├── Cargo.lock
├── Cargo.toml
├── LICENSE
├── README.md
├── assets
    ├── Magero.ttf
    ├── agent.png
    ├── bound-truck.png
    ├── car-icon.png
    ├── end-point.png
    ├── enemy-blue-1.png
    ├── enemy-blue-2.png
    ├── enemy-blue-3.png
    ├── enemy-red-2.png
    ├── enemy-red.png
    ├── enemy-truck.png
    ├── enemy-yellow-1.png
    ├── enemy-yellow-2.png
    ├── enemy-yellow-3.png
    ├── flag-bottom.png
    ├── flag-top.png
    └── road.png
├── gui.png
└── src
    ├── car.rs
    ├── configs.rs
    ├── enemy.rs
    ├── gui.rs
    ├── lib.rs
    ├── main.rs
    ├── nn.rs
    ├── population.rs
    ├── resources.rs
    └── road.rs


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--------------------------------------------------------------------------------
/Cargo.toml:
--------------------------------------------------------------------------------
 1 | [package]
 2 | name = "steering"
 3 | version = "0.1.0"
 4 | edition = "2021"
 5 | 
 6 | # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 7 | 
 8 | [dependencies]
 9 | bevy = { version = "0.10.1", features = ["dynamic_linking"] }
10 | bevy-inspector-egui = "0.18.3"
11 | bevy_pancam = "0.8.0"
12 | bevy_prototype_debug_lines = "0.10.1"
13 | bevy_rapier2d = "0.21.0"
14 | rand = "0.8.5"
15 | 
16 | [workspace]
17 | resolver = "2" # Important! wgpu/Bevy needs this!
18 | 
19 | # Enable a small amount of optimization in debug mode
20 | [profile.dev]
21 | opt-level = 1
22 | 
23 | # Enable high optimizations for dependencies (incl. Bevy), but not for our code:
24 | [profile.dev.package."*"]
25 | opt-level = 3
26 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2023 Bones-ai
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # AI learns to drive
 2 | AI learns to drive in a road-fighter inspired environment
 3 | 
 4 | The cars are controlled using a neural network, and are trained using a genetic algorithm.
 5 | 
 6 | Built with [Rust](https://www.rust-lang.org/) and [Bevy](https://bevyengine.org/) game engine
 7 | 
 8 | ![gui](/gui.png)
 9 | 
10 | # Demo
11 | Here's the entire timelapse of the AI learning to drive
12 | 
13 | [![youtube](https://img.youtube.com/vi/H7RWcNgE-6s/0.jpg)](https://youtu.be/H7RWcNgE-6s)
14 | 
15 | # Devlog
16 | Here's a devlog of how this was built
17 | 
18 | [![youtube](https://img.youtube.com/vi/Pq1sKS-q1sA/0.jpg)](https://youtu.be/Pq1sKS-q1sA)
19 | 
20 | ## Usage
21 | - Clone the repo
22 |     ```
23 |     git clone git@github.com:bones-ai/rust-drive-ai.git
24 |     cd rust-drive-ai
25 |     ```
26 | - Run the simulation
27 |     ``` 
28 |     cargo run --release
29 |     ```
30 | ## Configurations
31 | - The project config file is located at `src/configs.rs`
32 | 
33 | ## Forks
34 | Here's a list of of forks that extend this project, let me know if you have an interesting fork to add:
35 | - https://gitlab.com/ThibaultLemaire/rust-drive-ai
36 | 
37 | 
38 | ## Assets
39 | - [https://www.spriters-resource.com/nes/roadfighter/sheet/57232/](https://www.spriters-resource.com/nes/roadfighter/sheet/57232/)
40 | - Font - [https://code807.itch.io/magero](https://code807.itch.io/magero)
41 | 


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/assets/Magero.ttf:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/bones-ai/rust-drive-ai/fefdcf7e9311223d9ff996ea11ddf2d5d8af08ad/assets/Magero.ttf


--------------------------------------------------------------------------------
/assets/agent.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/bones-ai/rust-drive-ai/fefdcf7e9311223d9ff996ea11ddf2d5d8af08ad/assets/agent.png


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/src/car.rs:
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  1 | use std::f32::consts::PI;
  2 | 
  3 | use bevy::{
  4 |     math::{vec2, vec3},
  5 |     prelude::*,
  6 | };
  7 | use bevy_prototype_debug_lines::{DebugLines, DebugLinesPlugin};
  8 | use bevy_rapier2d::prelude::*;
  9 | use rand::Rng;
 10 | 
 11 | use crate::nn::Net;
 12 | use crate::*;
 13 | 
 14 | pub struct CarPlugin;
 15 | 
 16 | #[derive(Component)]
 17 | pub struct Car;
 18 | 
 19 | #[derive(Component)]
 20 | pub struct Brain {
 21 |     pub nn: Net,
 22 |     pub nn_outputs: Vec<Vec<f64>>,
 23 | 
 24 |     ray_inputs: Vec<f64>,
 25 | }
 26 | 
 27 | #[derive(Component, Reflect)]
 28 | struct TurnSpeed(f32);
 29 | 
 30 | #[derive(Component, Reflect)]
 31 | struct Speed(f32);
 32 | 
 33 | #[derive(Component)]
 34 | pub struct Fitness(pub f32);
 35 | 
 36 | #[derive(Resource, Default)]
 37 | struct RayCastSensors(Vec<(f32, f32)>);
 38 | 
 39 | // wasd controls
 40 | struct CarControls(bool, bool, bool, bool);
 41 | 
 42 | #[derive(Bundle)]
 43 | pub struct CarBundle {
 44 |     sprite_bundle: SpriteBundle,
 45 |     car: Car,
 46 |     fitness: Fitness,
 47 |     brain: Brain,
 48 |     turn_speed: TurnSpeed,
 49 |     speed: Speed,
 50 |     velocity: Velocity,
 51 |     mass: ColliderMassProperties,
 52 |     rigid_body: RigidBody,
 53 |     collider: Collider,
 54 |     events: ActiveEvents,
 55 |     damping: Damping,
 56 |     sleep: Sleeping,
 57 |     ccd: Ccd,
 58 |     collision_groups: CollisionGroups,
 59 | }
 60 | 
 61 | impl Plugin for CarPlugin {
 62 |     fn build(&self, app: &mut App) {
 63 |         app.add_plugin(DebugLinesPlugin::default())
 64 |             .register_type::<TurnSpeed>()
 65 |             .register_type::<Speed>()
 66 |             .insert_resource(RayCastSensors::default())
 67 |             .add_startup_system(setup)
 68 |             // .add_system(car_manual_input_system)
 69 |             .add_system(car_nn_controlled_system)
 70 |             // .add_system(car_gas_system)
 71 |             // .add_system(car_steer_system)
 72 |             .add_system(collision_events_system)
 73 |             .add_system(sensors_system);
 74 |     }
 75 | }
 76 | 
 77 | fn position_based_movement_system(
 78 |     controls: CarControls, 
 79 |     transform: &mut Transform
 80 | ) {
 81 |     let w_key = controls.0;
 82 |     let a_key = controls.1;
 83 |     let s_key = controls.2;
 84 |     let d_key = controls.3;
 85 | 
 86 |     let time_step = 1.0 / 60.0;
 87 |     let mut rotation_factor = 0.0;
 88 |     let mut movement_factor = 0.0;
 89 | 
 90 |     if w_key {
 91 |         movement_factor += 3.5;
 92 |     }
 93 |     if a_key {
 94 |         rotation_factor += 0.5;
 95 |     } else if d_key {
 96 |         rotation_factor -= 0.5;
 97 |     }
 98 | 
 99 |     transform.rotate_z(rotation_factor * 5.0 * time_step);
100 |     let movement_direction = transform.rotation * Vec3::Y;
101 |     let movement_distance = movement_factor;
102 |     let translation_delta = movement_direction * movement_distance;
103 |     transform.translation += translation_delta;
104 | }
105 | 
106 | fn setup(mut ray_cast_sensors: ResMut<RayCastSensors>) {
107 |     // Pre compute the raycast directions
108 |     let angle_per_ray = RAYCAST_SPREAD_ANGLE_DEG / (NUM_RAY_CASTS as f32) + 1.0;
109 |     let mut current_angle = RAYCAST_START_ANGLE_DEG;
110 |     for _ in 0..NUM_RAY_CASTS {
111 |         let angle = current_angle * (PI / 180.0);
112 |         let x = angle.cos();
113 |         let y = angle.sin();
114 |         ray_cast_sensors.0.push((x, y));
115 | 
116 |         current_angle += angle_per_ray;
117 |     }
118 | }
119 | 
120 | fn collision_events_system(
121 |     mut commands: Commands,
