From 06f13c47457c63ee9c11f05a56e8f9c87a847139 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?F=C3=A1ndly=20Gerg=C5=91?= <gergo@systemtest.tk>
Date: Sat, 7 May 2022 15:08:13 +0300
Subject: [PATCH] AI Path Finder

---
 AIPathFinder.pde | 50 ++++++++++++++++++++++++
 Brain.pde        | 47 +++++++++++++++++++++++
 Dot.pde          | 99 ++++++++++++++++++++++++++++++++++++++++++++++++
 Genetic.pde      | 55 +++++++++++++++++++++++++++
 Obstacle.pde     | 26 +++++++++++++
 Obstacles.pde    | 30 +++++++++++++++
 Population.pde   | 97 +++++++++++++++++++++++++++++++++++++++++++++++
 7 files changed, 404 insertions(+)
 create mode 100644 AIPathFinder.pde
 create mode 100644 Brain.pde
 create mode 100644 Dot.pde
 create mode 100644 Genetic.pde
 create mode 100644 Obstacle.pde
 create mode 100644 Obstacles.pde
 create mode 100644 Population.pde

diff --git a/AIPathFinder.pde b/AIPathFinder.pde
new file mode 100644
index 0000000..a9599cc
--- /dev/null
+++ b/AIPathFinder.pde
@@ -0,0 +1,50 @@
+PVector goal;
+Obstacles obstacles;
+Genetic AI;
+
+void setup(){
+  size(800, 800);
+  frameRate(100000);
+  goal=new PVector(400, 10);
+  obstacles=new Obstacles();
+  AI=new Genetic(true);
+  
+  obstacles.add(new Obstacle(300, 580, 800, 600));
+  obstacles.add(new Obstacle(350, 30, 450, 50));
+  obstacles.add(new Obstacle(600, 10, 620, 300));
+  obstacles.add(new Obstacle(300, 650, 320, 800));
+  obstacles.add(new Obstacle(100, 400, 800, 420));
+  obstacles.add(new Obstacle(0, 520, 200, 540));
+}
+
+void draw(){
+  background(255);
+  
+  //draw goal
+  fill(255, 0, 0);
+  ellipse(goal.x, goal.y, 10, 10);
+  
+  //draw obstacles
+  obstacles.display();
+  
+  //run genetica
+  if(!AI.isDone()){
+    AI.update();
+  }
+  else{
+    AI.nextGeneration();
+  }
+  
+  //print infos
+  fill(0);
+  text("Generation: "+AI.generation, 10, 10);
+  text("Minimal steps: "+AI.lessSteps, 10, 20);
+  text("Minimal distance: "+AI.lessDistance, 10, 30);
+  text("Max fitness: "+AI.maxFitness, 10, 40);
+  text("Goal reached: "+AI.goalReached, 10, 50);
+  text("Steps/s: "+frameRate, 10, 60);
+}
+
+void mouseClicked(){
+  AI.toggleDisplay();
+}
diff --git a/Brain.pde b/Brain.pde
new file mode 100644
index 0000000..ed79ce5
--- /dev/null
+++ b/Brain.pde
@@ -0,0 +1,47 @@
+class Brain{
+  PVector[] directions;
+  int step=0;
+  
+  //Constructor
+  Brain(int size){
+    directions=new PVector[size];
+    
+    //random fill
+    for(int i=0; i<directions.length; i++){
+      float randomAngle=random(2*PI);
+      directions[i]=PVector.fromAngle(randomAngle);
+    }
+  }
+  
+  //Clone brain
+  Brain clone(){
+    Brain cpy=new Brain(directions.length);
+    for(int i=0; i<directions.length; i++){
+      cpy.directions[i]=directions[i].copy();
+    }
+    
+    return cpy;
+  }
+  
+  //Mutate brain
+  void mutate(){
+    float mutateRate=0.01;
+    for(int i=0; i<directions.length; i++){
+      if(random(1)<mutateRate){
+        float randomAngle=random(2*PI);
+        directions[i]=PVector.fromAngle(randomAngle);
+      }
+    }
+  }
+  
+  //get next step
+  PVector next(){
+    if(step<directions.length){
+      step++;
+      return directions[step-1];
+    }
+    else{
+      return null;
+    }
+  }
+}
diff --git a/Dot.pde b/Dot.pde
new file mode 100644
index 0000000..4ffa6a0
--- /dev/null
+++ b/Dot.pde
@@ -0,0 +1,99 @@
+class Dot{
+  PVector pos;
+  PVector vel;
+  boolean dead=false;
