Implemented Rectangles (no Raycasting yet...)
This commit is contained in:
parent
908685b2f5
commit
c34d266ea5
@ -4,14 +4,13 @@ import math
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class Entity(object):
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def __init__(self, env):
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self.shape = None
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self.env = env
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self.pos = (env.random(), env.random())
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self.speed = (0, 0)
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self.acc = (0, 0)
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self.drag = 0
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self.radius = 10
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self.col = (255, 255, 255)
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self.shape = 'circle'
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self.solid = False
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self.movable = False # False = Non movable, True = Movable, x>1: lighter movable
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self.elasticity = 1
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@ -48,9 +47,8 @@ class Entity(object):
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self._crash_list = []
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def draw(self):
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x, y = self.pos
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pygame.draw.circle(self.env.surface, self.col,
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(x*self.env.width, y*self.env.height), self.radius, width=0)
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raise Exception(
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'[!] draw not implemented for shape "'+str(self.shape)+'"')
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def on_collision(self, other, depth):
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if self.solid and other.solid:
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@ -61,7 +59,8 @@ class Entity(object):
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if other in self._crash_list:
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return
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self._crash_list.append(other)
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force_dir = self.pos[0] - other.pos[0], self.pos[1] - other.pos[1]
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force_dir = self._get_crash_force_dir(other)
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print(force_dir, depth)
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force_dir_len = math.sqrt(force_dir[0]**2+force_dir[1]**2)
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if force_dir_len == 0:
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return
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@ -82,9 +81,19 @@ class Entity(object):
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self.env.speed_fac, self.pos[1] - self.env.inp[1] * \
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self._coll_add_pushback*self.env.speed_fac
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if self.collision_changes_speed:
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oldspeed = math.sqrt(self.speed[0]**2+self.speed[1]**2)
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self.speed = self.speed[0] + \
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force_vec[0]*self.collision_elasticity/self.env.speed_fac, self.speed[1] + \
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force_vec[1]*self.collision_elasticity/self.env.speed_fac
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newspeed = math.sqrt(self.speed[0]**2+self.speed[1]**2)
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if newspeed > oldspeed*1.1:
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self.speed = self.speed[0]/newspeed*1.1 * \
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oldspeed, self.speed[1]/newspeed*oldspeed*1.1
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def _get_crash_force_dir(self, other):
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if 1 == 1: # linter hack
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raise Exception(
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'[!] No collision-logic implemented for shape"'+str(self.shape)+'"')
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def on_collect(self, other):
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pass
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@ -105,7 +114,94 @@ class Entity(object):
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self.env.kill_entity(self)
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class Agent(Entity):
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class CircularEntity(Entity):
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def __init__(self, env):
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super().__init__(env)
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self.shape = 'circle'
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self.radius = 10
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def draw(self):
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x, y = self.pos
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pygame.draw.circle(self.env.surface, self.col,
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(x*self.env.width, y*self.env.height), self.radius, width=0)
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def _get_crash_force_dir(self, other):
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if other.shape == 'circle':
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return self.pos[0] - other.pos[0], self.pos[1] - other.pos[1]
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elif other.shape == 'rect':
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pad = 0
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edge_size = min(self.radius, min(
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other.width/3, other.height/3)) + 1
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x, y = self.pos
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x, y = x*self.env.height, y*self.env.width
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left, top = x - self.radius + pad, y - self.radius + pad
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right, bottom = x + self.radius - pad, y + self.radius - pad
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lrcenter, tbcenter = x, y
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ox, oy = other.pos
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ox, oy = ox*self.env.height, oy*self.env.width