122 |     mut collision_events: EventReader<CollisionEvent>,
123 | ) {
124 |     for collision_event in collision_events.iter() {
125 |         match collision_event {
126 |             CollisionEvent::Started(entity1, entity2, _) => {
127 |                 commands.entity(*entity2).remove::<Car>();
128 |                 commands.entity(*entity1).remove::<Car>();
129 |             }
130 |             _ => {}
131 |         }
132 |     }
133 | }
134 | 
135 | fn car_nn_controlled_system(
136 |     time: Res<Time>,
137 |     mut car_query: Query<(&mut Speed, &mut TurnSpeed, &mut Brain, &mut Transform), With<Car>>,
138 | ) {
139 |     for (mut speed, mut turn_speed, mut brain, mut transform) in car_query.iter_mut() {
140 |         if brain.ray_inputs.is_empty() {
141 |             speed.0 = 0.0;
142 |             turn_speed.0 = 0.0;
143 |             return;
144 |         }
145 | 
146 |         brain.nn_outputs = brain.nn.predict(&brain.ray_inputs);
147 |         let nn_out = brain.nn_outputs[NUM_OUPUT_NODES - 1].clone();
148 |         //  nn_out = brain.nn.predict(&brain.ray_inputs).pop().unwrap();
149 | 
150 |         // let w_key = nn_out[0] >= NN_W_ACTIVATION_THRESHOLD;
151 |         let w_key = true;
152 |         // let s_key = nn_out[2] >= NN_S_ACTIVATION_THRESHOLD;
153 |         let s_key = false;
154 |         let mut a_key = false;
155 |         let mut d_key = false;
156 | 
157 |         if nn_out[1] >= 0.5 {
158 |             a_key = true;
159 |         } else {
160 |             d_key = true;
161 |         }
162 | 
163 |         // update_car_input(
164 |         //     CarControls(w_key, a_key, s_key, d_key),
165 |         //     &mut turn_speed,
166 |         //     &mut speed,
167 |         //     &time,
168 |         // );
169 |         position_based_movement_system(CarControls(w_key, a_key, s_key, d_key), &mut transform);
170 |     }
171 | }
172 | 
173 | #[allow(dead_code)]
174 | fn car_manual_input_system(
175 |     time: Res<Time>,
176 |     keyboard_input: Res<Input<KeyCode>>,
177 |     mut car_query: Query<(&mut Speed, &mut TurnSpeed, &mut Transform), With<Car>>,
178 | ) {
179 |     for (mut speed, mut turn_speed, mut transform) in car_query.iter_mut() {
180 |         let w_key = keyboard_input.pressed(KeyCode::W);
181 |         let a_key = keyboard_input.pressed(KeyCode::A);
182 |         let s_key = keyboard_input.pressed(KeyCode::S);
183 |         let d_key = keyboard_input.pressed(KeyCode::D);
184 |         update_car_input(
185 |             CarControls(
186 |                 w_key, a_key, s_key, d_key
187 |             ),
188 |             &mut turn_speed,
189 |             &mut speed,
190 |             &time,
191 |         );
192 |         position_based_movement_system(CarControls(w_key, a_key, s_key, d_key), &mut transform);
193 |     }
194 | }
195 | 
196 | fn update_car_input(
197 |     controls: CarControls,
198 |     turn_speed: &mut TurnSpeed,
199 |     speed: &mut Speed,
200 |     time: &Time,
201 | ) {
202 |     let w_key = controls.0;
203 |     let a_key = controls.1;
204 |     let s_key = controls.2;
205 |     let d_key = controls.3;
206 | 
207 |     turn_speed.0 = if a_key {
208 |         TURN_SPEED
209 |     } else if d_key {
210 |         -TURN_SPEED
211 |     } else {
212 |         0.0
213 |     };
214 | 
215 |     // Friction code from: https://github.com/Rust-Ninja-Sabi/bevyastro
216 |     speed.0 = if s_key {
217 |         if speed.0.abs() <= 30.0 {
218 |             0.0
219 |         } else {
220 |             speed.0 - FRICTION * time.delta_seconds() * 1.2
221 |         }
222 |     } else if w_key {
223 |         speed.0 + CAR_THRUST * time.delta_seconds()
224 |     } else {
225 |         if speed.0.abs() <= 30.0 {
226 |             // Avoid speed from over shooting
227 |             // and be non zero all the time
228 |             0.0
229 |         } else if speed.0 > 0.0 {
230 |             speed.0 - FRICTION * time.delta_seconds()
231 |         } else if speed.0 < 0.0 {
232 |             speed.0 + FRICTION * time.delta_seconds()
233 |         } else {
234 |             0.0
235 |         }
236 |     };
237 | 
238 |     speed.0 = speed.0.clamp(-MAX_SPEED + MAX_SPEED / 2.0, MAX_SPEED);
239 | }
240 | 
241 | fn car_gas_system(
242 |     time: Res<Time>,
243 |     mut query: Query<(&Transform, &Speed, &mut Velocity), With<Car>>,
244 | ) {
245 |     for (transform, speed, mut velocity) in query.iter_mut() {
246 |         if speed.0 == 0.0 {
247 |             let direction = transform.local_y();
248 |             velocity.linvel = vec2(direction.x, direction.y) * 0.0000001;
249 |             return;
250 |         }
251 | 
252 |         let translation_delta = transform.local_y() * speed.0;
253 |         velocity.linvel =
254 |             vec2(translation_delta.x, translation_delta.y) * 25.0 * time.delta_seconds();
255 |     }
256 | }
257 | 
258 | fn car_steer_system(
259 |     time: Res<Time>,
260 |     mut query: Query<(&Speed, &TurnSpeed, &mut Velocity), With<Car>>,
261 | ) {
262 |     for (speed, turn_speed, mut velocity) in query.iter_mut() {
263 |         if speed.0.abs() < MIN_SPEED_TO_STEER {
264 |             velocity.angvel = 0.0;
265 |             return;
266 |         }
267 | 
268 |         velocity.angvel = turn_speed.0 * time.delta_seconds() * TURN_SPEED;
269 |     }
270 | }
271 | 
272 | fn draw_ray_cast(
273 |     lines: &mut DebugLines,
274 |     settings: &Settings,
275 |     start: Vec3,
276 |     end: Vec3,
277 |     color: Color,
278 | ) {
279 |     if !settings.is_show_rays {
280 |         return;
281 |     }
282 | 
283 |     if start.y <= 700.0 && settings.is_hide_rays_at_start {
284 |         return;
285 |     }
286 | 
287 |     lines.line_colored(start, end, 0.0, color);
288 | }
289 | 
290 | fn sensors_system(
291 |     mut lines: ResMut<DebugLines>,
292 |     settings: Res<Settings>,
293 |     ray_cast_sensors: Res<RayCastSensors>,
294 |     rapier_context: Res<RapierContext>,
295 |     mut query: Query<(&Transform, &Velocity, &mut Brain, &Speed, &TurnSpeed), With<Car>>,
296 | ) {
297 |     for (transform, velocity, mut brain, speed, turn_speed) in query.iter_mut() {
298 |         let raycast_filter = CollisionGroups {
299 |             memberships: Group::GROUP_1,
300 |             filters: Group::GROUP_2,
301 |         };
302 |         let filter = QueryFilter::default().groups(raycast_filter);
303 |         let ray_pos = transform.translation;
304 |         let mut nn_inputs = Vec::new();
305 | 
306 |         // Ray casts
307 |         // let rot = velocity.linvel.y.atan2(velocity.linvel.x) - PI / 2.0;
308 |         let rot = transform.rotation.z;
309 |         // let rot = turn_speed.0;
310 |         for (mut x, mut y) in ray_cast_sensors.0.iter() {
311 |             (x, y) = rotate_point(x, y, rot);
312 |             let dest_vec = vec2(x, y);
313 |             let end_point = calculate_endpoint(ray_pos, dest_vec, RAYCAST_MAX_TOI);
314 |             draw_ray_cast(&mut lines, &settings, ray_pos, end_point, Color::RED);
315 | 
316 |             let ray_pos_2d = vec2(ray_pos.x, ray_pos.y);
317 |             if let Some((_, toi)) =
318 |                 rapier_context.cast_ray(ray_pos_2d, dest_vec, RAYCAST_MAX_TOI, false, filter)
319 |             {
320 |                 // The first collider hit has the entity `entity` and it hit after
321 |                 // the ray travelled a distance equal to `ray_dir * toi`.
