local=e.local||!1;var i=this._createButton(this.buttonsContainer,"load_trained_agent"),o=document.createElement("input");o.type="file",o.accept="*/*",o.style.display="none",o.classList.add("metacar_button_input_file"),o.id="metacar_"+this.canvasId+"_button_input_file",this.buttonsContainer.appendChild(o),o.addEventListener("change",function(e){!function(t,e){var i=t.target.files[0],o=new FileReader;o.readAsText(i,"UTF-8"),o.onload=function(t){e(t.target.result)}}(e,function(e){t&&t(e)})}),i.addEventListener("click",function(){e.local?o.click():t&&t()})},t.prototype._createRangeBar=function(t){var e=document.createElement("input");return e.type="range",e.min="5",e.max="15",e.value="5",e.classList.add("metacar_"+t+"_input"),e.id="metacar_"+this.canvasId+"_"+t+"_input",e},t.prototype._createSpan=function(t,e){var i=document.createElement("span");return i.classList.add("metacar_"+t+"_span"),i.id="metacar_"+this.canvasId+"_"+t+"_span",i.innerHTML=e,i},t.prototype._createImage=function(t,e){var i=document.createElement("img");return i.classList.add("metacar_img"),i.id="metacar_"+this.canvasId+"_"+t+"_img",i.src=e,i},t.prototype._listenRangeChanges=function(t,e){var i=this;t.onchange=function(){var o=parseInt(t.value),n=parseInt(e.value);i.level.resize(o,n),i.editorWidth=o,i.editorHeight=n},e.onchange=function(){var o=parseInt(t.value),n=parseInt(e.value);i.level.resize(o,n),i.editorWidth=o,i.editorHeight=n}},t.prototype._listenCanvasEditor=function(){var t=this;document.getElementById(this.canvasId).addEventListener("contextmenu",function(t){return t.preventDefault()}),document.getElementById(this.canvasId).addEventListener("click",function(){t.level.getSelectedItems()&&t.level.setCurrentItem()})},t.prototype._listenEditorImgs=function(){for(var t=document.getElementsByClassName("metacar_img"),e=this,i=0;i<t.length;i++)t[i].addEventListener("click",function(){e.level.selectedItem({image:this.getAttribute("data-img"),type:this.getAttribute("data-type"),data:this.getAttribute("data-data")})},!1)},t.prototype.createEditorElementsEvents=function(){var t=this._createSpan("width","Width"),e=this._createRangeBar("width"),i=this._createSpan("height","Height"),o=this._createRangeBar("height");this.buttonsContainer.appendChild(t),this.buttonsContainer.appendChild(e),this.buttonsContainer.appendChild(i),this.buttonsContainer.appendChild(o),this._listenRangeChanges(e,o),this._listenCanvasEditor();var n=this.level.getMap(),a=n[0].length,r=n.length;e.value=a.toString(),o.value=r.toString(),this.editorWidth=a,this.editorHeight=r;var s=this._createImage("car_agent",l+"car_agent.png");s.dataset.type="agent",s.dataset.img="car_agent.png",this.buttonsContainer.appendChild(s);var h=this._createImage("car_agent",l+"car.png");h.dataset.type="car",h.dataset.img="car.png",this.buttonsContainer.appendChild(h);var c=v.ROADS;for(var d in c){(u=this._createImage(c[d].image.replace(".png",""),l+c[d].image)).dataset.type="road",u.dataset.img=c[d].image,u.dataset.data=d,this.buttonsContainer.appendChild(u)}for(var p in v){var u;if("ROADS"!=p)(u=this._createImage(p,l+v[p].image)).dataset.img=v[p].image,u.dataset.data=p,u.dataset.type="asset",this.buttonsContainer.appendChild(u)}this._listenEditorImgs()},t}(),k=function(){function t(t,e){this.eventList=["train","play","stop","reset_env","load"],this.agentMotionEngine=R,this.agentMotionOptions={},this.isCarsMoving=!0,this.loopCallback=void 0,t&&e||console.error("You must specify the canvasId and the levelToLoad"),this.canvasId=t,this.levelToLoad=e}return t.prototype.setRewardFunction=function(t){this.level.setRewardFunction(t)},t.prototype.carsMoving=function(t){this.isCarsMoving=t},t.prototype.getLastReward=function(){return this.level.getLastReward()},t.prototype.setAgentLidar=function(t){this.agentLidarInfo=t},t.prototype.setAgentMotion=function(t,e){this.agentMotionEngine=t,this.agentMotionOptions=e},t.prototype.addEvent=function(t,e,i){var o=this.eventList.indexOf(t);-1!=o?"load"!=this.eventList[o]?this.eventCallback[o](e):this.eventCallback[o](e,i):this.event.onCustomEvent(t,e)},t.prototype.render=function(t){this.level.render(t)},t.prototype.save=function(t,e){x(t,e)},t.prototype.actionSpace=function(){return this.level.agent.motion.actionSpace()},t.prototype.getState=function(t){return void 0===t&&(t=!1),this.level.agent.getState(t)},t.prototype.step=function(t){return this.level.step(1,t)},t.prototype.reset=function(){this.level.reset()},t.prototype.randomRoadPosition=function(){var t=this.level.getRoads(),e=Object.keys(t);for(var i in e.sort(function(){return Math.random()-.5}),e){var o=t[e[i]];if(0==o.cars.length){o.setCarPosition(this.level.agent.core);break}}},t.prototype.loop=function(t){this.loopCallback=t},t.prototype._loop=function(t){this.event.isPlaying()?this.event.playCallback():this.level.step(t),this.loopCallback&&this.loopCallback()},t.prototype._setEvents=function(){var t=this;this.event=new P(this.level,this.canvasId),this.eventCallback=[function(e){return t.event.onTrain(e)},function(e){return t.event.onPlay(e)},function(e){return t.event.onStop(e)},function(e){return t.event.onResetEnv(e)},function(e,i){return t.event.onLoad(e,i)}]},t.prototype.load=function(){var t=this;return new Promise(function(e){"string"==typeof t.levelToLoad?g(t.levelToLoad,function(i){t.level=new O(i,t.canvasId),t.level.setAgentMotion(t.agentMotionEngine,t.agentMotionOptions),t.level.setAgentLidar(t.agentLidarInfo),t.level.carsMoving(t.isCarsMoving),t._setEvents(),t.level.load(function(e){return t._loop(e)}).then(function(){e()})}):(t.level=new O(t.levelToLoad,t.canvasId),t.level.setAgentMotion(t.agentMotionEngine,t.agentMotionOptions),t.level.setAgentLidar(t.agentLidarInfo),t.level.carsMoving(t.isCarsMoving),t._setEvents(),t.level.load(function(e){return t._loop(e)}).then(function(){e()}))})},t}(),F=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])};return function(e,i){function o(){this.constructor=e}t(e,i),e.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}}(),D=function(t){function e(e,i){var o=t.call(this,e,i)||this;return o.selectedItems=null,o.am=new T(o),o}return F(e,t),e.prototype._setEvents=function(){},e.prototype._setup=function(t){var e=this;this._setEvents();var i=n.resources[c].textures;this.am.createMap(this.map,t,i,!1),this.am.createCars(t,i),t.agent&&(this.agent=this.am.createAgent(t,i,!1));for(var o=this,a=0;a<this.envs.length;a++)this.envs[a].interactive=!0,this.envs[a].on("rightclick",function(){o.removeItem(this)});for(a=0;a<this.am.assets.length;a++)this.am.assets[a].interactive=!0,this.am.assets[a].on("rightclick",function(){o.removeItem(this)});this.app.ticker.add(function(t){return e.loop(t)})},e.prototype.resize=function(t,e){this.app.renderer.resize(t*d,e*d)},e.prototype.getSelectedItems=function(){return this.selectedItems},e.prototype.selectedItem=function(t){this.selectedItems&&this.app.stage.removeChild(this.selectedItems);var e=n.resources[c].textures;this.selectedItems=new a(e[t.image]),this.selectedItems.type=t.type,this.selectedItems.image=t.image,this.selectedItems.data=t.data,this.selectedItems.x=0,this.selectedItems.y=0,this.app.stage.addChild(this.selectedItems)},e.prototype.removeItem=function(t){t.lidar&&this.app.stage.removeChild(t.lidar),t.mapId==u.CAR&&t.road&&t.road.cars.splice(t.road.cars.indexOf(t.carId),1),t.agent&&(this.agent=void 0),this.app.stage.removeChild(t),t.isremove=!0},e.prototype.exportMap=function(t,e,i,o){return this.am.exportMap(t,e,i,o)},e.prototype.setCurrentItem=function(){this.am.addAsset(this.selectedItems);var t=n.resources[c].textures,e=this;"road"==this.selectedItems.type?(this.am.createRoad({mx:Math.floor(this.selectedItems.x/d),my:Math.floor(this.selectedItems.y/d),type:this.selectedItems.data},t,this.selectedItems.data),this.envs[this.envs.length-1].interactive=!0,this.envs[this.envs.length-1].on("rightclick",function(){e.removeItem(this)})):"car"==this.selectedItems.type?(this.am.createCars({cars:[{mx:Math.floor(this.selectedItems.x/d),my:Math.floor(this.selectedItems.y/d),rotation:0,line:0}]},t),this.envs[this.envs.length-1].interactive=!0,this.envs[this.envs.length-1].on("rightclick",function(){e.removeItem(this)})):"agent"==this.selectedItems.type&&void 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v(t,e){var i=new XMLHttpRequest;i.overrideMimeType("application/json"),i.open("GET",t,!0),i.onreadystatechange=function(){4==i.readyState&&200==i.status&&e(JSON.parse(i.responseText))},i.send(null)}function m(t,e){var i=t.split("//");i=i[1].split("/"),e(x[i[0]][i[1]])}function f(t,e){({"embedded:":m,"http:":v,"https:":v})[t.split("//")[0]](t,e)}function g(t,e){var i=document.createElement("a");document.body.appendChild(i);var o=new Blob([t],{type:"application/octet-binary"}),n=window.URL.createObjectURL(o);i.href=n,i.download=e,i.click(),window.URL.revokeObjectURL(n),i.href=""}function _(t){var e={};return e.code=t,e.isDown=!1,e.isUp=!0,e.press=void 0,e.release=void 0,e.downHandler=function(t){t.keyCode===e.code&&(e.isUp&&e.press&&e.press(),e.isDown=!0,e.isUp=!1),t.preventDefault()},e.upHandler=function(t){t.keyCode===e.code&&(e.isDown&&e.release&&e.release(),e.isDown=!1,e.isUp=!0),t.preventDefault()},window.addEventListener("keydown",e.downHandler.bind(e),!1),window.addEventListener("keyup",e.upHandler.bind(e),!1),e}var I,C=0,w=function(){function t(t,e,i,o){void 0===o&&(o={});var n=this;this.level=t,o.image=o.image||p.DEFAULT,o.lidar=o.lidar||!1,o.lidarInfo=o.lidarInfo||{pts:5,width:4,height:5,pos:0},this.core=new a(i[o.image]),this.info=e,this.core.scale.x=.8,this.core.scale.y=.8,this.core.anchor.x=.5,this.core.anchor.y=.5,this.core.road=void 0,this.core.carId=C,C+=1,this.core.agent=!1,this.core.obstacle=!0,this.core.mapId=y.CAR,o.lidar&&(this.createLidar(o.lidarInfo),this.core.lidar=this.lidar),o.motionEngine?(this.motion=o.motionEngine,this.motion.setUp(this.core,this.lidar),this.core.rotationStep=.5):this.core.rotationStep=.5,this.core.mx=this.info.mx,this.core.my=this.info.my,this.core.x=this.info.mx*d,this.core.y=this.info.my*d,this.core.checkAndsetNewRoad=function(t){return n.checkAndsetNewRoad(t)};var r=this.level.getRoad(this.core.my,this.core.mx);this.core.line=0,r&&r.setCarPosition(this.core,this.info.line)}return t.prototype.checkAndsetNewRoad=function(t){var e=this.core.road;t||(t=this.level.getRoad(this.core.my,this.core.mx)),t!=e&&(e&&e.cars.splice(e.cars.indexOf(this.core.carId),1),this.core.road=t,this.core.haveTurned=!1,this.core.optionalTurn=!1,this.core.turnedRandom=void 0,this.core.next_road=!1,t&&t.cars.push(this.core.carId))},t.prototype.reset=function(){this.core.mx=this.info.mx,this.core.my=this.info.my;var t=this.level.getRoad(this.core.my,this.core.mx);t&&t.setCarPosition(this.core,this.info.line,!0)},t.prototype.getState=function(){var t={},e=[];return this.motion.state.map(function(t){e=e.concat(t)}),e.push(this.core.v),t.linear=e,t.lidar=this.motion.state.map(function(t){return t.slice()}),t.v=this.core.v,t.a=this.core.last_a,t.steering=this.core.last_yaw_rate,t},t.prototype.step=function(t,e){if(void 0===e&&(e=null),null==e)var i=this.motion.step(t),o=i.agentCollisions,n=i.onRoad;else{var a=this.motion.actionStep(t,e);o=a.agentCollisions,n=a.onRoad}return{agentCollisions:o,onRoad:n}},t.prototype.createLidar=function(t){t.pts=t.pts||5,t.width=t.width||4,t.height=t.height||5,t.pos=t.pos||0,this.lidar=new s,this.lidar.lidarPts=[],this.lidar.collisionPts=[];var e=new r;e.pt=!1,e.alpha=.3,e.beginFill(5329233),e.drawRect(0,0,this.core.width*t.width,this.core.height*t.height),e.endFill();var i=new r;i.pt=!1,i.alpha=0,i.beginFill(5308416),i.drawRect(this.core.width-5,e.height/2,3,3),i.endFill();var o=new r;o.pt=!1,o.alpha=0,o.beginFill(5308416),o.drawRect(-1,e.height/2-2,3,3),o.endFill();var n=new r;n.pt=!1,n.alpha=0,n.beginFill(5308416),n.drawRect(this.core.width/2,e.height/2-this.core.height/2+5,3,3),n.endFill();var a=new r;a.pt=!1,a.alpha=0,a.beginFill(5308416),a.drawRect(this.core.width/2,e.height/2+this.core.height/2-8,3,3),a.endFill(),o.x-=t.pos*this.core.width,i.x-=t.pos*this.core.width,a.x-=t.pos*this.core.width,n.x-=t.pos*this.core.width;for(var h=e.width/t.pts,c=e.height/t.pts,l=t.pts-1;l>=0;l--)for(var d=0;d<t.pts;d++){var p=h/4+l*h,y=c/4+d*c,u=new r;u.pt=!0,u.beginFill(16777215),u.drawRect(p,y,5,5),u.endFill(),this.lidar.addChild(u),this.lidar.lidarPts.push(u)}this.lidar.pts=t.pts,this.lidar.addChild(e),this.lidar.addChild(i),this.lidar.addChild(o),this.lidar.addChild(n),this.lidar.addChild(a),this.lidar.collisionPts.push(i),this.lidar.collisionPts.push(o),this.lidar.collisionPts.push(n),this.lidar.collisionPts.push(a),this.lidar.x=this.core.x,this.lidar.y=this.core.y,this.lidar.pivot.y=this.lidar.height/2,this.lidar.pivot.x=this.core.width/2-t.pos*this.core.width,this.lidar.rotation=this.core.rotation},t}(),M=function(){function t(t){this.level=t}return t.prototype.boxesIntersect=function(t,e){var i=t.getBounds(),o=e.getBounds();return i.x+i.width>o.x&&i.x<o.x+o.width&&i.y+i.height>o.y&&i.y<o.y+o.height},t.prototype.carIntersect=function(t,e){for(var i=t.lidar.collisionPts.length,o=0;o<i;o++)if(this.boxesIntersect(t.lidar.collisionPts[o],e))return!0;return!1},t.prototype.carCaptorInObject=function(t,e){for(var i=t.lidar.collisionPts.length,o=0,n=0;n<i;n++)this.boxesIntersect(t.lidar.collisionPts[n],e)&&(o+=1);return o},t.prototype.detectInteractions=function(t,e){void 0===t&&(t=!0),void 0===e&&(e=!1);for(var i=this.level.getEnvs(),o=[],n=[],a=0,r=!1,s=0;s<i.length;s++)i[s]!=this.car&&(Math.abs(i[s].mx-this.car.mx)<2&&Math.abs(i[s].my-this.car.my)<2||e)&&(t&&i[s].obstacle&&this.carIntersect(this.car,i[s])?o.push(i[s]):t&&i[s].mapId==y.ROAD&&(a+=this.carCaptorInObject(this.car,i[s])),this.boxesIntersect(i[s],this.lidar)&&n.push(i[s]));return this.setState(n),(a>=4||!t)&&(r=!0),{agentCollisions:o,onRoad:r}},t.prototype.setState=function(t){for(var e=0,i=0;i<this.lidar.lidarPts.length;i++){this.lidar.lidarPts[i].alpha=.3;var o=Math.floor(e/this.lidar.pts),n=Math.floor(e%this.lidar.pts);this.state[o][n]=y.DEFAULT;for(var a=0;a<t.length;a++)if(t[a]!=this.car){var r=this.boxesIntersect(t[a],this.lidar.lidarPts[i]);r&&t[a].obstacle&&(this.lidar.lidarPts[i].alpha=1),r&&(t[a].mapId>this.state[o][n]||t[a].mapId==y.ROAD&&this.state[o][n]==y.DEFAULT)&&(this.state[o][n]=t[a].mapId)}e+=1}},t}(),b=(I=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])},function(t,e){function i(){this.constructor=t}I(t,e),t.prototype=null===e?Object.create(e):(i.prototype=e.prototype,new i)}),R=function(t){function e(e,i){var o=t.call(this,e)||this;return o.maxSpeed=1,o.rotationStep=i.rotationStep||.5,o.actions=i.actions||["UP","LEFT","RIGHT","DOWN","WAIT"],o}return b(e,t),e.prototype.setUp=function(t,e){this.car=t,this.lidar=e,this.state=[];for(var i=0;i<e.pts;i++){for(var o=[],n=0;n<e.pts;n++)o.push(y.DEFAULT);this.state.push(o)}this.setUpKeyboard(),this.car.v=0,this.car.a=0,this.car.yaw_rate=0,this.detectInteractions()},e.prototype.setUpKeyboard=function(){var t=this,e=_(37),i=_(38),o=_(39),n=_(40);-1!=this.actions.indexOf("LEFT")&&(e.press=function(){t.turnLeft()}),-1!=this.actions.indexOf("RIGHT")&&(o.press=function(){t.turnRight()}),-1!=this.actions.indexOf("UP")&&(i.press=function(){t.moveForward()},i.release=function(){t.car.v=0}),-1!