this.pos = createVector(width/2,height);

  this.vel = createVector();

  this.acc = createVector();

  if (dna){

    this.dna = dna;

  } else {

    this.dna = new Dna();

  }

  this.fitness = 0;

  this.completed = false;

  this.crashed = false;

  this.color = color(255,0,0);

  this.size = 8;

}

​

Particle.prototype.applyForce = function(force){

  this.acc.add(force);

}

​

Particle.prototype.update = function(){

  var d = dist(this.pos.x,this.pos.y,target.x, target.y);

  if(d < 10){

    this.completed = true;

    this.pos = target.copy();

  }

  for(var i = 0; i < obstacles.length; i++){

    if(this.pos.x > obstacles[i].rx && this.pos.x < obstacles[i].rx + obstacles[i].rw  && this.pos.y > obstacles[i].ry && this.pos.y < obstacles[i].ry+obstacles[i].rh){

      this.crashed = true;

    }

  }

  if(this.pos.x > width || this.pos.x < 0){

    this.crashed = true;

  }

  if(this.pos.y > height || this.pos.y < 0){

    this.crashed = true;

  }

  this.applyForce(this.dna.genes[count]);

  if (!this.completed && !this.crashed){

    this.vel.add(this.acc);

    this.pos.add(this.vel);

    this.acc.mult(0);

    this.vel.limit(4);

  }

}

​

Particle.prototype.calcFitness = function(){

  var d = dist(this.pos.x,this.pos.y,target.x,target.y);

  this.fitness = map(d,0,width,width,0);

  if(this.completed){

    this.fitness *= 10; //mess with learning rate

  }

  if(this.crashed){

    this.fitness /= 10;

  }

}

​

Particle.prototype.show = function(){

  var theta = this.vel.heading() + PI/2;

  var ROTATION_ANGLE = theta + PI*3/2;

  var ARC_RADIUS = 35 * this.size;

  var ARC_ANGLE = PI/3;

  fill(this.color);

  stroke(0);

  push();

  translate(this.pos.x,this.pos.y);

  rotate(theta);

  beginShape();

  vertex(0, -this.size*2);

  vertex(-this.size, this.size*2);

  vertex(this.size, this.size*2);

  endShape(CLOSE);

  noFill();

  pop();

​

}