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oleft, otop = ox + pad, oy + pad
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oright, obottom = ox + other.width - pad, oy + other.height - pad
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olrcenter, otbcenter = ox + other.width/2, oy + other.height/2
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lr, tb = 0, 0
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if otop < bottom and obottom > bottom:
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# col from top
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tb = otop - bottom
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#print('t', tb)
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elif top < obottom and top > otop:
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# col from bottom
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tb = - top + obottom
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#print('b', tb)
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if right > oleft and right < oright:
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# col from left
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lr = oleft - right
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#print('l', lr)
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elif left < oright and left > oleft:
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# col from right
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lr = - left + oright
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#print('r', lr)
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if lr != 0 and tb != 0:
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if abs(abs(tb) - abs(lr)) < edge_size:
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if abs(tb) < abs(lr):
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return lr/5, tb
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else:
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return lr, tb/5
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if abs(tb) < abs(lr):
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return 0, tb
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else:
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return lr, 0
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return 0, 0
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else:
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raise Exception(
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'[!] Shape "circle" does not know how to collide with shape "'+str(other.shape)+'"')
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class RectangularEntity(Entity):
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def __init__(self, env):
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super().__init__(env)
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self.shape = 'rect'
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self.width = 10
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self.height = 10
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def draw(self):
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x, y = self.pos
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rect = pygame.Rect(x*self.env.width, y *
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self.env.width, self.width, self.height)
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pygame.draw.rect(self.env.surface, self.col,
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rect, width=0)
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def _get_crash_force_dir(self, other):
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raise Exception(
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'[!] Collisions in this direction not implemented for shape "rectangle"')
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class Agent(CircularEntity):
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def __init__(self, env):
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super(Agent, self).__init__(env)
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self.pos = (0.5, 0.5)
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@ -148,12 +244,17 @@ class Barrier(Enemy):
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self.movable = False
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class CircleBarrier(Barrier):
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class CircleBarrier(Barrier, CircularEntity):
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def __init__(self, env):
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super(CircleBarrier, self).__init__(env)
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class Chaser(Enemy):
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class RectBarrier(Barrier, RectangularEntity):
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def __init__(self, env):
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super().__init__(env)
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class Chaser(Enemy, CircularEntity):
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def __init__(self, env):
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super(Chaser, self).__init__(env)
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self.target = self.env.agent
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@ -193,7 +294,7 @@ class FlyingChaser(Chaser):
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self.acc = arrow[0] * self.chase_acc, arrow[1] * self.chase_acc
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class Collectable(Entity):
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class Collectable(CircularEntity):
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def __init__(self, env):
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super(Collectable, self).__init__(env)
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self.avaible = True
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@ -271,7 +372,7 @@ class TimeoutReward(OnceReward):
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self.env.timers.append((self.timeout, self.set_avaible, True))
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class Ball(Entity):
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class Ball(CircularEntity):
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def __init__(self, env):
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super(Ball, self).__init__(env)
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self.col = (255, 128, 0)
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243
columbus/env.py
243
columbus/env.py
@ -45,7 +45,7 @@ def parseObs(obsConf):
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class ColumbusEnv(gym.Env):
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metadata = {'render.modes': ['human']}