322 |                 let hit_point = ray_pos_2d + dest_vec * toi;
323 |                 let hit_point = vec3(hit_point.x, hit_point.y, 0.0);
324 | 
325 |                 // Invalidate when hit length more than max toi
326 |                 let dist_to_hit = ray_pos.distance(hit_point);
327 |                 nn_inputs.push(dist_to_hit as f64 / RAYCAST_MAX_TOI as f64);
328 |                 if dist_to_hit > RAYCAST_MAX_TOI {
329 |                     continue;
330 |                 }
331 | 
332 |                 draw_ray_cast(&mut lines, &settings, ray_pos, hit_point, Color::GREEN);
333 |             } else {
334 |                 nn_inputs.push(1.0);
335 |             }
336 |         }
337 | 
338 |         brain.ray_inputs = nn_inputs;
339 |     }
340 | }
341 | 
342 | fn calculate_endpoint(pos: Vec3, direction: Vec2, length: f32) -> Vec3 {
343 |     let dir = direction.normalize();
344 |     vec3(pos[0] + dir[0] * length, pos[1] + dir[1] * length, 0.0)
345 | }
346 | 
347 | fn rotate_point(x: f32, y: f32, angle_rad: f32) -> (f32, f32) {
348 |     // Calculate the distance from the origin
349 |     let r = (x * x + y * y).sqrt();
350 | 
351 |     // Calculate the current angle
352 |     let alpha = y.atan2(x);
353 | 
354 |     // Add the rotation angle
355 |     let beta = alpha + angle_rad;
356 | 
357 |     // Calculate the new coordinates
358 |     let x_prime = r * beta.cos();
359 |     let y_prime = r * beta.sin();
360 | 
361 |     (x_prime, y_prime)
362 | }
363 | 
364 | impl CarBundle {
365 |     pub fn new(asset_server: &AssetServer) -> Self {
366 |         let mut rng = rand::thread_rng();
367 |         let rand_x = rng.gen_range(800.0..1100.0);
368 | 
369 |         Self {
370 |             sprite_bundle: SpriteBundle {
371 |                 transform: Transform::from_xyz(rand_x, WINDOW_HEIGHT / 2.0, 0.0)
372 |                     .with_scale(vec3(2.5, 2.5, 1.0)),
373 |                 texture: asset_server.load("agent.png"),
374 |                 ..default()
375 |             },
376 |             car: Car,
377 |             fitness: Fitness(0.0),
378 |             brain: Brain {
379 |                 nn: Net::new(vec![
380 |                     NUM_RAY_CASTS as usize,
381 |                     NUM_HIDDEN_NODES,
382 |                     NUM_OUPUT_NODES,
383 |                 ]),
384 |                 ray_inputs: Vec::new(),
385 |                 nn_outputs: Vec::new(),
386 |             },
387 |             turn_speed: TurnSpeed(0.0),
388 |             speed: Speed(0.0),
389 |             velocity: Velocity::zero(),
390 |             mass: ColliderMassProperties::Mass(3000.0),
391 |             rigid_body: RigidBody::Dynamic,
392 |             collider: Collider::cuboid(5.0, 8.0),
393 |             events: ActiveEvents::COLLISION_EVENTS,
394 |             damping: Damping {
395 |                 angular_damping: 100.0,
396 |                 linear_damping: 100.0,
397 |             },
398 |             sleep: Sleeping::disabled(),
399 |             ccd: Ccd::enabled(),
400 |             collision_groups: CollisionGroups {
401 |                 memberships: Group::GROUP_1,
402 |                 filters: Group::GROUP_2,
403 |             },
404 |         }
405 |     }
406 | 
407 |     pub fn with_brain(asset_server: &AssetServer, brain: &Net) -> Self {
408 |         let mut car = CarBundle::new(asset_server);
409 |         car.brain.nn = brain.clone();
410 |         car
411 |     }
412 | }
413 | 


--------------------------------------------------------------------------------
/src/configs.rs:
--------------------------------------------------------------------------------
 1 | use bevy::prelude::Color;
 2 | 
 3 | /// Main
 4 | pub const NUM_ROAD_TILES: u32 = 20;
 5 | pub const ROAD_SPRITE_W: f32 = 160.0;
 6 | pub const ROAD_SPRITE_H: f32 = 288.0;
 7 | pub const NUM_ENEMY_CARS: u32 = 140;
 8 | pub const SPRITE_SCALE_FACTOR: f32 = 6.0;
 9 | pub const BACKGROUND_COLOR: Color = Color::BLACK;
10 | pub const WINDOW_WIDTH: f32 = 1980.0;
11 | pub const WINDOW_HEIGHT: f32 = 1080.0;
12 | 
13 | /// Car
14 | pub const NUM_AI_CARS: u32 = 100;
15 | pub const TURN_SPEED: f32 = 25.0;
16 | pub const CAR_THRUST: f32 = 5.0 * 100.0;
17 | pub const MAX_SPEED: f32 = 10.0 * 300.0;
18 | pub const FRICTION: f32 = 30.0 * 100.0;
19 | pub const MIN_SPEED_TO_STEER: f32 = 50.0;
20 | pub const NUM_RAY_CASTS: u32 = 15;
21 | pub const RAYCAST_SPREAD_ANGLE_DEG: f32 = 130.0;
22 | pub const RAYCAST_START_ANGLE_DEG: f32 = 20.0;
23 | pub const RAYCAST_MAX_TOI: f32 = 200.0;
24 | // pub const RAYCAST_THICKNESS: f32 = 0.3;
25 | 
26 | /// NN
27 | pub const NUM_HIDDEN_NODES: usize = 15;
28 | pub const NUM_OUPUT_NODES: usize = 3;
29 | pub const NN_VIZ_NODE_RADIUS: f32 = 10.0;
30 | pub const NN_W_ACTIVATION_THRESHOLD: f64 = 0.3;
31 | pub const NN_S_ACTIVATION_THRESHOLD: f64 = 0.8;
32 | 
33 | /// Others
34 | pub const FONT_RES_PATH: &str = "Magero.ttf";
35 | 


--------------------------------------------------------------------------------
/src/enemy.rs:
--------------------------------------------------------------------------------
  1 | use bevy::{
  2 |     math::{vec2, vec3},
  3 |     prelude::*,
  4 | };
  5 | use bevy_rapier2d::prelude::*;
  6 | use rand::{thread_rng, Rng};
  7 | 
  8 | use crate::*;
  9 | 
 10 | pub struct EnemyPlugin;
 11 | 
 12 | #[derive(Component, Reflect, Default)]
 13 | pub struct Enemy {
 14 |     is_hit: bool,
 15 | }
 16 | 
 17 | #[derive(Clone, Component, Reflect)]
 18 | pub enum EnemyType {
 19 |     Simple,
 20 |     Horizontal(f32),
 21 |     Truck,
 22 | }
 23 | 
 24 | #[derive(Component)]
 25 | pub struct BoundControlTruck;
 26 | 
 27 | impl Plugin for EnemyPlugin {
 28 |     fn build(&self, app: &mut App) {
 29 |         app.add_startup_system(setup)
 30 |             .add_system(update_enemies)
 31 |             .add_system(bound_control_system);
 32 |     }
 33 | }
 34 | 
 35 | fn setup(mut commands: Commands, asset_server: Res<AssetServer>) {
 36 |     spawn_enemies(&mut commands, &asset_server);
 37 | }
 38 | 
 39 | fn update_enemies(
 40 |     mut enemy_query: Query<
 41 |         (&mut Transform, &mut Velocity, &mut Enemy, &mut EnemyType),
 42 |         With<Enemy>,
 43 |     >,
 44 | ) {
 45 |     for (mut transform, mut velocity, mut enemy, mut enemy_type) in enemy_query.iter_mut() {
 46 |         if enemy.is_hit {
 47 |             continue;
 48 |         }
 49 | 
 50 |         velocity.linvel = vec2(0.0, 50.0);
 51 |         enemy.is_hit = velocity.angvel != 0.0;
 52 | 
 53 |         // horizontal motion
 54 |         match enemy_type.as_mut() {
 55 |             EnemyType::Horizontal(direction) => {
 56 |                 velocity.linvel += *direction * vec2(30.0, 0.0);
 57 | 
 58 |                 // direction update
 59 |                 // 738 -> 1180 is the road x dir
 60 |                 if transform.translation.x >= 1170.0 {
 61 |                     transform.translation.x = 1169.0;
 62 |                     *direction *= -1.0;
 63 |                 } else if transform.translation.x <= 742.0 {
 64 |                     transform.translation.x = 743.0;
 65 |                     *direction *= -1.0;
 66 |                 }
 67 |             }
 68 |             _ => {}
 69 |         }
 70 |     }
 71 | }
 72 | 
 73 | fn bound_control_system(mut query: Query<&mut Transform, With<BoundControlTruck>>) {
 74 |     for mut transform in query.iter_mut() {
 75 |         transform.translation.y += 1.0;
 76 |     }
 77 | }
 78 | 
 79 | pub fn spawn_enemies(commands: &mut Commands, asset_server: &AssetServer) {
 80 |     let mut enemy_y = 800.0;
 81 |     for _ in 0..NUM_ENEMY_CARS {
 82 |         let enemy_type = EnemyType::random();
 83 |         let enemy_scale = match enemy_type {
 84 |             EnemyType::Truck => 3.0,
 85 |             _ => 2.5,
 86 |         };
 87 |         let collider = match enemy_type {
 88 |             EnemyType::Truck => Collider::cuboid(6.0, 15.0),
