add drifting

car.py

@@ -14,7 +14,7 @@
 
 class Car:
 
-    def __init__(self, position, angle=0):
+    def __init__(self, position, angle=0, len_positions=15):
 
         # self.position = [690, 740] # Starting Position
         self.position = position
@@ -38,11 +38,25 @@ def __init__(self, position, angle=0):
         self.time = 0  # Time Passed
         self.laps = 0
         self.last_position = self.position
-        self.last_positions = deque(maxlen=15)
-        self.last_angles = deque(maxlen=15)
+        self.last_positions = deque(maxlen=len_positions)
+        self.last_angles = deque(maxlen=len_positions)
         self.crashed = False
+        self.n_drifts_left = 0
+        self.n_drifts_right = 0
+        self.len_positions = len_positions
+
+        drift = pygame.image.load("./images/drift.png").convert_alpha()
+        self.drift = pygame.transform.scale(drift, (20, 40))
+
+        pygame.image.save(self.drift, "drift.png")
 
     def draw(self, screen, draw_radar=False):
+        if self.n_drifts_left >= 3 or self.n_drifts_right >= 3:
+            if len(self.last_positions) >= self.len_positions:
+                screen.blit(
+                    pygame.transform.rotate(self.drift, 90 + self.angle),
+                    self.last_positions[self.len_positions - 2],
+                )
         screen.blit(self.rotated_sprite, self.position)  # Draw Sprite
         if draw_radar:
             self.draw_radar(screen)  # OPTIONAL FOR SENSORS

neat_/neat_car.py

@@ -60,6 +60,29 @@ def action(self):
         output = self.net.activate(input)
         choice = output.index(max(output))
 
+        if choice == 0:
+            self.angle += 10  # Left
+            self.n_drifts_left += 1
+            self.n_drifts_right = 0
+        elif choice == 1:
+            self.angle -= 10  # Right
+            self.n_drifts_left = 0
+            self.n_drifts_right += 1
+        elif choice == 2:
+            if self.speed - 2 >= 6:
+                self.speed -= 2  # Slow Down
+            self.n_drifts_right = 0
+            self.n_drifts_left = 0
+        else:
+            self.n_drifts_right = 0
+            self.n_drifts_left = 0
+            self.speed += 2  # Speed Up
+
+    def action_train(self):
+        input = self.get_data()
+        output = self.net.activate(input)
+        choice = output.index(max(output))
+
         if choice == 0:
             self.angle += 10  # Left
         elif choice == 1:

neat_/neat_race.py

@@ -22,7 +22,7 @@ def training_race(self, cars: list[NeatCar], genomes):
 
             # For Each Car Get The Acton It Takes
             for car in cars:
-                car.action()
+                car.action_train()
             # Check If Car Is Still Alive
             # Increase Fitness If Yes And Break Loop If Not
             still_alive = 0

policy_gradient/pg_car.py

@@ -108,7 +108,7 @@ def train(self, rewards):
         self.onpolicy_reset()
         return policy_loss.item()
 
-    def action(self):
+    def action_train(self):
         state = self.get_data()
 
         action = self.forward(state)
@@ -123,6 +123,28 @@ def action(self):
         else:
             self.speed += 2  # Speed Up
 
+    def action(self):
+        state = self.get_data()
+        action = self.forward(state)
+
+        if action == 0:
+            self.angle += 10  # Left
+            self.n_drifts_left += 1
+            self.n_drifts_right = 0
+        elif action == 1:
+            self.angle -= 10  # Right
+            self.n_drifts_left = 0
+            self.n_drifts_right += 1
+        elif action == 2:
+            self.n_drifts_right = 0
+            self.n_drifts_left = 0
+            if self.speed - 2 >= 6:
+                self.speed -= 2  # Slow Down
+        else:
+            self.n_drifts_right = 0
+            self.n_drifts_left = 0
+            self.speed += 2  # Speed Up
+
     def get_reward(self):
         if self.crashed:
             self.crashed = False

policy_gradient/pg_race.py

@@ -62,7 +62,7 @@ def training_race(self, car: PGCar, episodes, train_every):
                         quit()
                         sys.exit()
 
-                car.action(current_state)
+                car.action_train(current_state)
                 car.update(self.game_map)
                 new_state, reward, done = self.step(car)
                 states.append(current_state)

qlearning/q_car.py

@@ -187,17 +187,24 @@ def action_train(self, state):
     def action(self):
 
         state = self.get_data()
-
         action = self.act_epsilon_greedy(state)
 
         if action == 0:
             self.angle += 10  # Left
+            self.n_drifts_left += 1
+            self.n_drifts_right = 0
         elif action == 1:
             self.angle -= 10  # Right
+            self.n_drifts_left = 0
+            self.n_drifts_right += 1
         elif action == 2:
             if self.speed - 2 >= 6:
                 self.speed -= 2  # Slow Down
+            self.n_drifts_right = 0
+            self.n_drifts_left = 0
         else:
+            self.n_drifts_right = 0
+            self.n_drifts_left = 0
             if self.speed + 2 <= 12:
                 self.speed += 2  # Speed Up
 

sarsa/sarsa_car.py

@@ -169,17 +169,24 @@ def action_train(self, state):
     def action(self):
 
         state = self.get_data()
-
         action = self.act_epsilon_greedy(state)
 
         if action == 0:
             self.angle += 10  # Left
+            self.n_drifts_left += 1
+            self.n_drifts_right = 0
         elif action == 1:
             self.angle -= 10  # Right
+            self.n_drifts_left = 0
+            self.n_drifts_right += 1
         elif action == 2:
+            self.n_drifts_right = 0
+            self.n_drifts_left = 0
             if self.speed - 2 >= 6:
                 self.speed -= 2  # Slow Down
         else:
+            self.n_drifts_right = 0
+            self.n_drifts_left = 0
             if self.speed + 2 <= 12:
                 self.speed += 2  # Speed Up