+  boolean deadByObstacle=false;
+  boolean reachedGoal=false;
+  boolean champ=false;
+  float fitness;
+  Brain brain;
+  
+  //constructor
+  Dot(){
+    brain=new Brain(1000);
+    
+    //start position (bottom center)
+    pos=new PVector(width/2, height-10);
+    vel=new PVector(0, 0);
+  }
+  
+  //do movement
+  void move(){
+    PVector accl=brain.next(); //get next acceleration
+    if(accl==null){
+      dead=true; //we're dead. No solution
+    }
+    else{
+      vel.add(accl); //add acceleration
+      vel.limit(20); //limit speed
+      pos.add(vel); //update position
+    }
+    
+    //detect if exiting area or is intersecting
+    if(pos.x <= 2 || pos.y <= 2 || pos.x >= width-2 || pos.y >= height-2){
+      dead=true;
+    }
+    //check if intersects obstacle
+    else if(obstacles.isIntersecting(this)){
+      dead=true;
+      deadByObstacle=true;
+    }
+    
+    //detect if reached goal
+    if(dist(pos.x, pos.y, goal.x, goal.y) < 2){
+      reachedGoal=true;
+    }
+  }
+  
+  //update point
+  boolean update(){
+    if(!dead && !reachedGoal){
+      move();
+      return true;
+    }
+    else{
+      return false;
+    }
+  }
+  
+  //calculate fitness
+  float calcFitness(){
+    if(reachedGoal){
+      fitness=10000.0/(brain.step*brain.step);
+    }
+    else if(!deadByObstacle){
+      float distToGoal=dist(pos.x, pos.y, goal.x, goal.y);
+      fitness=2.0/(distToGoal*distToGoal);
+    }
+    else{
+      float distToGoal=dist(pos.x, pos.y, goal.x, goal.y);
+      fitness=1.0/(distToGoal*distToGoal);
+    }
+    
+    return fitness;
+  }
+  
+  //get children
+  Dot getChild(){
+    Dot child=new Dot();
+    child.brain=brain.clone();
+    return child;
+  }
+  
+  //is alive
+  boolean alive(){
+    return !(dead || reachedGoal);
+  }
+  
+  //display dot
+  void display(){
+    if(champ){
+      fill(0, 255, 0);
+      ellipse(pos.x, pos.y, 8, 8);
+    }
+    else{
+      fill(0);
+      ellipse(pos.x, pos.y, 4, 4);
+    }
+  }
+}
diff --git a/Genetic.pde b/Genetic.pde
new file mode 100644
index 0000000..1d6450d
--- /dev/null
+++ b/Genetic.pde
@@ -0,0 +1,55 @@
+class Genetic{
+  int generation=1;
+  boolean display=false;
+  Population population;
+  int lessSteps=0;
+  float lessDistance=0;
+  float maxFitness=0;
+  boolean goalReached=false;
+  
+  //constructor
+  Genetic(boolean disp){
+    population=new Population(500);
+    display=disp;
+  }
+  
+  //check if finished with current population
+  boolean isDone(){
+    return !population.hasDotAlive();
+  }
+  
+  void toggleDisplay(){
+    display=!display;
+  }
+  
+  //update population
+  void update(){
+    if(!isDone()){
+      population.update();
+      if(display){
+        population.display();
+      }
+    }
+  }
+  
+  //generate next population
+  void nextGeneration(){
+    //claculate the fitness of points
+    population.calcFitness();
+    
+    //get best datas
+    lessSteps=population.getChampion().brain.step;
+    lessDistance=dist(population.getChampion().pos.x, population.getChampion().pos.y, goal.x, goal.y);
+    maxFitness=population.getChampion().fitness;
+    goalReached=population.getChampion().reachedGoal;
+    
+    //naturally select best dots
+    population.naturalSelection();
+    
+    //mutate the next generation
+    population.mutate();
+    
+    //increment counter
+    generation++;
+  }
+}
