NatureOfCode2/auto-agent2.html at master · brlebtag/NatureOfCode2 · GitHub

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<html>
    <head>
        <title>Autonomous Agent 2 - Flee, Pursue, Evade</title>
        <script src="https://cdn.jsdelivr.net/npm/p5@1.5.0/lib/p5.min.js"></script>
        <script>
            const FRAMES_AHEAD = 10;
            class Vehicle {
                constructor(x, y) {
                    this.pos = createVector(x, y);
                    this.velocity = createVector(0 ,0);
                    this.acceleration = createVector();
                    this.mass = 1;
                    this.maxSpeed = 10;
                    this.radius = 16;
                    this.maxForce = 0.25;
                }

                flee(target) {
                    return this.seek(target).mult(-1);
                }

                evade(vehicle) {
                    let pursuit = this.pursue(vehicle);
                    pursuit.mult(-1);
                    return pursuit;
                }

                pursue(vehicle) {
                    let target = vehicle.pos.copy();
                    let prediction = vehicle.velocity.copy();
                    target.add(prediction.mult(FRAMES_AHEAD));
                    // for debug purpose
                    // fill(0, 255, 0);
                    // circle(target.x, target.y, 16);
                    return this.seek(target);
                }

                seek(target) {
                    // let desiredVelocity = p5.Vector.sub(target, this.pos);
                    // desiredVelocity.setMag(this.maxSpeed); // My strategy is to select a desired velocity equals to max speed (other strategies could have been selected).
                    // let steeringForce = p5.Vector.sub(desiredVelocity, this.velocity);
                    // steeringForce.limit(this.maxForce);
                    // this.applyForce(steeringForce);

                    let force = p5.Vector.sub(target, this.pos);
                    force.setMag(this.maxSpeed);
                    force.sub(this.velocity);
                    force.limit(this.maxForce);
                    return force;
                }

                edges() {
                    if (this.pos.y >= (height - this.radius)) {
                        this.pos.y = height - this.radius;
                        this.velocity.y *= -1;
                    } else if (this.pos.y <= 0) {
                        this.pos.y = this.radius;
                        this.velocity.y *= -1;
                    }

                    if (this.pos.x >= (width - this.radius)) {
                        this.pos.x = width - this.radius;
                        this.velocity.x *= - 1;
                    } else if (this.pos.x <= 0) {
                        this.pos.x = this.radius;
                        this.velocity.x *= -1;
                    }
                }

                applyForce(force) {
                    this.acceleration.add(force); // F = m * a => a = F / m (1) => a = F;
                }

                update() {
                    this.velocity.add(this.acceleration);
                    this.velocity.limit(this.maxSpeed);
                    this.pos.add(this.velocity);
                    this.acceleration.set(0, 0);
                }

                show() {
                    stroke(255);
                    strokeWeight(2);
                    fill(255);
                    push();
                    translate(this.pos.x, this.pos.y);
                    rotate(this.velocity.heading());
                    triangle(-this.radius, - this.radius /2 , -this.radius, this.radius/2, this.radius, 0);
                    pop();
                }
            }

            class Target extends Vehicle {
                constructor(x, y) {
                    super(x, y);
                    this.velocity = p5.Vector.random2D().mult(5);
                }

                show() {
                    stroke(255);
                    strokeWeight(2);
                    fill('#F063A4');
                    push();
                    translate(this.pos.x, this.pos.y)
                    circle(0, 0, this.radius * 2);
                    pop();
                }
            }

            class Enemy extends Vehicle {
                constructor(x, y) {
                    super(x, y);
                    this.velocity = p5.Vector.random2D().mult(5);
                }

                show() {
                    stroke(255);
                    strokeWeight(2);
                    fill('#8eb03f');
                    push();
                    translate(this.pos.x, this.pos.y)
                    circle(0, 0, this.radius * 2);
                    pop();
                }
            }

            let pursuer;
            let target;
            let enemies = [];

            const TotalEnemies = 0;

            function setup() {
                createCanvas(800, 600);
                pursuer = new Vehicle(100, 100);

                target = new Target(random(width), random(height));

                for (let i = 0; i < TotalEnemies; i++) {
                    enemies.push(new Enemy(random(width), random(height)));
                }
            }

            function draw() {
                background(0);

                for (const enemy of enemies) {
                    pursuer.applyForce(pursuer.evade(enemy));
                }

                pursuer.applyForce(pursuer.pursue(target));

                let d = p5.Vector.dist(pursuer.pos, target.pos);

                if (d < pursuer.radius + target.radius) {
                    target = new Target(random(width), random(height));
                    pursuer.pos.set(width / 2, height / 2);
                }

                pursuer.update();
                pursuer.show();
                pursuer.edges();

                target.edges();
                target.update();
                target.show();

                for (const enemy of enemies) {
                    enemy.edges();
                    enemy.update();
                    enemy.show();
                }
            }
        </script>
    </head>
</html>