=this.actions.indexOf("DOWN")&&(n.press=function(){t.moveBackward()},n.release=function(){t.car.v=0})},e.prototype.turnLeft=function(){this.car.rotation-=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.turnRight=function(){this.car.rotation+=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.moveForward=function(){this.car.v=1},e.prototype.moveBackward=function(){this.car.v=-1},e.prototype.actionStep=function(t,e){"LEFT"==this.actions[e]&&this.turnLeft(),"RIGHT"==this.actions[e]&&this.turnRight(),"UP"==this.actions[e]&&this.moveForward(),"DOWN"==this.actions[e]&&this.moveBackward();var i=this.step(t),o=i.agentCollisions,n=i.onRoad;return this.car.v=0,{agentCollisions:o,onRoad:n}},e.prototype.actionSpace=function(){return{type:"Discrete",size:1,range:[0,1,2,3,4]}},e.prototype.step=function(t){this.car.x+=this.car.v*Math.cos(this.car.rotation)*t,this.car.y+=this.car.v*Math.sin(this.car.rotation)*t,this.car.mx=Math.floor(this.car.x/d),this.car.my=Math.floor(this.car.y/d),this.car.checkAndsetNewRoad(),this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation;var e=this.detectInteractions(!0,!0),i=e.agentCollisions,o=e.onRoad;return i.length>0&&(this.car.v=0,this.car.vy=0),{agentCollisions:i,onRoad:o}},e}(M),E=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])};return function(e,i){function o(){this.constructor=e}t(e,i),e.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}}(),S=function(t){function e(e){var i=t.call(this,e)||this;return i.map=i.level.getMap(),i.mapSizeY=i.map.length,i.mapSizeX=i.map[0].length,i.rotationStep=.5,i.rotationToNextCase={},i.rotationToNextCase[0]={mx:1,my:0},i.rotationToNextCase[.5]={mx:0,my:1},i.rotationToNextCase[1]={mx:-1,my:0},i.rotationToNextCase[1.5]={mx:0,my:-1},i.rotationToNextCase[-.5]={mx:0,my:-1},i.rotationToNextCase[-1]={mx:-1,my:0},i.rotationToNextCase[-1.5]={mx:0,my:1},i}return E(e,t),e.prototype.setUp=function(t,e){this.car=t,this.lidar=e,this.state=[];for(var i=0;i<e.pts;i++){for(var o=[],n=0;n<e.pts;n++)o.push(y.DEFAULT);this.state.push(o)}this.car.v=0,this.detectInteractions()},e.prototype.turnLeft=function(){this.car.rotation-=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.turnRight=function(){this.car.rotation+=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.moveUp=function(){this.car.v=1},e.prototype.moveDown=function(){this.car.v=-1},e.prototype.isRoad=function(t,e,i){if(void 0===i&&(i=!1),e<0||e>=this.mapSizeY||t<0||t>=this.mapSizeX||0==this.map[e][t])return!1;if(i&&this.level.getRoad(e,t).cars.length>0)return!1;return!0},e.prototype.autoRotation=function(){var t=d+d/3,e=d-d/3.5,i=d;if(this.car.next_road){var o=Math.abs((this.car.next_road.outroad.y+d/2-this.car.y)*this.car.next_road.outroad_np.my),n=Math.abs((this.car.next_road.outroad.x+d/2-this.car.x)*this.car.next_road.outroad_np.mx);if(0==this.car.next_road.rotation_type&&o<t&&n<t)return this.car.haveTurned=!0,this.car.previousRotation=this.car.rotation,this.car.rotation=this.car.rotation+=Math.PI/2,this.car.rotation=this.car.rotation%(2*Math.PI),void(this.car.next_road=void 0);if(1==this.car.next_road.rotation_type&&o<e&&n<e)return this.car.previousRotation=this.car.rotation,this.car.haveTurned=!0,this.car.rotation=this.car.rotation-=Math.PI/2,this.car.rotation=this.car.rotation%(2*Math.PI),void(this.car.next_road=void 0);if(2==this.car.next_road.rotation_type&&o<i&&n<i)return this.car.haveTurned=!0,this.car.previousRotation=this.car.rotation,this.car.rotation=this.car.rotation-=Math.PI,this.car.rotation=this.car.rotation%(2*Math.PI),0!=o&&this.car.x<this.car.next_road.outroad.x+d/2?(this.car.x=this.car.next_road.outroad.x+d/2+d/4,this.car.y=this.car.next_road.outroad.y):0!=o&&this.car.x>this.car.next_road.outroad.x+d/2?(this.car.x=this.car.next_road.outroad.x+d-d/2-d/4,this.car.y=this.car.next_road.outroad.y):0!=n&&this.car.y<this.car.next_road.outroad.y+d/2?(this.car.y=this.car.next_road.outroad.y+d/2+d/4,this.car.x=this.car.next_road.outroad.x):0!=n&&this.car.y>this.car.next_road.outroad.y+d/2&&(this.car.y=this.car.next_road.outroad.y+d-d/2-d/4,this.car.x=this.car.next_road.outroad.x),void(this.car.next_road=void 0)}else{var a=this.car.rotation/Math.PI,r=(this.car.rotation/Math.PI+.5)%2,s=(this.car.rotation/Math.PI-.5)%2,h=this.rotationToNextCase[a],c=this.rotationToNextCase[r],l=this.rotationToNextCase[s],p=!1,y=this.car.mx+h.mx,u=this.car.my+h.my;if(this.isRoad(y,u)?this.car.haveTurned||this.car.turnedRandom?!this.car.haveTurned&&this.car.turnedRandom<.5&&this.isRoad(this.car.mx+c.mx,this.car.my+c.my)?(p=!0,this.car.optionalTurn=!0):!this.car.haveTurned&&this.car.turnedRandom>=.5&&this.isRoad(this.car.mx+l.mx,this.car.my+l.my)&&(p=!0,this.car.optionalTurn=!0):this.car.turnedRandom=Math.random():(p=!0,this.car.optionalTurn=!1),p)for(var x=[(a+.5)%2,(a-.5)%2,null],v=0;v<x.length;v++){var m=void 0;m=null!=x[v]?this.rotationToNextCase[x[v]]:{mx:0,my:0};var f=this.car.mx+m.mx,g=this.car.my+m.my;if(this.isRoad(f,g))return void(this.car.next_road={outroad:{y:u*d,x:y*d},outroad_np:h,rotation_type:v})}}},e.prototype.step=function(t){-1!=this.state.toString().indexOf(","+y.CAR.toString())?(this.car.v=0,0==this.car.v&&this.car.haveTurned&&1==this.car.optionalTurn&&(this.car.rotation=this.car.previousRotation)):(this.car.v=.8,this.autoRotation()),this.level.isCarsMoving&&(this.car.x+=this.car.v*Math.cos(this.car.rotation)*t,this.car.y+=this.car.v*Math.sin(this.car.rotation)*t),this.car.mx=Math.floor(this.car.x/d),this.car.my=Math.floor(this.car.y/d),this.car.checkAndsetNewRoad(),this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation,this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation;var e=this.detectInteractions(!1);return{agentCollisions:e.agentCollisions,onRoad:e.onRoad}},e}(M),L=function(){function t(t){this.assets=[],this.agentMotionEngine=R,this.agentMotionOptions={},this.agentLidarInfo={},this.level=t}return t.prototype.setAgentLidar=function(t){this.agentLidarInfo=t},t.prototype.setAgentMotion=function(t,e){this.agentMotionEngine=t,this.agentMotionOptions=e},t.prototype.createRoadSide=function(t){var e=t.mx*d,i=t.my*d,o=new r;o.beginFill(15263976),o.drawRoundedRect(0,0,d+30,d+30,void 0),o.x=e-15,o.y=i-15,o.endFill(),this.level.addChild(o)},t.prototype.createRoad=function(t,e,i){var o=this,n=new a(e[u.ROADS[t.type].image]);n.arrow=i,n.x=t.mx*d,n.y=t.my*d,n.obstacle=!1,n.mapId=y.ROAD,n.orientation=u.ROADS[t.type].orientation,n.setCarPosition=function(t,e,i){return void 0===i&&(i=!1),o.setCarOnRoad(n,t,e,i)},n.cars=[],n.mx=t.mx,n.my=t.my,this.level.addRoad(n)},t.prototype.setCarOnRoad=function(t,e,i,o){void 0===o&&(o=!1),void 0==i&&(i=Math.min(1,Math.floor(2*Math.random())));var n=this.level.findCarById(t.cars[0]);!o&&t.cars.length>=1&&n&&n.core.line==i&&(i=0==i?1:0),e.line=i,e.a=0,e.v=0,e.x=t.x,e.y=t.y,e.x+=d/2,e.y+=d/2;var a=1*d/4;t.orientation=Math.floor(t.orientation/e.rotationStep)*e.rotationStep;var r=-t.orientation*Math.PI,s=0*Math.cos(r)-a*Math.sin(r),h=Math.cos(r)*a+0*Math.sin(r),c=0==i?1:-1,l=0==i?0:Math.PI;e.x+=c*Math.round(s),e.y+=c*Math.round(h),e.mx=Math.floor(e.x/d),e.my=Math.floor(e.y/d),e.rotation=r+l,e.checkAndsetNewRoad(t)},t.prototype.createAsset=function(t,e,i,o){var n=new a(i[t]);n.obstacle=!1,n.type=o,n.mapId=0,n.x=e.x,n.y=e.y,this.level.addChild(n),this.assets.push(n)},t.prototype.createMap=function(t,e,i,o){if(void 0===o&&(o=!0),o)for(var n=0;n<t.length;n++)for(var a=0;a<t[n].length;a++)u.ROADS[t[n][a]]&&this.createRoadSide({mx:a,my:n,type:t[n][a]});for(n=0;n<t.length;n++)for(a=0;a<t[n].length;a++)u.ROADS[t[n][a]]&&this.createRoad({mx:a,my:n,type:t[n][a]},i,t[n][a]);for(var r in u)if("ROADS"!=r&&e[r])for(var s=0;s<e[r].length;s++)this.createAsset(u[r].image,e[r][s],i,r)},t.prototype.createCars=function(t,e){for(var i in t.cars){var o={lidar:!0,lidarInfo:{pts:2,width:.5,height:1,pos:1}};o.lidar=!0,o.motionEngine=new S(this.level);var n=new w(this.level,t.cars[i],e,o);this.level.addCar(n)}},t.prototype.createAgent=function(t,e,i){void 0===i&&(i=!0);var o=new w(this.level,t.agent,e,{image:p.AGENT,lidar:!0,lidarInfo:this.agentLidarInfo,motionEngine:new this.agentMotionEngine(this.level,this.agentMotionOptions)});return i&&this.level.addChild(o.lidar),this.level.addCar(o),o.core.agent=!0,o},t.prototype.addAsset=function(t){this.assets.push(t)},t.prototype.exportMap=function(t,e,i,o){for(var n={cars:[]},a=[],r=this.level.getEnvs(),s=0;s<e;s++){for(var h=[],c=0;c<t;c++)h.push(0);a.push(h)}for(var l=0;l<r.length;l++){(d=r[l]).isremove||(d.mapId==y.CAR&&!d.agent&&d.my<e&&d.mx<t?n.cars.push({mx:d.mx,my:d.my,line:d.line}):d.mapId==y.ROAD&&d.my<e&&d.mx<t&&(a[d.my][d.mx]=d.arrow))}for(l=0;l<this.assets.length;l++){var d;(d=this.assets[l]).isremove||"car"!=d.type&&"agent"!=d.type&&(n[d.type]||(n[d.type]=[]),n[d.type].push({x:d.x,y:d.y}))}n.map=a,this.level.agent&&(n.agent={mx:this.level.agent.core.mx,my:this.level.agent.core.my,line:this.level.agent.core.line,motion:{type:"BasicMotionEngine",options:{rotationStep:.5,actions:["UP","LEFT","RIGHT","DOWN","WAIT"]}}});var p=JSON.stringify(n,null,4);return o&&g(p,i),n},t}(),T=function(){function t(t,e){this.agent=null,this.app=null,this.map=null,this.info=null,this.envs=[],this.roads={},this.cars=[],this.steping=!0,this.info=t,this.canvasId=e}return t.prototype.load=function(t){var e=this;return this.loop=t,new Promise(function(t){e.createLevel(e.info).then(function(){return t()})})},t.prototype.createLevel=function(t){var e=this;return this.map=t.map,this.app=new PIXI.Application({width:this.map[0].length*d,height:this.map.length*d,backgroundColor:8437566}),document.getElementById(this.canvasId).appendChild(this.app.view),new Promise(function(i){n.add([c,"https://metacar-project.com/public/textures/textures.png"],{crossOrigin:!0}).load(function(){e._setup(t),i()})})},t.prototype._setup=function(t){console.warn("This method should be implemented.",t)},t.prototype.getRoads=function(){return this.roads},t.prototype.findCarById=function(t){return this.cars.find(function(e){return e.core.carId==t})},t.prototype.getRoad=function(t,e){return this.roads[[t.toString(),e.toString()].toString()]},t.prototype.addRoad=function(t){this.roads[[t.my.toString(),t.mx.toString()].toString()]=t,this.envs.push(t),this.app.stage.addChild(t)},t.prototype.addCar=function(t){this.cars.push(t),this.app.stage.addChild(t.core),this.envs.push(t.core)},t.prototype.getEnvs=function(){return this.envs},t.prototype.getMap=function(){return this.map},t.prototype.addChild=function(t){this.app.stage.addChild(t)},t.prototype.render=function(t){t?(this.app.ticker.start(),this.steping=!0):(this.app.ticker.stop(),this.steping=!1)},t.prototype.reset=function(){},t.prototype.resize=function(t,e){this.app.renderer.resize(t*d,e*d)},t.prototype.getMousePosition=function(){return this.app.renderer.plugins.interaction.mouse.global},t.prototype.setSteping=function(t){this.steping=t},t.prototype.shuffleCarsPositions=function(){for(var t=0;t<this.cars.length;t++){var e=this.roads,i=Object.keys(e);for(var o in i.sort(function(){return Math.random()-.5}),i){var n=e[i[o]];if(0==n.cars.length){n.setCarPosition(this.cars[t].core);break}}}},t}(),A=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])};return function(e,i){function o(){this.constructor=e}t(e,i),e.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}}(),O=function(t){function e(e,i){var o=t.call(this,e,i)||this;return o.isCarsMoving=!0,o.lastReward=0,o.rewardFunction=null,o.map=o.info.map,o.am=new L(o),o}return A(e,t),e.prototype.setRewardFunction=function(t){this.rewardFunction=t},e.prototype.carsMoving=function(t){this.isCarsMoving=t},e.prototype.setAgentMotion=function(t,e){this.am.setAgentMotion(t,e)},e.prototype.setAgentLidar=function(t){this.am.setAgentLidar(t)},e.prototype._setup=function(t){var e=this,i=n.resources[c].textures;this.am.createMap(this.map,t,i),this.am.createCars(t,i),t.agent&&(this.agent=this.am.createAgent(t,i)),this.app.ticker.add(function(t){return e.loop(t)})},e.prototype.reset=function(){this.agent.reset();for(var t=0;t<this.cars.length;t++)this.cars[t].reset()},e.prototype.setReward=function(t,e,i){var o=0+Math.max(0,this.agent.core.v)/this.agent.motion.maxSpeed;return t.length>0?o=-1:e||(o=-1),o},e.prototype.getLastReward=function(){return this.lastReward},e.prototype.step=function(t,e,i){if(void 0===e&&(e=null),void 0===i&&(i=!0),!i||this.steping){for(var o=0;o<this.cars.length;o++)this.cars[o].lidar&&!this.cars[o].core.agent&&this.cars[o].step(t);if(this.agent){var n=this.agent.step(t,e),a=n.agentCollisions,r=n.onRoad,s=void 0;return s=this.rewardFunction?this.rewardFunction(a,r,e):this.setReward(a,r,e),this.lastReward=s,s}return 0}},e.prototype.stopRender=function(){this.app.ticker.stop()},e}(T),P=function(){function t(t,e){this.level=t,this.canvasId=e;var i=document.getElementById(e),o=document.createElement("div");o.classList.add("metacar_buttons_container"),o.id="metacar_"+e+"_buttons_container",i.parentNode.insertBefore(o,i.nextSibling),this.buttonsContainer=o}return t.prototype.isPlaying=function(){return this.playing},t.prototype.getEditorSize=function(){return{width:this.editorWidth,height:this.editorHeight}},t.prototype._createButton=function(t,e){var i=document.createElement("button");return i.classList.add("metacar_button_train"),i.id="metacar_"+this.canvasId+"_button_"+e,e=e.replace(/_/g," "),i.innerHTML=e.charAt(0).toUpperCase()+e.slice(1),t.appendChild(i),i},t.prototype.onTrain=function(t){var e=this;this._createButton(this.buttonsContainer,"train").addEventListener("click",function(){e.level.render(!1),e.level.setSteping(!1),t&&t()})},t.prototype.onPlay=function(t){var e=this;this._createButton(this.buttonsContainer,"play").addEventListener("click",function(){t&&(e.playing=!0,e.playCallback=t)})},t.prototype.onStop=function(t){var e=this;this._createButton(this.buttonsContainer,"stop").addEventListener("click",function(){e.playing=!1,e.playCallback=void 0,t&&t()})},t.prototype.onResetEnv=function(t){var e=this;this._createButton(this.buttonsContainer,"reset_env").addEventListener("click",function(){e.level.reset(),t&&t()})},t.prototype.onCustomEvent=function(t,e){this._createButton(this.buttonsContainer,t).addEventListener("click",function(){e&&e()})},t.prototype.onSaveEditor=function(t,e){var i=this;this._createButton(this.buttonsContainer,"save").addEventListener("click",function(){var o=i.getEditorSize(),n=i.level.exportMap(o.width,o.height,e.name,e.download);t&&t(n)})},t.prototype.onLoad=function(t,e){void 0===e&&(e=Object()),e.local=e.local||!1;var i=this._createButton(this.buttonsContainer,"load_trained_agent"),o=document.createElement("input");o.type="file",o.accept="*/*",o.style.display="none",o.classList.add("metacar_button_input_file"),o.id="metacar_"+this.canvasId+"_button_input_file",this.buttonsContainer.appendChild(o),o.addEventListener("change",function(e){!function(t,e){var i=t.target.files[0],o=new FileReader;o.readAsText(i,"UTF-8"),o.onload=function(t){e(t.target.result)}}(e,function(e){t&&t(e)})}),i.addEventListener("click",function(){e.local?o.click():t&&t()})},t.prototype._createRangeBar=function(t){var e=document.createElement("input");return e.type="range",e.min="5",e.max="15",e.value="5",e.classList.add("metacar_"+t+"_input"),e.id="metacar_"+this.canvasId+"_"+t+"_input",e},t.prototype._createSpan=function(t,e){var i=document.createElement("span");return i.classList.add("metacar_"+t+"_span"),i.id="metacar_"+this.canvasId+"_"+t+"_span",i.innerHTML=e,i},t.prototype._createImage=function(t,e){var i=document.createElement("img");return i.classList.add("metacar_img"),i.id="metacar_"+this.canvasId+"_"+t+"_img",i.src=e,i},t.prototype._listenRangeChanges=function(t,e){var i=this;t.onchange=function(){var o=parseInt(t.value),n=parseInt(e.value);i.level.resize(o,n),i.editorWidth=o,i.editorHeight=n},e.onchange=function(){var o=parseInt(t.value),n=parseInt(e.value);i.level.resize(o,n),i.editorWidth=o,i.editorHeight=n}},t.prototype._listenCanvasEditor=function(){var t=this;document.getElementById(this.canvasId).addEventListener("contextmenu",function(t){return t.preventDefault()}),document.getElementById(this.canvasId).addEventListener("click",function(){t.level.getSelectedItems()&&t.level.setCurrentItem()})},t.prototype._listenEditorImgs=function(){for(var t=document.getElementsByClassName("metacar_img"),e=this,i=0;i<t.length;i++)t[i].addEventListener("click",function(){e.level.selectedItem({image:this.getAttribute("data-img"),type:this.getAttribute("data-type"),data:this.getAttribute("data-data")})},!1)},t.prototype.createEditorElementsEvents=function(){var t=this._createSpan("width","Width"),e=this._createRangeBar("width"),i=this._createSpan("height","Height"),o=this._createRangeBar("height");this.buttonsContainer.appendChild(t),this.buttonsContainer.appendChild(e),this.buttonsContainer.appendChild(i),this.buttonsContainer.appendChild(o),this._listenRangeChanges(e,o),this._listenCanvasEditor();var n=this.level.getMap(),a=n[0].length,r=n.length;e.value=a.toString(),o.value=r.toString(),this.editorWidth=a,this.editorHeight=r;var s=this._createImage("car_agent",l+"car_agent.png");s.dataset.type="agent",s.dataset.img="car_agent.png",this.buttonsContainer.appendChild(s);var h=this._createImage("car_agent",l+"car.png");h.dataset.type="car",h.dataset.img="car.png",this.buttonsContainer.appendChild(h);var c=u.ROADS;for(var d in c){(y=this._createImage(c[d].image.replace(".png",""),l+c[d].image)).dataset.type="road",y.dataset.img=c[d].image,y.dataset.data=d,this.buttonsContainer.appendChild(y)}for(var p in u){var y;if("ROADS"!