def getSendData(turn,thrust,shoot):
#make all the feelers/get current sichuation data
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
trackHeadRelative = (tracking-heading)/360
trackWall = ai.wallFeeler(500, tracking)
trackL3 = ai.wallFeeler(500, tracking + 3)
trackL10 = ai.wallFeeler(500, tracking + 10)
trackR3 = ai.wallFeeler(500, tracking - 3)
trackR10 = ai.wallFeeler(500, tracking - 10)
frontWall = ai.wallFeeler(500, heading)
frontL = ai.wallFeeler(500, heading + 10)
frontR = ai.wallFeeler(500, heading - 10)
leftWall = ai.wallFeeler(500, heading+90)
rightWall = ai.wallFeeler(500,heading-90)
backWall = ai.wallFeeler(500, heading - 180)
backL = ai.wallFeeler(500, heading - 185)
backR = ai.wallFeeler(500, heading - 175)
speed = ai.selfSpeed()/10
#get position to enemy
enemyX = ai.screenEnemyX(0)
enemyY = ai.screenEnemyY(0)
selfX = ai.selfX()
selfY = ai.selfY()
enemyDegrees = (heading - (math.degrees(math.atan2(enemyY-selfY,enemyX-selfX))+360)%360)/360
#enemyDegrees = heading - math.degrees(math.atan2(enemyY-selfY,enemyX-selfX))-360
enemySpeed = ai.enemySpeed(0)/10
enemyMoveDirection = ai.enemyTrackingDeg(0)
distanceToEnemy = 1 - math.sqrt((selfX-enemyX)**2 + (selfY-enemyY)**2)/500
relativeTracking = (tracking-180)/360-(enemyMoveDirection-180)/360
#get shots at us
data = [heading/360,tracking/360,trackHeadRelative,speed]
for i in [trackWall,trackL3,trackL10,trackR3,trackR10,frontWall,frontL,frontR,leftWall,rightWall,backWall,backL,backR]:
if i == -1:
data.append(0)
else:
data.append(1 - i/500)
for j in [enemySpeed,enemyDegrees,relativeTracking,distanceToEnemy]:
if not math.isnan(j):
if enemyX == -1:
data.append(0)
else:
data.append(j)
else:
data.append(0)
for k in [turn,thrust,shoot]:
data.append(k)
#print("distToEnemy",data[20]*500,"relTrack",data[19]*360)
return data
def updateInputs(self):
#The code in config is inserted into the updateInputs function so you can pull any data you want using ai.(some xpilot-ai function) and adding it with self.addInput("Some Float")
#You can technically also add outputs with self.addOutput if you want your neural network to predict or control something beyond normal but this might not work nicely with the autogenerated controller
#The trainer checks the size of both the input and output datasets and will build a network to accomodate these sizes automatically
#Until the next comment is code for pulling relevant data from the game
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
backWall = ai.wallFeeler(500, heading - 180)
backLeftWall = ai.wallFeeler(500, heading - 190)
backRightWall = ai.wallFeeler(500, heading - 170)
frontWall = ai.wallFeeler(500,heading)
flWall = ai.wallFeeler(500, heading + 10)
frWall = ai.wallFeeler(500, heading - 10)
leftWall = ai.wallFeeler(500,heading+90)
llWall = ai.wallFeeler(500, heading + 100)
rlWall = ai.wallFeeler(500, heading + 80)
rightWall = ai.wallFeeler(500,heading-90)
lrWall = ai.wallFeeler(500, heading - 80)
rrWall = ai.wallFeeler(500, heading - 100)
calcDir = -1
targetX, targetY = ai.screenEnemyX(0), ai.screenEnemyY(0)
if targetX- ai.selfX() != 0:
calcDir = (math.degrees(math.atan2((targetY - ai.selfY()), (targetX- ai.selfX()))) + 360)%360
speed = ai.selfSpeed()
fFan = min(frontWall, flWall, frWall)
lFan = min(leftWall, llWall, rlWall)
rFan = min(rightWall, rrWall, lrWall)
bFan = min(backWall, backLeftWall, backRightWall)
trackWall = ai.wallFeeler(500, tracking)
#Everything below here is just selecting inputs for training - play around by commenting and uncommenting different inputs, or try adding your own!
