def update(self):
self.generative_model.process()
self.rect.x += GoLPeepo.SPEED * math.cos(math.radians(self.rotation))
self.rect.y += GoLPeepo.SPEED * math.sin(math.radians(self.rotation))
if self.motor[LEFT]:
self.rotation -= 10
if self.rotation < 0:
self.rotation = 360
if self.motor[RIGHT]:
self.rotation += 10
if self.rotation > 360:
self.rotation = 0
self.calculate_obstacles()
if self.graphical:
self.image = pg.transform.rotate(self.image_original,
-self.rotation)
self.rect = self.image.get_rect(center=self.rect.center)
self.edge_right = end_line(GoLPeepo.RADIUS, self.rotation + 30,
self.rect.center)
self.edge_left = end_line(GoLPeepo.RADIUS, self.rotation - 30,
self.rect.center)
if self.rect.x < 0 or self.rect.y < 0 or self.rect.x > 800 or self.rect.y > 800:
self.rect.x, self.rect.y = 400, 400
def __init__(self,
name,
network,
graphical,
pos=(0, 0),
ennemies=None,
food=None):
self.graphical = graphical
self.name = name
self.network = network
self.rect = pg.Rect(pos, Peepo.SIZE)
self.rect.center = pos
self.rotation = 0
self.edge_right = end_line(Peepo.RADIUS, self.rotation + 30,
self.rect.center)
self.edge_left = end_line(Peepo.RADIUS, self.rotation - 30,
self.rect.center)
self.edge_middle = end_line(Peepo.RADIUS, self.rotation,
self.rect.center)
if self.graphical:
self.image = self.make_image()
self.image_original = self.image.copy()
self.stomach = 0
self.bang = 0
self.ennemies = ennemies or []
self.food = food or []
self.obstacles = []
self.assemble_obstacles()
self.motor = {LEFT: False, RIGHT: False}
self.view = {
'1': False,
'2': False,
'3': False,
'4': False,
}
self.is_an_enemy = False
self.is_food = False
self.generative_model = GenerativeModel(network,
SensoryInputPeepo(self),
n_jobs=1)
def calculate_obstacles(self):
self.view = {x: False for x in self.view}
self.is_an_enemy = False
self.is_food = False
observations = self.obstacles
for obstacle in observations:
if self.rect.colliderect(obstacle[0].rect):
if obstacle[1] == 0:
self.stomach += 1
self.obstacles.remove(obstacle)
else:
self.bang += 1
# self.obstacles.remove(obstacle)
peepo_vec = pg.math.Vector2(self.rect.center)
if collision(obstacle[0].rect, peepo_vec, self.edge_left,
self.edge_right, GoLPeepo.RADIUS):
edge1 = end_line(GoLPeepo.RADIUS, self.rotation - 30,
self.rect.center)
edge2 = end_line(GoLPeepo.RADIUS, self.rotation - 20,
self.rect.center)
edge3 = end_line(GoLPeepo.RADIUS, self.rotation - 10,
self.rect.center)
edge4 = end_line(GoLPeepo.RADIUS, self.rotation,
self.rect.center)
edge5 = end_line(GoLPeepo.RADIUS, self.rotation + 10,
self.rect.center)
edge6 = end_line(GoLPeepo.RADIUS, self.rotation + 20,
self.rect.center)
edge7 = end_line(GoLPeepo.RADIUS, self.rotation + 30,
self.rect.center)
self.view['1'] = collision(obstacle[0].rect, peepo_vec, edge1,
edge2, GoLPeepo.RADIUS)
self.view['2'] = collision(obstacle[0].rect, peepo_vec, edge2,
edge3, GoLPeepo.RADIUS)
self.view['3'] = collision(obstacle[0].rect, peepo_vec, edge3,
edge4, GoLPeepo.RADIUS)
self.view['4'] = collision(obstacle[0].rect, peepo_vec, edge4,
edge5, GoLPeepo.RADIUS)
self.view['5'] = collision(obstacle[0].rect, peepo_vec, edge5,
edge6, GoLPeepo.RADIUS)
self.view['6'] = collision(obstacle[0].rect, peepo_vec, edge6,
edge7, GoLPeepo.RADIUS)
if obstacle[1] == 1:
self.is_an_enemy = True
if obstacle[1] == 0:
self.is_food = True
self.food = []
[self.food.append(x[0]) for x in self.obstacles if x[1] == 0]
def calculate_obstacles(self):
self.view = {x: False for x in self.view}
self.is_an_enemy = False
self.is_food = False
for obstacle in self.obstacles:
if self.rect.colliderect(obstacle[0].rect):
if obstacle[1] == 0:
self.stomach += 1
self.obstacles.remove(obstacle)
else:
self.bang += 1
self.obstacles.remove(obstacle)
self.food = []
[self.food.append(x[0]) for x in self.obstacles if x[1] == 0]
self.ennemies = []
[self.ennemies.append(x[0]) for x in self.obstacles if x[1] == 1]
self.assemble_obstacles()
observations = []
for obstacle in self.obstacles:
distance = math.sqrt(
(obstacle[0].rect.center[0] - self.rect.center[0])**2 +
(obstacle[0].rect.center[1] - self.rect.center[1])**2)
if distance <= Peepo.RADIUS:
observations.append(obstacle)
edge1 = end_line(Peepo.RADIUS, self.rotation - 30, self.rect.center)
edge2 = end_line(Peepo.RADIUS, self.rotation - 15, self.rect.center)
edge3 = end_line(Peepo.RADIUS, self.rotation, self.rect.center)
edge4 = end_line(Peepo.RADIUS, self.rotation + 15, self.rect.center)
edge5 = end_line(Peepo.RADIUS, self.rotation + 30, self.rect.center)
sectors = [[edge1, edge2], [edge2, edge3], [edge3, edge4],
[edge4, edge5]]
peepo_vec = pg.math.Vector2(self.rect.center)
relevant_sector = ["0", self.rect.center, Peepo.RADIUS]
closest_distance = 10000.
for index, sector in enumerate(sectors):
lower_edge = sector[0]
upper_edge = sector[1]
for obstacle in observations:
is_collision = collision(obstacle[0].rect, peepo_vec,
lower_edge, upper_edge, Peepo.RADIUS)
if is_collision:
distance = math.sqrt(
(obstacle[0].rect.center[0] - peepo_vec[0])**2 +
(obstacle[0].rect.center[1] - peepo_vec[1])**2)
if distance <= closest_distance:
closest_distance = distance
relevant_sector[0] = str(index + 1)
relevant_sector[1] = obstacle[0].rect.center
relevant_sector[2] = closest_distance
if obstacle[1] == 1:
self.is_an_enemy = True
self.is_food = False
if obstacle[1] == 0:
self.is_food = True
self.is_an_enemy = False
self.view = {x: False for x in self.view}
self.view[relevant_sector[0]] = True
sight_angle = 0
only_true = relevant_sector[0]
if only_true == '0':
sight_angle = self.rotation
if only_true == '1':
sight_angle = self.rotation - 22.5
if only_true == '2':
sight_angle = self.rotation - 7.5
if only_true == '3':
sight_angle = self.rotation + 7.5
if only_true == '4':
sight_angle = self.rotation + 22.5
self.edge_middle = end_line(relevant_sector[2] / 20, sight_angle,
relevant_sector[1])