def __init__(self, team, position, rotation, brain, turnRate, colRadius,
drawRadius):
self.position = position.astype(float) #numpy array [x, y ,z]
self.rotation = rotation.astype(
float) #numpy array [yaw, pitch, roll] (in degrees)
self.colRadius = colRadius #float size of collision sphere
self.drawRadius = drawRadius #float size of sphere to be drawn
self.team = team #provide team 'A' or team 'B'
self.forward = dot(array([1, 0, 0]), rotMatrixFromYPR(
rotation)) #unit vector in forward direction of agent
self.right = dot(array([0, 1, 0]), rotMatrixFromYPR(
rotation)) #unit vector in right direction of agent
self.up = cross(self.forward,
self.right) #unit vector pointing upwards
self.maxMove = double(
1.0) #max distance the agent can move in each frame
self.turnRate = turnRate
self.maxRot = array(
[turnRate, turnRate,
turnRate]) #max YPR in degrees the agent can rotate in each frame
self.brain = brain
self.uid = id(self) #unique identifier
self.isStunned = False
self.lastStunned = float(-1) #Last time agent was stunned
self.stunDuration = float(-1) #Duration for which I am stunned
self.stunRange = 15
def rotateAgent(self, rotation):
#clamping
if not self.isStunned:
rotation = clampRotation(rotation, self.maxRot)
self.rotation += rotation
self.forward = normalize(dot(array([1, 0, 0]), rotMatrixFromYPR(self.rotation)))
self.right = normalize(dot(array([0, 1, 0]), rotMatrixFromYPR(self.rotation)))
self.up = normalize(cross(self.forward, self.right))
def rotateAgent(self, rotation):
#clamping
if not self.isStunned:
rotation = clampRotation(rotation, self.maxRot)
self.rotation += rotation
self.forward = normalize(
dot(array([1, 0, 0]), rotMatrixFromYPR(self.rotation)))
self.right = normalize(
dot(array([0, 1, 0]), rotMatrixFromYPR(self.rotation)))
self.up = normalize(cross(self.forward, self.right))
def getEgoCentricOf(self, otherObject):
otherPosition = otherObject.position
rotMat = rotMatrixFromYPR(self.rotation)
rotMatInverse = inv(rotMat)
posVector = otherPosition - self.position
egoCentric = dot(posVector, rotMatInverse)
return egoCentric
def getEgoCentricOf(self, otherObject):
otherPosition = otherObject.position;
rotMat = rotMatrixFromYPR(self.rotation)
rotMatInverse = inv(rotMat)
posVector = otherPosition - self.position
egoCentric = dot(posVector, rotMatInverse)
return egoCentric
def moveAgent(self, world):
myTeam, enemyTeam, balls, obstacles = self.buildEgoCentricRepresentationOfWorld(world)
deltaPos, deltaRot, actions = self.brain.takeStep(myTeam, enemyTeam, balls, obstacles)
#handle movements
if not self.isStunned:
#check if agent is within required area
if distBetween(self.position, array([0, 0, 0])) < self.maxDistance:
self.rotateAgent(deltaRot)
self.translateAgent(deltaPos)
#handle actions
if not self.isStunned:
for action in actions:
#handle stun action
if action.__class__.__name__ == 'Stun':
for agent in world.agents:
if agent.getUID() == action.agentUID:
if distBetween(self.position, agent.position) < self.stunRange:
agent.stun(action.duration)
#handle kick action
if action.__class__.__name__ == 'Kick':
for ball in world.balls:
if ball.getUID() == action.ballUID:
if distBetween(self.position, ball.position) < 20:
globalDirection = dot(action.direction, rotMatrixFromYPR(self.rotation))
ball.kick(globalDirection, action.intensity)
#Unstun Self
if self.isStunned:
if not (self.lastStunned == -1 and self.stunDuration == -1):
if SimTime.time - self.lastStunned > float(self.stunDuration):
self.isStunned = False
self.lastStunned = -1
self.stunDuration = -1
def __init__(self, team, position, rotation, brain, turnRate, colRadius, drawRadius):
self.position = position.astype(float) #numpy array [x, y ,z]
self.rotation = rotation.astype(float) #numpy array [yaw, pitch, roll] (in degrees)
self.colRadius = colRadius #float size of collision sphere
self.drawRadius = drawRadius #float size of sphere to be drawn
self.team = team #provide team 'A' or team 'B'
