def _createJoints(self):
"""Internal method to create joints.
"""
front_wheel_joint = wheelJointDef(
bodyA=self.chassis,
bodyB=self.front_wheel,
localAnchorA=(1.096710562705994, -0.4867535233497620),
localAnchorB=(-0.001052246429026127, 0.0007888938998803496),
localAxisA=(-0.4521348178386688, 0.8919496536254883),
frequencyHz=10.0,
enableMotor=True,
maxMotorTorque=20.0,
dampingRatio=0.8)
swingarm_revolute = revoluteJointDef(
bodyA=self.chassis,
bodyB=self.swingArm,
localAnchorA=(-0.1697492003440857, -0.2360641807317734),
localAnchorB=(0.3914504945278168, 0.1011910215020180),
enableMotor=False,
enableLimit=True,
maxMotorTorque=9999999999.0,
motorSpeed=0,
lowerAngle=0.1,
upperAngle=0.45)
# distancejoint4
swingarm_distance = distanceJointDef(
bodyA=self.chassis,
bodyB=self.swingArm,
localAnchorA=(-0.8274764418601990, 0.3798926770687103),
localAnchorB=(-0.2273961603641510, -0.04680897668004036),
length=0.8700000047683716,
frequencyHz=8.0,
dampingRatio=0.8999999761581421)
# drivejoint
swingarm_drive = revoluteJointDef(
bodyA=self.swingArm,
bodyB=self.rear_wheel,
localAnchorA=(-0.3686238229274750, -0.07278718799352646),
localAnchorB=(0, 0),
enableMotor=False,
enableLimit=False,
maxMotorTorque=8.0,
motorSpeed=0,
lowerAngle=0,
upperAngle=0,
)
self.front_wheel_joint = self.world.CreateJoint(front_wheel_joint)
self.swingarm_revolute = self.world.CreateJoint(swingarm_revolute)
self.swingarm_distance = self.world.CreateJoint(swingarm_distance)
self.swingarm_drive = self.world.CreateJoint(swingarm_drive)
def reset(self):
self._destroy()
self.world.contactListener_keepref = ContactDetector(self)
self.world.contactListener = self.world.contactListener_keepref
self.game_over = False
self.prev_shaping = None
self.throttle = 0
self.gimbal = 0.0
self.landed_ticks = 0
self.stepnumber = 0
self.smoke = []
# self.terrainheigth = self.np_random.uniform(H / 20, H / 10)
self.terrainheigth = H / 20
self.shipheight = self.terrainheigth + SHIP_HEIGHT
# ship_pos = self.np_random.uniform(0, SHIP_WIDTH / SCALE) + SHIP_WIDTH / SCALE
ship_pos = W / 2
self.helipad_x1 = ship_pos - SHIP_WIDTH / 2
self.helipad_x2 = self.helipad_x1 + SHIP_WIDTH
self.helipad_y = self.terrainheigth + SHIP_HEIGHT
self.water = self.world.CreateStaticBody(
fixtures=fixtureDef(shape=polygonShape(
vertices=((0, 0), (W, 0), (W, self.terrainheigth),
(0, self.terrainheigth))),
friction=0.1,
restitution=0.0))
self.water.color1 = rgb(70, 96, 176)
self.ship = self.world.CreateStaticBody(
fixtures=fixtureDef(shape=polygonShape(
vertices=((self.helipad_x1, self.terrainheigth),
(self.helipad_x2, self.terrainheigth),
(self.helipad_x2, self.terrainheigth + SHIP_HEIGHT),
(self.helipad_x1,
self.terrainheigth + SHIP_HEIGHT))),
friction=0.5,
restitution=0.0))
self.containers = []
for side in [-1, 1]:
self.containers.append(
self.world.CreateStaticBody(
fixtures=fixtureDef(shape=polygonShape(
vertices=((ship_pos + side * 0.95 * SHIP_WIDTH / 2,
self.helipad_y),
(ship_pos + side * 0.95 * SHIP_WIDTH / 2,
self.helipad_y + SHIP_HEIGHT),
(ship_pos + side * 0.95 * SHIP_WIDTH / 2 -
side * SHIP_HEIGHT,
self.helipad_y + SHIP_HEIGHT),
(ship_pos + side * 0.95 * SHIP_WIDTH / 2 -
side * SHIP_HEIGHT, self.helipad_y))),
friction=0.2,
restitution=0.0)))
self.containers[-1].color1 = rgb(206, 206, 2)
self.ship.color1 = (0.2, 0.2, 0.2)
initial_x = W / 2 + W * np.random.uniform(-0.3, 0.3)
initial_y = H * 0.95
self.lander = self.world.CreateDynamicBody(
position=(initial_x, initial_y),
angle=0.0,
fixtures=fixtureDef(shape=polygonShape(
vertices=((-ROCKET_WIDTH / 2, 0), (+ROCKET_WIDTH / 2, 0),
(ROCKET_WIDTH / 2, +ROCKET_HEIGHT),
(-ROCKET_WIDTH / 2, +ROCKET_HEIGHT))),
density=1.0,
friction=0.5,
categoryBits=0x0010,
maskBits=0x001,
restitution=0.0))
self.lander.color1 = rgb(230, 230, 230)
for i in [-1, +1]:
leg = self.world.CreateDynamicBody(
position=(initial_x - i * LEG_AWAY,
initial_y + ROCKET_WIDTH * 0.2),