=p)(y=this._createImage(p,l+u[p].image)).dataset.img=u[p].image,y.dataset.data=p,y.dataset.type="asset",this.buttonsContainer.appendChild(y)}this._listenEditorImgs()},t}(),k=function(){function t(t,e){this.eventList=["train","play","stop","reset_env","load"],this.agentMotionEngine=R,this.agentMotionOptions={},this.isCarsMoving=!0,this.loopCallback=void 0,t&&e||console.error("You must specify the canvasId and the levelToLoad"),this.canvasId=t,this.levelToLoad=e}return t.prototype.setRewardFunction=function(t){this.level.setRewardFunction(t)},t.prototype.carsMoving=function(t){this.isCarsMoving=t},t.prototype.getLastReward=function(){return this.level.getLastReward()},t.prototype.setAgentLidar=function(t){this.agentLidarInfo=t},t.prototype.setAgentMotion=function(t,e){this.agentMotionEngine=t,this.agentMotionOptions=e},t.prototype.addEvent=function(t,e,i){var o=this.eventList.indexOf(t);-1!=o?"load"!=this.eventList[o]?this.eventCallback[o](e):this.eventCallback[o](e,i):this.event.onCustomEvent(t,e)},t.prototype.render=function(t){this.level.render(t)},t.prototype.steping=function(t){this.level.setSteping(t)},t.prototype.save=function(t,e){g(t,e)},t.prototype.actionSpace=function(){return this.level.agent.motion.actionSpace()},t.prototype.getState=function(){return this.level.agent.getState()},t.prototype.step=function(t){return this.level.step(1,t,!1)},t.prototype.reset=function(){this.level.reset()},t.prototype.shuffle=function(t){if((t=t||{cars:!0,agent:!0}).cars=void 0==t.cars||t.cars,t.agent=void 0==t.agent||t.agent,t.agent){var e=this.level.getRoads(),i=Object.keys(e);for(var o in i.sort(function(){return Math.random()-.5}),i){var n=e[i[o]];if(0==n.cars.length){n.setCarPosition(this.level.agent.core);break}}}t.cars&&this.level.shuffleCarsPositions()},t.prototype.loop=function(t){this.loopCallback=t},t.prototype._loop=function(t){this.event.isPlaying()?this.event.playCallback():this.level.step(t),this.loopCallback&&this.loopCallback()},t.prototype._setEvents=function(){var t=this;this.event=new P(this.level,this.canvasId),this.eventCallback=[function(e){return t.event.onTrain(e)},function(e){return t.event.onPlay(e)},function(e){return t.event.onStop(e)},function(e){return t.event.onResetEnv(e)},function(e,i){return t.event.onLoad(e,i)}]},t.prototype.load=function(){var t=this;return new Promise(function(e){"string"==typeof t.levelToLoad?f(t.levelToLoad,function(i){t.level=new O(i,t.canvasId),t.level.setAgentMotion(t.agentMotionEngine,t.agentMotionOptions),t.level.setAgentLidar(t.agentLidarInfo),t.level.carsMoving(t.isCarsMoving),t._setEvents(),t.level.load(function(e){return t._loop(e)}).then(function(){e()})}):(t.level=new O(t.levelToLoad,t.canvasId),t.level.setAgentMotion(t.agentMotionEngine,t.agentMotionOptions),t.level.setAgentLidar(t.agentLidarInfo),t.level.carsMoving(t.isCarsMoving),t._setEvents(),t.level.load(function(e){return t._loop(e)}).then(function(){e()}))})},t}(),F=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])};return function(e,i){function o(){this.constructor=e}t(e,i),e.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}}(),D=function(t){function e(e,i){var o=t.call(this,e,i)||this;return o.selectedItems=null,o.am=new L(o),o}return F(e,t),e.prototype._setEvents=function(){},e.prototype._setup=function(t){var e=this;this._setEvents();var i=n.resources[c].textures;this.am.createMap(this.map,t,i,!1),this.am.createCars(t,i),t.agent&&(this.agent=this.am.createAgent(t,i,!1));for(var o=this,a=0;a<this.envs.length;a++)this.envs[a].interactive=!0,this.envs[a].on("rightclick",function(){o.removeItem(this)});for(a=0;a<this.am.assets.length;a++)this.am.assets[a].interactive=!0,this.am.assets[a].on("rightclick",function(){o.removeItem(this)});this.app.ticker.add(function(t){return e.loop(t)})},e.prototype.resize=function(t,e){this.app.renderer.resize(t*d,e*d)},e.prototype.getSelectedItems=function(){return this.selectedItems},e.prototype.selectedItem=function(t){this.selectedItems&&this.app.stage.removeChild(this.selectedItems);var e=n.resources[c].textures;this.selectedItems=new a(e[t.image]),this.selectedItems.type=t.type,this.selectedItems.image=t.image,this.selectedItems.data=t.data,this.selectedItems.x=0,this.selectedItems.y=0,this.app.stage.addChild(this.selectedItems)},e.prototype.removeItem=function(t){t.lidar&&this.app.stage.removeChild(t.lidar),t.mapId==y.CAR&&t.road&&t.road.cars.splice(t.road.cars.indexOf(t.carId),1),t.agent&&(this.agent=void 0),this.app.stage.removeChild(t),t.isremove=!0},e.prototype.exportMap=function(t,e,i,o){return this.am.exportMap(t,e,i,o)},e.prototype.setCurrentItem=function(){this.am.addAsset(this.selectedItems);var t=n.resources[c].textures,e=this;"road"==this.selectedItems.type?(this.am.createRoad({mx:Math.floor(this.selectedItems.x/d),my:Math.floor(this.selectedItems.y/d),type:this.selectedItems.data},t,this.selectedItems.data),this.envs[this.envs.length-1].interactive=!0,this.envs[this.envs.length-1].on("rightclick",function(){e.removeItem(this)})):"car"==this.selectedItems.type?(this.am.createCars({cars:[{mx:Math.floor(this.selectedItems.x/d),my:Math.floor(this.selectedItems.y/d),rotation:0,line:0}]},t),this.envs[this.envs.length-1].interactive=!0,this.envs[this.envs.length-1].on("rightclick",function(){e.removeItem(this)})):"agent"==this.selectedItems.type&&void 0==this.agent?(this.agent=this.am.createAgent({agent:{mx:Math.floor(this.selectedItems.x/d),my:Math.floor(this.selectedItems.y/d),rotation:0,line:0,motion:{type:"BasicMotionEngine",options:{rotation_step:.5,actions:["UP","LEFT","RIGHT","DOWN","WAIT"]}}}},t),this.envs[this.envs.length-1].interactive=!0,this.envs[this.envs.length-1].on("rightclick",function(){e.removeItem(this)})):"asset"==this.selectedItems.type&&(this.am.createAsset(this.selectedItems.image,{x:this.selectedItems.x,y:this.selectedItems.y},t,this.selectedItems.data),this.am.assets[this.am.assets.length-1].interactive=!0,this.am.assets[this.am.assets.length-1].on("rightclick",function(){e.removeItem(this)})),this.app.stage.removeChild(this.selectedItems),this.selectedItems=null},e}(T),U=function(){function t(t,e){this.eventList=["save"],t&&!this.levelToLoad||console.error("You must specify the canvasId and the levelToLoad"),this.canvasId=t,this.levelToLoad=e}return t.prototype.load=function(){var t=this;return new Promise(function(e){"string"==typeof t.levelToLoad?f(t.levelToLoad,function(i){t.level=new D(i,t.canvasId),t.level.load(function(){return t.loop()}),t.event=new P(t.level,t.canvasId),t.event.createEditorElementsEvents(),t.eventCallback=[function(e,i){return t.event.onSaveEditor(e,i)}],e()}):(t.level=new D(t.levelToLoad,t.canvasId),t.level.load(function(){return t.loop()}),t.event=new P(t.level,t.canvasId),t.event.createEditorElementsEvents(),t.eventCallback=[function(e,i){return t.event.onSaveEditor(e,i)}],e())})},t.prototype.save=function(t,e){g(t,e)},t.prototype.addEvent=function(t,e,i){var o=this.eventList.indexOf(t);-1!=o?this.eventCallback[o](e,i):this.event.onCustomEvent(t,e)},t.prototype.loop=function(){var t=this.level.getMousePosition(),e=this.level.getSelectedItems();e&&"asset"==e.type?(e.x=t.x,e.y=t.y):e&&(e.x=Math.floor(t.x/d)*d,e.y=Math.floor(t.y/d)*d)},t}(),N=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])};return function(e,i){function o(){this.constructor=e}t(e,i),e.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}}(),B=function(t){function e(e){var i=t.call(this,e)||this;return i.maxSpeed=2,i.level=e,i.actions=["SteeringAngle","Throttle"],i}return N(e,t),e.prototype.setUp=function(t,e){this.car=t,this.lidar=e,this.state=[];for(var i=0;i<e.pts;i++){for(var o=[],n=0;n<e.pts;n++)o.push(y.DEFAULT);this.state.push(o)}this.setUpKeyboard(),this.car.v=0,this.car.a=0,this.car.yaw_rate=0,this.detectInteractions()},e.prototype.setUpKeyboard=function(){var t=this,e=_(37),i=_(38),o=_(39),n=_(40);e.press=function(){t.turn(-.7)},e.release=function(){t.turn(0)},o.press=function(){t.turn(.7)},o.release=function(){t.turn(0)},i.press=function(){t.move(1)},i.release=function(){t.car.a=0},n.press=function(){t.move(-1)},n.release=function(){t.car.a=0}},e.prototype.turn=function(t){this.car.yaw_rate=t},e.prototype.move=function(t){this.car.a=t},e.prototype.actionStep=function(t,e){this.car.a=Math.min(Math.max(e[0],-1),1),this.car.yaw_rate=Math.min(Math.max(e[1],-1),1);var i=this.step(t),o=i.agentCollisions,n=i.onRoad;return this.car.a=0,this.car.yaw_rate=0,{agentCollisions:o,onRoad:n}},e.prototype.actionSpace=function(){return{type:"Continous",size:2,range:[[0,1],[-1,1]]}},e.prototype.step=function(t){if(this.car.last_a=this.car.a,this.car.last_yaw_rate=this.car.yaw_rate,this.car.v>0&&0==this.car.a?this.car.v=Math.max(0,this.car.v-.01):this.car.v<0&&0==this.car.a&&(this.car.v=Math.min(0,this.car.v+.01)),this.car.a>0&&this.car.v>=0?this.car.v=Math.min(this.maxSpeed,this.car.v+.005*this.car.a):this.car.a>0&&this.car.v<0&&(this.car.v=Math.min(this.maxSpeed,this.car.v+.03*this.car.a)),this.car.a<0&&this.car.v<=0?this.car.v=Math.max(-this.maxSpeed,this.car.v+.005*this.car.a):this.car.a<0&&this.car.v>0&&(this.car.v=Math.max(-this.maxSpeed,this.car.v+.03*this.car.a)),0==this.car.yaw_rate)this.car.x+=this.car.v*Math.cos(this.car.rotation)*t,this.car.y+=this.car.v*Math.sin(this.car.rotation)*t;else{var e=.01*this.car.yaw_rate*(this.car.v+.001)*Math.PI;this.car.x+=this.car.v/e*(Math.sin(this.car.rotation+e*t)-Math.sin(this.car.rotation)),this.car.y+=this.car.v/e*(Math.cos(this.car.rotation)-Math.cos(this.car.rotation+e*t)),this.car.rotation+=e*t}this.car.mx=Math.floor(this.car.x/d),this.car.my=Math.floor(this.car.y/d),this.car.checkAndsetNewRoad(),this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation;var i=this.detectInteractions(!0,!0),o=i.agentCollisions,n=i.onRoad;return o.length>0&&(this.car.v=0,this.car.vy=0),{agentCollisions:o,onRoad:n}},e}(M),j={env:k,editor:U,level:{fullCity:"embedded://level/fullCity",level1:"embedded://level/level1",level2:"embedded://level/level2",level3:"embedded://level/level3",level0:"embedded://level/level0"},motion:{BasicMotion:R,ControlMotion:B}};e.default=j}]).default;
\ No newline at end of file
diff --git a/demo/webapp/ddpg-traffic.html b/demo/webapp/ddpg-traffic.html
index ff6108b..f522764 100644
--- a/demo/webapp/ddpg-traffic.html
+++ b/demo/webapp/ddpg-traffic.html
@@ -32,7 +32,6 @@
             <ul style="margin:0;">
                     <li><b>Deep Deterministic Policy Gradients (DDPG): <a href="https://arxiv.org/abs/1509.02971">paper</a></b> </li>
                     <li><b>Parameter Space Noise for Exploration</b>: <a href="https://blog.openai.com/better-exploration-with-parameter-noise/">paper</a> </li>
-                    <li><b>Prioritized Experience Replay</b>: <a href="https://arxiv.org/abs/1511.05952">paper</a> </li>
             </ul>
             <br>
             You can use the <b>arrow keys</b> to control the car by yourself.<br><br>
@@ -58,6 +57,7 @@
 
     <script type="text/javascript" src="/public/js/ddpg/models.js"></script>
     <script type="text/javascript" src="/public/js/ddpg/memory.js"></script>
+    <script type="text/javascript" src="/public/js/ddpg/prioritized_memory.js"></script>
     <script type="text/javascript" src="/public/js/ddpg/noise.js"></script>
     <script type="text/javascript" src="/public/js/ddpg/ddpg.js"></script>
     <script type="text/javascript" src="/public/js/ddpg/ddpg_agent.js"></script>
diff --git a/demo/webapp/ddpg.html b/demo/webapp/ddpg.html
index 1fa1e0a..da58b53 100644
--- a/demo/webapp/ddpg.html
+++ b/demo/webapp/ddpg.html
@@ -32,7 +32,6 @@
                 <ul style="margin:0;">
                         <li><b>Deep Deterministic Policy Gradients (DDPG): <a href="https://arxiv.org/abs/1509.02971">paper</a></b> </li>
                         <li><b>Parameter Space Noise for Exploration</b>: <a href="https://blog.openai.com/better-exploration-with-parameter-noise/">paper</a> </li>
-                        <li><b>Prioritized Experience Replay</b>: <a href="https://arxiv.org/abs/1511.05952">paper</a> </li>
                 </ul>
                 <br>
                 You can use the <b>arrow keys</b> to control the car by yourself.<br><br>
@@ -57,6 +56,7 @@
     <script type="text/javascript" src="/public/js/viewer.js"></script>
 
     <script type="text/javascript" src="/public/js/ddpg/models.js"></script>
+    <script type="text/javascript" src="/public/js/ddpg/prioritized_memory.js"></script>
     <script type="text/javascript" src="/public/js/ddpg/memory.js"></script>
     <script type="text/javascript" src="/public/js/ddpg/noise.js"></script>
     <script type="text/javascript" src="/public/js/ddpg/ddpg.js"></script>
diff --git a/demo/webapp/index.html b/demo/webapp/index.html
index 09c30eb..8a3f655 100644
--- a/demo/webapp/index.html
+++ b/demo/webapp/index.html
@@ -71,7 +71,6 @@
           <ul style="margin:0;">
               <li><b>Deep Deterministic Policy Gradients (DDPG): <a href="https://arxiv.org/abs/1509.02971">paper</a></b> </li>
               <li><b>Parameter Space Noise for Exploration</b>: <a href="https://blog.openai.com/better-exploration-with-parameter-noise/">paper</a> </li>
-              <li><b>Prioritized Experience Replay</b>: <a href="https://arxiv.org/abs/1511.05952">paper</a> </li>
           </ul>
 
           <p>
@@ -90,7 +89,6 @@
             <ul style="margin:0;">
                 <li><b>Deep Deterministic Policy Gradients (DDPG): <a href="https://arxiv.org/abs/1509.02971">paper</a></b> </li>
                 <li><b>Parameter Space Noise for Exploration</b>: <a href="https://blog.openai.com/better-exploration-with-parameter-noise/">paper</a> </li>
-                <li><b>Prioritized Experience Replay</b>: <a href="https://arxiv.org/abs/1511.05952">paper</a> </li>
             </ul>
             <p>
                  The control is based on two continuous values for the throttle and steering angle of the car. 