\ No newline at end of file
diff --git a/Obstacle.pde b/Obstacle.pde
new file mode 100644
index 0000000..fa91893
--- /dev/null
+++ b/Obstacle.pde
@@ -0,0 +1,26 @@
+class Obstacle{
+  PVector c1;
+  PVector c2;
+  
+  //constructor
+  Obstacle(int x1, int y1, int x2, int y2){
+    c1=new PVector(x1, y1);
+    c2=new PVector(x2, y2);
+  }
+  
+  //check intersection with a dot
+  boolean isIntersecting(Dot dot){
+    if(dot.pos.x >= c1.x && dot.pos.x <= c2.x && dot.pos.y >= c1.y && dot.pos.y <= c2.y){
+      return true;
+    }
+    else{
+      return false;
+    }
+  }
+  
+  //display it
+  void display(){
+    fill(255, 255, 0);
+    rect(c1.x, c1.y, c2.x-c1.x, c2.y-c1.y);
+  }
+}
\ No newline at end of file
diff --git a/Obstacles.pde b/Obstacles.pde
new file mode 100644
index 0000000..88ece35
--- /dev/null
+++ b/Obstacles.pde
@@ -0,0 +1,30 @@
+class Obstacles{
+  ArrayList<Obstacle> obs;
+  
+  //constructor
+  Obstacles(){
+    obs=new ArrayList<Obstacle>();
+  }
+  
+  //add obstacle
+  void add(Obstacle o){
+    obs.add(o);
+  }
+  
+  //check intersection
+  boolean isIntersecting(Dot dot){
+    for(int i=0; i<obs.size(); i++){
+      if(obs.get(i).isIntersecting(dot)){
+        return true;
+      }
+    }
+    return false;
+  }
+  
+  //display all
+  void display(){
+    for(int i=0; i<obs.size(); i++){
+      obs.get(i).display();
+    }
+  }
+}
\ No newline at end of file
diff --git a/Population.pde b/Population.pde
new file mode 100644
index 0000000..434dc7a
--- /dev/null
+++ b/Population.pde
@@ -0,0 +1,97 @@
+class Population{
+  int champIndex=0;
+  float sumOfFitness;
+  Dot[] dots;
+  
+  //constructor
+  Population(int size){
+    dots=new Dot[size];
+    for(int i=0; i<dots.length; i++){
+      dots[i]=new Dot();
+    }
+  }
+  
+  //update
+  void update(){
+    for(int i=0; i<dots.length; i++){
+      dots[i].update();
+    }
+  }
+  
+  boolean hasDotAlive(){
+    for(int i=0; i<dots.length; i++){
+      if(dots[i].alive()){
+        return true;
+      }
+    }
+    return false;
+  }
+  
+  //calculate fitnesses
+  void calcFitness(){
+    sumOfFitness=0;
+    for(int i=0; i<dots.length; i++){
+      sumOfFitness+=dots[i].calcFitness();
+    }
+  }
+  
+  //get best dot as parent
+  Dot getChampion(){
+    float big=0;
+    for(int i=0; i<dots.length; i++){
+      if(dots[i].fitness>big){
+        big=dots[i].fitness;
+        champIndex=i;
+      }
+    }
+    
+    return dots[champIndex];
+  }
+  
+  //get a perfect parent based on their fitness
+  Dot getAParent(){
+    float rand=random(sumOfFitness);
+    
+    float sum=0;
+    for(int i=0; i<dots.length; i++){
+      sum+=dots[i].fitness;
+      if(sum>rand){
+        return dots[i];
+      }
+    }
+    
+    //shouldn't get here
+    return null;
+  }
+  
+  //natural selection
+  void naturalSelection(){
+    Dot[] nextGen=new Dot[dots.length];
+    
+    calcFitness();
+    
+    nextGen[0]=getChampion().getChild();
+    nextGen[0].champ=true;
+    
+    for(int i=1; i<dots.length; i++){
+      nextGen[i]=getAParent().getChild();
+    }
+    
+    dots=nextGen.clone();
+  }
+  
+  //mutate the next generation
+  void mutate(){
+    for(int i=1; i<dots.length; i++){
+      dots[i].brain.mutate();
+    }
+  }
+  
+  //display
+  void display(){
+    for(int i=1; i<dots.length; i++){
+      dots[i].display();
+    }
+    dots[0].display();
+  }
+}
\ No newline at end of file