def fromPoints(cls, point1: Union[Vector2D, tuple], point2: Union[Vector2D,
tuple]):
"""Create a line from points with a limited domain.
Create a line from two vectors or tuples.
The domain will be limited to the two points including.
Args:
a: `Vector2D | tuple` Point A of the line
b: `Vector2D | tuple` Point B of the line
Returns:
`linline` A linear line with a limited domain.
"""
if (type(point1) == tuple):
point1 = Vector2D.fromTuple(point1)
if (type(point2) == tuple):
point2 = Vector2D.fromTuple(point2)
r = point2 - point1
n = r.toNormalVector()
a = round(n.x, 3)
b = round(n.y, 3)
c = n @ point1
limit = [point1.x, point2.x] if b != 0 else [point1.y, point2.y]
return cls(a, b, c, limit=limit)
def fromFullPoints(cls,
points: List[List[Vector2D]],
checkpoints: List[List[Vector2D]],
startingPoint=Vector2D(0, 0),
window=(1920, 1080),
monocar: bool = True) -> circuit:
lines = []
checkpoint = []
margin = Vector2D(50, 50)
allpoints = [item for sublist in points for item in sublist]
max_x = max([p.x for p in allpoints])
max_y = max([p.y for p in allpoints])
scale = min((window[0] - 2 * margin.x) / max_x,
(window[1] - 2 * margin.y) / max_y)
startPoint = startingPoint * scale + margin
#Create a list of lines from the points
for k, lane in enumerate(points):
lines.append([])
for i in range(len(lane)):
j = (i + 1) % len(lane)
lines[k].append(
linline.fromPoints(lane[i] * scale + margin,
lane[j] * scale + margin))
for line in checkpoints:
l = linline.fromPoints(line[0] * scale + margin,
line[1] * scale + margin)
l.color = (255, 215, 0)
checkpoint.append(l)
return cls(lines,
checkpoint,
startingPoint=startPoint,
monocar=monocar)
def reset(self):
self.currentCheckpoint = 0
self.forces = Vector2D(0, 0)
self.acceleration = Vector2D(0, 0)
self.dead = False
self.velocity = Vector2D(-1 * 10**-3, 0)
self.position = self.startPosition.copy()
def __init__(self, cars, circ, window, load=False, car_scale=1.48) -> None:
self.window = Vector2D.fromTuple(window)
self.circuit = circ
self.carX = self.circuit.startingPoint.x
self.carY = self.circuit.startingPoint.y
self.carList = [
Agent(self.carX, self.carY, window=self.window, scale=car_scale)
for _ in range(cars)
]
self.oldCarList = []
self.show = False
self.showA = True
self.carCount = cars
self.fitnessSum = 0
self.gen = 1
self.autoGen = 1
self.bestCar = 0
self.oldBestAgent = self.carList[self.bestCar]
self.bestCarPosition = Vector2D(0, 0)
self.oldBestCount = 0
self.maxStep = 1000
self.load = load
self.row = None
self.blindSpots = []
self.blindIndex = []
self.addBlindSpot()
def getEndPoints(self) -> Tuple[Vector2D]:
if self.b == 0:
pointA = Vector2D(self.calcX(self.limit[0]), self.limit[0])
pointB = Vector2D(self.calcX(self.limit[1]), self.limit[1])
else:
pointA = Vector2D(self.limit[0], self.calcY(self.limit[0]))
pointB = Vector2D(self.limit[1], self.calcY(self.limit[1]))
return (pointA, pointB)
def brake(self, forces):
if self.reverse2 == False and (self.velocity.x > 2
or self.velocity.x < -2):
forces += Vector2D(-150, 0)
elif self.reverse2 == True and (self.velocity.x > 2
or self.velocity.x < -2):
forces += Vector2D(150, 0)
else:
self.velocity.limit(0)
self.reverse2 = False
def __init__(self,
a: float,
b: float,
c: float,
limit=[-math.inf, math.inf],
color=(255, 255, 255)) -> None:
self.a = a
self.b = b
self.c = c
self.r = Vector2D(b, -a)
self.n = Vector2D(a, b)
self.limit = limit
self.color = color
def update(self, dt, key, key_handler):
forces = Vector2D(0, 0)
# self.intersection(lines)
if self.velocity.x != 0:
c = 100
sigmoid = lambda x: 1 / (1 + math.e**-(x - c))
sidewayForce = sigmoid(abs(self.velocity)) * 400
else:
sidewayForce = 0
if key_handler[key.UP]:
self.forward(forces)
if key_handler[key.DOWN]:
self.backward(forces)
if key_handler[key.LEFT]:
self.left(forces, sidewayForce)
if key_handler[key.RIGHT]:
self.right(forces, sidewayForce)
if key_handler[key.SPACE]:
self.brake(forces)
velocityPrevious = self.velocity.copy()
self.acceleration = forces.rotate(
self.carRotation.rotation()) / self.mass
self.acceleration.limit(100)
self.velocity += self.acceleration * dt
self.velocity.limit(200)
if self.velocity.x != 0:
self.carRotation = self.velocity.copy()
self.carRotation.normalize()
if self.reverse == True:
if (self.velocity.x < 0 and velocityPrevious.x >= 0) or (
self.velocity.x >= 0 and velocityPrevious.x < 0):
self.reverse2 = True
else:
if (self.velocity.x < 0 and velocityPrevious.x >= 0) or (
self.velocity.x >= 0 and velocityPrevious.x < 0):
self.reverse2 = False
if self.reverse2 == False:
self.position += self.carRotation * abs(self.velocity) * dt
self.rotation = self.carRotation.rotation()
else:
self.carRotation.rotate(180)
self.velocity.limit(100)
self.position += self.carRotation * -abs(self.velocity) * dt
self.rotation = self.carRotation.rotation()
self.middle = self.position + Vector2D(25, 15).rotate(self.rotation)
def __init__(self, window, goal, best=False) -> None:
self.pos = Vector2D(100, 100)
self.vel = Vector2D(0, 0)
self.acc = Vector2D(0, 0)
self.goal = goal
self.brain = Brain(1000)
self.fitness = 0
self.window = window
self.bestDot = best
self.dead = False
self.finished = False
def __init__(self, dots, window) -> None:
self.window = Vector2D.fromTuple(window)
self.goal = self.window
self.dotList = [
Dot(window=self.window, goal=(self.goal - Vector2D(10, 10)))
for _ in range(dots)
]
self.fitnessSum = 0
self.gen = 1
self.bestDot = 0
self.minStep = 1000
def __init__(self, x: int, y: int, scale: float = 1.48):
self.mass = 1
self.forces = Vector2D(0, 0)
self.carRotation = Vector2D(-1, 0)
self.acceleration = Vector2D(0, 0)
self.velocity = self.carRotation * 10**-3
self.startPosition = Vector2D(x, y)
self.position = Vector2D(x, y)
self.sprites = {
"alive": pyglet.resource.image('img/car.png'),
"best": pyglet.resource.image('img/carBest.png'),
"dead": pyglet.resource.image('img/carCrash.png')
}
for k, v in self.sprites.items():
sprite = v
sprite.anchor_x = v.width / 2
sprite.anchor_y = v.height / 2
self.sprites[k] = sprite
self.scale = scale
self.image_dimensions = (self.sprites['alive'].width * scale,
self.sprites['alive'].height * scale)
self.eyesList = [[0, 5000], [5000, 5000], [5000, 0], [5000, -5000],
[0, -5000], [-5000, 0]]
self.hitboxVectors = [
Vector2D(-self.image_dimensions[0] / 2,
-self.image_dimensions[1] / 2),
Vector2D(-self.image_dimensions[0] / 2,
self.image_dimensions[1] / 2),
Vector2D(self.image_dimensions[0] / 2,
self.image_dimensions[1] / 2),
Vector2D(self.image_dimensions[0] / 2,
-self.image_dimensions[1] / 2),
]
self.dead = False
self.middle = Vector2D(self.image_dimensions[0] // 2,
self.image_dimensions[1] // 2)
self.lines = []
self.currentCheckpoint = 0
#GA
self.bestCar = False
self.fitness = 0
self.currentLap = 0
def __init__(self, x: int, y: int):
self.position = Vector2D(x, y)
self.acceleration = Vector2D(0, 0)
self.velocity = Vector2D(0, 0)
self.mass = 1
self.rotation = 0
self.carRotation = Vector2D(0, 0)
self.reverse = False
self.reverse2 = False
self.eyesList = [[0, 200], [200, 200], [200, 0], [200, -200],
[0, -200], [-200, 0]]
self.hitboxVectors = [[3, 3], [35, 3], [35, 25], [3, 25]]
self.dead = False
self.lines = []
self.middle = Vector2D(0, 0)
def generateHitbox(self):
hitbox = []
hitboxVectors = [Vector2D(i[0], i[1]) for i in self.hitboxVectors]
previousPoint = self.position + Vector2D(5, 5)
lineColor = [(255, 0, 0), (0, 255, 0), (0, 0, 255), (0, 255, 255)]
for i in range(len(hitboxVectors)):
j = (i + 1) % len(hitboxVectors)
nextPoint = self.position + hitboxVectors[j].rotate(self.rotation)
l = linline.fromPoints(previousPoint, nextPoint)
l.color = lineColor[i]
hitbox.append(l)
previousPoint = nextPoint
return hitbox
def fromSkeletonPoints(cls,
points,
startingPoint=Vector2D(0, 0),
name=None):
vertices, checkpoints, newStartingPoint = cls.generate(