diff --git a/demo/webapp/public/js/ddpg-traffic/index.js b/demo/webapp/public/js/ddpg-traffic/index.js
index 141181d..db93f4d 100644
--- a/demo/webapp/public/js/ddpg-traffic/index.js
+++ b/demo/webapp/public/js/ddpg-traffic/index.js
@@ -63,8 +63,7 @@ env.load().then(() => {
     });
 
     env.addEvent("load", () => {
-        //agent.restore("ddpg-traffic", "model-ddpg-traffic")
-        agent.restore("four", "model-ddpg-traffic-epoch-120");
+        agent.restore("ddpg-traffic", "model-ddpg-traffic-epoch-120");
     });
 });
 
diff --git a/demo/webapp/public/js/ddpg/ddpg.js b/demo/webapp/public/js/ddpg/ddpg.js
index e8175c4..1f79b99 100644
--- a/demo/webapp/public/js/ddpg/ddpg.js
+++ b/demo/webapp/public/js/ddpg/ddpg.js
@@ -179,6 +179,7 @@ class DDPG {
                 return erros.mean();
         }, true, this.criticWeights);
 
+        // For experience Replay
         this.memory.appendBackWithCost(batch, costs);
 
         const loss = criticLoss.buffer().values[0];
diff --git a/demo/webapp/public/js/ddpg/ddpg_agent.js b/demo/webapp/public/js/ddpg/ddpg_agent.js
index bee45ee..95f922f 100644
--- a/demo/webapp/public/js/ddpg/ddpg_agent.js
+++ b/demo/webapp/public/js/ddpg/ddpg_agent.js
@@ -25,7 +25,7 @@ class DDPGAgent {
             "nbEpochs": config.nbEpochs || 200,
             "nbEpochsCycle": config.nbEpochsCycle || 10,
             "nbTrainSteps": config.nbTrainSteps || 110,
-            "tau": config.tau || 0.01,
+            "tau": config.tau || 0.008,
             "initialStddev": config.initialStddev || 0.1,
             "desiredActionStddev": config.desiredActionStddev || 0.1,
             "adoptionCoefficient": config.adoptionCoefficient || 1.01,
@@ -48,7 +48,7 @@ class DDPGAgent {
 
         // Buffer replay
         // The baseline use 1e6 but this size should be enough for this problem
-        this.memory = new Memory(this.config.memorySize);
+        this.memory = new PrioritizedMemory(this.config.memorySize);
         // Actor and Critic are from js/DDPG/models.js
         this.actor = new Actor(this.config);
         this.critic = new Critic(this.config);
@@ -75,8 +75,8 @@ class DDPGAgent {
         /*
             Restore the weights of the network
         */
-        const critic = await tf.loadModel('http://localhost:3000/public/models/'+folder+'/critic-'+name+'.json');
-        const actor = await tf.loadModel("http://localhost:3000/public/models/"+folder+"/actor-"+name+".json");
+        const critic = await tf.loadModel('https://metacar-project.com/public/models/'+folder+'/critic-'+name+'.json');
+        const actor = await tf.loadModel("https://metacar-project.com/public/models/"+folder+"/actor-"+name+".json");
 
         this.ddpg.critic = copyFromSave(critic, Critic, this.config, this.ddpg.obsInput, this.ddpg.actionInput);
         this.ddpg.actor = copyFromSave(actor, Actor, this.config, this.ddpg.obsInput, this.ddpg.actionInput);
diff --git a/demo/webapp/public/js/ddpg/index.js b/demo/webapp/public/js/ddpg/index.js
index 984feae..bbe6fd3 100644
--- a/demo/webapp/public/js/ddpg/index.js
+++ b/demo/webapp/public/js/ddpg/index.js
@@ -7,10 +7,7 @@ env.setAgentLidar({pts: 5, width: 3, height: 7, pos: -0.5})
 
 // js/DDPG/ddpg.js
 var agent = new DDPGAgent(env, {
-    stateSize: 26,
-    resetEpisode: true,
-    saveDuringTraining: true,
-    saveInterval: 10,
+    stateSize: 26
 });
 
 initMetricsContainer("statContainer", ["Reward", "ActorLoss", "CriticLoss", "EpisodeDuration", "NoiseDistance"]);
diff --git a/demo/webapp/public/js/ddpg/memory.js b/demo/webapp/public/js/ddpg/memory.js
index b4921fb..fc8db0a 100644
--- a/demo/webapp/public/js/ddpg/memory.js
+++ b/demo/webapp/public/js/ddpg/memory.js
@@ -6,8 +6,24 @@ class Memory {
      */
     constructor(maxlen){
         this.maxlen = maxlen;
-        this.buffer = [];
-        this.priorBuffer = [];
+        this.length = 0;
+        this.start = 0;
+
+        this.obs0List = Array.apply(null, Array(maxlen)).map(Number.prototype.valueOf, 0);
+        this.obs1List = Array.apply(null, Array(maxlen)).map(Number.prototype.valueOf, 0);
+        this.rewardsList = Array.apply(null, Array(maxlen)).map(Number.prototype.valueOf, 0);
+        this.actionsList = Array.apply(null, Array(maxlen)).map(Number.prototype.valueOf, 0);
+        this.terminals1List = Array.apply(null, Array(maxlen)).map(Number.prototype.valueOf, 0);
+    }
+
+    /**
+     * @param idx (number)
+     */
+    getItem(idx){
+        if (idx < 0 || idx >= this.length){
+            console.error("Memory.getItem: idx not in range.");
+        }
+        return this.data[(this.start + idx) % this.maxlen]
     }
 
     /**
@@ -16,92 +32,7 @@ class Memory {
      * @return batch []
      */
     getBatch(batchSize){
-        const batch =  {
-            'obs0': [],
-            'obs1': [],
-            'rewards': [],
-            'actions': [],
-            'terminals': [],
-        };
-
-        if (batchSize > this.priorBuffer.length){
-            console.warn("The size of the replay buffer is < to the batchSize. Return empty batch.");
-            return batch;
-        }
-
-        for (let b=0; b < batchSize/2; b++){
-            let id = Math.floor(Math.random() * this.priorBuffer.length);
-            batch.obs0.push(this.priorBuffer[id].obs0);
-            batch.obs1.push(this.priorBuffer[id].obs1);
-            batch.rewards.push(this.priorBuffer[id].reward);
-            batch.actions.push(this.priorBuffer[id].action);
-            batch.terminals.push(this.priorBuffer[id].terminal);
-        }
-        return batch
-    }
-
-    _bufferBatch(batchSize){
-        const batch =  {
-            'obs0': [],
-            'obs1': [],
-            'rewards': [],
-            'actions': [],
-            'terminals': [],
-        };
-
-        for (let b=0; b < batchSize/2; b++){
-            let nElem = this.buffer.pop();
-            batch.obs0.push(nElem.obs0);
-            batch.obs1.push(nElem.obs1);
-            batch.rewards.push(nElem.reward);
-            batch.actions.push(nElem.action);
-            batch.terminals.push(nElem.terminal);
-        }
-
-        for (let b=0; b < batchSize/2; b++){
-            let id = Math.floor(Math.random() * this.buffer.length);
-            batch.obs0.push(this.buffer[id].obs0);
-            batch.obs1.push(this.buffer[id].obs1);
-            batch.rewards.push(this.buffer[id].reward);
-            batch.actions.push(this.buffer[id].action);
-            batch.terminals.push(this.buffer[id].terminal);
-            this.buffer.splice(id, 1);
-        }
-
-        return batch
-    }
-
-    _addRandomBufferBatch(batchSize, batch){
-        for (let b=0; b < batchSize; b++){
-            let id = Math.floor(Math.random() * this.buffer.length);
-            batch.obs0.push(this.buffer[id].obs0);
-            batch.obs1.push(this.buffer[id].obs1);
-            batch.rewards.push(this.buffer[id].reward);
-            batch.actions.push(this.buffer[id].action);
-            batch.terminals.push(this.buffer[id].terminal);
-            this.buffer.splice(id, 1);
-        }
-        return batch
-    }
-
-    /**
-     * Sample a batch
-     * @param batchSize (number)
-     * @return batch []
-     */
-    popBatch(batchSize){
-        let originalBatchSize = batchSize;
-        let priorBufferBatchSize;
-        let bufferBatchSize;
-        if (batchSize % 2 != 0){
-            console.warn("Batch size should be a even.")
-        }
-        if (this.priorBuffer.length < batchSize/2){
-            //console.log("get full batch from buffer");
-            const batch = this._bufferBatch(batchSize);
-            console.assert(batch.obs0.length == batchSize);
-            return batch;
-        }
+        const arrLength = this.length;
         const batch =  {
             'obs0': [],
             'obs1': [],
@@ -110,80 +41,19 @@ class Memory {
             'terminals': [],
         };
         if (batchSize > this.length){
-            console.warn("The size of the replay buffer is < to the batchSize. Return empty batch.");
             return batch;
         }
-
-        if (this.buffer.length > 0){
-            //console.log("Get half of prior and other from buffer.");
-            batchSize = batchSize / 2;
-        }
-        else{
-            //console.log("Get all from priorBuffer");
-        }
-
         for (let b=0; b < batchSize; b++){
-            let id = Math.floor(Math.random() * this.priorBuffer.length);
-            batch.obs0.push(this.priorBuffer[id].obs0);
-            batch.obs1.push(this.priorBuffer[id].obs1);
-            batch.rewards.push(this.priorBuffer[id].reward);
-            batch.actions.push(this.priorBuffer[id].action);
-            batch.terminals.push(this.priorBuffer[id].terminal);
-            this.priorBuffer.splice(id, 1);
+            let id = Math.floor(Math.random() * arrLength);
+            batch.obs0.push(this.obs0List[id]);
+            batch.obs1.push(this.obs1List[id]);
+            batch.rewards.push(this.rewardsList[id]);
+            batch.actions.push(this.actionsList[id]);
+            batch.terminals.push(this.terminals1List[id]);
         }
-
-        if (this.buffer.length > 0){
-            this._addRandomBufferBatch(batchSize, batch);
-        }
-        console.assert(batch.obs0.length == originalBatchSize);
         return batch
     }
 
-    _insert(element, array) {
-        if (array.length == 0 || element.cost < array[0].cost || array[0].cost == null){
-            array.unshift(element);
-            return array;
-        }
-        array.splice(this._locationOf(element, array) + 1, 0, element);
-        return array;
-    }
-    
-    _locationOf(element, array, start, end) {
-        start = start || 0;
-        end = end || array.length;
-    
-        var pivot = parseInt(start + (end - start) / 2, 10);
-    
-        if (end-start <= 1 || array[pivot] === element) return pivot;
-    
-        if (array[pivot].cost != null && array[pivot].cost < element.cost) {
-            return this._locationOf(element, array, pivot, end);
-        } else {
-            return this._locationOf(element, array, start, pivot);
-        }
-    }
-
-    /**
-     * @param batch (Object)  from getBatch() 
-     * @param cost (number) Cost associated with each row of the batch
-     */
-    appendBackWithCost(batch, costs){
-        for (let b=0; b < batch.obs0.length; b++){
-            if (this.buffer.length == this.maxlen){
-                this.buffer.shift();
-            }
-            this._insert({
-                obs0: batch.obs0[b],
-                action: batch.actions[b],
-                reward: batch.rewards[b],
-                obs1: batch.obs1[b],
-                terminal: batch.terminals[b],
-                cost: costs[b]
-            }, this.buffer);
-        }
-        console.assert(this.buffer.length <= this.maxlen);
-    }
-
     /**
      * @param obs0 []
      * @param action (number)
@@ -191,50 +61,23 @@ class Memory {
      * @param obs1 []
      * @param terminal1 (boolean)
      */
-    append(obs0, action, reward, obs1, terminal){
-        if (this.priorBuffer.length == this.maxlen){
-            this.priorBuffer.shift();
+    append(obs0, action, reward, obs1, terminal1){
+        if (this.length < this.maxlen){
+            this.length += 1;
         }
-        this.priorBuffer.push({
-            obs0: obs0,
-            action: action,
-            reward: reward,
-            obs1: obs1,
-            terminal: terminal,
-            cost: null
-        });
-        console.assert(this.priorBuffer.length <= this.maxlen);
+        else if (this.length == this.maxlen) {
+            //this.obs0List[(this.start + this.length - 1) % this.maxlen].dispose();
+            //this.obs1List[(this.start + this.length - 1) % this.maxlen].dispose();
+            //this.actionsList[(this.start + this.length - 1) % this.maxlen].dispose();
+            this.start = (this.start + 1) % this.maxlen;
+        }
+        else {
+            console.error("Memory.append: This should never be printed");
+        }
+        this.obs0List[(this.start + this.length - 1) % this.maxlen] = obs0;
+        this.obs1List[(this.start + this.length - 1) % this.maxlen] = obs1;
+        this.rewardsList[(this.start + this.length - 1) % this.maxlen] = reward;
+        this.actionsList[(this.start + this.length - 1) % this.maxlen] = action;
+        this.terminals1List[(this.start + this.length - 1) % this.maxlen] = terminal1;
     }
-}
-/*
-var mem = new Memory(20000);
-Math.seedrandom(0);
-console.assert(mem.length == 0);
-
-var array = [];
-for (let i=1; i < 40000; i++){
-    mem.append("obs0-"+i, "action-"+i, "reward-"+i, "obs1-"+i, "terminal-"+i);
-}
-
-console.assert(mem.length == 20000);
-console.assert(mem.list[0].obs0 == "obs0-20000");
-console.assert(mem.list[19999].obs0 == "obs0-39999");
-
-let batch = mem.getBatch(32);
-
-console.assert(batch.obs0.length == 32);
-console.assert(mem.length == 20000 - 32);
-
-let costs = [];
-for (i=31; i >= 0; i--){
-    costs.push(i);
-}
-mem.appendBackWithCost(batch, costs);
-
-console.log(mem.list);
-
-/*
-for (let i=1; i < 64; i++){
-    mem.append("obs0-"+i, "action-"+i, "reward-"+i, "obs1-"+i, "terminal-"+i);
-}
-*/
\ No newline at end of file
+}
\ No newline at end of file
diff --git a/demo/webapp/public/js/ddpg/prioritized_memory.js b/demo/webapp/public/js/ddpg/prioritized_memory.js
new file mode 100644
index 0000000..5a7f74b
--- /dev/null
+++ b/demo/webapp/public/js/ddpg/prioritized_memory.js
@@ -0,0 +1,240 @@
+
+class PrioritizedMemory {
+
+    /**
+     * @param maxlen (number) Buffer limit
+     */
+    constructor(maxlen){
+        this.maxlen = maxlen;
+        this.buffer = [];
+        this.priorBuffer = [];
+    }
+
+    /**
+     * Sample a batch
+     * @param batchSize (number)
+     * @return batch []
+     */
+    getBatch(batchSize){
+        const batch =  {
+            'obs0': [],
+            'obs1': [],
+            'rewards': [],
+            'actions': [],
+            'terminals': [],
+        };
+
+        if (batchSize > this.priorBuffer.length){
+            console.warn("The size of the replay buffer is < to the batchSize. Return empty batch.");
+            return batch;
+        }
+
+        for (let b=0; b < batchSize/2; b++){
+            let id = Math.floor(Math.random() * this.priorBuffer.length);
+            batch.obs0.push(this.priorBuffer[id].obs0);
+            batch.obs1.push(this.priorBuffer[id].obs1);
+            batch.rewards.push(this.priorBuffer[id].reward);
+            batch.actions.push(this.priorBuffer[id].action);
+            batch.terminals.push(this.priorBuffer[id].terminal);
+        }
+        return batch
+    }
+
+    _bufferBatch(batchSize){
+        const batch =  {
+            'obs0': [],
+            'obs1': [],
+            'rewards': [],
+            'actions': [],
+            'terminals': [],
+        };
+
+        for (let b=0; b < batchSize/2; b++){
+            let nElem = this.buffer.pop();
+            batch.obs0.push(nElem.obs0);
+            batch.obs1.push(nElem.obs1);
+            batch.rewards.push(nElem.reward);
+            batch.actions.push(nElem.action);
+            batch.terminals.push(nElem.terminal);
+        }
+
+        for (let b=0; b < batchSize/2; b++){
+            let id = Math.floor(Math.random() * this.buffer.length);
+            batch.obs0.push(this.buffer[id].obs0);
+            batch.obs1.push(this.buffer[id].obs1);
+            batch.rewards.push(this.buffer[id].reward);
+            batch.actions.push(this.buffer[id].action);
+            batch.terminals.push(this.buffer[id].terminal);
+            this.buffer.splice(id, 1);
+        }
+
+        return batch
+    }
+
+    _addRandomBufferBatch(batchSize, batch){
+        for (let b=0; b < batchSize; b++){
+            let id = Math.floor(Math.random() * this.buffer.length);
+            batch.obs0.push(this.buffer[id].obs0);
+            batch.obs1.push(this.buffer[id].obs1);
+            batch.rewards.push(this.buffer[id].reward);
+            batch.actions.push(this.buffer[id].action);
+            batch.terminals.push(this.buffer[id].terminal);
+            this.buffer.splice(id, 1);
+        }
+        return batch
+    }
+
+    /**
+     * Sample a batch
+     * @param batchSize (number)
+     * @return batch []
+     */
+    popBatch(batchSize){
+        let originalBatchSize = batchSize;
+        let priorBufferBatchSize;
+        let bufferBatchSize;
+        if (batchSize % 2 != 0){
+            console.warn("Batch size should be a even.")
+        }
+        if (this.priorBuffer.length < batchSize/2){
+            //console.log("get full batch from buffer");
+            const batch = this._bufferBatch(batchSize);
+            console.assert(batch.obs0.length == batchSize);
+            return batch;
+        }
+        const batch =  {
+            'obs0': [],
+            'obs1': [],
+            'rewards': [],
+            'actions': [],
+            'terminals': [],
+        };
+        if (batchSize > this.length){
+            console.warn("The size of the replay buffer is < to the batchSize. Return empty batch.");
+            return batch;
+        }
+
+        if (this.buffer.length > 0){
+            //console.log("Get half of prior and other from buffer.");
+            batchSize = batchSize / 2;
+        }
+        else{
+            //console.log("Get all from priorBuffer");
+        }
+
+        for (let b=0; b < batchSize; b++){