 89 |             _ => Collider::cuboid(4.0, 8.0),
 90 |         };
 91 |         let mut rng = rand::thread_rng();
 92 |         let x = rng.gen_range(743.0..1169.0);
 93 |         let y = enemy_y;
 94 |         enemy_y += 200.0;
 95 |         commands.spawn((
 96 |             SpriteBundle {
 97 |                 transform: Transform::from_xyz(x, y, 0.0).with_scale(vec3(
 98 |                     enemy_scale,
 99 |                     enemy_scale,
100 |                     1.0,
101 |                 )),
102 |                 texture: asset_server.load(enemy_type.get_sprite()),
103 |                 ..default()
104 |             },
105 |             RigidBody::Dynamic,
106 |             Velocity::zero(),
107 |             ColliderMassProperties::Mass(1.0),
108 |             Friction::new(100.0),
109 |             ActiveEvents::COLLISION_EVENTS,
110 |             collider,
111 |             Damping {
112 |                 angular_damping: 2.0,
113 |                 linear_damping: 2.0,
114 |             },
115 |             Enemy { is_hit: false },
116 |             enemy_type,
117 |         ));
118 |     }
119 | }
120 | 
121 | pub fn spawn_bound_trucks(commands: &mut Commands, asset_server: &AssetServer) {
122 |     // Bound control trucks
123 |     let enemy_y = 100.0;
124 |     let mut enemy_x = 743.0; // upto 1169.0
125 |     for _ in 0..12 {
126 |         let enemy_type = EnemyType::Truck;
127 |         let enemy_scale = 3.0;
128 |         let collider = match enemy_type {
129 |             EnemyType::Truck => Collider::cuboid(6.0, 15.0),
130 |             _ => Collider::cuboid(4.0, 8.0),
131 |         };
132 |         let x = enemy_x;
133 |         let y = enemy_y;
134 | 
135 |         enemy_x += 40.0;
136 |         commands.spawn((
137 |             SpriteBundle {
138 |                 transform: Transform::from_xyz(x, y, 0.0).with_scale(vec3(
139 |                     enemy_scale,
140 |                     enemy_scale,
141 |                     1.0,
142 |                 )),
143 |                 texture: asset_server.load("bound-truck.png"),
144 |                 ..default()
145 |             },
146 |             RigidBody::Fixed,
147 |             ActiveEvents::COLLISION_EVENTS,
148 |             collider,
149 |             Damping {
150 |                 angular_damping: 2.0,
151 |                 linear_damping: 2.0,
152 |             },
153 |             enemy_type,
154 |             BoundControlTruck,
155 |         ));
156 |     }
157 | }
158 | 
159 | impl EnemyType {
160 |     fn random() -> Self {
161 |         let all_vals = [Self::Horizontal(3.0), Self::Simple, Self::Truck];
162 |         let mut rng = thread_rng();
163 |         let index = rng.gen_range(0..all_vals.len());
164 | 
165 |         all_vals[index].clone()
166 |     }
167 | 
168 |     fn get_sprite(&self) -> &str {
169 |         let mut rng = thread_rng();
170 |         match self {
171 |             EnemyType::Simple => {
172 |                 let choices = ["enemy-blue-1.png", "enemy-yellow-1.png"];
173 |                 return choices[rng.gen_range(0..choices.len())];
174 |             }
175 |             EnemyType::Horizontal(_) => {
176 |                 let choices = [
177 |                     "enemy-blue-2.png",
178 |                     "enemy-yellow-2.png",
179 |                     "enemy-yellow-3.png",
180 |                 ];
181 |                 return choices[rng.gen_range(0..choices.len())];
182 |             }
183 |             EnemyType::Truck => "enemy-truck.png",
184 |         }
185 |     }
186 | }
187 | 


--------------------------------------------------------------------------------
/src/gui.rs:
--------------------------------------------------------------------------------
  1 | use bevy::prelude::*;
  2 | use bevy_inspector_egui::{
  3 |     bevy_egui::EguiContexts,
  4 |     egui::{
  5 |         self,
  6 |         epaint::CircleShape,
  7 |         plot::{Line, Plot, PlotPoints},
  8 |         pos2, Color32, Shape, Stroke,
  9 |     },
 10 | };
 11 | 
 12 | use crate::*;
 13 | 
 14 | pub struct GuiPlugin;
 15 | 
 16 | #[derive(Component)]
 17 | struct GenerationCountLabel;
 18 | #[derive(Component)]
 19 | struct MaxScoreLabel;
 20 | #[derive(Component)]
 21 | struct CarsAliveLabel;
 22 | #[derive(Component)]
 23 | struct CarProgressIcon;
 24 | 
 25 | impl Plugin for GuiPlugin {
 26 |     fn build(&self, app: &mut bevy::prelude::App) {
 27 |         app.add_startup_system(setup)
 28 |             .insert_resource(BrainToDisplay::default())
 29 |             .insert_resource(Settings::default())
 30 |             .insert_resource(SimStats::default())
 31 |             .add_system(stats_dialog_system)
 32 |             .add_system(generation_count_stats_system)
 33 |             .add_system(max_score_stats_system)
 34 |             .add_system(num_cars_stats_system)
 35 |             .add_system(car_progress_system)
 36 |             .add_system(nn_viz_system);
 37 |     }
 38 | }
 39 | 
 40 | fn setup(mut commands: Commands, asset_server: Res<AssetServer>) {
 41 |     // gui
 42 |     let font = asset_server.load(FONT_RES_PATH);
 43 |     let text_style = TextStyle {
 44 |         font: font.clone(),
 45 |         font_size: 40.0,
 46 |         color: Color::WHITE,
 47 |     };
 48 | 
 49 |     // Root
 50 |     commands
 51 |         .spawn(NodeBundle {
 52 |             style: Style {
 53 |                 size: Size::width(Val::Percent(100.0)),
 54 |                 justify_content: JustifyContent::SpaceBetween,
 55 |                 ..default()
 56 |             },
 57 |             ..default()
 58 |         })
 59 |         // Left container for progress
 60 |         .with_children(|parent| {
 61 |             parent
 62 |                 .spawn(NodeBundle {
 63 |                     style: Style {
 64 |                         size: Size::width(Val::Percent(80.0)),
 65 |                         ..default()
 66 |                     },
 67 |                     ..default()
 68 |                 })
 69 |                 .with_children(|parent| {
 70 |                     // Left UI gap behind egui nn viz
 71 |                     parent.spawn(NodeBundle {
 72 |                         style: Style {
 73 |                             // size: Size::width(Val::Percent(28.0)),
 74 |                             size: Size::width(Val::Px(415.0)),
 75 |                             ..default()
 76 |                         },
 77 |                         ..default()
 78 |                     });
 79 | 
 80 |                     // Progress lane
 81 |                     parent
 82 |                         .spawn(NodeBundle {
 83 |                             style: Style {
 84 |                                 flex_direction: FlexDirection::Column,
 85 |                                 size: Size::width(Val::Percent(3.0)),
 86 |                                 align_content: AlignContent::SpaceBetween,
 87 |                                 justify_content: JustifyContent::SpaceBetween,
 88 |                                 ..default()
 89 |                             },
 90 |                             background_color: BackgroundColor(Color::rgb_u8(106, 108, 105)),
 91 |                             ..default()
 92 |                         })
 93 |                         .with_children(|parent| {
 94 |                             // Top flag
 95 |                             parent.spawn(ImageBundle {
 96 |                                 image: asset_server.load("flag-top.png").into(),
 97 |                                 style: Style {
 98 |                                     size: Size::new(Val::Px(32.0), Val::Px(32.0)),
 99 |                                     margin: UiRect::all(Val::Px(5.0)),
100 |                                     ..default()
101 |                                 },
102 |                                 ..default()
103 |                             });
104 |                             // Bottom flag