points, width=100, startingPoint=startingPoint)
return cls(vertices, checkpoints, newStartingPoint, circ_name=name)
def __init__(self,
vertices: List[List[linline]],
checkpoints: List[linline],
skeletonLines: List[linline] = None,
startingPoint=Vector2D(0, 0),
monocar: bool = True,
circ_name=None) -> None:
self.innerLines = vertices[0]
self.outerLines = vertices[1]
self.vertices = [item for sublist in vertices for item in sublist]
if checkpoints is None:
self.checkpoints = self.generateCheckpoints(10)
else:
self.checkpoints = checkpoints
self.checkpointNumber = len(self.checkpoints)
self.currentCheckpoint = 0
self.skeletonLines = skeletonLines
self.startingPoint = startingPoint
self.monocar = monocar
if circ_name is not None:
self.background = pyglet.image.load(f'{circ_name}-Circuit.png')
self.backgroundTopper = pyglet.image.load(
f'{circ_name}-Topper.png')
else:
self.background = pyglet.image.load(f'SigmaFalls-Topper.png')
self.backgroundTopper = pyglet.image.load(f'SigmaFalls-Topper.png')
def mutate(self):
mutationRate = 0.01 #Chance that vector gets changed
for i in range(len(self.instructions)):
rand = random.random()
if (rand < mutationRate):
self.instructions[i] = Vector2D.fromAngle(
random.random() * 2 *
math.pi) #Set direction to random angle
def generateLines(self):
lines = []
eyePoints = [Vector2D(i[0],i[1]) for i in self.eyesList]
for line in eyePoints:
secondPosition = self.middle + line.rotate(self.carRotation.rotation())
lines.append(linline.fromPoints(self.middle, secondPosition))
self.lines = lines
return lines
def __init__(self, cars, carX, carY, window) -> None:
self.window = Vector2D.fromTuple(window)
self.goal = self.window
self.carX = carX
self.carY = carY
self.carList = [
Agent(carX,
carY,
window=self.window,
goal=(self.goal - Vector2D(10, 10))) for _ in range(cars)
]
self.show = False
self.showA = True
self.fitnessSum = 0
self.gen = 1
self.bestCar = 0
self.minStep = 1000
def fromJSON(cls, filename, window=[1920, 1080], method="Skeleton"):
with open(filename, "r") as f:
circuitDict = json.load(f)
#Feature detection
hasSkeleton = 'skeleton' in circuitDict.keys()
hasCheckpoints = 'checkpoints' in circuitDict.keys()
#Assign startingPoint to local variable
startingPoint = Vector2D(circuitDict['startingPoint'][0],
circuitDict['startingPoint'][1])
#Convert lists of coordinates to Vector2D
skeleton = [Vector2D(i[0], i[1])
for i in circuitDict['skeleton']] if hasSkeleton else None
if hasSkeleton and method == "Skeleton":
return cls.fromSkeletonPoints(skeleton,
startingPoint=startingPoint,
name=circuitDict['name'])
else:
innerPoints = [Vector2D(i[0], i[1]) for i in circuitDict['inner']]
outerPoints = [Vector2D(i[0], i[1]) for i in circuitDict['outer']]
if hasCheckpoints and hasSkeleton:
checkpoints = [[
Vector2D(i[0][0], i[0][1]),
Vector2D(i[1][0], i[1][1])
] for i in circuitDict['checkpoints']]
return cls.fromFullPoints([innerPoints, outerPoints],
checkpoints=checkpoints,
skeletonPoints=skeleton,
startingPoint=startingPoint,
window=window,
name=circuitDict['name'])
if hasCheckpoints:
checkpoints = [[
Vector2D(i[0][0], i[0][1]),
Vector2D(i[1][0], i[1][1])
] for i in circuitDict['checkpoints']]
return cls.fromFullPoints([innerPoints, outerPoints],
checkpoints=checkpoints,
startingPoint=startingPoint,
window=window,
name=circuitDict['name'])
else:
return cls.fromFullPoints([innerPoints, outerPoints],
startingPoint=startingPoint,
skeletonPoints=skeleton,
window=window,
name=circuitDict['name'])
def update(self, dt, key, key_handler):
self.forces = Vector2D(0, 0)
if key_handler[key.UP]:
self.forward()
if key_handler[key.DOWN]:
self.backward()
if key_handler[key.LEFT]:
self.left()
if key_handler[key.RIGHT]:
self.right()
self._calculatePhysics(dt)
def fromPoints(cls, a: Union[Vector2D, tuple], b: Union[Vector2D,
tuple]) -> linline:
"""Create a line from points with a limited domain.
