Better collision logic, Football-Entities
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456b319e8a
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df912b6f46
@ -13,8 +13,11 @@ class Entity(object):
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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
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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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self.collision_changes_speed = False
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self._crash_list = []
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self._coll_add_pushback = 0.05
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def physics_step(self):
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x, y = self.pos
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@ -23,11 +26,9 @@ class Entity(object):
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vx, vy = vx+ax*self.env.acc_fac, vy+ay*self.env.acc_fac
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x, y = x+vx*self.env.speed_fac, y+vy*self.env.speed_fac
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if x > 1 or x < 0:
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x = min(max(x, 0), 1)
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vx = 0
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x, y, vx, vy = self.calc_void_collision(x < 0, x, y, vx, vy)
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if y > 1 or y < 0:
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y = min(max(y, 0), 1)
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vy = 0
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x, y, vx, vy = self.calc_void_collision(2 + (x < 0), x, y, vx, vy)
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self.speed = vx/(1+self.drag), vy/(1+self.drag)
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self.pos = x, y
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@ -37,6 +38,7 @@ class Entity(object):
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def step(self):
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self.controll_step()
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self.physics_step()
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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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@ -49,15 +51,46 @@ class Entity(object):
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self.on_crash(other, depth)
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def on_crash(self, other, depth):
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if other.movable:
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raise Exception('Movable-Movable Collisions not implemented!')
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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_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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force_dir = force_dir[0]/force_dir_len, force_dir[1]/force_dir_len
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if self.env.agent.pos[0] > 0.99 or self.env.agent.pos[0] < 0.01:
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force_dir = force_dir[0], force_dir[1] * 2
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if self.env.agent.pos[1] > 0.99 or self.env.agent.pos[1] < 0.01:
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force_dir = force_dir[0] * 2, force_dir[1]
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depth *= 1.0*self.movable/(self.movable + other.movable)/2
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depth /= other.elasticity
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force_vec = force_dir[0]*depth/self.env.width, \
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force_dir[1]*depth/self.env.height
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self.pos = self.pos[0] + force_vec[0], self.pos[1] + force_vec[1]
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if self._coll_add_pushback:
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self.pos = self.pos[0] - self.env.inp[0]*self._coll_add_pushback * \
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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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self.speed = self.speed[0] + \
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force_vec[0]/self.env.speed_fac, self.speed[1] + \
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force_vec[1]/self.env.speed_fac
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def on_collect(self, other):
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pass
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def on_collected(self):
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pass
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def calc_void_collision(self, dir, x, y, vx, vy):
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if dir < 2:
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x = min(max(x, 0), 1)
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vx = 0
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else:
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y = min(max(y, 0), 1)
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vy = 0
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return x, y, vx, vy
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def kill(self):
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self.env.kill_entity(self)
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@ -151,22 +184,25 @@ class FlyingChaser(Chaser):
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self.acc = arrow[0] * self.chase_acc, arrow[1] * self.chase_acc
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class Reward(Entity):
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class Collectable(Entity):
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def __init__(self, env):
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super(Reward, self).__init__(env)
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self.col = (0, 255, 0)
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super(Collectable, self).__init__(env)
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self.avaible = True
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self.enforce_not_on_barrier = False
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self.reward = 10
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self.collectors = []
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def on_collision(self, other, depth):
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super().on_collision(other, depth)
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if isinstance(other, Agent):
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self.on_collect()
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elif isinstance(other, Barrier):
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if isinstance(other, Barrier):
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self.on_barrier_collision()
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else:
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for Col in self.collectors:
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if isinstance(other, Col):
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other.on_collect(self)
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self.on_collected()
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def on_collect(self):
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def on_collected(self):
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self.env.new_reward += self.reward
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def on_barrier_collision(self):
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@ -175,12 +211,20 @@ class Reward(Entity):
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self.env.check_collisions_for(self)
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class Reward(Collectable):
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def __init__(self, env):
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super(Reward, self).__init__(env)
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self.col = (0, 255, 0)
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self.reward = 10
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self.collectors = [Agent]
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class OnceReward(Reward):
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def __init__(self, env):
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super(OnceReward, self).__init__(env)
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self.reward = 500
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def on_collect(self):
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def on_collected(self):
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self.env.new_abs_reward += self.reward
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self.kill()
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@ -191,7 +235,7 @@ class TeleportingReward(OnceReward):
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self.enforce_not_on_barrier = True
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self.env.check_collisions_for(self)
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def on_collect(self):
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def on_collected(self):
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self.env.new_abs_reward += self.reward
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self.pos = (self.env.random(), self.env.random())
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self.env.check_collisions_for(self)
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@ -211,14 +255,82 @@ class TimeoutReward(OnceReward):
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else:
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self.col = (50, 100, 50)
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def on_collect(self):
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def on_collected(self):
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if self.avaible:
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self.env.new_abs_reward += self.reward
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self.set_avaible(False)
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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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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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self.drag = 0.0025
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self.solid = True
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self.movable = 10
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self.elasticity = 1
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self.collision_changes_speed = True
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self.wall_reflect_damping = 0.1
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def calc_void_collision(self, dir, x, y, vx, vy):
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if dir < 2:
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x = min(max(x, 0), 1)
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vx = -(vx/(1+self.wall_reflect_damping))
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else:
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y = min(max(y, 0), 1)
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vy = -(vy/(1+self.wall_reflect_damping))
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return x, y, vx, vy
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def physics_step(self):
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self.env.check_collisions_for(self)
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super().physics_step()
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class Goal(Collectable):
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def __init__(self, env):
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super(Goal, self).__init__(env)
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self.col = (0, 200, 0)
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self.reward = 500
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self.radius = 20
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self.collectors = [Ball]
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class TeleportingGoal(Goal):
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def __init__(self, env):
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super(TeleportingGoal, self).__init__(env)
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self.enforce_not_on_barrier = True
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self.env.check_collisions_for(self)
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def on_collected(self):
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self.env.new_abs_reward += self.reward
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self.pos = (self.env.random(), self.env.random())
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self.env.check_collisions_for(self)
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class FootballPlayer():
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def __init__(self, env, target):
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super(FootballPlayer, self).__init__(env)
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self.col = (200, 0, 100)
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self.target = target
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self.solid = True
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self.movable = 1
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self.elasticity = 1
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class WalkingFootballPlayer(FootballPlayer, WalkingChaser):
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def __init__(self, env, target):
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super(WalkingFootballPlayer, self).__init__(env, target)
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self.target = target
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class FlyingFootballPlayer(FootballPlayer, FlyingChaser):
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def __init__(self, env, target):
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super(FlyingFootballPlayer, self).__init__(env, target)
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# Not a real entity. Is used in the config of RayObserver to reference the outer boundary of the environment.
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class Void():
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def __init__(self, env):
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self.col = (50, 50, 50)
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