105 |                             parent.spawn(ImageBundle {
106 |                                 image: asset_server.load("flag-bottom.png").into(),
107 |                                 style: Style {
108 |                                     size: Size::new(Val::Px(32.0), Val::Px(32.0)),
109 |                                     margin: UiRect::all(Val::Px(5.0)),
110 |                                     ..default()
111 |                                 },
112 |                                 ..default()
113 |                             });
114 |                         });
115 |                 });
116 | 
117 |             // Right stats column
118 |             parent
119 |                 .spawn(NodeBundle {
120 |                     style: Style {
121 |                         size: Size::width(Val::Percent(20.0)),
122 |                         border: UiRect::all(Val::Px(40.0)),
123 |                         flex_direction: FlexDirection::Column,
124 |                         justify_content: JustifyContent::Start,
125 |                         align_items: AlignItems::Center,
126 |                         gap: Size::new(Val::Px(8.0), Val::Px(8.0)),
127 |                         ..default()
128 |                     },
129 |                     background_color: BackgroundColor(Color::BLACK),
130 |                     ..default()
131 |                 })
132 |                 .with_children(|parent| {
133 |                     parent.spawn((
134 |                         TextBundle::from_section("Gen:", text_style.clone())
135 |                             .with_text_alignment(TextAlignment::Center)
136 |                             .with_style(Style {
137 |                                 flex_direction: FlexDirection::Row,
138 |                                 justify_content: JustifyContent::Center,
139 |                                 margin: UiRect::vertical(Val::Px(40.0)),
140 |                                 align_items: AlignItems::Center,
141 |                                 ..default()
142 |                             }),
143 |                         GenerationCountLabel,
144 |                     ));
145 |                     parent.spawn((
146 |                         TextBundle::from_section("Score:", text_style.clone())
147 |                             .with_text_alignment(TextAlignment::Center)
148 |                             .with_style(Style {
149 |                                 flex_direction: FlexDirection::Row,
150 |                                 justify_content: JustifyContent::Center,
151 |                                 margin: UiRect::vertical(Val::Px(40.0)),
152 |                                 ..default()
153 |                             }),
154 |                         MaxScoreLabel,
155 |                     ));
156 |                     parent.spawn((
157 |                         TextBundle::from_section("Cars:", text_style.clone())
158 |                             .with_text_alignment(TextAlignment::Center)
159 |                             .with_style(Style {
160 |                                 flex_direction: FlexDirection::Row,
161 |                                 justify_content: JustifyContent::Center,
162 |                                 margin: UiRect::vertical(Val::Px(40.0)),
163 |                                 ..default()
164 |                             }),
165 |                         CarsAliveLabel,
166 |                     ));
167 |                 });
168 |         });
169 |     // Car icon
170 |     commands.spawn((
171 |         ImageBundle {
172 |             image: asset_server.load("car-icon.png").into(),
173 |             z_index: ZIndex::Global(2),
174 |             style: Style {
175 |                 position_type: PositionType::Absolute,
176 |                 size: Size::height(Val::Px(40.0)),
177 |                 position: UiRect {
178 |                     bottom: Val::Percent(2.0),
179 |                     left: Val::Percent(22.3),
180 |                     ..default()
181 |                 },
182 |                 align_self: AlignSelf::Center,
183 |                 ..default()
184 |             },
185 |             ..default()
186 |         },
187 |         CarProgressIcon,
188 |     ));
189 | }
190 | 
191 | fn stats_dialog_system(
192 |     mut contexts: EguiContexts,
193 |     sim_stats: Res<SimStats>,
194 |     mut settings: ResMut<Settings>,
195 | ) {
196 |     let ctx = contexts.ctx_mut();
197 | 
198 |     egui::Window::new("no-title")
199 |         .title_bar(false)
200 |         .min_width(200.0)
201 |         .default_pos(egui::pos2(1800.0, 1000.0))
202 |         .show(ctx, |ui| {
203 |             egui::CollapsingHeader::new("Distance Travelled")
204 |                 .default_open(true)
205 |                 .show(ui, |ui| {
206 |                     let fitness_curve: PlotPoints = (0..sim_stats.fitness.len())
207 |                         .map(|i| [i as f64, sim_stats.fitness[i] as f64])
208 |                         .collect();
209 |                     let line = Line::new(fitness_curve);
210 |                     Plot::new("fitness_curve")
211 |                         .view_aspect(2.0)
212 |                         .show(ui, |plot_ui| plot_ui.line(line));
213 |                 });
214 | 
215 |             egui::CollapsingHeader::new("Settings")
216 |                 .default_open(true)
217 |                 .show(ui, |ui| {
218 |                     ui.checkbox(&mut settings.is_show_rays, "Ray casts");
219 |                     ui.checkbox(
220 |                         &mut settings.is_hide_rays_at_start,
221 |                         "Hide ray casts at start",
222 |                     );
223 |                     ui.checkbox(&mut settings.is_camera_follow, "Camera follow");
224 |                 });
225 | 
226 |             egui::CollapsingHeader::new("Controls")
227 |                 .default_open(true)
228 |                 .show(ui, |ui| {
229 |                     if ui.button("Start next generation").clicked() {
230 |                         settings.start_next_generation = true;
231 |                     };
232 |                     if ui.button("Restart Simulation").clicked() {
233 |                         settings.restart_sim = true;
234 |                     };
235 |                 });
236 |         });
237 | }
238 | 
239 | fn nn_viz_system(mut contexts: EguiContexts, best_brain: Res<BrainToDisplay>) {
240 |     if best_brain.0.is_empty() {
241 |         return;
242 |     }
243 | 
244 |     let ctx = contexts.ctx_mut();
245 |     let mut shapes = Vec::new();
246 |     let tot_height = 700.0;
247 | 
248 |     // NN viz points
249 |     let points1 = get_nn_viz_points(NUM_RAY_CASTS as usize, tot_height - 100.0);
250 |     let points2 = get_nn_viz_points(NUM_HIDDEN_NODES as usize, tot_height);
251 |     let points3 = get_nn_viz_points(NUM_OUPUT_NODES as usize, tot_height - 300.0);
252 |     // NN ouput
253 |     let values1 = best_brain.0[0].clone();
254 |     let values2 = best_brain.0[1].clone();
255 |     let values3 = best_brain.0[2].clone();
256 |     // x's
257 |     let x1 = 75.0;
258 |     let x2 = 225.0;
259 |     let x3 = 375.0;
260 |     // Padding
261 |     let padding1 = 100.0;
262 |     let padding2 = 50.0;
263 |     let padding3 = 200.0;
264 |     // colors
265 |     let colors1: Vec<Color32> = values1
266 |         .iter()
267 |         .rev()
268 |         .map(|v| {
269 |             if *v != 1.0 {
270 |                 Color32::GREEN
271 |             } else {
272 |                 Color32::RED
273 |             }
274 |         })
275 |         .collect();
276 |     let colors2: Vec<Color32> = values2
277 |         .iter()
278 |         .rev()
279 |         .map(|v| {
280 |             if *v > 0.5 {
281 |                 Color32::GREEN
282 |             } else {
283 |                 Color32::RED
284 |             }
285 |         })
286 |         .collect();