+            let id = Math.floor(Math.random() * this.priorBuffer.length);
+            batch.obs0.push(this.priorBuffer[id].obs0);
+            batch.obs1.push(this.priorBuffer[id].obs1);
+            batch.rewards.push(this.priorBuffer[id].reward);
+            batch.actions.push(this.priorBuffer[id].action);
+            batch.terminals.push(this.priorBuffer[id].terminal);
+            this.priorBuffer.splice(id, 1);
+        }
+
+        if (this.buffer.length > 0){
+            this._addRandomBufferBatch(batchSize, batch);
+        }
+        console.assert(batch.obs0.length == originalBatchSize);
+        return batch
+    }
+
+    _insert(element, array) {
+        if (array.length == 0 || element.cost < array[0].cost || array[0].cost == null){
+            array.unshift(element);
+            return array;
+        }
+        array.splice(this._locationOf(element, array) + 1, 0, element);
+        return array;
+    }
+    
+    _locationOf(element, array, start, end) {
+        start = start || 0;
+        end = end || array.length;
+    
+        var pivot = parseInt(start + (end - start) / 2, 10);
+    
+        if (end-start <= 1 || array[pivot] === element) return pivot;
+    
+        if (array[pivot].cost != null && array[pivot].cost < element.cost) {
+            return this._locationOf(element, array, pivot, end);
+        } else {
+            return this._locationOf(element, array, start, pivot);
+        }
+    }
+
+    /**
+     * @param batch (Object)  from getBatch() 
+     * @param cost (number) Cost associated with each row of the batch
+     */
+    appendBackWithCost(batch, costs){
+        for (let b=0; b < batch.obs0.length; b++){
+            if (this.buffer.length == this.maxlen){
+                this.buffer.shift();
+            }
+            this._insert({
+                obs0: batch.obs0[b],
+                action: batch.actions[b],
+                reward: batch.rewards[b],
+                obs1: batch.obs1[b],
+                terminal: batch.terminals[b],
+                cost: costs[b]
+            }, this.buffer);
+        }
+        console.assert(this.buffer.length <= this.maxlen);
+    }
+
+    /**
+     * @param obs0 []
+     * @param action (number)
+     * @param reward (number)
+     * @param obs1 []
+     * @param terminal1 (boolean)
+     */
+    append(obs0, action, reward, obs1, terminal){
+        if (this.priorBuffer.length == this.maxlen){
+            this.priorBuffer.shift();
+        }
+        this.priorBuffer.push({
+            obs0: obs0,
+            action: action,
+            reward: reward,
+            obs1: obs1,
+            terminal: terminal,
+            cost: null
+        });
+        console.assert(this.priorBuffer.length <= this.maxlen);
+    }
+}
+/*
+var mem = new Memory(20000);
+Math.seedrandom(0);
+console.assert(mem.length == 0);
+
+var array = [];
+for (let i=1; i < 40000; i++){
+    mem.append("obs0-"+i, "action-"+i, "reward-"+i, "obs1-"+i, "terminal-"+i);
+}
+
+console.assert(mem.length == 20000);
+console.assert(mem.list[0].obs0 == "obs0-20000");
+console.assert(mem.list[19999].obs0 == "obs0-39999");
+
+let batch = mem.getBatch(32);
+
+console.assert(batch.obs0.length == 32);
+console.assert(mem.length == 20000 - 32);
+
+let costs = [];
+for (i=31; i >= 0; i--){
+    costs.push(i);
+}
+mem.appendBackWithCost(batch, costs);
+
+console.log(mem.list);
+
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new file mode 100644
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new file mode 100644
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0,e.downHandler=function(t){t.keyCode===e.code&&(e.isUp&&e.press&&e.press(),e.isDown=!0,e.isUp=!1),t.preventDefault()},e.upHandler=function(t){t.keyCode===e.code&&(e.isDown&&e.release&&e.release(),e.isDown=!1,e.isUp=!0),t.preventDefault()},window.addEventListener("keydown",e.downHandler.bind(e),!1),window.addEventListener("keyup",e.upHandler.bind(e),!1),e}var I,C=0,w=function(){function t(t,e,i,o){void 0===o&&(o={});var n=this;this.level=t,o.image=o.image||p.DEFAULT,o.lidar=o.lidar||!1,o.lidarInfo=o.lidarInfo||{pts:5,width:4,height:5,pos:0},this.core=new a(i[o.image]),this.info=e,this.core.scale.x=.8,this.core.scale.y=.8,this.core.anchor.x=.5,this.core.anchor.y=.5,this.core.road=void 0,this.core.carId=C,C+=1,this.core.agent=!1,this.core.obstacle=!0,this.core.mapId=u.CAR,o.lidar&&(this.createLidar(o.lidarInfo),this.core.lidar=this.lidar),o.motionEngine?(this.motion=o.motionEngine,this.motion.setUp(this.core,this.lidar),this.core.rotationStep=.5):this.core.rotationStep=.5,this.core.mx=this.info.mx,this.core.my=this.info.my,this.core.x=this.info.mx*d,this.core.y=this.info.my*d,this.core.checkAndsetNewRoad=function(t){return n.checkAndsetNewRoad(t)};var r=this.level.getRoad(this.core.my,this.core.mx);this.core.line=0,r&&r.setCarPosition(this.core,this.info.line)}return t.prototype.checkAndsetNewRoad=function(t){var e=this.core.road;t||(t=this.level.getRoad(this.core.my,this.core.mx)),t!=e&&(e&&e.cars.splice(e.cars.indexOf(this.core.carId),1),this.core.road=t,this.core.haveTurned=!1,this.core.optionalTurn=!1,this.turnedRandom=void 0,t&&t.cars.push(this.core.carId))},t.prototype.reset=function(){this.core.mx=this.info.mx,this.core.my=this.info.my;var t=this.level.getRoad(this.core.my,this.core.mx);t&&t.setCarPosition(this.core,this.info.line,!0)},t.prototype.getState=function(t){if(void 0===t&&(t=!1),t){var e=[];return this.motion.state.map(function(t){e=e.concat(t)}),e}return this.motion.state.map(function(t){return t.slice()})},t.prototype.step=function(t,e){if(void 0===e&&(e=null),null==e)var i=this.motion.step(t),o=i.agentCollisions,n=i.onRoad;else{var a=this.motion.actionStep(t,e);o=a.agentCollisions,n=a.onRoad}return{agentCollisions:o,onRoad:n}},t.prototype.createLidar=function(t){t.pts=t.pts||5,t.width=t.width||4,t.height=t.height||5,t.pos=t.pos||0,this.lidar=new s,this.lidar.lidarPts=[],this.lidar.collisionPts=[];var e=new r;e.pt=!1,e.alpha=.3,e.beginFill(5329233),e.drawRect(0,0,this.core.width*t.width,this.core.height*t.height),e.endFill();var i=new r;i.pt=!1,i.alpha=0,i.beginFill(5308416),i.drawRect(this.core.width-5,e.height/2,3,3),i.endFill();var o=new r;o.pt=!1,o.alpha=0,o.beginFill(5308416),o.drawRect(-1,e.height/2-2,3,3),o.endFill();var n=new r;n.pt=!1,n.alpha=0,n.beginFill(5308416),n.drawRect(this.core.width/2,e.height/2-this.core.height/2+5,3,3),n.endFill();var a=new r;a.pt=!1,a.alpha=0,a.beginFill(5308416),a.drawRect(this.core.width/2,e.height/2+this.core.height/2-8,3,3),a.endFill(),o.x-=t.pos*this.core.width,i.x-=t.pos*this.core.width,a.x-=t.pos*this.core.width,n.x-=t.pos*this.core.width;for(var h=e.width/t.pts,c=e.height/t.pts,l=t.pts-1;l>=0;l--)for(var d=0;d<t.pts;d++){var p=h/4+l*h,u=c/4+d*c,v=new r;v.pt=!0,v.beginFill(16777215),v.drawRect(p,u,5,5),v.endFill(),this.lidar.addChild(v),this.lidar.lidarPts.push(v)}this.lidar.pts=t.pts,this.lidar.addChild(e),this.lidar.addChild(i),this.lidar.addChild(o),this.lidar.addChild(n),this.lidar.addChild(a),this.lidar.collisionPts.push(i),this.lidar.collisionPts.push(o),this.lidar.collisionPts.push(n),this.lidar.collisionPts.push(a),this.lidar.x=this.core.x,this.lidar.y=this.core.y,this.lidar.pivot.y=this.lidar.height/2,this.lidar.pivot.x=this.core.width/2-t.pos*this.core.width,this.lidar.rotation=this.core.rotation},t}(),M=function(){function t(t){this.level=t}return t.prototype.boxesIntersect=function(t,e){var i=t.getBounds(),o=e.getBounds();return i.x+i.width>o.x&&i.x<o.x+o.width&&i.y+i.height>o.y&&i.y<o.y+o.height},t.prototype.carIntersect=function(t,e){for(var i=t.lidar.collisionPts.length,o=0;o<i;o++)if(this.boxesIntersect(t.lidar.collisionPts[o],e))return!0;return!1},t.prototype.carCaptorInObject=function(t,e){for(var i=t.lidar.collisionPts.length,o=0,n=0;n<i;n++)this.boxesIntersect(t.lidar.collisionPts[n],e)&&(o+=1);return o},t.prototype.detectInteractions=function(t,e){void 0===t&&(t=!0),void 0===e&&(e=!1);for(var i=this.level.getEnvs(),o=[],n=[],a=0,r=!1,s=0;s<i.length;s++)i[s]!=this.car&&(Math.abs(i[s].mx-this.car.mx)<2&&Math.abs(i[s].my-this.car.my)<2||e)&&(t&&i[s].obstacle&&this.carIntersect(this.car,i[s])?o.push(i[s]):t&&i[s].mapId==u.ROAD&&(a+=this.carCaptorInObject(this.car,i[s])),this.boxesIntersect(i[s],this.lidar)&&n.push(i[s]));return this.setState(n),(a>=4||!t)&&(r=!0),{agentCollisions:o,onRoad:r}},t.prototype.setState=function(t){for(var e=0,i=0;i<this.lidar.lidarPts.length;i++){this.lidar.lidarPts[i].alpha=.3;var o=Math.floor(e/this.lidar.pts),n=Math.floor(e%this.lidar.pts);this.state[o][n]=u.DEFAULT;for(var a=0;a<t.length;a++)if(t[a]!=this.car){var r=this.boxesIntersect(t[a],this.lidar.lidarPts[i]);r&&t[a].obstacle&&(this.lidar.lidarPts[i].alpha=1),r&&(t[a].mapId>this.state[o][n]||t[a].mapId==u.ROAD&&this.state[o][n]==u.DEFAULT)&&(this.state[o][n]=t[a].mapId)}e+=1}},t}(),b=(I=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])},function(t,e){function i(){this.constructor=t}I(t,e),t.prototype=null===e?Object.create(e):(i.prototype=e.prototype,new i)}),R=function(t){function e(e,i){var o=t.call(this,e)||this;return o.rotationStep=i.rotationStep||.5,o.actions=i.actions||["UP","LEFT","RIGHT","DOWN","WAIT"],o}return b(e,t),e.prototype.setUp=function(t,e){this.car=t,this.lidar=e,this.state=[];for(var i=0;i<e.pts;i++){for(var o=[],n=0;n<e.pts;n++)o.push(u.DEFAULT);this.state.push(o)}this.setUpKeyboard(),this.car.v=0,this.detectInteractions()},e.prototype.setUpKeyboard=function(){var t=this,e=_(37),i=_(38),o=_(39),n=_(40);-1!=this.actions.indexOf("LEFT")&&(e.press=function(){t.turnLeft()}),-1!=this.actions.indexOf("RIGHT")&&(o.press=function(){t.turnRight()}),-1!=this.actions.indexOf("UP")&&(i.press=function(){t.moveForward()},i.release=function(){t.car.v=0}),-1!=this.actions.indexOf("DOWN")&&(n.press=function(){t.moveBackward()},n.release=function(){t.car.v=0})},e.prototype.turnLeft=function(){this.car.rotation-=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.turnRight=function(){this.car.rotation+=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.moveForward=function(){this.car.v=1},e.prototype.moveBackward=function(){this.car.v=-1},e.prototype.actionStep=function(t,e){"LEFT"==this.actions[e]&&this.turnLeft(),"RIGHT"==this.actions[e]&&this.turnRight(),"UP"==this.actions[e]&&this.moveForward(),"DOWN"==this.actions[e]&&this.moveBackward();var i=this.step(t),o=i.agentCollisions,n=i.onRoad;return this.car.v=0,{agentCollisions:o,onRoad:n}},e.prototype.actionSpace=function(){return{type:"Discrete",size:1,range:[0,1,2,3,4]}},e.prototype.step=function(t){this.car.x+=this.car.v*Math.cos(this.car.rotation)*t,this.car.y+=this.car.v*Math.sin(this.car.rotation)*t,this.car.mx=Math.floor(this.car.x/d),this.car.my=Math.floor(this.car.y/d),this.car.checkAndsetNewRoad(),this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation;var e=this.detectInteractions(!0,!0),i=e.agentCollisions,o=e.onRoad;return i.length>0&&(this.car.v=0,this.car.vy=0),{agentCollisions:i,onRoad:o}},e}(M),E=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])};return function(e,i){function o(){this.constructor=e}t(e,i),e.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}}(),L=function(t){function e(e){var i=t.call(this,e)||this;return i.map=i.level.getMap(),i.mapSizeY=i.map.length,i.mapSizeX=i.map[0].length,i.rotationStep=.5,i.rotationToNextCase={},i.rotationToNextCase[0]={mx:1,my:0},i.rotationToNextCase[.5]={mx:0,my:1},i.rotationToNextCase[1]={mx:-1,my:0},i.rotationToNextCase[1.5]={mx:0,my:-1},i.rotationToNextCase[-.5]={mx:0,my:-1},i.rotationToNextCase[-1]={mx:-1,my:0},i.rotationToNextCase[-1.5]={mx:0,my:1},i}return E(e,t),e.prototype.setUp=function(t,e){this.car=t,this.lidar=e,this.state=[];for(var i=0;i<e.pts;i++){for(var o=[],n=0;n<e.pts;n++)o.push(u.DEFAULT);this.state.push(o)}this.car.v=0,this.detectInteractions()},e.prototype.turnLeft=function(){this.car.rotation-=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.turnRight=function(){this.car.rotation+=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.moveUp=function(){this.car.v=1},e.prototype.moveDown=function(){this.car.v=-1},e.prototype.isRoad=function(t,e,i){if(void 0===i&&(i=!1),e<0||e>=this.mapSizeY||t<0||t>=this.mapSizeX||0==this.map[e][t])return!1;if(i&&this.level.getRoad(e,t).cars.length>0)return!1;return!0},e.prototype.autoRotation=function(){var t=d+d/3,e=d-d/3.5,i=d;if(this.car.next_road){var o=Math.abs((this.car.next_road.outroad.y+d/2-this.car.y)*this.car.next_road.outroad_np.my),n=Math.abs((this.car.next_road.outroad.x+d/2-this.car.x)*this.car.next_road.outroad_np.mx);if(0==this.car.next_road.rotation_type&&o<t&&n<t)return this.car.haveTurned=!0,this.car.previousRotation=this.car.rotation,this.car.rotation=this.car.rotation+=Math.PI/2,this.car.rotation=this.car.rotation%(2*Math.PI),void(this.car.next_road=void 0);if(1==this.car.next_road.rotation_type&&o<e&&n<e)return this.car.previousRotation=this.car.rotation,this.car.haveTurned=!0,this.car.rotation=this.car.rotation-=Math.PI/2,this.car.rotation=this.car.rotation%(2*Math.PI),void(this.car.next_road=void 0);if(2==this.car.next_road.rotation_type&&o<i&&n<i)return this.car.haveTurned=!0,this.car.previousRotation=this.car.rotation,this.car.rotation=this.car.rotation-=Math.PI,this.car.rotation=this.car.rotation%(2*Math.PI),0!=o&&this.car.x<this.car.next_road.outroad.x+d/2?(this.car.x=this.car.next_road.outroad.x+d/2+d/4,this.car.y=this.car.next_road.outroad.y):0!=o&&this.car.x>this.car.next_road.outroad.x+d/2?(this.car.x=this.car.next_road.outroad.x+d-d/2-d/4,this.car.y=this.car.next_road.outroad.y):0!=n&&this.car.y<this.car.next_road.outroad.y+d/2?(this.car.y=this.car.next_road.outroad.y+d/2+d/4,this.car.x=this.car.next_road.outroad.x):0!=n&&this.car.y>this.car.next_road.outroad.y+d/2&&(this.car.y=this.car.next_road.outroad.y+d-d/2-d/4,this.car.x=this.car.next_road.outroad.x),void(this.car.next_road=void 0)}else{var a=this.car.rotation/Math.PI,r=(this.car.rotation/Math.PI+.5)%2,s=(this.car.rotation/Math.PI-.5)%2,h=this.rotationToNextCase[a],c=this.rotationToNextCase[r],l=this.rotationToNextCase[s],p=!1,u=this.car.mx+h.mx,v=this.car.my+h.my;if(this.isRoad(u,v)?this.car.haveTurned||this.car.turnedRandom?!this.car.haveTurned&&this.car.turnedRandom<.5&&this.isRoad(this.car.mx+c.mx,this.car.my+c.my)?(p=!0,this.car.optionalTurn=!0):!this.car.haveTurned&&this.car.turnedRandom>=.5&&this.isRoad(this.car.mx+l.mx,this.car.my+l.my)&&(p=!0,this.car.optionalTurn=!0):this.car.turnedRandom=Math.random():(p=!0,this.car.optionalTurn=!1),p)for(var y=[(a+.5)%2,(a-.5)%2,null],m=0;m<y.length;m++){var f=void 0;f=null!=y[m]?this.rotationToNextCase[y[m]]:{mx:0,my:0};var g=this.car.mx+f.mx,x=this.car.my+f.my;if(this.isRoad(g,x))return void(this.car.next_road={outroad:{y:v*d,x:u*d},outroad_np:h,rotation_type:m})}}},e.prototype.step=function(t){-1!=this.state.toString().indexOf(","+u.CAR.toString())?(this.car.v=0,0==this.car.v&&this.car.haveTurned&&1==this.car.optionalTurn&&(this.car.rotation=this.car.previousRotation)):(this.car.v=.8,this.autoRotation()),this.level.isCarsMoving&&(this.car.x+=this.car.v*Math.cos(this.car.rotation)*t,this.car.y+=this.car.v*Math.sin(this.car.rotation)*t),this.car.mx=Math.floor(this.car.x/d),this.car.my=Math.floor(this.car.y/d),this.car.checkAndsetNewRoad(),this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation,this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation;var e=this.detectInteractions(!1);return{agentCollisions:e.agentCollisions,onRoad:e.onRoad}},e}(M),T=function(){function t(t){this.assets=[],this.agentMotionEngine=R,this.agentMotionOptions={},this.agentLidarInfo={},this.level=t}return t.prototype.setAgentLidar=function(t){this.agentLidarInfo=t},t.prototype.setAgentMotion=function(t,e){this.agentMotionEngine=t,this.agentMotionOptions=e},t.prototype.createRoadSide=function(t){var e=t.mx*d,i=t.my*d,o=new r;o.beginFill(15263976),o.drawRoundedRect(0,0,d+30,d+30,void 0),o.x=e-15,o.y=i-15,o.endFill(),this.level.addChild(o)},t.prototype.createRoad=function(t,e,i){var o=this,n=new a(e[v.ROADS[t.type].image]);n.arrow=i,n.x=t.mx*d,n.y=t.my*d,n.obstacle=!1,n.mapId=u.ROAD,n.orientation=v.ROADS[t.type].orientation,n.setCarPosition=function(t,e,i){return void 0===i&&(i=!1),o.setCarOnRoad(n,t,e,i)},n.cars=[],n.mx=t.mx,n.my=t.my,this.level.addRoad(n)},t.prototype.setCarOnRoad=function(t,e,i,o){void 0===o&&(o=!1),void 0==i&&(i=0);var n=this.level.findCarById(t.cars[0]);!o&&t.cars.length>=1&&n&&n.core.line==i&&(i=0==i?1:0),e.line=i,e.x=t.x,e.y=t.y,e.x+=d/2,e.y+=d/2;var a=1*d/4;t.orientation=Math.floor(t.orientation/e.rotationStep)*e.rotationStep;var r=-t.orientation*Math.PI,s=0*Math.cos(r)-a*Math.sin(r),h=Math.cos(r)*a+0*Math.sin(r),c=0==i?1:-1,l=0==i?0:Math.PI;e.x+=c*Math.round(s),e.y+=c*Math.round(h),e.mx=Math.floor(e.x/d),e.my=Math.floor(e.y/d),e.rotation=r+l,e.checkAndsetNewRoad(t)},t.prototype.createAsset=function(t,e,i,o){var n=new a(i[t]);n.obstacle=!1,n.type=o,n.mapId=0,n.x=e.x,n.y=e.y,this.level.addChild(n),this.assets.push(n)},t.prototype.createMap=function(t,e,i,o){if(void 0===o&&(o=!0),o)for(var n=0;n<t.length;n++)for(var a=0;a<t[n].length;a++)v.ROADS[t[n][a]]&&this.createRoadSide({mx:a,my:n,type:t[n][a]});for(n=0;n<t.length;n++)for(a=0;a<t[n].length;a++)v.ROADS[t[n][a]]&&this.createRoad({mx:a,my:n,type:t[n][a]},i,t[n][a]);for(var r in v)if("ROADS"!