Create a line from two vectors or tuples.
The domain will be limited to the two points including.
Args:
a: `Vector2D | tuple` Point A of the line
b: `Vector2D | tuple` Point B of the line
Returns:
`linline` A linear line with a limited domain.
"""
if (type(a) == tuple):
a = Vector2D.fromTuple(a)
if (type(b) == tuple):
b = Vector2D.fromTuple(b)
if (not a.y == b.y) and (not a.x == b.x):
rc = (b.y - a.y) / (b.x - a.x)
p = a.y - rc * a.x
elif (a.y == b.y):
rc = 0
p = a.y
else:
rc = 1e10
p = -a.x * 1e10
limit = [a.x, b.x]
line = cls(rc, p, sorted(limit))
line.vertical = [a.y, b.y]
return line
limit = [a.x, b.x]
return cls(rc, p, sorted(limit))
def __init__(self,
vertices: List[List[linline]],
checkpoints: List[linline],
startingPoint=Vector2D(0, 0),
monocar: bool = True) -> None:
self.innerLines = vertices[0]
self.outerLines = vertices[1]
self.vertices = [item for sublist in vertices for item in sublist]
self.checkpoints = checkpoints
self.currentCheckpoint = 0
self.startingPoint = startingPoint
self.monocar = monocar
self.background = pyglet.image.load('sigmaFalls.png')
def updateWithInstruction(self, dt, instruction):
self.forces = Vector2D(0,0)
if(instruction == 0):
self.forward()
elif(instruction == 1):
self.backward()
elif(instruction == 2):
self.left()
elif(instruction == 3):
self.right()
elif None:
pass
else:
print("Notice: UpdateWithInstruction() can only handle ints from 0 to 3")
self._calculatePhysics(dt)
def appendToCheckpoint(lengthUntilNextCheckpoint, checkpoints, line,
currentLengthOfLine,
ratioOfLengthToNextCheckpoint):
beginOfCurrentLine, _ = line.getEndPoints()
newCheckpoint = beginOfCurrentLine + line.r.normalize(
in_place=False) * ratioOfLengthToNextCheckpoint
checkpoints[0].append(newCheckpoint)
perpindicular = linline.fromVector(line.n, newCheckpoint)
distance = math.inf
secondNewCheckpoint = Vector2D(0, 0)
for outerLine in self.innerLines:
intersection = perpindicular.intersect(outerLine)
if intersection is not None:
if abs(newCheckpoint - intersection) < distance:
distance = abs(newCheckpoint - intersection)
secondNewCheckpoint = intersection
checkpoints[1].append(secondNewCheckpoint)
def _calculatePhysics(self, dt):
#Calculate acceleration based on forces and limit it to 100 pixels per second per second
self.acceleration = self.forces.rotate(self.carRotation.rotation()) / self.mass
self.acceleration.limit(200)
#Calculate velocity based on accelation and limit it to 200 pixels per second
self.velocity += self.acceleration * dt
self.velocity.limit(200)
#Determine if we are driving backwards or forwards
backwards = (self.velocity @ self.carRotation < 0)
self.position += self.velocity * dt
if not backwards:
self.carRotation = self.velocity.copy()
else:
self.carRotation = -self.velocity.copy()
self.middle = self.position + Vector2D.fromTuple(self.image_dimensions).rotate(self.carRotation.rotation()) * self.scale * 0.5
def intersect(self, other: linline) -> Vector2D:
"""Calculate the point on which the two lines intersect
The two lines intersect on one point. Intersect() calculates
that point and give back a vector.