self.addInput(frontWall)
self.addInput(leftWall)
self.addInput(rightWall)
self.addInput(backWall)
self.addInput(trackWall)
self.addInput(backLeftWall)
self.addInput(backRightWall)
#self.addInput(fFan)
#self.addInput(rFan)
#self.addInput(lFan)
#self.addInput(bFan)
#self.addInput(tracking)
self.addInput(heading)
self.addInput(calcDir)
self.addInput(speed)
def getSendDataV1():
#make all the feelers/get current sichuation data
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
trackWall = ai.wallFeeler(500, tracking)
trackL3 = ai.wallFeeler(500, tracking + 3)
trackL10 = ai.wallFeeler(500, tracking + 10)
trackR3 = ai.wallFeeler(500, tracking - 3)
trackR10 = ai.wallFeeler(500, tracking - 10)
frontWall = ai.wallFeeler(500, heading)
frontL = ai.wallFeeler(500, heading + 10)
frontR = ai.wallFeeler(500, heading - 10)
leftWall = ai.wallFeeler(500, heading + 90)
rightWall = ai.wallFeeler(500, heading - 90)
backWall = ai.wallFeeler(500, heading - 180)
backL = ai.wallFeeler(500, heading - 185)
backR = ai.wallFeeler(500, heading - 175)
speed = ai.selfSpeed()
#get position to enemy
enemyX = ai.screenEnemyX(0)
enemyY = ai.screenEnemyY(0)
selfX = ai.selfX()
selfY = ai.selfY()
enemyDegrees = (math.degrees(math.atan2(enemyY - selfY, enemyX - selfX)) +
360) % 360
enemySpeed = ai.enemySpeed(0)
enemyMoveDirection = ai.enemyTrackingDeg(0)
#get shots at us
data = [heading / 360, tracking / 360]
for i in [
trackWall, trackL3, trackL10, trackR3, trackR10, frontWall, frontL,
frontR, leftWall, rightWall, backWall, backL, backR
]:
if i == -1:
data.append(1)
else:
data.append(i / 500)
for j in [speed, enemyDegrees / 360, enemySpeed, enemyMoveDirection / 360]:
if not math.isnan(j):
data.append(j)
else:
data.append(1)
return data
def dummyLoop():
global maxSpeed, shotAngle, wallClose, dead, previousScore
global turnedLeft, turnedRight, thrusted, shot
#Release keys
DataMinerBD.tthrustDummy(0)
DataMinerBD.tturnLeftDummy(0)
DataMinerBD.tturnRightDummy(0)
ai.setTurnSpeed(45)
#Set variables"""
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
trackWall = ai.wallFeeler(500, tracking)
trackLWall = ai.wallFeeler(500, tracking + 3)
trackRWall = ai.wallFeeler(500, tracking - 3)
frontWall = ai.wallFeeler(500, heading)
flWall = ai.wallFeeler(500, heading + 10)
frWall = ai.wallFeeler(500, heading - 10)
leftWall = ai.wallFeeler(500, heading + 90)
llWall = ai.wallFeeler(500, heading + 100)
rlWall = ai.wallFeeler(500, heading + 80)
rightWall = ai.wallFeeler(500, heading - 90)
lrWall = ai.wallFeeler(500, heading - 80)
rrWall = ai.wallFeeler(500, heading - 100)
trackWall = ai.wallFeeler(500, tracking)
backWall = ai.wallFeeler(500, heading - 180)
backLeftWall = ai.wallFeeler(500, heading - 190)
backRightWall = ai.wallFeeler(500, heading - 170)
speed = ai.selfSpeed()
closest = min(frontWall, leftWall, rightWall, backWall, flWall,
frWall)
def closestWall(x): #Find the closest Wall
return {
frontWall: 1,
leftWall: 2,
rightWall: 3,
backWall: 4,
flWall: 5,
frWall: 6,
}[x]
wallNum = closestWall(closest)
#Code for finding the angle to the closest ship
targetX, targetY = ai.screenEnemyX(0), ai.screenEnemyY(0)
#baseString = "["+str(flWall/500)+","+str(frontWall/500)+","+str(frWall/500) + "," + str(backLeftWall/500) + "," + str(backWall/500) + "," + str(backRightWall/500) + ","+str(leftWall/500)+","+str(rightWall/500)+","+str(trackLWall/500) + "," + str(trackWall/500) + ","+str(trackRWall/500) + "," + str(speed/10)
calcDir = -1
if targetX - ai.selfX() != 0:
calcDir = (math.degrees(
math.atan2((targetY - ai.selfY()),
(targetX - ai.selfX()))) + 360) % 360
crashWall = min(
trackWall, trackLWall, trackRWall
) #The wall we are likely to crash into if we continue on our current course
#Rules for turning
if crashWall > wallClose * speed and closest > 25 and targetX != -1: #If we are far enough away from a predicted crash and no closer than 25 pixels to a wall we can try and aim and kill them
diff = (calcDir - heading)
#if ai.shotAlert(0) > -1 and ai.shotAlert(0) < 35: #If we are about to get shot
# tturnRight(1) #Screw aiming and turn right and thrust
# tthrust(1) #This is arguably a horrible strategy because our sideways profile is much larger, but it's required for the grade
if diff >= 0:
if diff >= 180:
DataMinerBD.tturnRightDummy(
1) #If the target is to our right- turn right
else:
DataMinerBD.tturnLeftDummy(
1) #If the target is to our left - turn left
else:
if diff > -180:
DataMinerBD.tturnRightDummy(
1) #If the target is to our right - turn right
else:
DataMinerBD.tturnLeftDummy(
1) #If the target is to our left - turn left
else: #Rules for avoiding death
# if crashWall/ai.selfSpeed() > ai.closestShot() :
if wallNum == 1 or wallNum == 5 or wallNum == 6: #Front Wall is Closest (Turn Away From It)
DataMinerBD.tturnLeftDummy(1)
elif wallNum == 2: # Left Wall is Closest (Turn Away From It)
DataMinerBD.tturnRightDummy(1)
elif wallNum == 3: #Right Wall is Closest (Turn Away From It)
DataMinerBD.tturnLeftDummy(1)
else: #Back Wall is closest- turn so that we are facing directly away from it
if backLeftWall < backRightWall:
DataMinerBD.tturnRightDummy(
1
) #We need to turn right to face more directly away from it
if backLeftWall > backRightWall: # We need to turn left to face more directly away from it
DataMinerBD.tturnLeftDummy(1)
#Rules for thrusting
if speed < maxSpeed and frontWall > 100: #If we are moving slowly and we won't ram into anything, accelerate
DataMinerBD.tthrustDummy(1)
elif trackWall < 200 and (
ai.angleDiff(heading, tracking) > 120
): #If we are getting close to a wall, and we can thrust away from it, do so
DataMinerBD.tthrustDummy(1)
elif backWall < 20: #If there is a wall very close behind us, get away from it
DataMinerBD.tthrustDummy(1)
if abs(
calcDir - heading
) < shotAngle and calcDir != -1: #If we are close to the current proper trajectory for a shot then fire
DataMinerBD.tshootDummy()
previousScore = ai.selfScore()
def AI_loop():
chrom = [
0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1,
1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1,
1, 1, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0
]
when_to_thrust_speed = convert(chrom[0:4])
front_wall_distance_thrust = convert(chrom[4:8]) * 4
back_wall_distance_thrust = convert(chrom[8:12]) * 2
track_wall_distance_thrust = convert(chrom[12:16]) * 4
left_wall_angle = convert(chrom[16:20]) * 3
right_wall_angle = convert(chrom[20:24]) * 3
back_wall_angle = convert(chrom[24:28]) * 10
left_90_wall_angle = convert(chrom[28:32]) * 6
right_90_wall_angle = convert(chrom[32:36]) * 6
left_back_wall_angle = convert(chrom[36:40]) * 9
right_back_wall_angle = convert(chrom[44:48]) * 9
fuzzy_rate = convert(chrom[48:52])
fuzzy_rate_1 = convert(chrom[52:56])
angle_diff_shoot = convert(chrom[56:60])
shot_alert_distance = convert(chrom[60:64]) * 6
rate = fuzzy_rate
rate1 = fuzzy_rate_1
#Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
#Set variables
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontWall = ai.wallFeeler(500, heading)
leftWall = ai.wallFeeler(500, heading + left_wall_angle)
rightWall = ai.wallFeeler(500, heading - right_wall_angle)
left90Wall = ai.wallFeeler(500, heading + left_90_wall_angle)
right90Wall = ai.wallFeeler(500, heading - right_90_wall_angle)
leftbackWall = ai.wallFeeler(500, heading + left_back_wall_angle)
rightbackWall = ai.wallFeeler(500, heading - right_back_wall_angle)
trackWall = ai.wallFeeler(500, tracking)
backWall = ai.wallFeeler(500, heading - back_wall_angle)
#Shooting rule - checks whether theres an enemy to aim at using aimdir,
#and then if we're pointing at them within 10 degrees
#check whether theres a wall between us and the enemy; if there is not then we shoot
if ai.aimdir(0) >= 0 and -angle_diff_shoot <= ai.angleDiff(
heading, ai.aimdir(0)) <= angle_diff_shoot and ai.screenEnemyX(
0) >= 0 and ai.screenEnemyY(0) >= 0 and ai.wallBetween(
ai.selfX(), ai.selfY(), ai.screenEnemyX(0),
ai.screenEnemyY(0)) == -1:
ai.fireShot()
#Turn rules
#standard check for enemy proximity and wall between us,
#and if we're not aiming at them the angle is corrected
if ai.aimdir(0) >= 0 and ai.angleDiff(
heading, ai.aimdir(0)) > 0 and ai.wallBetween(
ai.selfX(), ai.selfY(), ai.screenEnemyX(0),
ai.screenEnemyY(0)) == -1:
ai.turnLeft(1)
print("aim turn left")
elif ai.aimdir(0) >= 0 and ai.angleDiff(
heading, ai.aimdir(0)) < 0 and ai.wallBetween(
ai.selfX(), ai.selfY(), ai.screenEnemyX(0),
ai.screenEnemyY(0)) == -1:
ai.turnRight(1)
print("aim turn right")
#misc turn rules with fuzzy logic
elif left90Wall < right90Wall and minmax(10, (rate * ai.selfSpeed()), 100):
ai.turnRight(1)
print("left90wall")
elif right90Wall < left90Wall and minmax(10, (rate * ai.selfSpeed()), 100):
ai.turnLeft(1)
print("right90wall")
elif leftbackWall < minmax(5, (rate1 * ai.selfSpeed()), 50):
ai.turnRight(1)
print("leftbackwall")