=r&&e[r])for(var s=0;s<e[r].length;s++)this.createAsset(v[r].image,e[r][s],i,r)},t.prototype.createCars=function(t,e){for(var i in t.cars){var o={lidar:!0,lidarInfo:{pts:2,width:.5,height:1,pos:1}};o.lidar=!0,o.motionEngine=new L(this.level);var n=new w(this.level,t.cars[i],e,o);this.level.addCar(n)}},t.prototype.createAgent=function(t,e,i){void 0===i&&(i=!0);var o=new w(this.level,t.agent,e,{image:p.AGENT,lidar:!0,lidarInfo:this.agentLidarInfo,motionEngine:new this.agentMotionEngine(this.level,this.agentMotionOptions)});return i&&this.level.addChild(o.lidar),this.level.addCar(o),o.core.agent=!0,o},t.prototype.addAsset=function(t){this.assets.push(t)},t.prototype.exportMap=function(t,e,i,o){for(var n={cars:[]},a=[],r=this.level.getEnvs(),s=0;s<e;s++){for(var h=[],c=0;c<t;c++)h.push(0);a.push(h)}for(var l=0;l<r.length;l++){(d=r[l]).isremove||(d.mapId==u.CAR&&!d.agent&&d.my<e&&d.mx<t?n.cars.push({mx:d.mx,my:d.my,line:d.line}):d.mapId==u.ROAD&&d.my<e&&d.mx<t&&(a[d.my][d.mx]=d.arrow))}for(l=0;l<this.assets.length;l++){var d;(d=this.assets[l]).isremove||"car"!=d.type&&"agent"!=d.type&&(n[d.type]||(n[d.type]=[]),n[d.type].push({x:d.x,y:d.y}))}n.map=a,this.level.agent&&(n.agent={mx:this.level.agent.core.mx,my:this.level.agent.core.my,line:this.level.agent.core.line,motion:{type:"BasicMotionEngine",options:{rotationStep:.5,actions:["UP","LEFT","RIGHT","DOWN","WAIT"]}}});var p=JSON.stringify(n,null,4);return o&&x(p,i),n},t}(),A=function(){function t(t,e){this.agent=null,this.app=null,this.map=null,this.info=null,this.envs=[],this.roads={},this.cars=[],this.info=t,this.canvasId=e}return t.prototype.load=function(t){var e=this;return this.loop=t,new Promise(function(t){e.createLevel(e.info).then(function(){return t()})})},t.prototype.createLevel=function(t){var e=this;return this.map=t.map,this.app=new PIXI.Application({width:this.map[0].length*d,height:this.map.length*d,backgroundColor:8437566}),document.getElementById(this.canvasId).appendChild(this.app.view),new Promise(function(i){n.add([c,"https://metacar-project.com/public/textures/textures.png"],{crossOrigin:!0}).load(function(){e._setup(t),i()})})},t.prototype._setup=function(t){console.warn("This method should be implemented.",t)},t.prototype.getRoads=function(){return this.roads},t.prototype.findCarById=function(t){return this.cars.find(function(e){return e.core.carId==t})},t.prototype.getRoad=function(t,e){return this.roads[[t.toString(),e.toString()].toString()]},t.prototype.addRoad=function(t){this.roads[[t.my.toString(),t.mx.toString()].toString()]=t,this.envs.push(t),this.app.stage.addChild(t)},t.prototype.addCar=function(t){this.cars.push(t),this.app.stage.addChild(t.core),this.envs.push(t.core)},t.prototype.getEnvs=function(){return this.envs},t.prototype.getMap=function(){return this.map},t.prototype.addChild=function(t){this.app.stage.addChild(t)},t.prototype.render=function(t){t?this.app.ticker.start():this.app.ticker.stop()},t.prototype.reset=function(){},t.prototype.resize=function(t,e){this.app.renderer.resize(t*d,e*d)},t.prototype.getMousePosition=function(){return this.app.renderer.plugins.interaction.mouse.global},t}(),S=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])};return function(e,i){function o(){this.constructor=e}t(e,i),e.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}}(),O=function(t){function e(e,i){var o=t.call(this,e,i)||this;return o.isCarsMoving=!0,o.lastReward=0,o.rewardFunction=null,o.map=o.info.map,o.am=new T(o),o}return S(e,t),e.prototype.setRewardFunction=function(t){this.rewardFunction=t},e.prototype.carsMoving=function(t){this.isCarsMoving=t},e.prototype.setAgentMotion=function(t,e){this.am.setAgentMotion(t,e)},e.prototype.setAgentLidar=function(t){this.am.setAgentLidar(t)},e.prototype._setup=function(t){var e=this,i=n.resources[c].textures;this.am.createMap(this.map,t,i),this.am.createCars(t,i),t.agent&&(this.agent=this.am.createAgent(t,i)),this.app.ticker.add(function(t){return e.loop(t)})},e.prototype.reset=function(){this.agent.reset();for(var t=0;t<this.cars.length;t++);},e.prototype.setReward=function(t,e,i){var o=-.1;return 0!=i&&1!=this.agent.core.v||(o+=.5),t.length>0?o=-1:e||(o=-1),o},e.prototype.getLastReward=function(){return this.lastReward},e.prototype.step=function(t,e){void 0===e&&(e=null);for(var i=0;i<this.cars.length;i++)this.cars[i].lidar&&!this.cars[i].core.agent&&this.cars[i].step(t);if(this.agent){var o=this.agent.step(t,e),n=o.agentCollisions,a=o.onRoad,r=void 0;return r=this.rewardFunction?this.rewardFunction(n,a,e):this.setReward(n,a,e),this.lastReward=r,r}return 0},e.prototype.stopRender=function(){this.app.ticker.stop()},e}(A),P=function(){function t(t,e){this.level=t,this.canvasId=e;var i=document.getElementById(e),o=document.createElement("div");o.classList.add("metacar_buttons_container"),o.id="metacar_"+e+"_buttons_container",i.parentNode.insertBefore(o,i.nextSibling),this.buttonsContainer=o}return t.prototype.isPlaying=function(){return this.playing},t.prototype.getEditorSize=function(){return{width:this.editorWidth,height:this.editorHeight}},t.prototype._createButton=function(t,e){var i=document.createElement("button");return i.classList.add("metacar_button_train"),i.id="metacar_"+this.canvasId+"_button_"+e,e=e.replace(/_/g," "),i.innerHTML=e.charAt(0).toUpperCase()+e.slice(1),t.appendChild(i),i},t.prototype.onTrain=function(t){var e=this;this._createButton(this.buttonsContainer,"train").addEventListener("click",function(){e.level.render(!1),t&&t()})},t.prototype.onPlay=function(t){var e=this;this._createButton(this.buttonsContainer,"play").addEventListener("click",function(){t&&(e.playing=!0,e.playCallback=t)})},t.prototype.onStop=function(t){var e=this;this._createButton(this.buttonsContainer,"stop").addEventListener("click",function(){e.playing=!1,e.playCallback=void 0,t&&t()})},t.prototype.onResetEnv=function(t){var e=this;this._createButton(this.buttonsContainer,"reset_env").addEventListener("click",function(){e.level.reset(),t&&t()})},t.prototype.onCustomEvent=function(t,e){this._createButton(this.buttonsContainer,t).addEventListener("click",function(){e&&e()})},t.prototype.onSaveEditor=function(t,e){var i=this;this._createButton(this.buttonsContainer,"save").addEventListener("click",function(){var o=i.getEditorSize(),n=i.level.exportMap(o.width,o.height,e.name,e.download);t&&t(n)})},t.prototype.onLoad=function(t,e){void 0===e&&(e=Object()),e.local=e.local||!1;var i=this._createButton(this.buttonsContainer,"load_trained_agent"),o=document.createElement("input");o.type="file",o.accept="*/*",o.style.display="none",o.classList.add("metacar_button_input_file"),o.id="metacar_"+this.canvasId+"_button_input_file",this.buttonsContainer.appendChild(o),o.addEventListener("change",function(e){!function(t,e){var i=t.target.files[0],o=new FileReader;o.readAsText(i,"UTF-8"),o.onload=function(t){e(t.target.result)}}(e,function(e){t&&t(e)})}),i.addEventListener("click",function(){e.local?o.click():t&&t()})},t.prototype._createRangeBar=function(t){var e=document.createElement("input");return e.type="range",e.min="5",e.max="15",e.value="5",e.classList.add("metacar_"+t+"_input"),e.id="metacar_"+this.canvasId+"_"+t+"_input",e},t.prototype._createSpan=function(t,e){var i=document.createElement("span");return i.classList.add("metacar_"+t+"_span"),i.id="metacar_"+this.canvasId+"_"+t+"_span",i.innerHTML=e,i},t.prototype._createImage=function(t,e){var i=document.createElement("img");return i.classList.add("metacar_img"),i.id="metacar_"+this.canvasId+"_"+t+"_img",i.src=e,i},t.prototype._listenRangeChanges=function(t,e){var i=this;t.onchange=function(){var o=parseInt(t.value),n=parseInt(e.value);i.level.resize(o,n),i.editorWidth=o,i.editorHeight=n},e.onchange=function(){var o=parseInt(t.value),n=parseInt(e.value);i.level.resize(o,n),i.editorWidth=o,i.editorHeight=n}},t.prototype._listenCanvasEditor=function(){var t=this;document.getElementById(this.canvasId).addEventListener("contextmenu",function(t){return t.preventDefault()}),document.getElementById(this.canvasId).addEventListener("click",function(){t.level.getSelectedItems()&&t.level.setCurrentItem()})},t.prototype._listenEditorImgs=function(){for(var t=document.getElementsByClassName("metacar_img"),e=this,i=0;i<t.length;i++)t[i].addEventListener("click",function(){e.level.selectedItem({image:this.getAttribute("data-img"),type:this.getAttribute("data-type"),data:this.getAttribute("data-data")})},!1)},t.prototype.createEditorElementsEvents=function(){var t=this._createSpan("width","Width"),e=this._createRangeBar("width"),i=this._createSpan("height","Height"),o=this._createRangeBar("height");this.buttonsContainer.appendChild(t),this.buttonsContainer.appendChild(e),this.buttonsContainer.appendChild(i),this.buttonsContainer.appendChild(o),this._listenRangeChanges(e,o),this._listenCanvasEditor();var n=this.level.getMap(),a=n[0].length,r=n.length;e.value=a.toString(),o.value=r.toString(),this.editorWidth=a,this.editorHeight=r;var s=this._createImage("car_agent",l+"car_agent.png");s.dataset.type="agent",s.dataset.img="car_agent.png",this.buttonsContainer.appendChild(s);var h=this._createImage("car_agent",l+"car.png");h.dataset.type="car",h.dataset.img="car.png",this.buttonsContainer.appendChild(h);var c=v.ROADS;for(var d in c){(u=this._createImage(c[d].image.replace(".png",""),l+c[d].image)).dataset.type="road",u.dataset.img=c[d].image,u.dataset.data=d,this.buttonsContainer.appendChild(u)}for(var p in v){var u;if("ROADS"!=p)(u=this._createImage(p,l+v[p].image)).dataset.img=v[p].image,u.dataset.data=p,u.dataset.type="asset",this.buttonsContainer.appendChild(u)}this._listenEditorImgs()},t}(),k=function(){function t(t,e){this.eventList=["train","play","stop","reset_env","load"],this.agentMotionEngine=R,this.agentMotionOptions={},this.isCarsMoving=!0,this.loopCallback=void 0,t&&e||console.error("You must specify the canvasId and the levelToLoad"),this.canvasId=t,this.levelToLoad=e}return t.prototype.setRewardFunction=function(t){this.level.setRewardFunction(t)},t.prototype.carsMoving=function(t){this.isCarsMoving=t},t.prototype.getLastReward=function(){return this.level.getLastReward()},t.prototype.setAgentLidar=function(t){this.agentLidarInfo=t},t.prototype.setAgentMotion=function(t,e){this.agentMotionEngine=t,this.agentMotionOptions=e},t.prototype.addEvent=function(t,e,i){var o=this.eventList.indexOf(t);-1!=o?"load"!=this.eventList[o]?this.eventCallback[o](e):this.eventCallback[o](e,i):this.event.onCustomEvent(t,e)},t.prototype.render=function(t){this.level.render(t)},t.prototype.save=function(t,e){x(t,e)},t.prototype.actionSpace=function(){return this.level.agent.motion.actionSpace()},t.prototype.getState=function(t){return void 0===t&&(t=!1),this.level.agent.getState(t)},t.prototype.step=function(t){return this.level.step(1,t)},t.prototype.reset=function(){this.level.reset()},t.prototype.randomRoadPosition=function(){var t=this.level.getRoads(),e=Object.keys(t);for(var i in e.sort(function(){return Math.random()-.5}),e){var o=t[e[i]];if(0==o.cars.length){o.setCarPosition(this.level.agent.core);break}}},t.prototype.loop=function(t){this.loopCallback=t},t.prototype._loop=function(t){this.event.isPlaying()?this.event.playCallback():this.level.step(t),this.loopCallback&&this.loopCallback()},t.prototype._setEvents=function(){var t=this;this.event=new P(this.level,this.canvasId),this.eventCallback=[function(e){return t.event.onTrain(e)},function(e){return t.event.onPlay(e)},function(e){return t.event.onStop(e)},function(e){return t.event.onResetEnv(e)},function(e,i){return t.event.onLoad(e,i)}]},t.prototype.load=function(){var t=this;return new Promise(function(e){"string"==typeof t.levelToLoad?g(t.levelToLoad,function(i){t.level=new O(i,t.canvasId),t.level.setAgentMotion(t.agentMotionEngine,t.agentMotionOptions),t.level.setAgentLidar(t.agentLidarInfo),t.level.carsMoving(t.isCarsMoving),t._setEvents(),t.level.load(function(e){return t._loop(e)}).then(function(){e()})}):(t.level=new O(t.levelToLoad,t.canvasId),t.level.setAgentMotion(t.agentMotionEngine,t.agentMotionOptions),t.level.setAgentLidar(t.agentLidarInfo),t.level.carsMoving(t.isCarsMoving),t._setEvents(),t.level.load(function(e){return t._loop(e)}).then(function(){e()}))})},t}(),F=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])};return function(e,i){function o(){this.constructor=e}t(e,i),e.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}}(),D=function(t){function e(e,i){var o=t.call(this,e,i)||this;return o.selectedItems=null,o.am=new T(o),o}return F(e,t),e.prototype._setEvents=function(){},e.prototype._setup=function(t){var e=this;this._setEvents();var i=n.resources[c].textures;this.am.createMap(this.map,t,i,!1),this.am.createCars(t,i),t.agent&&(this.agent=this.am.createAgent(t,i,!1));for(var o=this,a=0;a<this.envs.length;a++)this.envs[a].interactive=!0,this.envs[a].on("rightclick",function(){o.removeItem(this)});for(a=0;a<this.am.assets.length;a++)this.am.assets[a].interactive=!0,this.am.assets[a].on("rightclick",function(){o.removeItem(this)});this.app.ticker.add(function(t){return e.loop(t)})},e.prototype.resize=function(t,e){this.app.renderer.resize(t*d,e*d)},e.prototype.getSelectedItems=function(){return this.selectedItems},e.prototype.selectedItem=function(t){this.selectedItems&&this.app.stage.removeChild(this.selectedItems);var e=n.resources[c].textures;this.selectedItems=new a(e[t.image]),this.selectedItems.type=t.type,this.selectedItems.image=t.image,this.selectedItems.data=t.data,this.selectedItems.x=0,this.selectedItems.y=0,this.app.stage.addChild(this.selectedItems)},e.prototype.removeItem=function(t){t.lidar&&this.app.stage.removeChild(t.lidar),t.mapId==u.CAR&&t.road&&t.road.cars.splice(t.road.cars.indexOf(t.carId),1),t.agent&&(this.agent=void 0),this.app.stage.removeChild(t),t.isremove=!0},e.prototype.exportMap=function(t,e,i,o){return this.am.exportMap(t,e,i,o)},e.prototype.setCurrentItem=function(){this.am.addAsset(this.selectedItems);var t=n.resources[c].textures,e=this;"road"==this.selectedItems.type?(this.am.createRoad({mx:Math.floor(this.selectedItems.x/d),my:Math.floor(this.selectedItems.y/d),type:this.selectedItems.data},t,this.selectedItems.data),this.envs[this.envs.length-1].interactive=!0,this.envs[this.envs.length-1].on("rightclick",function(){e.removeItem(this)})):"car"==this.selectedItems.type?(this.am.createCars({cars:[{mx:Math.floor(this.selectedItems.x/d),my:Math.floor(this.selectedItems.y/d),rotation:0,line:0}]},t),this.envs[this.envs.length-1].interactive=!0,this.envs[this.envs.length-1].on("rightclick",function(){e.removeItem(this)})):"agent"==this.selectedItems.type&&void 0==this.agent?(this.agent=this.am.createAgent({agent:{mx:Math.floor(this.selectedItems.x/d),my:Math.floor(this.selectedItems.y/d),rotation:0,line:0,motion:{type:"BasicMotionEngine",options:{rotation_step:.5,actions:["UP","LEFT","RIGHT","DOWN","WAIT"]}}}},t),this.envs[this.envs.length-1].interactive=!0,this.envs[this.envs.length-1].on("rightclick",function(){e.removeItem(this)})):"asset"==this.selectedItems.type&&(this.am.createAsset(this.selectedItems.image,{x:this.selectedItems.x,y:this.selectedItems.y},t,this.selectedItems.data),this.am.assets[this.am.assets.length-1].interactive=!0,this.am.assets[this.am.assets.length-1].on("rightclick",function(){e.removeItem(this)})),this.app.stage.removeChild(this.selectedItems),this.selectedItems=null},e}(A),U=function(){function t(t,e){this.eventList=["save"],t&&!this.levelToLoad||console.error("You must specify the canvasId and the levelToLoad"),this.canvasId=t,this.levelToLoad=e}return t.prototype.load=function(){var t=this;return new Promise(function(e){"string"==typeof t.levelToLoad?g(t.levelToLoad,function(i){t.level=new D(i,t.canvasId),t.level.load(function(){return t.loop()}),t.event=new P(t.level,t.canvasId),t.event.createEditorElementsEvents(),t.eventCallback=[function(e,i){return t.event.onSaveEditor(e,i)}],e()}):(t.level=new D(t.levelToLoad,t.canvasId),t.level.load(function(){return t.loop()}),t.event=new P(t.level,t.canvasId),t.event.createEditorElementsEvents(),t.eventCallback=[function(e,i){return t.event.onSaveEditor(e,i)}],e())})},t.prototype.save=function(t,e){x(t,e)},t.prototype.addEvent=function(t,e,i){var o=this.eventList.indexOf(t);-1!=o?this.eventCallback[o](e,i):this.event.onCustomEvent(t,e)},t.prototype.loop=function(){var t=this.level.getMousePosition(),e=this.level.getSelectedItems();e&&"asset"==e.type?(e.x=t.x,e.y=t.y):e&&(e.x=Math.floor(t.x/d)*d,e.y=Math.floor(t.y/d)*d)},t}(),N=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof 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t=this,e=_(37),i=_(38),o=_(39),n=_(40);e.press=function(){t.turn(-.7)},e.release=function(){t.turn(0)},o.press=function(){t.turn(.7)},o.release=function(){t.turn(0)},i.press=function(){t.move(1)},i.release=function(){t.car.a=0},n.press=function(){t.move(-1)},n.release=function(){t.car.a=0}},e.prototype.turn=function(t){this.car.yaw_rate=t},e.prototype.move=function(t){this.car.a=t},e.prototype.actionStep=function(t,e){this.car.a=Math.min(Math.max(e[0],-1),1),this.car.yaw_rate=Math.min(Math.max(e[1],-1),1);var i=this.step(t),o=i.agentCollisions,n=i.onRoad;return this.car.a=0,this.car.yaw_rate=0,{agentCollisions:o,onRoad:n}},e.prototype.actionSpace=function(){return{type:"Continous",size:2,range:[[0,1],[-1,1]]}},e.prototype.step=function(t){if(this.car.v>0&&0==this.car.a?this.car.v=Math.max(0,this.car.v-.01):this.car.v<0&&0==this.car.a&&(this.car.v=Math.min(0,this.car.v+.01)),this.car.a>0&&this.car.v>=0?this.car.v=Math.min(1.5,this.car.v+.01*this.car.a):this.car.a>0&&this.car.v<0&&(this.car.v=Math.min(1.5,this.car.v+.03*this.car.a)),this.car.a<0&&this.car.v<=0?this.car.v=Math.max(-1.5,this.car.v+.01*this.car.a):this.car.a<0&&this.car.v>0&&(this.car.v=Math.max(-1.5,this.car.v+.03*this.car.a)),0==this.car.yaw_rate)this.car.x+=this.car.v*Math.cos(this.car.rotation)*t,this.car.y+=this.car.v*Math.sin(this.car.rotation)*t;else{var e=.01*this.car.yaw_rate*(this.car.v+.001)*Math.PI;this.car.x+=this.car.v/e*(Math.sin(this.car.rotation+e*t)-Math.sin(this.car.rotation)),this.car.y+=this.car.v/e*(Math.cos(this.car.rotation)-Math.cos(this.car.rotation+e*t)),this.car.rotation+=e*t}this.car.mx=Math.floor(this.car.x/d),this.car.my=Math.floor(this.car.y/d),this.car.checkAndsetNewRoad(),this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation;var i=this.detectInteractions(!0,!0),o=i.agentCollisions,n=i.onRoad;return o.length>0&&(this.car.v=0,this.car.vy=0),{agentCollisions:o,onRoad:n}},e}(M),j={env:k,editor:U,level:{fullCity:"embedded://level/fullCity",level1:"embedded://level/level1",level2:"embedded://level/level2",level0:"embedded://level/level0"},motion:{BasicMotion:R,ControlMotion:B}};e.default=j}]).default;