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def __init__(self, observable=observables.Observable(), fps=60, env_seed=3.1, master_seed=None, start_pos=(0.5, 0.5), start_score=0, speed_fac=0.01, acc_fac=0.02, die_on_zero=False, return_on_score=-1, reward_mult=1, agent_drag=0, controll_type='SPEED', aux_reward_max=1, aux_penalty_max=0, aux_reward_discretize=0, void_is_type_barrier=True, void_damage=1, torus_topology=False, default_collision_elasticity=1):
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def __init__(self, observable=observables.Observable(), fps=60, env_seed=3.1, master_seed=None, start_pos=(0.5, 0.5), start_score=0, speed_fac=0.01, acc_fac=0.04, die_on_zero=False, return_on_score=-1, reward_mult=1, agent_drag=0, controll_type='SPEED', aux_reward_max=1, aux_penalty_max=0, aux_reward_discretize=0, void_is_type_barrier=True, void_damage=1, torus_topology=False, default_collision_elasticity=1):
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super(ColumbusEnv, self).__init__()
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self.action_space = spaces.Box(
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low=-1, high=1, shape=(2,), dtype=np.float32)
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@ -79,6 +79,7 @@ class ColumbusEnv(gym.Env):
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self.aux_reward_discretize = aux_reward_discretize
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# 0 = dont discretize; how many steps (along diagonal)
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self.aux_reward_discretize = 0
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self.penalty_from_edges = False
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self.draw_observable = True
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self.draw_joystick = True
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self.draw_entities = True
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@ -169,6 +170,11 @@ class ColumbusEnv(gym.Env):
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aux_reward += reward
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elif isinstance(entity, entities.Enemy):
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if entity.radiateDamage:
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if self.penalty_from_edges:
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penalty = self.aux_penalty_max / \
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(1 + self.sq_dist(entity.pos,
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self.agent.pos) - entity.radius - self.agent.redius)
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else:
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penalty = self.aux_penalty_max / \
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(1 + self.sq_dist(entity.pos, self.agent.pos))
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@ -220,12 +226,16 @@ class ColumbusEnv(gym.Env):
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other.on_collision(entity, depth)
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def _check_collision_between(self, e1, e2):
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e = [e1, e2]
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e.sort(key=lambda x: x.shape)
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e1, e2 = e
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shapes = [e1.shape, e2.shape]
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shapes.sort()
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if shapes == ['circle', 'circle']:
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dist = math.sqrt(((e1.pos[0]-e2.pos[0])*self.width) ** 2
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+ ((e1.pos[1]-e2.pos[1])*self.height)**2)
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return max(0, e1.radius + e2.radius - dist)
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elif shapes == ['circle', 'rect']:
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return sum([abs(d) for d in e1._get_crash_force_dir(e2)])
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else:
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raise Exception(
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'Checking for collision between unsupported shapes: '+str(shapes))
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@ -406,6 +416,29 @@ class ColumbusTest3_1(ColumbusEnv):
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self.entities.append(reward)
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class ColumbusTestRect(ColumbusEnv):
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def __init__(self, observable=observables.Observable(), fps=30, aux_reward_max=1, **kw):
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super().__init__(
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observable=observable, fps=fps, env_seed=3.3, aux_reward_max=aux_reward_max, controll_type='ACC', **kw)
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self.start_pos = [0.5, 0.5]
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self.score = 0
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def setup(self):
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self.agent.pos = self.start_pos
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for i in range(1):
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enemy = entities.RectBarrier(self)
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enemy.width = self.random()*40+50
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enemy.height = self.random()*40+50
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self.entities.append(enemy)
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for i in range(1):
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enemy = entities.CircleBarrier(self)
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enemy.radius = self.random()*40+50
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self.entities.append(enemy)
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for i in range(1):
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reward = entities.TeleportingReward(self)
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self.entities.append(reward)
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class ColumbusTestRay(ColumbusTest3_1):
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def __init__(self, observable=observables.RayObservable(), hide_map=False, fps=30, **kw):
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super(ColumbusTestRay, self).__init__(
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@ -421,6 +454,74 @@ class ColumbusRayDrone(ColumbusTestRay):
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self.agent_drag = 0.02