elif rightbackWall < minmax(5, (rate1 * ai.selfSpeed()), 50):
ai.turnLeft(1)
print("rightbackwall")
#default/base case turn rules
elif leftWall < rightWall:
ai.turnRight(1)
else:
ai.turnLeft(1)
#Thrust rules
#rule for speeding up when no wall in front of us
if ai.selfSpeed(
) <= when_to_thrust_speed and frontWall >= front_wall_distance_thrust:
ai.thrust(1)
print("thrust 1")
#dynamic thrust away from walls
elif trackWall < track_wall_distance_thrust:
ai.thrust(1)
print("thrust 2")
#thrust away from back wall
elif backWall < back_wall_distance_thrust:
ai.thrust(1)
print("thrust 3")
#this block handles dodging enemy bullets
elif ai.shotAlert(0) >= 0 and ai.shotAlert(
0) <= shot_alert_distance and ai.shotVelDir(
0) != -1 and ai.angleDiff(heading, ai.shotVelDir(0)) > 0:
print("shotveldir turn left")
ai.turnLeft(1)
ai.thrust(1)
elif ai.shotAlert(0) >= 0 and ai.shotAlert(
0) <= shot_alert_distance and ai.shotVelDir(
0) != -1 and ai.angleDiff(heading, ai.shotVelDir(0)) < 0:
print("shotveldir turn right")
ai.turnRight(1)
ai.thrust(1)
def AI_loop():
#Inserted Code
if ai.selfAlive():
DataMinerBD.updateInputs()
DataMinerBD.updateOutputs()
DataMinerBD.savePair()
print(DataMinerBD.length())
if DataMinerBD.length() > 10000:
DataMinerBD.writeData()
print("Finished")
ai.quitAI()
global lastTurn
#Release keys
DataMinerBD.tthrust(0)
DataMinerBD.tturnLeft(0)
DataMinerBD.tturnRight(0)
ai.setTurnSpeed(45)
#Set variables"""
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
trackWall = ai.wallFeeler(500, tracking)
trackLWall = ai.wallFeeler(500, tracking+3)
trackRWall = ai.wallFeeler(500, tracking - 3)
frontWall = ai.wallFeeler(500,heading)
flWall = ai.wallFeeler(500, heading + 10)
frWall = ai.wallFeeler(500, heading - 10)
leftWall = ai.wallFeeler(500,heading+90)
rightWall = ai.wallFeeler(500,heading-90)
trackWall = ai.wallFeeler(500,tracking)
backWall = ai.wallFeeler(500, heading - 180)
backLeftWall = ai.wallFeeler(500, heading - 185)
backRightWall = ai.wallFeeler(500, heading - 175)
speed = ai.selfSpeed()
closest = min(frontWall, leftWall, rightWall, backWall)
def closestWall(x): #Find the closest Wall
return {
frontWall : 1,
leftWall : 2,
rightWall : 3,
backWall : 4,
flWall : 5,
frWall : 6,
}[x]
wallNum = closestWall(closest)
#Code for finding the angle to the closest ship
target = ai.closestShipId()
targetX, targetY = ai.screenEnemyX(0), ai.screenEnemyY(0)
calcDir = 0
if targetX- ai.selfX() != 0:
calcDir = (math.degrees(math.atan2((targetY - ai.selfY()), (targetX- ai.selfX()))) + 360)%360
targetDir = calcDir
crashWall = min(trackWall, trackLWall, trackRWall) #The wall we are likely to crash into if we continue on our current course
#Rules for turning
if crashWall > 25*speed and closest > 30 and targetX != -1: #If we are far enough away from a predicted crash and no closer than 25 pixels to a wall, and there isn't a wall between us and the closest enemy
#print("Aiming", targetDir, " Current", heading)
diff = (calcDir - heading)
if ai.shotAlert(0) > -1 and ai.shotAlert(0) < 35:
DataMinerBD.tturnRight(1)
DataMinerBD.tthrust(1)
elif diff >= 0:
if diff >= 180:
a = 0
DataMinerBD.tturnRight(1) #If the target is to our right- turn right
elif diff != 0 :
a = 0
DataMinerBD.tturnLeft(1) #If the target is to our left - turn left
else :
if diff > -180:
a = 0
DataMinerBD.tturnRight(1) #If the target is to our right - turn right
else :
a = 0
DataMinerBD.tturnLeft(1) #If the target is to our left - turn left
else : #Rules for avoiding death
# if crashWall/ai.selfSpeed() > ai.closestShot() :
#We find a target heading using our current trajectory and the closest wall then turn in it's direction
targetHeading = heading
print(heading)
if wallNum == 1or wallNum == 6 or wallNum == 5: #Front Wall is Closest
if lastTurn == 1:
targetHeading += 270
targetHeading = (targetHeading)%360
else :
targetHeading +=90
targetHeading = targetHeading%360
print("front")
elif wallNum == 2 : # Left Wall is Closest
targetHeading += 270
targetHeading = (targetHeading)%360
lastTurn = 1
print("leftwall")
elif wallNum == 3 :
targetHeading = targetHeading + 90
targetHeading = (targetHeading)%360
lastTurn = 2
print("rightWall")
else :
if backLeftWall < backRightWall:
lastTurn = 2
targetHeading += 5
targetHeading = (targetHeading)%360
if backLeftWall > backRightWall:
lastTurn = 1
targetHeading -= 5
targetHeading = (targetHeading)%360
speedConcern = ai.selfSpeed() - 4