287 |     let mut colors3 = vec![Color32::RED, Color32::RED, Color32::RED];
288 |     if values3[1] >= 0.5 {
289 |         colors3[0] = Color32::GREEN;
290 |     } else {
291 |         colors3[1] = Color32::GREEN;
292 |     }
293 | 
294 |     // if values3[0] >= NN_W_ACTIVATION_THRESHOLD {
295 |     //     colors3[0] = Color32::GREEN;
296 |     // }
297 |     // if values3[2] >= NN_S_ACTIVATION_THRESHOLD {
298 |     //     colors3[2] = Color32::GREEN;
299 |     // }
300 | 
301 |     // layer 1 -> 2 lines
302 |     for (p1, c1) in points1.iter().zip(colors1.iter()) {
303 |         for (p2, c2) in points2.iter().zip(colors2.iter()) {
304 |             let mut color = Color32::RED;
305 |             if are_colors_equad(*c1, *c2) {
306 |                 color = Color32::GREEN;
307 |             }
308 |             shapes.push(egui::Shape::line(
309 |                 vec![pos2(x1, *p1 + padding1), pos2(x2, *p2 + padding2)],
310 |                 Stroke { width: 0.3, color },
311 |             ));
312 |         }
313 |     }
314 | 
315 |     // layer 2 -> 3 lines
316 |     for (p2, c2) in points2.iter().zip(colors2.iter()) {
317 |         for (p3, c3) in points3.iter().zip(colors3.iter()) {
318 |             let mut color = Color32::RED;
319 |             if are_colors_equad(*c2, *c3) {
320 |                 color = Color32::GREEN;
321 |             }
322 |             shapes.push(egui::Shape::line(
323 |                 vec![pos2(x2, *p2 + padding2), pos2(x3, *p3 + padding3)],
324 |                 Stroke { width: 0.3, color },
325 |             ));
326 |         }
327 |     }
328 | 
329 |     // layer 1
330 |     for (p, c) in points1.iter().zip(colors1.iter()) {
331 |         shapes.push(get_nn_node_shape(x1, *p + padding1, *c));
332 |     }
333 |     // layer 2
334 |     for (p, c) in points2.iter().zip(colors2.iter()) {
335 |         shapes.push(get_nn_node_shape(x2, *p + padding2, *c));
336 |     }
337 |     // layer 3
338 |     for (p, c) in points3.iter().zip(colors3.iter()) {
339 |         shapes.push(get_nn_node_shape(x3, *p + padding3, *c));
340 |     }
341 | 
342 |     shapes.append(&mut arrow_keys_viz_system(colors3));
343 |     egui::SidePanel::left("left")
344 |         .min_width(400.0)
345 |         .show(ctx, |ui| {
346 |             shapes.iter().for_each(|s| {
347 |                 ui.painter().add(s.clone());
348 |             });
349 |         });
350 | }
351 | 
352 | fn generation_count_stats_system(
353 |     stats: Res<SimStats>,
354 |     mut q_generation_text: Query<&mut Text, With<GenerationCountLabel>>,
355 | ) {
356 |     let mut gen_text = q_generation_text.single_mut();
357 |     gen_text.sections[0].value = format!("Gen: \n{}", stats.generation_count);
358 | }
359 | 
360 | fn num_cars_stats_system(
361 |     stats: Res<SimStats>,
362 |     mut q_num_cars_text: Query<&mut Text, With<CarsAliveLabel>>,
363 | ) {
364 |     let mut num_cars_text = q_num_cars_text.single_mut();
365 |     num_cars_text.sections[0].value = format!("Cars: \n{}/{}", stats.num_cars_alive, NUM_AI_CARS);
366 | }
367 | 
368 | fn max_score_stats_system(
369 |     stats: Res<SimStats>,
370 |     mut q_max_score_text: Query<&mut Text, With<MaxScoreLabel>>,
371 | ) {
372 |     let mut max_score_text = q_max_score_text.single_mut();
373 |     max_score_text.sections[0].value = format!("Score: \n{}", stats.max_current_score as u32);
374 | }
375 | 
376 | fn car_progress_system(
377 |     stats: Res<SimStats>,
378 |     mut q_car_icon: Query<&mut Style, With<CarProgressIcon>>,
379 | ) {
380 |     let mut style = q_car_icon.single_mut();
381 |     style.position.bottom = Val::Percent(stats.max_current_score - 3.0);
382 | }
383 | 
384 | fn arrow_keys_viz_system(colors: Vec<Color32>) -> Vec<Shape> {
385 |     // wasd buttons
386 |     let x = 75.0;
387 |     let y = 800.0;
388 |     let mut shapes = Vec::new();
389 | 
390 |     // w
391 |     shapes.push(egui::Shape::rect_filled(
392 |         egui::Rect {
393 |             min: egui::pos2(100.0 + x, 100.0 + y),
394 |             max: egui::pos2(150.0 + x, 150.0 + y),
395 |         },
396 |         10.0,
397 |         Color32::GREEN,
398 |     ));
399 |     // a
400 |     shapes.push(egui::Shape::rect_filled(
401 |         egui::Rect {
402 |             min: egui::pos2(40.0 + x, 160.0 + y),
403 |             max: egui::pos2(90.0 + x, 210.0 + y),
404 |         },
405 |         10.0,
406 |         colors[0],
407 |     ));
408 |     // s
409 |     shapes.push(egui::Shape::rect_filled(
410 |         egui::Rect {
411 |             min: egui::pos2(100.0 + x, 160.0 + y),
412 |             max: egui::pos2(150.0 + x, 210.0 + y),
413 |         },
414 |         10.0,
415 |         Color32::RED,
416 |     ));
417 |     // d
418 |     shapes.push(egui::Shape::rect_filled(
419 |         egui::Rect {
420 |             min: egui::pos2(160.0 + x, 160.0 + y),
421 |             max: egui::pos2(210.0 + x, 210.0 + y),
422 |         },
423 |         10.0,
424 |         colors[1],
425 |     ));
426 | 
427 |     shapes
428 | }
429 | 
430 | fn get_nn_node_shape(x: f32, y: f32, color: Color32) -> egui::Shape {
431 |     egui::Shape::Circle(CircleShape {
432 |         center: (x, y).into(),
433 |         radius: NN_VIZ_NODE_RADIUS,
434 |         fill: color,
435 |         stroke: Stroke {
436 |             width: 1.0,
437 |             color: Color32::WHITE,
438 |         },
439 |     })
440 | }
441 | 
442 | fn get_nn_viz_points(n: usize, tot_size: f32) -> Vec<f32> {
443 |     let point_spacing = tot_size / (n - 1) as f32;
444 |     let mut points = Vec::new();
445 | 
446 |     for i in 0..n {
447 |         let x = i as f32 * point_spacing;
448 |         points.push(x);
449 |     }
450 | 
451 |     points
452 | }
453 | 
454 | fn are_colors_equad(first: Color32, second: Color32) -> bool {
455 |     (first.g() == 255 && second.g() == 255) || (first.r() == 255 && second.r() == 255)
456 | }
457 | 


--------------------------------------------------------------------------------
/src/lib.rs:
--------------------------------------------------------------------------------
 1 | pub mod car;
 2 | pub mod configs;
 3 | pub mod enemy;
 4 | pub mod gui;
 5 | pub mod nn;
 6 | pub mod population;
 7 | pub mod resources;
 8 | 
 9 | pub use configs::*;
10 | pub use resources::*;
11 | 


--------------------------------------------------------------------------------
/src/main.rs:
--------------------------------------------------------------------------------
  1 | use bevy::{
  2 |     diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin},
  3 |     math::vec3,
  4 |     prelude::*,
  5 |     window::{PresentMode, WindowMode},
  6 | };
  7 | use bevy_inspector_egui::{bevy_egui::EguiPlugin, DefaultInspectorConfigPlugin};
  8 | use bevy_pancam::{PanCam, PanCamPlugin};
  9 | use bevy_rapier2d::{
 10 |     prelude::{Collider, NoUserData, RapierConfiguration, RapierPhysicsPlugin, RigidBody},
 11 |     render::RapierDebugRenderPlugin,
 12 | };
 13 | 
 14 | use steering::{
 15 |     car::{Car, CarPlugin},
 16 |     gui::GuiPlugin,
 17 |     population::PopulationPlugin,
 18 | };
 19 | use steering::{
 20 |     enemy::{spawn_bound_trucks, EnemyPlugin},
 21 |     *,
 22 | };
 23 | 
 24 | fn main() {
 25 |     App::new()
 26 |         .add_plugins(
 27 |             DefaultPlugins
 28 |                 .set(ImagePlugin::default_nearest())
 29 |                 .set(WindowPlugin {
 30 |                     primary_window: Some(Window {
 31 |                         resizable: false,
 32 |                         // mode: WindowMode::Fullscreen,
 33 |                         focused: true,
 34 |                         // present_mode: PresentMode::Immediate,
 35 |                         resolution: (WINDOW_WIDTH, WINDOW_HEIGHT).into(),
 36 |                         ..default()
 37 |                     }),
 38 |                     ..default()
 39 |                 }),
 40 |         )
 41 |         .add_plugin(PanCamPlugin::default())