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class ColumbusDemoEnv3_1(ColumbusEnv):
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def __init__(self, observable=observables.Observable(), fps=30, aux_reward_max=1, **kw):
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super().__init__(
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observable=observable, fps=fps, env_seed=3.1, aux_reward_max=aux_reward_max, controll_type='ACC', agent_drag=0.05, **kw)
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self.start_pos = [0.6, 0.3]
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self.score = 0
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def setup(self):
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self.agent.pos = self.start_pos
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for i in range(18):
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enemy = entities.CircleBarrier(self)
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enemy.radius = self.random()*40+50
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self.entities.append(enemy)
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for i in range(0):
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enemy = entities.FlyingChaser(self)
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enemy.chase_acc = self.random()*0.4*0.3 # *0.6+0.5
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self.entities.append(enemy)
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for i in range(1):
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reward = entities.TeleportingReward(self)
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self.entities.append(reward)
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class ColumbusDemoEnv2_7(ColumbusEnv):
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def __init__(self, observable=observables.Observable(), fps=30, aux_reward_max=1, **kw):
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super().__init__(
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observable=observable, fps=fps, env_seed=2.7, aux_reward_max=aux_reward_max, controll_type='ACC', agent_drag=0.05, **kw)
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self.start_pos = [0.6, 0.3]
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self.score = 0
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def setup(self):
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self.agent.pos = self.start_pos
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for i in range(12):
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enemy = entities.CircleBarrier(self)
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enemy.radius = self.random()*30+40
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self.entities.append(enemy)
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for i in range(3):
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enemy = entities.FlyingChaser(self)
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enemy.chase_acc = self.random()*0.4*0.3 # *0.6+0.5
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self.entities.append(enemy)
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for i in range(1):
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reward = entities.TeleportingReward(self)
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self.entities.append(reward)
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class ColumbusDemoEnvFootball(ColumbusEnv):
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def __init__(self, observable=observables.Observable(), fps=30, walkingOpponent=0, flyingOpponent=0, **kw):
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super().__init__(
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observable=observable, fps=fps, env_seed=1.23, **kw)
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self.start_pos = [0.5, 0.5]
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self.score = 0
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self.walkingOpponents = walkingOpponent
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self.flyingOpponents = flyingOpponent
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def setup(self):
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self.agent.pos = self.start_pos
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for i in range(8):
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enemy = entities.CircleBarrier(self)
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enemy.radius = self.random()*40+50
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self.entities.append(enemy)
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ball = entities.Ball(self)
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self.entities.append(ball)
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self.entities.append(entities.TeleportingGoal(self))
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for i in range(self.walkingOpponents):
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self.entities.append(entities.WalkingFootballPlayer(self, ball))
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for i in range(self.flyingOpponents):
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self.entities.append(entities.FlyingFootballPlayer(self, ball))
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class ColumbusCandyland(ColumbusEnv):
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def __init__(self, observable=observables.RayObservable(chans=[entities.Reward, entities.Void], num_rays=16, include_rand=True), hide_map=False, fps=30, env_seed=None, **kw):
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super(ColumbusCandyland, self).__init__(
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@ -664,7 +765,7 @@ class ColumbusConfigDefined(ColumbusEnv):
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class ColumbusBlub(ColumbusEnv):
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def __init__(self, observable=observables.Observable(), env_seed=None, entities=[], fps=30, **kw):
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def __init__(self, observable=observables.CompositionalObservable([observables.StateObservable(), observables.RayObservable(num_rays=6, chans=[entities.Enemy])]), env_seed=None, entities=[], fps=30, **kw):
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super().__init__(
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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')
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@ -682,11 +783,11 @@ class ColumbusBlub(ColumbusEnv):
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###
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register(
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id='ColumbusBlub-v0',
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entry_point=ColumbusBlub,