\ No newline at end of file
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0,e.downHandler=function(t){t.keyCode===e.code&&(e.isUp&&e.press&&e.press(),e.isDown=!0,e.isUp=!1),t.preventDefault()},e.upHandler=function(t){t.keyCode===e.code&&(e.isDown&&e.release&&e.release(),e.isDown=!1,e.isUp=!0),t.preventDefault()},window.addEventListener("keydown",e.downHandler.bind(e),!1),window.addEventListener("keyup",e.upHandler.bind(e),!1),e}var I,C=0,w=function(){function t(t,e,i,o){void 0===o&&(o={});var n=this;this.level=t,o.image=o.image||p.DEFAULT,o.lidar=o.lidar||!1,o.lidarInfo=o.lidarInfo||{pts:5,width:4,height:5,pos:0},this.core=new a(i[o.image]),this.info=e,this.core.scale.x=.8,this.core.scale.y=.8,this.core.anchor.x=.5,this.core.anchor.y=.5,this.core.road=void 0,this.core.carId=C,C+=1,this.core.agent=!1,this.core.obstacle=!0,this.core.mapId=y.CAR,o.lidar&&(this.createLidar(o.lidarInfo),this.core.lidar=this.lidar),o.motionEngine?(this.motion=o.motionEngine,this.motion.setUp(this.core,this.lidar),this.core.rotationStep=.5):this.core.rotationStep=.5,this.core.mx=this.info.mx,this.core.my=this.info.my,this.core.x=this.info.mx*d,this.core.y=this.info.my*d,this.core.checkAndsetNewRoad=function(t){return n.checkAndsetNewRoad(t)};var r=this.level.getRoad(this.core.my,this.core.mx);this.core.line=0,r&&r.setCarPosition(this.core,this.info.line)}return t.prototype.checkAndsetNewRoad=function(t){var e=this.core.road;t||(t=this.level.getRoad(this.core.my,this.core.mx)),t!=e&&(e&&e.cars.splice(e.cars.indexOf(this.core.carId),1),this.core.road=t,this.core.haveTurned=!1,this.core.optionalTurn=!1,this.core.turnedRandom=void 0,this.core.next_road=!1,t&&t.cars.push(this.core.carId))},t.prototype.reset=function(){this.core.mx=this.info.mx,this.core.my=this.info.my;var t=this.level.getRoad(this.core.my,this.core.mx);t&&t.setCarPosition(this.core,this.info.line,!0)},t.prototype.getState=function(){var t={},e=[];return this.motion.state.map(function(t){e=e.concat(t)}),e.push(this.core.v),t.linear=e,t.lidar=this.motion.state.map(function(t){return t.slice()}),t.v=this.core.v,t.a=this.core.last_a,t.steering=this.core.last_yaw_rate,t},t.prototype.step=function(t,e){if(void 0===e&&(e=null),null==e)var i=this.motion.step(t),o=i.agentCollisions,n=i.onRoad;else{var a=this.motion.actionStep(t,e);o=a.agentCollisions,n=a.onRoad}return{agentCollisions:o,onRoad:n}},t.prototype.createLidar=function(t){t.pts=t.pts||5,t.width=t.width||4,t.height=t.height||5,t.pos=t.pos||0,this.lidar=new s,this.lidar.lidarPts=[],this.lidar.collisionPts=[];var e=new r;e.pt=!1,e.alpha=.3,e.beginFill(5329233),e.drawRect(0,0,this.core.width*t.width,this.core.height*t.height),e.endFill();var i=new r;i.pt=!1,i.alpha=0,i.beginFill(5308416),i.drawRect(this.core.width-5,e.height/2,3,3),i.endFill();var o=new r;o.pt=!1,o.alpha=0,o.beginFill(5308416),o.drawRect(-1,e.height/2-2,3,3),o.endFill();var n=new r;n.pt=!1,n.alpha=0,n.beginFill(5308416),n.drawRect(this.core.width/2,e.height/2-this.core.height/2+5,3,3),n.endFill();var a=new r;a.pt=!1,a.alpha=0,a.beginFill(5308416),a.drawRect(this.core.width/2,e.height/2+this.core.height/2-8,3,3),a.endFill(),o.x-=t.pos*this.core.width,i.x-=t.pos*this.core.width,a.x-=t.pos*this.core.width,n.x-=t.pos*this.core.width;for(var h=e.width/t.pts,c=e.height/t.pts,l=t.pts-1;l>=0;l--)for(var d=0;d<t.pts;d++){var p=h/4+l*h,y=c/4+d*c,u=new r;u.pt=!0,u.beginFill(16777215),u.drawRect(p,y,5,5),u.endFill(),this.lidar.addChild(u),this.lidar.lidarPts.push(u)}this.lidar.pts=t.pts,this.lidar.addChild(e),this.lidar.addChild(i),this.lidar.addChild(o),this.lidar.addChild(n),this.lidar.addChild(a),this.lidar.collisionPts.push(i),this.lidar.collisionPts.push(o),this.lidar.collisionPts.push(n),this.lidar.collisionPts.push(a),this.lidar.x=this.core.x,this.lidar.y=this.core.y,this.lidar.pivot.y=this.lidar.height/2,this.lidar.pivot.x=this.core.width/2-t.pos*this.core.width,this.lidar.rotation=this.core.rotation},t}(),M=function(){function t(t){this.level=t}return t.prototype.boxesIntersect=function(t,e){var i=t.getBounds(),o=e.getBounds();return i.x+i.width>o.x&&i.x<o.x+o.width&&i.y+i.height>o.y&&i.y<o.y+o.height},t.prototype.carIntersect=function(t,e){for(var i=t.lidar.collisionPts.length,o=0;o<i;o++)if(this.boxesIntersect(t.lidar.collisionPts[o],e))return!0;return!1},t.prototype.carCaptorInObject=function(t,e){for(var i=t.lidar.collisionPts.length,o=0,n=0;n<i;n++)this.boxesIntersect(t.lidar.collisionPts[n],e)&&(o+=1);return o},t.prototype.detectInteractions=function(t,e){void 0===t&&(t=!0),void 0===e&&(e=!1);for(var i=this.level.getEnvs(),o=[],n=[],a=0,r=!1,s=0;s<i.length;s++)i[s]!=this.car&&(Math.abs(i[s].mx-this.car.mx)<2&&Math.abs(i[s].my-this.car.my)<2||e)&&(t&&i[s].obstacle&&this.carIntersect(this.car,i[s])?o.push(i[s]):t&&i[s].mapId==y.ROAD&&(a+=this.carCaptorInObject(this.car,i[s])),this.boxesIntersect(i[s],this.lidar)&&n.push(i[s]));return this.setState(n),(a>=4||!t)&&(r=!0),{agentCollisions:o,onRoad:r}},t.prototype.setState=function(t){for(var e=0,i=0;i<this.lidar.lidarPts.length;i++){this.lidar.lidarPts[i].alpha=.3;var o=Math.floor(e/this.lidar.pts),n=Math.floor(e%this.lidar.pts);this.state[o][n]=y.DEFAULT;for(var a=0;a<t.length;a++)if(t[a]!=this.car){var r=this.boxesIntersect(t[a],this.lidar.lidarPts[i]);r&&t[a].obstacle&&(this.lidar.lidarPts[i].alpha=1),r&&(t[a].mapId>this.state[o][n]||t[a].mapId==y.ROAD&&this.state[o][n]==y.DEFAULT)&&(this.state[o][n]=t[a].mapId)}e+=1}},t}(),b=(I=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])},function(t,e){function i(){this.constructor=t}I(t,e),t.prototype=null===e?Object.create(e):(i.prototype=e.prototype,new i)}),R=function(t){function e(e,i){var o=t.call(this,e)||this;return o.maxSpeed=1,o.rotationStep=i.rotationStep||.5,o.actions=i.actions||["UP","LEFT","RIGHT","DOWN","WAIT"],o}return b(e,t),e.prototype.setUp=function(t,e){this.car=t,this.lidar=e,this.state=[];for(var i=0;i<e.pts;i++){for(var o=[],n=0;n<e.pts;n++)o.push(y.DEFAULT);this.state.push(o)}this.setUpKeyboard(),this.car.v=0,this.car.a=0,this.car.yaw_rate=0,this.detectInteractions()},e.prototype.setUpKeyboard=function(){var t=this,e=_(37),i=_(38),o=_(39),n=_(40);-1!=this.actions.indexOf("LEFT")&&(e.press=function(){t.turnLeft()}),-1!=this.actions.indexOf("RIGHT")&&(o.press=function(){t.turnRight()}),-1!=this.actions.indexOf("UP")&&(i.press=function(){t.moveForward()},i.release=function(){t.car.v=0}),-1!=this.actions.indexOf("DOWN")&&(n.press=function(){t.moveBackward()},n.release=function(){t.car.v=0})},e.prototype.turnLeft=function(){this.car.rotation-=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.turnRight=function(){this.car.rotation+=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.moveForward=function(){this.car.v=1},e.prototype.moveBackward=function(){this.car.v=-1},e.prototype.actionStep=function(t,e){"LEFT"==this.actions[e]&&this.turnLeft(),"RIGHT"==this.actions[e]&&this.turnRight(),"UP"==this.actions[e]&&this.moveForward(),"DOWN"==this.actions[e]&&this.moveBackward();var i=this.step(t),o=i.agentCollisions,n=i.onRoad;return this.car.v=0,{agentCollisions:o,onRoad:n}},e.prototype.actionSpace=function(){return{type:"Discrete",size:1,range:[0,1,2,3,4]}},e.prototype.step=function(t){this.car.x+=this.car.v*Math.cos(this.car.rotation)*t,this.car.y+=this.car.v*Math.sin(this.car.rotation)*t,this.car.mx=Math.floor(this.car.x/d),this.car.my=Math.floor(this.car.y/d),this.car.checkAndsetNewRoad(),this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation;var e=this.detectInteractions(!0,!0),i=e.agentCollisions,o=e.onRoad;return i.length>0&&(this.car.v=0,this.car.vy=0),{agentCollisions:i,onRoad:o}},e}(M),E=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])};return function(e,i){function o(){this.constructor=e}t(e,i),e.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}}(),S=function(t){function e(e){var i=t.call(this,e)||this;return i.map=i.level.getMap(),i.mapSizeY=i.map.length,i.mapSizeX=i.map[0].length,i.rotationStep=.5,i.rotationToNextCase={},i.rotationToNextCase[0]={mx:1,my:0},i.rotationToNextCase[.5]={mx:0,my:1},i.rotationToNextCase[1]={mx:-1,my:0},i.rotationToNextCase[1.5]={mx:0,my:-1},i.rotationToNextCase[-.5]={mx:0,my:-1},i.rotationToNextCase[-1]={mx:-1,my:0},i.rotationToNextCase[-1.5]={mx:0,my:1},i}return E(e,t),e.prototype.setUp=function(t,e){this.car=t,this.lidar=e,this.state=[];for(var i=0;i<e.pts;i++){for(var o=[],n=0;n<e.pts;n++)o.push(y.DEFAULT);this.state.push(o)}this.car.v=0,this.detectInteractions()},e.prototype.turnLeft=function(){this.car.rotation-=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.turnRight=function(){this.car.rotation+=this.rotationStep*Math.PI,this.lidar.rotation=this.car.rotation},e.prototype.moveUp=function(){this.car.v=1},e.prototype.moveDown=function(){this.car.v=-1},e.prototype.isRoad=function(t,e,i){if(void 0===i&&(i=!1),e<0||e>=this.mapSizeY||t<0||t>=this.mapSizeX||0==this.map[e][t])return!1;if(i&&this.level.getRoad(e,t).cars.length>0)return!1;return!0},e.prototype.autoRotation=function(){var t=d+d/3,e=d-d/3.5,i=d;if(this.car.next_road){var o=Math.abs((this.car.next_road.outroad.y+d/2-this.car.y)*this.car.next_road.outroad_np.my),n=Math.abs((this.car.next_road.outroad.x+d/2-this.car.x)*this.car.next_road.outroad_np.mx);if(0==this.car.next_road.rotation_type&&o<t&&n<t)return this.car.haveTurned=!0,this.car.previousRotation=this.car.rotation,this.car.rotation=this.car.rotation+=Math.PI/2,this.car.rotation=this.car.rotation%(2*Math.PI),void(this.car.next_road=void 0);if(1==this.car.next_road.rotation_type&&o<e&&n<e)return this.car.previousRotation=this.car.rotation,this.car.haveTurned=!0,this.car.rotation=this.car.rotation-=Math.PI/2,this.car.rotation=this.car.rotation%(2*Math.PI),void(this.car.next_road=void 0);if(2==this.car.next_road.rotation_type&&o<i&&n<i)return this.car.haveTurned=!0,this.car.previousRotation=this.car.rotation,this.car.rotation=this.car.rotation-=Math.PI,this.car.rotation=this.car.rotation%(2*Math.PI),0!=o&&this.car.x<this.car.next_road.outroad.x+d/2?(this.car.x=this.car.next_road.outroad.x+d/2+d/4,this.car.y=this.car.next_road.outroad.y):0!=o&&this.car.x>this.car.next_road.outroad.x+d/2?(this.car.x=this.car.next_road.outroad.x+d-d/2-d/4,this.car.y=this.car.next_road.outroad.y):0!=n&&this.car.y<this.car.next_road.outroad.y+d/2?(this.car.y=this.car.next_road.outroad.y+d/2+d/4,this.car.x=this.car.next_road.outroad.x):0!=n&&this.car.y>this.car.next_road.outroad.y+d/2&&(this.car.y=this.car.next_road.outroad.y+d-d/2-d/4,this.car.x=this.car.next_road.outroad.x),void(this.car.next_road=void 0)}else{var a=this.car.rotation/Math.PI,r=(this.car.rotation/Math.PI+.5)%2,s=(this.car.rotation/Math.PI-.5)%2,h=this.rotationToNextCase[a],c=this.rotationToNextCase[r],l=this.rotationToNextCase[s],p=!1,y=this.car.mx+h.mx,u=this.car.my+h.my;if(this.isRoad(y,u)?this.car.haveTurned||this.car.turnedRandom?!this.car.haveTurned&&this.car.turnedRandom<.5&&this.isRoad(this.car.mx+c.mx,this.car.my+c.my)?(p=!0,this.car.optionalTurn=!0):!this.car.haveTurned&&this.car.turnedRandom>=.5&&this.isRoad(this.car.mx+l.mx,this.car.my+l.my)&&(p=!0,this.car.optionalTurn=!0):this.car.turnedRandom=Math.random():(p=!0,this.car.optionalTurn=!1),p)for(var x=[(a+.5)%2,(a-.5)%2,null],v=0;v<x.length;v++){var m=void 0;m=null!=x[v]?this.rotationToNextCase[x[v]]:{mx:0,my:0};var f=this.car.mx+m.mx,g=this.car.my+m.my;if(this.isRoad(f,g))return void(this.car.next_road={outroad:{y:u*d,x:y*d},outroad_np:h,rotation_type:v})}}},e.prototype.step=function(t){-1!=this.state.toString().indexOf(","+y.CAR.toString())?(this.car.v=0,0==this.car.v&&this.car.haveTurned&&1==this.car.optionalTurn&&(this.car.rotation=this.car.previousRotation)):(this.car.v=.8,this.autoRotation()),this.level.isCarsMoving&&(this.car.x+=this.car.v*Math.cos(this.car.rotation)*t,this.car.y+=this.car.v*Math.sin(this.car.rotation)*t),this.car.mx=Math.floor(this.car.x/d),this.car.my=Math.floor(this.car.y/d),this.car.checkAndsetNewRoad(),this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation,this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation;var e=this.detectInteractions(!1);return{agentCollisions:e.agentCollisions,onRoad:e.onRoad}},e}(M),L=function(){function t(t){this.assets=[],this.agentMotionEngine=R,this.agentMotionOptions={},this.agentLidarInfo={},this.level=t}return t.prototype.setAgentLidar=function(t){this.agentLidarInfo=t},t.prototype.setAgentMotion=function(t,e){this.agentMotionEngine=t,this.agentMotionOptions=e},t.prototype.createRoadSide=function(t){var e=t.mx*d,i=t.my*d,o=new r;o.beginFill(15263976),o.drawRoundedRect(0,0,d+30,d+30,void 0),o.x=e-15,o.y=i-15,o.endFill(),this.level.addChild(o)},t.prototype.createRoad=function(t,e,i){var o=this,n=new a(e[u.ROADS[t.type].image]);n.arrow=i,n.x=t.mx*d,n.y=t.my*d,n.obstacle=!1,n.mapId=y.ROAD,n.orientation=u.ROADS[t.type].orientation,n.setCarPosition=function(t,e,i){return void 0===i&&(i=!1),o.setCarOnRoad(n,t,e,i)},n.cars=[],n.mx=t.mx,n.my=t.my,this.level.addRoad(n)},t.prototype.setCarOnRoad=function(t,e,i,o){void 0===o&&(o=!1),void 0==i&&(i=Math.min(1,Math.floor(2*Math.random())));var n=this.level.findCarById(t.cars[0]);!o&&t.cars.length>=1&&n&&n.core.line==i&&(i=0==i?1:0),e.line=i,e.a=0,e.v=0,e.x=t.x,e.y=t.y,e.x+=d/2,e.y+=d/2;var a=1*d/4;t.orientation=Math.floor(t.orientation/e.rotationStep)*e.rotationStep;var r=-t.orientation*Math.PI,s=0*Math.cos(r)-a*Math.sin(r),h=Math.cos(r)*a+0*Math.sin(r),c=0==i?1:-1,l=0==i?0:Math.PI;e.x+=c*Math.round(s),e.y+=c*Math.round(h),e.mx=Math.floor(e.x/d),e.my=Math.floor(e.y/d),e.rotation=r+l,e.checkAndsetNewRoad(t)},t.prototype.createAsset=function(t,e,i,o){var n=new a(i[t]);n.obstacle=!1,n.type=o,n.mapId=0,n.x=e.x,n.y=e.y,this.level.addChild(n),this.assets.push(n)},t.prototype.createMap=function(t,e,i,o){if(void 0===o&&(o=!0),o)for(var n=0;n<t.length;n++)for(var a=0;a<t[n].length;a++)u.ROADS[t[n][a]]&&this.createRoadSide({mx:a,my:n,type:t[n][a]});for(n=0;n<t.length;n++)for(a=0;a<t[n].length;a++)u.ROADS[t[n][a]]&&this.createRoad({mx:a,my:n,type:t[n][a]},i,t[n][a]);for(var r in u)if("ROADS"!=r&&e[r])for(var s=0;s<e[r].length;s++)this.createAsset(u[r].image,e[r][s],i,r)},t.prototype.createCars=function(t,e){for(var i in t.cars){var o={lidar:!0,lidarInfo:{pts:2,width:.5,height:1,pos:1}};o.lidar=!0,o.motionEngine=new S(this.level);var n=new w(this.level,t.cars[i],e,o);this.level.addCar(n)}},t.prototype.createAgent=function(t,e,i){void 0===i&&(i=!0);var o=new w(this.level,t.agent,e,{image:p.AGENT,lidar:!0,lidarInfo:this.agentLidarInfo,motionEngine:new this.agentMotionEngine(this.level,this.agentMotionOptions)});return i&&this.level.addChild(o.lidar),this.level.addCar(o),o.core.agent=!0,o},t.prototype.addAsset=function(t){this.assets.push(t)},t.prototype.exportMap=function(t,e,i,o){for(var n={cars:[]},a=[],r=this.level.getEnvs(),s=0;s<e;s++){for(var h=[],c=0;c<t;c++)h.push(0);a.push(h)}for(var l=0;l<r.length;l++){(d=r[l]).isremove||(d.mapId==y.CAR&&!d.agent&&d.my<e&&d.mx<t?n.cars.push({mx:d.mx,my:d.my,line:d.line}):d.mapId==y.ROAD&&d.my<e&&d.mx<t&&(a[d.my][d.mx]=d.arrow))}for(l=0;l<this.assets.length;l++){var d;(d=this.assets[l]).isremove||"car"!=d.type&&"agent"!=d.type&&(n[d.type]||(n[d.type]=[]),n[d.type].push({x:d.x,y:d.y}))}n.map=a,this.level.agent&&(n.agent={mx:this.level.agent.core.mx,my:this.level.agent.core.my,line:this.level.agent.core.line,motion:{type:"BasicMotionEngine",options:{rotationStep:.5,actions:["UP","LEFT","RIGHT","DOWN","WAIT"]}}});var p=JSON.stringify(n,null,4);return o&&g(p,i),n},t}(),T=function(){function t(t,e){this.agent=null,this.app=null,this.map=null,this.info=null,this.envs=[],this.roads={},this.cars=[],this.steping=!0,this.info=t,this.canvasId=e}return t.prototype.load=function(t){var e=this;return this.loop=t,new Promise(function(t){e.createLevel(e.info).then(function(){return t()})})},t.prototype.createLevel=function(t){var e=this;return this.map=t.map,this.app=new PIXI.Application({width:this.map[0].length*d,height:this.map.length*d,backgroundColor:8437566}),document.getElementById(this.canvasId).appendChild(this.app.view),new Promise(function(i){n.add([c,"https://metacar-project.com/public/textures/textures.png"],{crossOrigin:!0}).load(function(){e._setup(t),i()})})},t.prototype._setup=function(t){console.warn("This method should be implemented.",t)},t.prototype.getRoads=function(){return this.roads},t.prototype.findCarById=function(t){return this.cars.find(function(e){return e.core.carId==t})},t.prototype.getRoad=function(t,e){return this.roads[[t.toString(),e.toString()].toString()]},t.prototype.addRoad=function(t){this.roads[[t.my.toString(),t.mx.toString()].toString()]=t,this.envs.push(t),this.app.stage.addChild(t)},t.prototype.addCar=function(t){this.cars.push(t),this.app.stage.addChild(t.core),this.envs.push(t.core)},t.prototype.getEnvs=function(){return this.envs},t.prototype.getMap=function(){return this.map},t.prototype.addChild=function(t){this.app.stage.addChild(t)},t.prototype.render=function(t){t?