self.forward = dot(array([1, 0, 0]), rotMatrixFromYPR(rotation)) #unit vector in forward direction of agent
self.right = dot(array([0, 1, 0]), rotMatrixFromYPR(rotation)) #unit vector in right direction of agent
self.up = cross(self.forward, self.right) #unit vector pointing upwards
self.maxMove = double(1.0) #max distance the agent can move in each frame
self.turnRate = turnRate
self.maxRot = array([turnRate, turnRate, turnRate]) #max YPR in degrees the agent can rotate in each frame
self.brain = brain
self.uid = id(self) #unique identifier
self.isStunned = False
self.lastStunned = float(-1) #Last time agent was stunned
self.stunDuration = float(-1) #Duration for which I am stunned
self.stunRange = 15
def __init__(self, team, position, rotation, brain, turnRate, maxMove, colRadius, drawRadius, maturity, death, kids):
self.position = position.astype(float) #numpy array [x, y ,z]
self.rotation = rotation.astype(float) #numpy array [yaw, pitch, roll] (in degrees)
self.colRadius = colRadius/float(2) #float size of collision sphere
self.drawRadius = drawRadius/float(2) #float size of sphere to be drawn
self.maxcolRadius = colRadius
self.maxdrawRadius = drawRadius
self.team = team #provide team 'A' or team 'B'
self.forward = dot(array([1, 0, 0]), rotMatrixFromYPR(rotation)) #unit vector in forward direction of agent
self.right = dot(array([0, 1, 0]), rotMatrixFromYPR(rotation)) #unit vector in right direction of agent
self.up = cross(self.forward, self.right) #unit vector pointing upwards
self.maxMove = float(maxMove)/1.5 #max distance the agent can move in each frame
self.turnRate = float(turnRate)/1.5
self.maxMaxMove = float(maxMove)
self.maxTurn = float(turnRate)
self.maxRot = array([turnRate, turnRate, turnRate]) #max YPR in degrees the agent can rotate in each frame
self.brain = brain
self.uid = id(self) #unique identifier
self.isStunned = False
self.lastStunned = float(-1) #Last time agent was stunned
self.stunDuration = float(-1) #Duration for which I am stunned
self.isDead = False
self.stunRange = float(colRadius)
self.killed = 0
self.alive = float(0)
self.maturity = maturity
self.death = death
self.reproduced = float(0)
self.drawTime = 12
self.kids = kids
def moveAgent(self, world):
myTeam, enemyTeam, balls, obstacles = self.buildEgoCentricRepresentationOfWorld(
world)
deltaPos, deltaRot, actions = self.brain.takeStep(
myTeam, enemyTeam, balls, obstacles)
#handle movements
if not self.isStunned:
#check if agent is within required area
if distBetween(self.position, array([0, 0, 0])) < self.maxDistance:
self.rotateAgent(deltaRot)
self.translateAgent(deltaPos)
#handle actions
if not self.isStunned:
for action in actions:
#handle stun action
if action.__class__.__name__ == 'Stun':
for agent in world.agents:
if agent.getUID() == action.agentUID:
if distBetween(self.position,
agent.position) < self.stunRange:
agent.stun(action.duration)
#handle kick action
if action.__class__.__name__ == 'Kick':
for ball in world.balls:
if ball.getUID() == action.ballUID:
if distBetween(self.position, ball.position) < 20:
globalDirection = dot(
action.direction,
rotMatrixFromYPR(self.rotation))
ball.kick(globalDirection, action.intensity)
#Unstun Self
if self.isStunned:
if not (self.lastStunned == -1 and self.stunDuration == -1):
if SimTime.time - self.lastStunned > float(self.stunDuration):
self.isStunned = False
self.lastStunned = -1
self.stunDuration = -1
def translateAgent(self, direction):
#clamp the direction by normalizing
if not self.isStunned:
globaldirection = dot(direction, rotMatrixFromYPR(self.rotation))
globaldirection = normalize(globaldirection) * self.maxMove
self.position = self.position + globaldirection
def translateAgent(self, direction):
#clamp the direction by normalizing
if not self.isStunned:
globaldirection = dot(direction, rotMatrixFromYPR(self.rotation))
globaldirection = normalize(globaldirection) * self.maxMove
self.position =self.position + globaldirection