Args:
other: a linline; the line that intersects
Returns:\n
`Vector2D` A vector if a match is found \n
`None` None if no match is found
"""
if (self.rc - other.rc) != 0:
new_x = (other.b - self.b) / (self.rc - other.rc)
if self.limit[0] <= new_x <= self.limit[1] and other.limit[
0] <= new_x <= other.limit[1]:
return Vector2D(new_x, self.calc(new_x))
else:
return None
else:
return None
def right(self):
self.forces += Vector2D(0, -self._getTurnForce())
def fromVector(cls, direction, location=Vector2D(0, 0)):
rc = direction.y / direction.x
b = direction.x * location.y - direction.y * location.x
return cls(rc, b)
from classes.geneticAlgoritmNN.world import World
from classes.circuit import circuit
from classes.Vector import Vector2D
### MAIN LOOP
window = pyglet.window.Window(resizable=True, fullscreen=True)
inner_points = [[18, 3], [8, 3], [5, 4], [3, 6], [2, 9], [2, 12], [3, 14],
[4, 14], [6, 12], [7, 8], [8, 7], [12, 6], [16, 6], [19, 9],
[20, 11], [16, 13], [13, 12], [12, 14], [13, 15], [17, 16],
[20, 15], [22, 13], [23, 8], [21, 5]]
outer_points = [[18, 0], [8, 0], [2, 3], [0, 9], [0, 14], [2, 16], [5, 16],
[8, 12], [9, 9], [12, 8], [15, 8], [17, 10], [16, 11],
[12, 10], [11, 11], [10, 13], [10, 15], [12, 17], [17, 17],
[20, 16], [23, 14], [25, 8], [23, 4]]
inner = [Vector2D(i[0], i[1]) for i in inner_points]
outer = [Vector2D(i[0], i[1]) for i in outer_points]
#checkpoints = [[[10,-1],[10,4]],[[4,1],[6,4]],[[0,6],[3,7]],[[-1,13],[3,12]],[[3.5,13.5],[3.5,16.5]],[[4,13],[7,15]],[[6,9],[10,11]],[[11,5],[12,9]],[[15,10],[18,7]],[[15,10],[14,13]],[[9,14],[13,13]],[[15,17],[16,15]],[[21,12],[24,15]],[[22,8],[25,6]],[[19,5],[20,1]],[[15,-1],[15,4]]]
checkpoints = [[[10, -1], [10, 4]], [[4, 1], [6, 4]], [[13, 5], [13, 9]],
[[15, -1], [15, 4]]]
circuit_checkpoints = []
for i, checkpoint in enumerate(checkpoints):
circuit_checkpoints.append([])
for point in checkpoint:
circuit_checkpoints[i].append(Vector2D(point[0], point[1]))
circ = circuit.fromFullPoints([inner, outer],
circuit_checkpoints,
Vector2D(12, 1),
window=window.get_size(),
from pyglet import clock
### MAIN LOOP
window = pyglet.window.Window(resizable=True, fullscreen=True)
checkpoints = [[[10, -1], [10, 4]], [[4, 1], [6, 4]], [[13, 5], [13, 9]],
[[15, -1], [15, 4]]]
blindSpots = [[490, 80], [220, 210], [75, 545], [100, 850], [245, 930],
[375, 850], [465, 730], [485, 485], [715, 410], [925, 415],
[1130, 645], [945, 750], [720, 645], [635, 860], [735, 975],
[1000, 985], [1180, 935], [1330, 820], [1425, 500], [1300, 280],
[1070, 90]]
indexSpot = [
1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 0
]
blindSpotPoints = [Vector2D(i[0], i[1]) for i in blindSpots]
circuit_checkpoints = []
for i, checkpoint in enumerate(checkpoints):
circuit_checkpoints.append([])
for point in checkpoint:
circuit_checkpoints[i].append(Vector2D(point[0], point[1]))
dir_path = os.path.dirname(os.path.realpath(__file__))
path = dir_path + '/' + 'circuits/BONK_CIRCUIT_GACHECKPOINTS.json'
circ = circuit.fromJSON(path,
window=window.get_size(),
method="fromFullPoints")
world = World(50,
circ.startingPoint.x,
circ.startingPoint.y,