if speedConcern < 0:
speedConcern = 0
elif speedConcern > 5:
speedConcern = 5
#targetHeading = (targetHeading*(1-(speedConcern/5))) + (((tracking+170)%360)*(speedConcern/5))
if speedConcern > 2:
targetHeading = (tracking + 180)%360
diff = (targetHeading - heading)
print("targetHEading : ", targetHeading, " heading : ", heading)
if diff >= 0:
if diff >= 180:
DataMinerBD.tturnRight(1) #If the targetHEading is to our right- turn right
print("right")
elif diff != 0 :
DataMinerBD.tturnLeft(1) #If the targeHeadingt is to our left - turn left
print("left")
else :
if diff > -180:
print("right")
DataMinerBD.tturnRight(1) #If the targetHeading is to our right - turn right
#print("right")
else :
print("left")
DataMinerBD.tturnLeft(1) #If the targetHeading is to our left - turn left
#print("nice")
#Rules for thrusting
if speed < 5 and frontWall > 200: #If we are moving slowly and we won't ram into anything, accelerate
DataMinerBD.tthrust(1)
elif crashWall < 25*speed and (abs(tracking - heading) > 120): #If we are getting close to a wall, and we can thrust away from it, do so
DataMinerBD.tthrust(1)
elif backWall < 30: #If there is a wall very close behind us, get away from it
DataMinerBD.tthrust(1)
if abs(calcDir - heading) < 15 : #If we are close to the current proper trajectory for a shot then fire
DataMinerBD.tshoot()
def AI_loop():
global frames, frameHistory, generation, current_chrom, population, scores, current_score
print("frame", frames)
#rules
chrom = population[current_chrom][0]
when_to_thrust_speed = convert(chrom[0:4])
front_wall_distance_thrust = convert(chrom[4:8]) * 4
back_wall_distance_thrust = convert(chrom[8:12]) * 2
track_wall_distance_thrust = convert(chrom[12:16]) * 4
left_wall_angle = convert(chrom[16:20]) * 3
right_wall_angle = convert(chrom[20:24]) * 3
back_wall_angle = convert(chrom[24:28]) * 10
left_90_wall_angle = convert(chrom[28:32]) * 6
right_90_wall_angle = convert(chrom[32:36]) * 6
left_back_wall_angle = convert(chrom[36:40]) * 9
right_back_wall_angle = convert(chrom[44:48]) * 9
fuzzy_rate = convert(chrom[48:52])
fuzzy_rate_1 = convert(chrom[52:56])
angle_diff_shoot = convert(chrom[56:60])
shot_alert_distance = convert(chrom[60:64]) * 6
rate = fuzzy_rate
rate1 = fuzzy_rate_1
#Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
#Set variables
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontWall = ai.wallFeeler(500, heading)
leftWall = ai.wallFeeler(500, heading + left_wall_angle)
rightWall = ai.wallFeeler(500, heading - right_wall_angle)
left90Wall = ai.wallFeeler(500, heading + left_90_wall_angle)
right90Wall = ai.wallFeeler(500, heading - right_90_wall_angle)
leftbackWall = ai.wallFeeler(500, heading + left_back_wall_angle)
rightbackWall = ai.wallFeeler(500, heading - right_back_wall_angle)
trackWall = ai.wallFeeler(500, tracking)
backWall = ai.wallFeeler(500, heading - back_wall_angle)
#Shooting rules
if ai.aimdir(0) >= 0 and -angle_diff_shoot <= ai.angleDiff(
heading, ai.aimdir(0)) <= angle_diff_shoot and ai.screenEnemyX(
0) >= 0 and ai.screenEnemyY(0) >= 0 and ai.wallBetween(
ai.selfX(), ai.selfY(), ai.screenEnemyX(0),
ai.screenEnemyY(0)) == -1:
ai.fireShot()
#Turn rules
if ai.aimdir(0) >= 0 and ai.angleDiff(
heading, ai.aimdir(0)) > 0 and ai.wallBetween(
ai.selfX(), ai.selfY(), ai.screenEnemyX(0),
ai.screenEnemyY(0)) == -1:
ai.turnLeft(1)
#print("aim turn left")
elif ai.aimdir(0) >= 0 and ai.angleDiff(
heading, ai.aimdir(0)) < 0 and ai.wallBetween(
ai.selfX(), ai.selfY(), ai.screenEnemyX(0),
ai.screenEnemyY(0)) == -1:
ai.turnRight(1)
#print("aim turn right")
elif left90Wall < right90Wall and minmax(10, (rate * ai.selfSpeed()), 100):
ai.turnRight(1)
#print("left90wall")
elif right90Wall < left90Wall and minmax(10, (rate * ai.selfSpeed()), 100):
ai.turnLeft(1)
#print("right90wall")
elif leftbackWall < minmax(5, (rate1 * ai.selfSpeed()), 50):
ai.turnRight(1)
#print("leftbackwall")
elif rightbackWall < minmax(5, (rate1 * ai.selfSpeed()), 50):
ai.turnLeft(1)
#print("rightbackwall")
#base case turn rules
elif leftWall < rightWall:
ai.turnRight(1)
else:
ai.turnLeft(1)
#Thrust rules
if ai.selfSpeed(
) <= when_to_thrust_speed and frontWall >= front_wall_distance_thrust:
ai.thrust(1)
#print("thrust 1")
#dynamic thrust away from walls
elif trackWall < track_wall_distance_thrust:
ai.thrust(1)
#print("thrust 2")
#thrust away from back wall
elif backWall < back_wall_distance_thrust:
ai.thrust(1)
