More precise aux_penalties

columbus/env.py

@@ -78,7 +78,7 @@ class ColumbusEnv(gym.Env):
         self.aux_penalty_max = aux_penalty_max  # 0 = off
         self.aux_reward_discretize = aux_reward_discretize
         # 0 = dont discretize; how many steps (along diagonal)
-        self.penalty_from_edges = False  # not ready yet...
+        self.penalty_from_edges = True  # Don't change, only here to allow legacy behavior
         self.draw_observable = True
         self.draw_joystick = True
         self.draw_entities = True
@@ -182,9 +182,32 @@ class ColumbusEnv(gym.Env):
             elif isinstance(entity, entities.Enemy):
                 if entity.radiateDamage:
                     if self.penalty_from_edges:
+                        if self.agent.shape != 'circle':
+                            raise Exception(
+                                'Radiating damage from edge for non-circle Agents not supported')
+                        if entity.shape == 'circle':
                             penalty = self.aux_penalty_max / \
                                 (1 + self.sq_dist(entity.pos,
-                             self.agent.pos) - entity.radius - self.agent.radius)
+                                                  self.agent.pos) - (entity.radius/max(self.height, self.width))**2 - (self.agent.radius/max(self.height, self.width))**2)
+                        elif entity.shape == 'rect':
+                            ax, ay = self.agent.pos
+                            ex, ey, ex2, ey2 = entity.pos[0], entity.pos[1], entity.pos[0] + \
+                                entity.width / \
+                                self.width, entity.pos[1] + \
+                                entity.height/self.height
+                            lx, ly = ax, ay  # 'Lotpunkt'
+                            if ax < ex:
+                                lx = ex
+                            elif ax > ex2:
+                                lx = ex2
+                            if ay < ey:
+                                ly = ey
+                            elif ay > ey2:
+                                ly = ey2
+                            penalty = self.aux_penalty_max / \
+                                (1 + self.sq_dist((lx, ly),
+                                                  (ax, ay)) - (self.agent.radius/max(self.height, self.width))**2)
+
                     else:
                         penalty = self.aux_penalty_max / \
                             (1 + self.sq_dist(entity.pos, self.agent.pos))
@@ -845,20 +868,15 @@ class ColumbusConfigDefined(ColumbusEnv):
 class ColumbusBlub(ColumbusEnv):
     def __init__(self, observable=observables.CompositionalObservable([observables.StateObservable(), observables.RayObservable(num_rays=6, chans=[entities.Enemy])]), env_seed=None, entities=[], fps=30, **kw):
         super().__init__(
-            observable=observable, fps=fps, env_seed=env_seed, default_collision_elasticity=0.8, speed_fac=0.01, acc_fac=0.1, agent_drag=0.06, controll_type='ACC')
+            observable=observable, fps=fps, env_seed=env_seed, default_collision_elasticity=0.8, speed_fac=0.01, acc_fac=0.1, agent_drag=0.06, controll_type='ACC', aux_penalty_max=1)
 
     def setup(self):
         self.agent.pos = self.start_pos
-        for i in range(10):
-            enemy = entities.CircleBarrier(self)
-            enemy.radius = self.random()*25+75
-            self.entities.append(enemy)
         for i in range(1):
-            reward = entities.TeleportingReward(self)
+            enemy = entities.RectBarrier(self)
-            reward.radius = 20
+            enemy.radius = 100
-            reward.reward = 25
+            enemy.width, enemy.height = 200, 75
-            self.entities.append(reward)
+            self.entities.append(enemy)
-
 
 ###
 # register(