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max_episode_steps=30*60*2,
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)
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# register(
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# id='ColumbusBlub-v0',
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# entry_point=ColumbusBlub,
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# max_episode_steps=30*60*2,
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# )
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register(
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@ -701,41 +802,41 @@ register(
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max_episode_steps=30*60*2,
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)
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register(
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id='ColumbusRayDrone-v0',
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entry_point=ColumbusRayDrone,
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max_episode_steps=30*60*2,
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)
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# register(
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# id='ColumbusRayDrone-v0',
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# entry_point=ColumbusRayDrone,
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# max_episode_steps=30*60*2,
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# )
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register(
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id='ColumbusCandyland-v0',
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entry_point=ColumbusCandyland,
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max_episode_steps=30*60*2,
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)
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# register(
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# id='ColumbusCandyland-v0',
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# entry_point=ColumbusCandyland,
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# max_episode_steps=30*60*2,
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# )
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register(
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id='ColumbusCandyland_Aux10-v0',
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entry_point=ColumbusCandyland_Aux10,
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max_episode_steps=30*60*2,
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)
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# register(
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# id='ColumbusCandyland_Aux10-v0',
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# entry_point=ColumbusCandyland_Aux10,
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# max_episode_steps=30*60*2,
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# )
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register(
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id='ColumbusEasyObstacles-v0',
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entry_point=ColumbusEasyObstacles,
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max_episode_steps=30*60*2,
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)
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# register(
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# id='ColumbusEasyObstacles-v0',
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# entry_point=ColumbusEasyObstacles,
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# max_episode_steps=30*60*2,
|
||||
# )
|
||||
|
||||
register(
|
||||
id='ColumbusEasierObstacles-v0',
|
||||
entry_point=ColumbusEasyObstacles,
|
||||
max_episode_steps=30*60*2,
|
||||
)
|
||||
# register(
|
||||
# id='ColumbusEasierObstacles-v0',
|
||||
# entry_point=ColumbusEasyObstacles,
|
||||
# max_episode_steps=30*60*2,
|
||||
# )
|
||||
|
||||
register(
|
||||
id='ColumbusJustState-v0',
|
||||
entry_point=ColumbusJustState,
|
||||
max_episode_steps=30*60*2,
|
||||
)
|
||||
# register(
|
||||
# id='ColumbusJustState-v0',
|
||||
# entry_point=ColumbusJustState,
|
||||
# max_episode_steps=30*60*2,
|
||||
# )
|
||||
|
||||
register(
|
||||
id='ColumbusStateWithBarriers-v0',
|
||||
@ -743,38 +844,54 @@ register(
|
||||
max_episode_steps=30*60*2,
|
||||
)
|
||||
|
||||
register(
|
||||
id='ColumbusCompassWithBarriers-v0',
|
||||
entry_point=ColumbusCompassWithBarriers,
|
||||
max_episode_steps=30*60*2,
|
||||
)
|
||||
# register(
|
||||
# id='ColumbusCompassWithBarriers-v0',
|
||||
# entry_point=ColumbusCompassWithBarriers,
|
||||
# max_episode_steps=30*60*2,
|
||||
# )
|
||||
|
||||
register(
|
||||
id='ColumbusTrivialRay-v0',
|
||||
entry_point=ColumbusTrivialRay,
|
||||
max_episode_steps=30*60*2,
|
||||
)
|
||||
# register(
|
||||
# id='ColumbusTrivialRay-v0',
|
||||
# entry_point=ColumbusTrivialRay,
|
||||
# max_episode_steps=30*60*2,
|
||||
# )
|
||||
|
||||
register(
|
||||
id='ColumbusFootball-v0',
|
||||
entry_point=ColumbusFootball,
|
||||
max_episode_steps=30*60*2,
|
||||
)
|
||||
# register(
|
||||
# id='ColumbusFootball-v0',
|
||||
# entry_point=ColumbusFootball,
|
||||
# max_episode_steps=30*60*2,
|
||||
# )
|
||||
|
||||
register(
|
||||
id='ColumbusComb-v0',
|
||||
entry_point=ColumbusComp,
|
||||
max_episode_steps=30*60*2,
|
||||
)
|
||||
# register(
|
||||
# id='ColumbusComb-v0',
|
||||
# entry_point=ColumbusComp,
|
||||
# max_episode_steps=30*60*2,
|
||||
# )
|
||||
|
||||
register(
|
||||
id='ColumbusSingle-v0',
|
||||
entry_point=ColumbusSingle,
|
||||
max_episode_steps=30*60*2,
|
||||
)
|
||||
# register(
|
||||
# id='ColumbusSingle-v0',
|
||||
# entry_point=ColumbusSingle,
|
||||
# max_episode_steps=30*60*2,
|
||||
# )
|
||||
|
||||
register(
|
||||
id='ColumbusConfigDefined-v0',
|
||||
entry_point=ColumbusConfigDefined,
|
||||
max_episode_steps=30*60*2,
|
||||
)
|
||||
|
||||
register(
|
||||
id='ColumbusDemoEnvFootball-v0',
|
||||
entry_point=ColumbusDemoEnvFootball,
|
||||
max_episode_steps=30*60*2,
|
||||
)
|
||||
register(
|
||||
id='ColumbusDemoEnv3_1-v0',
|
||||
entry_point=ColumbusDemoEnv3_1,
|
||||
max_episode_steps=30*60*2,
|
||||
)
|
||||
register(
|
||||
id='ColumbusDemoEnv2_7-v0',
|
||||
entry_point=ColumbusDemoEnv2_7,
|
||||
max_episode_steps=30*60*2,
|
||||
)
|
||||
|
||||
@ -48,7 +48,7 @@ class CnnObservable(Observable):
|
||||
|
||||
def get_observation(self):
|
||||
if not self.env._rendered:
|
||||
self.env.render(dont_show=True)
|
||||
self.env.render(mode='internal', dont_show=False)
|
||||
self.env._ensure_surface()
|
||||
x, y = self.env.agent.pos[0]*self.env.width - self.in_width / \
|
||||
2, self.env.agent.pos[1]*self.env.height - self.in_height/2
|
||||
|
||||
Loading…
Reference in New Issue
Block a user