#print("thrust 3")
#Shot avoidance
elif ai.shotAlert(0) >= 0 and ai.shotAlert(
0) <= shot_alert_distance and ai.shotVelDir(
0) != -1 and ai.angleDiff(heading, ai.shotVelDir(0)) > 0:
#print("shotveldir turn left")
ai.turnLeft(1)
ai.thrust(1)
elif ai.shotAlert(0) >= 0 and ai.shotAlert(
0) <= shot_alert_distance and ai.shotVelDir(
0) != -1 and ai.angleDiff(heading, ai.shotVelDir(0)) < 0:
#print("shotveldir turn right")
ai.turnRight(1)
ai.thrust(1)
#tracks frames alive
if ai.selfAlive() == 1:
frames += 1
elif ai.selfAlive() == 0 and frames == 0:
pass
else:
#adds every fitness to a list to avoid the issue of xpilot score never resetting
scores.append(ai.selfScore())
#base case
if len(scores) < 2:
current_score = scores[-1]
else:
current_score = scores[-1] - scores[-2]
if current_score <= 0:
current_score = 2
population[current_chrom][1] = (frames**2) * current_score
print("fitness: ", population[current_chrom][1])
current_chrom += 1
print("current_chrom is: ", current_chrom)
if current_chrom >= len(population):
current_chrom = 0
print("current_chrom is: ", current_chrom)
generation += 1
fitness_scores = fitness(population)
#writes highest fitness agent to file
if generation % 5 == 0:
print("first write")
current_fitness = max(fitness_scores)
best_individual_index = fitness_scores.index(current_fitness)
best_individual = population[best_individual_index][0]
newfile = open("GA_output.txt", "a+")
newfile.write("Generation: ")
newfile.write("\n")
newfile.write(str(generation))
newfile.write("\n")
newfile.write("Best individual: ")
newfile.write("\n")
newfile.write(str(best_individual))
newfile.write("\n")
newfile.write("Best fitness: ")
newfile.write("\n")
newfile.write(str(current_fitness))
newfile.write("\n")
newfile.close()
chrom_pair = top_individuals(population, fitness_scores)
new_pop = []
new_pop += crossover(chrom_pair)
while (len(new_pop) < population_size):
new_pop += crossover(chrom_pair)
population = []
population = new_pop
#writes population to file
if generation % 10 == 0:
print("second write")
popfile = open("GA_pop.txt", "a+")
popfile.write("Generation: ")
popfile.write("\n")
popfile.write(str(generation))
popfile.write("\n")
for i in population:
popfile.write(str(i))
popfile.write("\n")
popfile.write("\n")
popfile.close()
frames = 0
def AI_loop():
""" The main loop for this agent!
Prod.py is a rule-based expert system.
"""
# Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
# Heuristics
sideFeelerOffset = 65 # Offsets from heading for wall feelers (degrees)
perpFeelerOffset = 90 # (degrees)
trackFeelerOffset = 45 # (degrees)
nearLimit = 150 # Threshold for a relatively "close" object (xp distance units)
nearLimitThreat = 300 # Threshold for a "very close" object (xp distance units)
shotDanger = 130 # Threshold for relatively "close" bullets (xp distance units)
speedLimit = 5 # (xp speed units)
powerHigh = 45 # (xp thrust power units)
powerLow = 20 # (xp thrust power units)
targetingAccuracy = 5 # Tolerance from heading within which firing is OK (degrees)
# Reset everything else
ai.setTurnSpeedDeg(20) # Artificial handicap!
ai.setPower(powerLow)
# Acquire information
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
feelers = []
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontWall = ai.wallFeeler(500, heading)
leftWall = ai.wallFeeler(500, heading + perpFeelerOffset)
rightWall = ai.wallFeeler(500, heading - perpFeelerOffset)
trackWall = ai.wallFeeler(500, tracking)
rearWall = ai.wallFeeler(500, heading - 180)
backLeftWall = ai.wallFeeler(500, heading + 135)
backRightWall = ai.wallFeeler(500, heading - 135)
frontLeftWall = ai.wallFeeler(500, heading + 45)
frontRightWall = ai.wallFeeler(500, heading - 45)
feelers.append(frontWall)
feelers.append(leftWall)
feelers.append(rightWall)
feelers.append(trackWall)
feelers.append(rearWall)
feelers.append(backLeftWall)
feelers.append(backRightWall)
feelers.append(frontLeftWall)
feelers.append(frontRightWall)
# Collect distances
if ai.enemyDistanceId(ai.closestShipId()) > 0:
closestPlayerDistance = ai.enemyDistanceId(ai.closestShipId())
else:
closestPlayerDistance = math.inf
if ai.shotDist(0) > 0:
closestBulletDistance = ai.shotDist(0)
else:
closestBulletDistance = math.inf
dcw = min(feelers)
distToNearestThreat = min(closestPlayerDistance, closestBulletDistance)
# Assign priority to nearest threat
if closestBulletDistance <= dcw and closestBulletDistance <= closestPlayerDistance: # if closest threat is a bullet