 42 |         // .add_plugin(WorldInspectorPlugin::new().run_if(input_toggle_active(false, KeyCode::Tab))) // remove eguiplugin
 43 |         .add_plugin(DefaultInspectorConfigPlugin) // Requires egui plugin
 44 |         .add_plugin(EguiPlugin)
 45 |         .add_plugin(RapierPhysicsPlugin::<NoUserData>::pixels_per_meter(100.0))
 46 |         // .add_plugin(LogDiagnosticsPlugin::default())
 47 |         // .add_plugin(FrameTimeDiagnosticsPlugin::default())
 48 |         .add_plugin(CarPlugin)
 49 |         .add_plugin(EnemyPlugin)
 50 |         .add_plugin(PopulationPlugin)
 51 |         .add_plugin(GuiPlugin)
 52 |         // .add_plugin(RapierDebugRenderPlugin::default())
 53 |         .insert_resource(ClearColor(Color::rgb_u8(36, 36, 36)))
 54 |         // .insert_resource(ClearColor(Color::WHITE))
 55 |         // .insert_resource(Msaa::Off)
 56 |         .add_startup_system(setup)
 57 |         .add_system(bevy::window::close_on_esc)
 58 |         .add_system(camera_follow_system)
 59 |         .add_system(settings_system)
 60 |         .run();
 61 | }
 62 | 
 63 | fn setup(
 64 |     mut commands: Commands,
 65 |     asset_server: Res<AssetServer>,
 66 |     mut rapier_config: ResMut<RapierConfiguration>,
 67 | ) {
 68 |     rapier_config.gravity = Vec2::ZERO;
 69 | 
 70 |     commands
 71 |         .spawn(Camera2dBundle {
 72 |             transform: Transform::from_xyz(WINDOW_WIDTH / 2.0, WINDOW_HEIGHT / 2.0, 0.0),
 73 |             ..default()
 74 |         })
 75 |         .insert(PanCam::default());
 76 | 
 77 |     spawn_roads(&mut commands, &asset_server);
 78 |     spawn_bound_trucks(&mut commands, &asset_server);
 79 | }
 80 | 
 81 | fn camera_follow_system(
 82 |     settings: Res<Settings>,
 83 |     max_distance_travelled: Res<MaxDistanceTravelled>,
 84 |     mut cam_query: Query<(&Camera, &mut Transform), Without<Car>>,
 85 | ) {
 86 |     let (_, mut cam_transform) = cam_query.get_single_mut().unwrap();
 87 |     if settings.is_camera_follow {
 88 |         cam_transform.translation = cam_transform.translation.lerp(
 89 |             vec3(cam_transform.translation.x, max_distance_travelled.0, 0.0),
 90 |             0.05,
 91 |         );
 92 |     }
 93 | }
 94 | 
 95 | fn spawn_roads(commands: &mut Commands, asset_server: &AssetServer) {
 96 |     // Road
 97 |     let rx = WINDOW_WIDTH / 2.0 - 30.0;
 98 |     let mut ry = ROAD_SPRITE_H / 2.0 * SPRITE_SCALE_FACTOR;
 99 |     for _ in 0..NUM_ROAD_TILES {
100 |         commands.spawn(SpriteBundle {
101 |             transform: Transform::from_xyz(rx, ry, -10.0)
102 |                 .with_scale(Vec3::splat(SPRITE_SCALE_FACTOR)),
103 |             texture: asset_server.load("road.png"),
104 |             ..default()
105 |         });
106 |         ry += ROAD_SPRITE_H * SPRITE_SCALE_FACTOR;
107 |     }
108 |     let road_end_y = ry - ROAD_SPRITE_H * SPRITE_SCALE_FACTOR + 800.0;
109 | 
110 |     // end checker board
111 |     commands.spawn(SpriteBundle {
112 |         transform: Transform::from_xyz(rx, road_end_y - 50.0, -5.0)
113 |             .with_scale(Vec3::splat(SPRITE_SCALE_FACTOR)),
114 |         texture: asset_server.load("end-point.png"),
115 |         ..default()
116 |     });
117 | 
118 |     // Road colliders
119 |     // left
120 |     let ry = 5.0 * ROAD_SPRITE_H * SPRITE_SCALE_FACTOR;
121 |     let rx_min = ROAD_SPRITE_W / 2.0 * SPRITE_SCALE_FACTOR + 238.0;
122 |     commands.spawn((
123 |         SpriteBundle {
124 |             transform: Transform::from_xyz(rx_min, ry, 0.0).with_scale(vec3(0.5, 0.5, 1.0)),
125 |             ..default()
126 |         },
127 |         RigidBody::Fixed,
128 |         Collider::cuboid(
129 |             5.0,
130 |             ROAD_SPRITE_H * SPRITE_SCALE_FACTOR * NUM_ROAD_TILES as f32 * 5.0,
131 |         ),
132 |     ));
133 |     // right
134 |     let rx_max = ROAD_SPRITE_W * SPRITE_SCALE_FACTOR + 248.0;
135 |     commands.spawn((
136 |         SpriteBundle {
137 |             transform: Transform::from_xyz(rx_max, ry, 0.0).with_scale(vec3(0.5, 0.5, 1.0)),
138 |             ..default()
139 |         },
140 |         RigidBody::Fixed,
141 |         Collider::cuboid(
142 |             5.0,
143 |             ROAD_SPRITE_H * SPRITE_SCALE_FACTOR * NUM_ROAD_TILES as f32 * 5.0,
144 |         ),
145 |     ));
146 |     // top
147 |     commands.spawn((
148 |         SpriteBundle {
149 |             transform: Transform::from_xyz(600.0, road_end_y, 0.0).with_scale(vec3(0.5, 0.5, 1.0)),
150 |             ..default()
151 |         },
152 |         RigidBody::Fixed,
153 |         Collider::cuboid(500.0 * SPRITE_SCALE_FACTOR, 10.0),
154 |     ));
155 | }
156 | 
157 | fn settings_system(
158 |     mut commands: Commands,
159 |     mut settings: ResMut<Settings>,
160 |     mut sim_stats: ResMut<SimStats>,
161 |     car_query: Query<Entity, With<Car>>,
162 | ) {
163 |     if settings.start_next_generation {
164 |         settings.start_next_generation = false;
165 |         car_query.iter().for_each(|c| {
166 |             commands.entity(c).remove::<Car>();
167 |         });
168 |     }
169 |     if settings.restart_sim {
170 |         // force restart
171 |         car_query.iter().for_each(|c| {
172 |             commands.entity(c).remove::<Car>();
173 |         });
174 |         *sim_stats = SimStats::default();
175 |         sim_stats.generation_count = 0;
176 |     }
177 | }
178 | 


--------------------------------------------------------------------------------
/src/nn.rs:
--------------------------------------------------------------------------------
  1 | use rand::Rng;
  2 | 
  3 | const BRAIN_MUTATION_RATE: f32 = 5.0;
  4 | const BRAIN_MUTATION_VARIATION: f32 = 0.5;
  5 | 
  6 | #[derive(Clone)]
  7 | pub struct Net {
  8 |     n_inputs: usize,
  9 |     layers: Vec<Layer>,
 10 | }
 11 | 
 12 | #[derive(Clone)]
 13 | struct Layer {
 14 |     nodes: Vec<Vec<f64>>,
 15 | }
 16 | 
 17 | impl Net {
 18 |     pub fn new(layer_sizes: Vec<usize>) -> Self {
 19 |         if layer_sizes.len() < 2 {
 20 |             panic!("Need at least 2 layers");
 21 |         }
 22 |         for &size in layer_sizes.iter() {
 23 |             if size < 1 {
 24 |                 panic!("Empty layers not allowed");
 25 |             }
 26 |         }
 27 | 
 28 |         let mut layers = Vec::new();
 29 |         let first_layer_size = *layer_sizes.first().unwrap();
 30 |         let mut prev_layer_size = first_layer_size;
 31 | 
 32 |         for &layer_size in layer_sizes[1..].iter() {
 33 |             layers.push(Layer::new(layer_size, prev_layer_size));
 34 |             prev_layer_size = layer_size;
 35 |         }
 36 | 
 37 |         Self {
 38 |             layers,
 39 |             n_inputs: first_layer_size,
 40 |         }
 41 |     }
 42 | 
 43 |     pub fn predict(&self, inputs: &Vec<f64>) -> Vec<Vec<f64>> {
 44 |         if inputs.len() != self.n_inputs {
 45 |             panic!("Bad input size");
 46 |         }
 47 | 
 48 |         let mut outputs = Vec::new();
 49 |         outputs.push(inputs.clone());
 50 |         for (layer_index, layer) in self.layers.iter().enumerate() {
 51 |             let layer_results = layer.predict(&outputs[layer_index]);
 52 |             outputs.push(layer_results);
 53 |         }
 54 | 
 55 |         outputs
 56 |     }
 57 | 
 58 |     pub fn mutate(&mut self) {
 59 |         self.layers.iter_mut().for_each(|l| l.mutate());
 60 |     }
 61 | }
 62 | 
 63 | impl Layer {
 64 |     fn new(layer_size: usize, prev_layer_size: usize) -> Self {
 65 |         let mut rng = rand::thread_rng();
 66 |         let mut nodes: Vec<Vec<f64>> = Vec::new();
 67 | 
 68 |         for _ in 0..layer_size {
 69 |             let mut node: Vec<f64> = Vec::new();
 70 |             for _ in 0..prev_layer_size + 1 {
 71 |                 let random_weight: f64 = rng.gen_range(-1.0f64..1.0f64);
 72 |                 node.push(random_weight);
 73 |             }
 74 |             nodes.push(node);