angle=(i * BASE_ANGLE),
fixtures=fixtureDef(shape=polygonShape(
vertices=((0, 0), (0, LEG_LENGTH / 25),
(i * LEG_LENGTH, 0), (i * LEG_LENGTH,
-LEG_LENGTH / 20),
(i * LEG_LENGTH / 3, -LEG_LENGTH / 7))),
density=1,
restitution=0.0,
friction=0.2,
categoryBits=0x0020,
maskBits=0x001))
leg.ground_contact = False
leg.color1 = (0.25, 0.25, 0.25)
rjd = revoluteJointDef(bodyA=self.lander,
bodyB=leg,
localAnchorA=(i * LEG_AWAY,
ROCKET_WIDTH * 0.2),
localAnchorB=(0, 0),
enableLimit=True,
maxMotorTorque=2500.0,
motorSpeed=-0.05 * i,
enableMotor=True)
djd = distanceJointDef(bodyA=self.lander,
bodyB=leg,
anchorA=(i * LEG_AWAY, ROCKET_HEIGHT / 8),
anchorB=leg.fixtures[0].body.transform *
(i * LEG_LENGTH, 0),
collideConnected=False,
frequencyHz=0.01,
dampingRatio=0.9)
if i == 1:
rjd.lowerAngle = -SPRING_ANGLE
rjd.upperAngle = 0
else:
rjd.lowerAngle = 0
rjd.upperAngle = +SPRING_ANGLE
leg.joint = self.world.CreateJoint(rjd)
leg.joint2 = self.world.CreateJoint(djd)
self.legs.append(leg)
self.lander.linearVelocity = (
-self.np_random.uniform(0, INITIAL_RANDOM) * START_SPEED *
(initial_x - W / 2) / W, -START_SPEED)
self.lander.angularVelocity = (1 + INITIAL_RANDOM) * np.random.uniform(
-1, 1)
self.drawlist = self.legs + [self.water] + [
self.ship
] + self.containers + [self.lander]
if CONTINUOUS:
return self.step([0, 0, 0])[0]
else:
return self.step(6)[0]
def reset(self):
self._destroy()
self.world.contactListener_bug_workaround = ContactDetector(self)
self.world.contactListener = self.world.contactListener_bug_workaround
self.game_over = False
self.prev_shaping = None
self.scroll = 0.0
self.lidar_render = 0
W = VIEWPORT_W/SCALE
H = VIEWPORT_H/SCALE
self._generate_terrain(self.hardcore)
self._generate_clouds()
init_x = TERRAIN_STEP*TERRAIN_STARTPAD/2
init_y = TERRAIN_HEIGHT+2*LEG_H
'''
self.hull = self.world.CreateDynamicBody(
position = (init_x, init_y),
fixtures = HULL_FD
)
self.hull.ground_contact = False
self.hull.color1 = (0.5,0.4,0.9)
self.hull.color2 = (0.3,0.3,0.5)
self.hull.ApplyForceToCenter((self.np_random.uniform(-INITIAL_RANDOM, INITIAL_RANDOM), 0), True)
self.hull.connected_body = [1, 3]
self.hull.connected_joints = [0, 2]
#'''
center = (init_x, init_y)
radius = 0.5
circle_radius = 0.25
shape_num = 14
angularDamping = 0.5
linearDamping = 0.5
friction = 0.5
density = 5.0
def get_pos(angle):
return (np.cos(angle * np.pi / 180.0) * radius + center[0],
np.sin(angle * np.pi / 180.0) * radius + center[1])
circle = circleShape(radius=circle_radius)
fixture = fixtureDef(shape=circle, friction=friction, density=density,
restitution=0.0)
self.bodies = [
self.world.CreateDynamicBody(position=get_pos(i), fixtures=fixture) for i in range(0, 360, int(360 / shape_num))]
self.joints = []
self.motors = []
prev_body = self.bodies[-1]
for i, body in enumerate(self.bodies):
if i % 2 == 0:
joint = self.world.CreateJoint(distanceJointDef(
bodyA=prev_body,
bodyB=body,
anchorA=prev_body.position,
anchorB=body.position,
dampingRatio=10.0,
frequencyHz=5.0,
))
self.joints.append(joint)
else:
joint = self.world.CreateJoint(revoluteJointDef(
bodyA=prev_body,
bodyB=body,
#anchorA=prev_body.position,
#anchorB=body.position,
localAnchorA=(body.position-prev_body.position)/2.,
localAnchorB=(prev_body.position-body.position)/2.,
enableMotor=True,
enableLimit=False,
maxMotorTorque=MOTORS_TORQUE,
motorSpeed = 1.,
))
self.motors.append(joint)
self.joints.append(joint)
body.color1 = (120/255.,140/255.,175/255.)
body.color2 = (61/255., 72/255., 90/255.)
prev_body = body
self.hull = self.bodies[0]
self.drawlist = self.terrain + self.bodies
class LidarCallback(Box2D.b2.rayCastCallback):
def ReportFixture(self, fixture, point, normal, fraction):
if (fixture.filterData.categoryBits & 1) == 0:
return 1
self.p2 = point
self.fraction = fraction
return 0
self.lidar = [LidarCallback() for _ in range(10)]
ob, _, _, info = self.step(np.zeros(self.action_space.shape))
return ob, info