priority = 1
elif dcw <= closestPlayerDistance and dcw <= closestBulletDistance: # if closest threat is a wall
priority = 2
else: # closest threat is a player
priority = 3
if distToNearestThreat < nearLimitThreat:
ai.setPower(powerHigh)
# If the closest threat is a bullet
if priority == 1:
m = angleToPointDeg((ai.selfX(), ai.selfY()),
(ai.shotX(0), ai.shotY(0)))
if m >= 0:
ai.turnRight(1)
else:
ai.turnLeft(1)
if ai.shotAlert(0) < shotDanger:
ai.thrust(1)
# If the closest threat is a wall
elif priority == 2:
# Thrust
if ai.selfSpeed() <= speedLimit:
ai.thrust(1)
elif trackWall < nearLimit and angleDiff(heading, tracking) > 90:
ai.thrust(1)
elif rearWall < nearLimit and angleDiff(heading, tracking) > 90:
ai.thrust(1)
# Turn
if trackWall < nearLimit and leftWall < rightWall:
ai.turnRight(1)
elif trackWall < nearLimit and rightWall < leftWall:
ai.turnLeft(1)
elif backLeftWall < nearLimit and rightWall > 50:
ai.turnRight(1)
elif backRightWall < nearLimit and leftWall > 50:
ai.turnLeft(1)
elif frontRightWall < nearLimit:
ai.turnLeft(1)
elif frontLeftWall < nearLimit:
ai.turnRight(1)
# If the closest threat is a player
elif priority == 3:
m = angleToPointDeg((ai.selfX(), ai.selfY()),
(ai.shotX(0), ai.shotY(0)))
if m <= 0:
ai.turnRight(1)
else:
ai.turnLeft(1)
if ai.selfHeadingDeg() <= (targetingAccuracy + angleToPointDeg(
(ai.selfX(), ai.selfY()),
(ai.screenEnemyX(0), ai.screenEnemyY(0)))) and ai.selfHeadingDeg(
) >= (targetingAccuracy - angleToPointDeg(
(ai.selfX(), ai.selfY()),
(ai.screenEnemyX(0), ai.screenEnemyY(0)))):
ai.fireShot()
def enemyBehindWall(self, idx):
if ai.wallBetween(ai.selfX(), ai.selfY(), ai.screenEnemyX(idx),
ai.screenEnemyY(idx)) == -1:
return False
return True
def AI_loop(self):
# print("AI_LOOP")
if ai.selfAlive() == 0:
print("selfAlive is 0")
# if ai.selfAlive() == 0 and time2quit:
outputFile = open("output.txt", "w")
outputFile.write(str(self.counter))
outputFile.close()
# ai.quitAI()
# print(countFrames)
# Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
ai.setTurnSpeed(55)
turnSpeedMin = 15
turnSpeedMax = 64
# Heuristics
#frontFeelerOffset = 35
ffo = self.frontFeelerOffset
rfo = self.rearFeelerOffset
perpFeelerOffset = 90
#rearFeelerOffset = 135
# speedLimit = 5
lowSpeedLimit = 2
targetingAccuracy = 4 # 1/2 tolerance in deg for aiming accuracy
shotIsDangerous = 130
# Acquire information
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
# Wall feeling
feelers = []
frontWall = ai.wallFeeler(750, heading)
leftWall = ai.wallFeeler(500, heading + perpFeelerOffset)
rightWall = ai.wallFeeler(500, heading - perpFeelerOffset)
trackWall = ai.wallFeeler(750, tracking)
rearWall = ai.wallFeeler(250, heading - 180)
backLeftWall = ai.wallFeeler(500, heading + round(rfo))
backRightWall = ai.wallFeeler(500, heading - round(rfo))
frontLeftWall = ai.wallFeeler(500, heading + round(ffo))
frontRightWall = ai.wallFeeler(500, heading - round(ffo))
feelers.append(frontWall)
feelers.append(leftWall)
feelers.append(rightWall)
feelers.append(trackWall)
feelers.append(rearWall)
feelers.append(backLeftWall)
feelers.append(backRightWall)
feelers.append(frontLeftWall)
feelers.append(frontRightWall)
if min(feelers) < self.veryNearLimit:
self.speedLimit = lowSpeedLimit
# Movement controls
# Compute angles to the nearest things
m = self.angleToPointDeg((ai.selfX(), ai.selfY()),
(ai.shotX(0), ai.shotY(0)))
n = self.angleToPointDeg((ai.selfX(), ai.selfY()),
(ai.shotX(0), ai.shotY(0)))
# Sets turn speed and degree to the enemy
if ai.screenEnemyX(0) >= 0:
enemyDeg = self.angleToPointDeg(
(ai.selfX(), ai.selfY()),
(ai.screenEnemyX(0), ai.screenEnemyY(0)))
ai.setTurnSpeed(
self.rangeMap(abs(enemyDeg), 0, 180, turnSpeedMin,
turnSpeedMax))
else:
enemyDeg = self.angleToPointDeg(
(ai.selfRadarX(), ai.selfRadarY()),
(ai.closestRadarX(), ai.closestRadarY()))
ai.setTurnSpeed(
self.rangeMap(abs(enemyDeg), 0, 180, turnSpeedMin,
turnSpeedMax))
# Turn towards unoccluded enemies while in open space
if ai.aimdir(0) >= 0 and self.headingDiff(
heading, ai.aimdir(0)) > 0 and not self.enemyBehindWall(0):
ai.turnRight(1)
elif ai.aimdir(0) >= 0 and self.headingDiff(
heading, ai.aimdir(0)) < 0 and not self.enemyBehindWall(0):
ai.turnLeft(1)
# Turn away from nearby walls
elif min(feelers) < ai.enemyDistance(
0
) and trackWall < self.nearLimit and leftWall < rightWall: #DONE
ai.turnRight(1)