(this.app.ticker.start(),this.steping=!0):(this.app.ticker.stop(),this.steping=!1)},t.prototype.reset=function(){},t.prototype.resize=function(t,e){this.app.renderer.resize(t*d,e*d)},t.prototype.getMousePosition=function(){return this.app.renderer.plugins.interaction.mouse.global},t.prototype.setSteping=function(t){this.steping=t},t.prototype.shuffleCarsPositions=function(){for(var t=0;t<this.cars.length;t++){var e=this.roads,i=Object.keys(e);for(var o in i.sort(function(){return Math.random()-.5}),i){var n=e[i[o]];if(0==n.cars.length){n.setCarPosition(this.cars[t].core);break}}}},t}(),A=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])};return function(e,i){function o(){this.constructor=e}t(e,i),e.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}}(),O=function(t){function e(e,i){var o=t.call(this,e,i)||this;return o.isCarsMoving=!0,o.lastReward=0,o.rewardFunction=null,o.map=o.info.map,o.am=new L(o),o}return A(e,t),e.prototype.setRewardFunction=function(t){this.rewardFunction=t},e.prototype.carsMoving=function(t){this.isCarsMoving=t},e.prototype.setAgentMotion=function(t,e){this.am.setAgentMotion(t,e)},e.prototype.setAgentLidar=function(t){this.am.setAgentLidar(t)},e.prototype._setup=function(t){var e=this,i=n.resources[c].textures;this.am.createMap(this.map,t,i),this.am.createCars(t,i),t.agent&&(this.agent=this.am.createAgent(t,i)),this.app.ticker.add(function(t){return e.loop(t)})},e.prototype.reset=function(){this.agent.reset();for(var t=0;t<this.cars.length;t++)this.cars[t].reset()},e.prototype.setReward=function(t,e,i){var o=0+Math.max(0,this.agent.core.v)/this.agent.motion.maxSpeed;return t.length>0?o=-1:e||(o=-1),o},e.prototype.getLastReward=function(){return this.lastReward},e.prototype.step=function(t,e,i){if(void 0===e&&(e=null),void 0===i&&(i=!0),!i||this.steping){for(var o=0;o<this.cars.length;o++)this.cars[o].lidar&&!this.cars[o].core.agent&&this.cars[o].step(t);if(this.agent){var n=this.agent.step(t,e),a=n.agentCollisions,r=n.onRoad,s=void 0;return s=this.rewardFunction?this.rewardFunction(a,r,e):this.setReward(a,r,e),this.lastReward=s,s}return 0}},e.prototype.stopRender=function(){this.app.ticker.stop()},e}(T),P=function(){function t(t,e){this.level=t,this.canvasId=e;var i=document.getElementById(e),o=document.createElement("div");o.classList.add("metacar_buttons_container"),o.id="metacar_"+e+"_buttons_container",i.parentNode.insertBefore(o,i.nextSibling),this.buttonsContainer=o}return t.prototype.isPlaying=function(){return this.playing},t.prototype.getEditorSize=function(){return{width:this.editorWidth,height:this.editorHeight}},t.prototype._createButton=function(t,e){var i=document.createElement("button");return i.classList.add("metacar_button_train"),i.id="metacar_"+this.canvasId+"_button_"+e,e=e.replace(/_/g," "),i.innerHTML=e.charAt(0).toUpperCase()+e.slice(1),t.appendChild(i),i},t.prototype.onTrain=function(t){var e=this;this._createButton(this.buttonsContainer,"train").addEventListener("click",function(){e.level.render(!1),e.level.setSteping(!1),t&&t()})},t.prototype.onPlay=function(t){var e=this;this._createButton(this.buttonsContainer,"play").addEventListener("click",function(){t&&(e.playing=!0,e.playCallback=t)})},t.prototype.onStop=function(t){var e=this;this._createButton(this.buttonsContainer,"stop").addEventListener("click",function(){e.playing=!1,e.playCallback=void 0,t&&t()})},t.prototype.onResetEnv=function(t){var e=this;this._createButton(this.buttonsContainer,"reset_env").addEventListener("click",function(){e.level.reset(),t&&t()})},t.prototype.onCustomEvent=function(t,e){this._createButton(this.buttonsContainer,t).addEventListener("click",function(){e&&e()})},t.prototype.onSaveEditor=function(t,e){var i=this;this._createButton(this.buttonsContainer,"save").addEventListener("click",function(){var o=i.getEditorSize(),n=i.level.exportMap(o.width,o.height,e.name,e.download);t&&t(n)})},t.prototype.onLoad=function(t,e){void 0===e&&(e=Object()),e.local=e.local||!1;var i=this._createButton(this.buttonsContainer,"load_trained_agent"),o=document.createElement("input");o.type="file",o.accept="*/*",o.style.display="none",o.classList.add("metacar_button_input_file"),o.id="metacar_"+this.canvasId+"_button_input_file",this.buttonsContainer.appendChild(o),o.addEventListener("change",function(e){!function(t,e){var i=t.target.files[0],o=new FileReader;o.readAsText(i,"UTF-8"),o.onload=function(t){e(t.target.result)}}(e,function(e){t&&t(e)})}),i.addEventListener("click",function(){e.local?o.click():t&&t()})},t.prototype._createRangeBar=function(t){var e=document.createElement("input");return e.type="range",e.min="5",e.max="15",e.value="5",e.classList.add("metacar_"+t+"_input"),e.id="metacar_"+this.canvasId+"_"+t+"_input",e},t.prototype._createSpan=function(t,e){var i=document.createElement("span");return i.classList.add("metacar_"+t+"_span"),i.id="metacar_"+this.canvasId+"_"+t+"_span",i.innerHTML=e,i},t.prototype._createImage=function(t,e){var i=document.createElement("img");return i.classList.add("metacar_img"),i.id="metacar_"+this.canvasId+"_"+t+"_img",i.src=e,i},t.prototype._listenRangeChanges=function(t,e){var i=this;t.onchange=function(){var o=parseInt(t.value),n=parseInt(e.value);i.level.resize(o,n),i.editorWidth=o,i.editorHeight=n},e.onchange=function(){var o=parseInt(t.value),n=parseInt(e.value);i.level.resize(o,n),i.editorWidth=o,i.editorHeight=n}},t.prototype._listenCanvasEditor=function(){var t=this;document.getElementById(this.canvasId).addEventListener("contextmenu",function(t){return t.preventDefault()}),document.getElementById(this.canvasId).addEventListener("click",function(){t.level.getSelectedItems()&&t.level.setCurrentItem()})},t.prototype._listenEditorImgs=function(){for(var t=document.getElementsByClassName("metacar_img"),e=this,i=0;i<t.length;i++)t[i].addEventListener("click",function(){e.level.selectedItem({image:this.getAttribute("data-img"),type:this.getAttribute("data-type"),data:this.getAttribute("data-data")})},!1)},t.prototype.createEditorElementsEvents=function(){var t=this._createSpan("width","Width"),e=this._createRangeBar("width"),i=this._createSpan("height","Height"),o=this._createRangeBar("height");this.buttonsContainer.appendChild(t),this.buttonsContainer.appendChild(e),this.buttonsContainer.appendChild(i),this.buttonsContainer.appendChild(o),this._listenRangeChanges(e,o),this._listenCanvasEditor();var n=this.level.getMap(),a=n[0].length,r=n.length;e.value=a.toString(),o.value=r.toString(),this.editorWidth=a,this.editorHeight=r;var s=this._createImage("car_agent",l+"car_agent.png");s.dataset.type="agent",s.dataset.img="car_agent.png",this.buttonsContainer.appendChild(s);var h=this._createImage("car_agent",l+"car.png");h.dataset.type="car",h.dataset.img="car.png",this.buttonsContainer.appendChild(h);var c=u.ROADS;for(var d in c){(y=this._createImage(c[d].image.replace(".png",""),l+c[d].image)).dataset.type="road",y.dataset.img=c[d].image,y.dataset.data=d,this.buttonsContainer.appendChild(y)}for(var p in u){var y;if("ROADS"!=p)(y=this._createImage(p,l+u[p].image)).dataset.img=u[p].image,y.dataset.data=p,y.dataset.type="asset",this.buttonsContainer.appendChild(y)}this._listenEditorImgs()},t}(),k=function(){function t(t,e){this.eventList=["train","play","stop","reset_env","load"],this.agentMotionEngine=R,this.agentMotionOptions={},this.isCarsMoving=!0,this.loopCallback=void 0,t&&e||console.error("You must specify the canvasId and the levelToLoad"),this.canvasId=t,this.levelToLoad=e}return t.prototype.setRewardFunction=function(t){this.level.setRewardFunction(t)},t.prototype.carsMoving=function(t){this.isCarsMoving=t},t.prototype.getLastReward=function(){return this.level.getLastReward()},t.prototype.setAgentLidar=function(t){this.agentLidarInfo=t},t.prototype.setAgentMotion=function(t,e){this.agentMotionEngine=t,this.agentMotionOptions=e},t.prototype.addEvent=function(t,e,i){var o=this.eventList.indexOf(t);-1!=o?"load"!=this.eventList[o]?this.eventCallback[o](e):this.eventCallback[o](e,i):this.event.onCustomEvent(t,e)},t.prototype.render=function(t){this.level.render(t)},t.prototype.steping=function(t){this.level.setSteping(t)},t.prototype.save=function(t,e){g(t,e)},t.prototype.actionSpace=function(){return this.level.agent.motion.actionSpace()},t.prototype.getState=function(){return this.level.agent.getState()},t.prototype.step=function(t){return this.level.step(1,t,!1)},t.prototype.reset=function(){this.level.reset()},t.prototype.shuffle=function(t){if((t=t||{cars:!0,agent:!0}).cars=void 0==t.cars||t.cars,t.agent=void 0==t.agent||t.agent,t.agent){var e=this.level.getRoads(),i=Object.keys(e);for(var o in i.sort(function(){return Math.random()-.5}),i){var n=e[i[o]];if(0==n.cars.length){n.setCarPosition(this.level.agent.core);break}}}t.cars&&this.level.shuffleCarsPositions()},t.prototype.loop=function(t){this.loopCallback=t},t.prototype._loop=function(t){this.event.isPlaying()?this.event.playCallback():this.level.step(t),this.loopCallback&&this.loopCallback()},t.prototype._setEvents=function(){var t=this;this.event=new P(this.level,this.canvasId),this.eventCallback=[function(e){return t.event.onTrain(e)},function(e){return t.event.onPlay(e)},function(e){return t.event.onStop(e)},function(e){return t.event.onResetEnv(e)},function(e,i){return t.event.onLoad(e,i)}]},t.prototype.load=function(){var t=this;return new Promise(function(e){"string"==typeof t.levelToLoad?f(t.levelToLoad,function(i){t.level=new O(i,t.canvasId),t.level.setAgentMotion(t.agentMotionEngine,t.agentMotionOptions),t.level.setAgentLidar(t.agentLidarInfo),t.level.carsMoving(t.isCarsMoving),t._setEvents(),t.level.load(function(e){return t._loop(e)}).then(function(){e()})}):(t.level=new O(t.levelToLoad,t.canvasId),t.level.setAgentMotion(t.agentMotionEngine,t.agentMotionOptions),t.level.setAgentLidar(t.agentLidarInfo),t.level.carsMoving(t.isCarsMoving),t._setEvents(),t.level.load(function(e){return t._loop(e)}).then(function(){e()}))})},t}(),F=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])};return function(e,i){function o(){this.constructor=e}t(e,i),e.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}}(),D=function(t){function e(e,i){var o=t.call(this,e,i)||this;return o.selectedItems=null,o.am=new L(o),o}return F(e,t),e.prototype._setEvents=function(){},e.prototype._setup=function(t){var e=this;this._setEvents();var i=n.resources[c].textures;this.am.createMap(this.map,t,i,!1),this.am.createCars(t,i),t.agent&&(this.agent=this.am.createAgent(t,i,!1));for(var o=this,a=0;a<this.envs.length;a++)this.envs[a].interactive=!0,this.envs[a].on("rightclick",function(){o.removeItem(this)});for(a=0;a<this.am.assets.length;a++)this.am.assets[a].interactive=!0,this.am.assets[a].on("rightclick",function(){o.removeItem(this)});this.app.ticker.add(function(t){return e.loop(t)})},e.prototype.resize=function(t,e){this.app.renderer.resize(t*d,e*d)},e.prototype.getSelectedItems=function(){return this.selectedItems},e.prototype.selectedItem=function(t){this.selectedItems&&this.app.stage.removeChild(this.selectedItems);var e=n.resources[c].textures;this.selectedItems=new a(e[t.image]),this.selectedItems.type=t.type,this.selectedItems.image=t.image,this.selectedItems.data=t.data,this.selectedItems.x=0,this.selectedItems.y=0,this.app.stage.addChild(this.selectedItems)},e.prototype.removeItem=function(t){t.lidar&&this.app.stage.removeChild(t.lidar),t.mapId==y.CAR&&t.road&&t.road.cars.splice(t.road.cars.indexOf(t.carId),1),t.agent&&(this.agent=void 0),this.app.stage.removeChild(t),t.isremove=!0},e.prototype.exportMap=function(t,e,i,o){return this.am.exportMap(t,e,i,o)},e.prototype.setCurrentItem=function(){this.am.addAsset(this.selectedItems);var t=n.resources[c].textures,e=this;"road"==this.selectedItems.type?(this.am.createRoad({mx:Math.floor(this.selectedItems.x/d),my:Math.floor(this.selectedItems.y/d),type:this.selectedItems.data},t,this.selectedItems.data),this.envs[this.envs.length-1].interactive=!0,this.envs[this.envs.length-1].on("rightclick",function(){e.removeItem(this)})):"car"==this.selectedItems.type?(this.am.createCars({cars:[{mx:Math.floor(this.selectedItems.x/d),my:Math.floor(this.selectedItems.y/d),rotation:0,line:0}]},t),this.envs[this.envs.length-1].interactive=!0,this.envs[this.envs.length-1].on("rightclick",function(){e.removeItem(this)})):"agent"==this.selectedItems.type&&void 0==this.agent?(this.agent=this.am.createAgent({agent:{mx:Math.floor(this.selectedItems.x/d),my:Math.floor(this.selectedItems.y/d),rotation:0,line:0,motion:{type:"BasicMotionEngine",options:{rotation_step:.5,actions:["UP","LEFT","RIGHT","DOWN","WAIT"]}}}},t),this.envs[this.envs.length-1].interactive=!0,this.envs[this.envs.length-1].on("rightclick",function(){e.removeItem(this)})):"asset"==this.selectedItems.type&&(this.am.createAsset(this.selectedItems.image,{x:this.selectedItems.x,y:this.selectedItems.y},t,this.selectedItems.data),this.am.assets[this.am.assets.length-1].interactive=!0,this.am.assets[this.am.assets.length-1].on("rightclick",function(){e.removeItem(this)})),this.app.stage.removeChild(this.selectedItems),this.selectedItems=null},e}(T),U=function(){function t(t,e){this.eventList=["save"],t&&!this.levelToLoad||console.error("You must specify the canvasId and the levelToLoad"),this.canvasId=t,this.levelToLoad=e}return t.prototype.load=function(){var t=this;return new Promise(function(e){"string"==typeof t.levelToLoad?f(t.levelToLoad,function(i){t.level=new D(i,t.canvasId),t.level.load(function(){return t.loop()}),t.event=new P(t.level,t.canvasId),t.event.createEditorElementsEvents(),t.eventCallback=[function(e,i){return t.event.onSaveEditor(e,i)}],e()}):(t.level=new D(t.levelToLoad,t.canvasId),t.level.load(function(){return t.loop()}),t.event=new P(t.level,t.canvasId),t.event.createEditorElementsEvents(),t.eventCallback=[function(e,i){return t.event.onSaveEditor(e,i)}],e())})},t.prototype.save=function(t,e){g(t,e)},t.prototype.addEvent=function(t,e,i){var o=this.eventList.indexOf(t);-1!=o?this.eventCallback[o](e,i):this.event.onCustomEvent(t,e)},t.prototype.loop=function(){var t=this.level.getMousePosition(),e=this.level.getSelectedItems();e&&"asset"==e.type?(e.x=t.x,e.y=t.y):e&&(e.x=Math.floor(t.x/d)*d,e.y=Math.floor(t.y/d)*d)},t}(),N=function(){var t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)e.hasOwnProperty(i)&&(t[i]=e[i])};return function(e,i){function o(){this.constructor=e}t(e,i),e.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}}(),B=function(t){function e(e){var i=t.call(this,e)||this;return i.maxSpeed=2,i.level=e,i.actions=["SteeringAngle","Throttle"],i}return N(e,t),e.prototype.setUp=function(t,e){this.car=t,this.lidar=e,this.state=[];for(var i=0;i<e.pts;i++){for(var o=[],n=0;n<e.pts;n++)o.push(y.DEFAULT);this.state.push(o)}this.setUpKeyboard(),this.car.v=0,this.car.a=0,this.car.yaw_rate=0,this.detectInteractions()},e.prototype.setUpKeyboard=function(){var t=this,e=_(37),i=_(38),o=_(39),n=_(40);e.press=function(){t.turn(-.7)},e.release=function(){t.turn(0)},o.press=function(){t.turn(.7)},o.release=function(){t.turn(0)},i.press=function(){t.move(1)},i.release=function(){t.car.a=0},n.press=function(){t.move(-1)},n.release=function(){t.car.a=0}},e.prototype.turn=function(t){this.car.yaw_rate=t},e.prototype.move=function(t){this.car.a=t},e.prototype.actionStep=function(t,e){this.car.a=Math.min(Math.max(e[0],-1),1),this.car.yaw_rate=Math.min(Math.max(e[1],-1),1);var i=this.step(t),o=i.agentCollisions,n=i.onRoad;return this.car.a=0,this.car.yaw_rate=0,{agentCollisions:o,onRoad:n}},e.prototype.actionSpace=function(){return{type:"Continous",size:2,range:[[0,1],[-1,1]]}},e.prototype.step=function(t){if(this.car.last_a=this.car.a,this.car.last_yaw_rate=this.car.yaw_rate,this.car.v>0&&0==this.car.a?this.car.v=Math.max(0,this.car.v-.01):this.car.v<0&&0==this.car.a&&(this.car.v=Math.min(0,this.car.v+.01)),this.car.a>0&&this.car.v>=0?this.car.v=Math.min(this.maxSpeed,this.car.v+.005*this.car.a):this.car.a>0&&this.car.v<0&&(this.car.v=Math.min(this.maxSpeed,this.car.v+.03*this.car.a)),this.car.a<0&&this.car.v<=0?this.car.v=Math.max(-this.maxSpeed,this.car.v+.005*this.car.a):this.car.a<0&&this.car.v>0&&(this.car.v=Math.max(-this.maxSpeed,this.car.v+.03*this.car.a)),0==this.car.yaw_rate)this.car.x+=this.car.v*Math.cos(this.car.rotation)*t,this.car.y+=this.car.v*Math.sin(this.car.rotation)*t;else{var e=.01*this.car.yaw_rate*(this.car.v+.001)*Math.PI;this.car.x+=this.car.v/e*(Math.sin(this.car.rotation+e*t)-Math.sin(this.car.rotation)),this.car.y+=this.car.v/e*(Math.cos(this.car.rotation)-Math.cos(this.car.rotation+e*t)),this.car.rotation+=e*t}this.car.mx=Math.floor(this.car.x/d),this.car.my=Math.floor(this.car.y/d),this.car.checkAndsetNewRoad(),this.lidar.x=this.car.x,this.lidar.y=this.car.y,this.lidar.rotation=this.car.rotation;var i=this.detectInteractions(!0,!0),o=i.agentCollisions,n=i.onRoad;return o.length>0&&(this.car.v=0,this.car.vy=0),{agentCollisions:o,onRoad:n}},e}(M),j={env:k,editor:U,level:{fullCity:"embedded://level/fullCity",level1:"embedded://level/level1",level2:"embedded://level/level2",level3:"embedded://level/level3",level0:"embedded://level/level0"},motion:{BasicMotion:R,ControlMotion:B}};e.default=j}]).default;
\ No newline at end of file