 75 |         }
 76 | 
 77 |         Self { nodes }
 78 |     }
 79 | 
 80 |     fn predict(&self, inputs: &Vec<f64>) -> Vec<f64> {
 81 |         let mut layer_results = Vec::new();
 82 |         for node in self.nodes.iter() {
 83 |             layer_results.push(self.sigmoid(self.dot_prod(&node, &inputs)));
 84 |         }
 85 | 
 86 |         layer_results
 87 |     }
 88 | 
 89 |     fn mutate(&mut self) {
 90 |         let mut rng = rand::thread_rng();
 91 |         for n in self.nodes.iter_mut() {
 92 |             for val in n.iter_mut() {
 93 |                 if rng.gen_range(0.0..1.0) >= BRAIN_MUTATION_RATE {
 94 |                     continue;
 95 |                 }
 96 | 
 97 |                 *val += rng.gen_range(-BRAIN_MUTATION_VARIATION..BRAIN_MUTATION_VARIATION) as f64;
 98 |             }
 99 |         }
100 |     }
101 | 
102 |     fn dot_prod(&self, node: &Vec<f64>, values: &Vec<f64>) -> f64 {
103 |         let mut it = node.iter();
104 |         let mut total = *it.next().unwrap();
105 |         for (weight, value) in it.zip(values.iter()) {
106 |             total += weight * value;
107 |         }
108 | 
109 |         total
110 |     }
111 | 
112 |     fn sigmoid(&self, y: f64) -> f64 {
113 |         1f64 / (1f64 + (-y).exp())
114 |     }
115 | }
116 | 


--------------------------------------------------------------------------------
/src/population.rs:
--------------------------------------------------------------------------------
  1 | use bevy::prelude::*;
  2 | use rand::distributions::WeightedIndex;
  3 | use rand::prelude::Distribution;
  4 | 
  5 | use crate::car::{Brain, Car, CarBundle, Fitness};
  6 | use crate::enemy::{spawn_bound_trucks, spawn_enemies, BoundControlTruck, Enemy};
  7 | use crate::nn::Net;
  8 | use crate::*;
  9 | 
 10 | pub struct PopulationPlugin;
 11 | 
 12 | impl Plugin for PopulationPlugin {
 13 |     fn build(&self, app: &mut bevy::prelude::App) {
 14 |         app.insert_resource(MaxDistanceTravelled(0.0))
 15 |             .add_startup_system(setup)
 16 |             .add_system(population_stats_system)
 17 |             .add_system(generation_reset_system);
 18 |     }
 19 | }
 20 | 
 21 | fn setup(mut commands: Commands, mut settings: ResMut<Settings>, asset_server: Res<AssetServer>) {
 22 |     spawn_cars(&mut commands, &asset_server, &mut settings, None);
 23 | }
 24 | 
 25 | fn population_stats_system(
 26 |     mut sim_stats: ResMut<SimStats>,
 27 |     mut max_distance_travelled: ResMut<MaxDistanceTravelled>,
 28 |     mut brain_on_display: ResMut<BrainToDisplay>,
 29 |     mut query: Query<(&Transform, &Brain, &mut Fitness), With<Car>>,
 30 | ) {
 31 |     let mut max_fitness = 0.0;
 32 |     sim_stats.num_cars_alive = query.iter().len();
 33 | 
 34 |     for (transform, brain, mut fitness) in query.iter_mut() {
 35 |         fitness.0 = calc_fitness(transform);
 36 |         if fitness.0 > max_fitness {
 37 |             max_fitness = fitness.0;
 38 |             brain_on_display.0 = brain.nn_outputs.clone();
 39 |             sim_stats.max_current_score = fitness.0;
 40 |             max_distance_travelled.0 = transform.translation.y;
 41 |         }
 42 |     }
 43 | }
 44 | 
 45 | fn generation_reset_system(
 46 |     mut commands: Commands,
 47 |     asset_server: Res<AssetServer>,
 48 |     mut settings: ResMut<Settings>,
 49 |     mut sim_stats: ResMut<SimStats>,
 50 |     cars_query: Query<(Entity, &Brain, &Fitness)>,
 51 |     cars_count_query: Query<With<Car>>,
 52 |     enemy_query: Query<Entity, With<Enemy>>,
 53 |     bounds_truck_query: Query<Entity, With<BoundControlTruck>>,
 54 | ) {
 55 |     let num_cars = cars_count_query.iter().count();
 56 |     if num_cars > 0 {
 57 |         return;
 58 |     }
 59 | 
 60 |     bounds_truck_query.for_each(|t| commands.entity(t).despawn());
 61 |     enemy_query.for_each(|e| commands.entity(e).despawn());
 62 | 
 63 |     let mut fitnesses = Vec::new();
 64 |     let mut old_brains = Vec::new();
 65 |     for (e, brain, fitness) in cars_query.iter() {
 66 |         fitnesses.push(fitness.0);
 67 |         old_brains.push(brain.nn.clone());
 68 | 
 69 |         commands.entity(e).despawn();
 70 |     }
 71 | 
 72 |     let (max_fitness, gene_pool) = create_gene_pool(fitnesses);
 73 |     let mut rng = rand::thread_rng();
 74 |     let mut new_brains = Vec::new();
 75 | 
 76 |     for _ in 0..NUM_AI_CARS {
 77 |         let brain_idx = gene_pool.sample(&mut rng);
 78 |         let mut rand_brain = old_brains[brain_idx].clone();
 79 |         rand_brain.mutate();
 80 |         new_brains.push(rand_brain);
 81 |     }
 82 | 
 83 |     // update stats
 84 |     sim_stats.generation_count += 1;
 85 |     sim_stats.fitness.push(max_fitness);
 86 | 
 87 |     // respawn everything
 88 |     spawn_enemies(&mut commands, &asset_server);
 89 |     spawn_bound_trucks(&mut commands, &asset_server);
 90 |     spawn_cars(
 91 |         &mut commands,
 92 |         &asset_server,
 93 |         &mut settings,
 94 |         Some(new_brains),
 95 |     );
 96 | }
 97 | 
 98 | fn spawn_cars(
 99 |     commands: &mut Commands,
100 |     asset_server: &AssetServer,
101 |     settings: &mut Settings,
102 |     brains: Option<Vec<Net>>,
103 | ) {
104 |     let brains = brains.unwrap_or(Vec::new());
105 |     let is_new_nn = brains.is_empty() || settings.restart_sim;
106 |     settings.restart_sim = false;
107 | 
108 |     for i in 0..NUM_AI_CARS {
109 |         match is_new_nn {
110 |             true => commands.spawn(CarBundle::new(asset_server)),
111 |             false => commands.spawn(CarBundle::with_brain(
112 |                 asset_server,
113 |                 &brains.get(i as usize).unwrap(),
114 |             )),
115 |         };
116 |     }
117 | }
118 | 
119 | fn create_gene_pool(values: Vec<f32>) -> (f32, WeightedIndex<f32>) {
120 |     let mut max_fitness = 0.0;
121 |     let mut weights = Vec::new();
122 | 
123 |     for v in values.iter() {
124 |         if *v > max_fitness {
125 |             max_fitness = *v;
126 |         }
127 |         weights.push(*v);
128 |     }
129 | 
130 |     (
131 |         max_fitness,
132 |         WeightedIndex::new(&weights).expect("Failed to generate gene pool"),
133 |     )
134 | }
135 | 
136 | fn calc_fitness(transform: &Transform) -> f32 {
137 |     let y = transform.translation.y;
138 |     if y <= 600.0 {
139 |         return 0.1;
140 |     }
141 | 
142 |     return transform.translation.y / 340.0;
143 | }
144 | 


--------------------------------------------------------------------------------
/src/resources.rs:
--------------------------------------------------------------------------------
 1 | use bevy::prelude::*;
 2 | 
 3 | #[derive(Resource, Default)]
 4 | pub struct SimStats {
 5 |     pub num_cars_alive: usize,
 6 |     pub fitness: Vec<f32>,
 7 |     pub generation_count: u32,
 8 |     pub max_current_score: f32,
 9 | }
10 | 
11 | #[derive(Resource)]
12 | pub struct Settings {
13 |     pub is_show_rays: bool,
14 |     pub is_hide_rays_at_start: bool,
15 |     pub start_next_generation: bool,
16 |     pub restart_sim: bool,
17 |     pub is_camera_follow: bool,
18 | }
19 | 
20 | #[derive(Resource, Default)]
21 | pub struct BrainToDisplay(pub Vec<Vec<f64>>);
22 | 
23 | #[derive(Resource)]
24 | pub struct MaxDistanceTravelled(pub f32);
25 | 
26 | impl Default for Settings {
27 |     fn default() -> Self {
28 |         Self {
29 |             is_show_rays: true,
30 |             is_hide_rays_at_start: true,
31 |             start_next_generation: false,
32 |             restart_sim: false,
33 |             is_camera_follow: true,
34 |         }
35 |     }
36 | }
37 | 


--------------------------------------------------------------------------------
/src/road.rs:
--------------------------------------------------------------------------------
1 | struct RoadPlugin;
2 | 


--------------------------------------------------------------------------------