elif min(feelers) < ai.enemyDistance(
0
) and trackWall < self.nearLimit and rightWall < leftWall: #DONE
ai.turnLeft(1)
elif min(feelers) < ai.enemyDistance(
0
) and backLeftWall < self.nearLimit and rightWall > self.nearLimit:
ai.turnRight(1)
elif min(feelers) < ai.enemyDistance(
0
) and backRightWall < self.nearLimit and leftWall > self.nearLimit:
ai.turnLeft(1)
elif min(feelers) < ai.enemyDistance(
0) and frontRightWall < self.nearLimit:
ai.turnLeft(1)
elif min(feelers) < ai.enemyDistance(
0) and frontLeftWall < self.nearLimit:
ai.turnRight(1)
# TODO: NEED RULES FOR WHEN ENEMY IS OCCLUDED
elif self.enemyBehindWall and enemyDeg < 0:
ai.turnRight(1)
elif self.enemyBehindWall and enemyDeg >= 0:
ai.turnLeft(1)
# Turn away from shots
elif m > 0:
ai.turnRight(1)
elif m < 0:
ai.turnLeft(1)
# THRUST (includes fuzzy controller)
# Power levels
power1 = 55
power2 = 45
power3 = 55
power4 = 36
power5 = 36
power6 = 28
power7 = 24
power8 = 30
mfS = self.mfSpeed(ai.selfSpeed())
mfD = self.mfDanger(ai.shotAlert(0))
# Aggregation
# if S is high and D is moderate or high:
p1 = max(mfS[2], min(mfD[1], mfD[2]))
# if S is moderate and D is moderate:
p2 = max(mfS[1], mfD[1])
# if S is low and D is high:
p3 = max(mfS[0], mfD[2])
# if S is moderate and D is moderate:
p4 = max(mfS[1], mfD[1])
# if S is low and D is moderate:
p5 = max(mfS[0], mfD[1])
# if S is high and D is low:
p6 = max(mfS[2], mfD[0])
# if S is moderate and D is low:
p7 = max(mfS[1], mfD[0])
# if S is low and D is low:
p8 = max(mfS[0], mfD[0])
consequents = [
power1, power2, power3, power4, power5, power6, power7, power8
]
memberships = [p1, p2, p3, p4, p5, p6, p7, p8]
# Defuzzification
ai.setPower(self.crispify(memberships, consequents))
# Further thrusting rules
if ai.shotAlert(0) < 130 and ai.shotAlert(0) != -1 and ai.wallBetween(
ai.selfX(), ai.selfY(), ai.shotX(0), ai.shotY(0)) == -1:
ai.thrust(1)
elif ai.selfSpeed() <= self.speedLimit:
ai.thrust(1)
elif trackWall < self.nearLimit and self.angleDiff(heading,
tracking) > 75:
ai.thrust(1)
elif rearWall < self.nearLimit and self.angleDiff(heading,
tracking) > 90:
ai.thrust(1)
# FIRE
# Restrict firing to reasonably accurate attempts
if self.headingDiff(heading, ai.aimdir(
0)) < targetingAccuracy and not self.enemyBehindWall(0):
ai.fireShot()
self.counter += 1
def AI_loop(self):
# print("AI_LOOP")
if ai.selfAlive() == 0:
outputFile = open("fitness.txt", "a")
# outputFile.write(str((self.totalDists/self.counter))+"\t")
outputFile.write(str(int((self.fitness**1.2))) + "\t")
[
print(str("%.5f" % g) + "\t", end="", file=outputFile)
for g in self.chromosome
]
print("\n", end="", file=outputFile)
outputFile.close()
# Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
ai.setTurnSpeed(55)
# Heuristics
frontFeelerOffset = 45
perpFeelerOffset = 90
rearFeelerOffset = 135
# turnSpeedMin = 15 # learn range: 4 - 24
turnSpeedMax = 55
speedLimit = 5 # learn range: 2-6
lowSpeedLimit = 2
targetingAccuracy = 4 # 1/2 tolerance in deg for aiming accuracy
shotIsDangerous = 130
# Acquire information
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
###=== ENEMY FEELERS ===###
# gets angle to enemy
enemyDeg = self.angleToPointDeg(
(ai.selfX(), ai.selfY()), (ai.screenEnemyX(0), ai.screenEnemyY(0)))
enemyWallDistances = []
# maxAngleOffset = 90 # learn range: 30 - 120
# resolution = 5 # learn range: 2 - 10
distAngleTuples = []
# creates tuples of degrees and wallFeelers
for m in (0, self.maxAngleOffset, self.resolution):
distAngleTuples.append(
(enemyDeg - m, ai.wallFeeler(500, int(enemyDeg - m))))
distAngleTuples.append(
(enemyDeg + m, ai.wallFeeler(500, int(enemyDeg + m))))
# gets furthest feeler
maxFeelerAngle = max(distAngleTuples, key=self.returnSecond)
angleToOpenSpace = self.headingDiff(ai.selfHeadingDeg(),
maxFeelerAngle[0])
###=== WALL FEELERS ===###
frontWall = ai.wallFeeler(
self.genericFeelerDist,
heading) # wall feeler for wall directly ahead
leftFrontWall = ai.wallFeeler(
self.genericFeelerDist, heading +
frontFeelerOffset) # wall feeler for wall 45 degrees to the left
rightFrontWall = ai.wallFeeler(
self.genericFeelerDist, heading -
frontFeelerOffset) # wall feeler for wall 45 degrees to the right
leftWall = ai.wallFeeler(
self.genericFeelerDist, heading +
perpFeelerOffset) # wall feeler for wall 90 degrees to the left
rightWall = ai.wallFeeler(
self.genericFeelerDist, heading -
perpFeelerOffset) # wall feeler for wall 90 degrees to the right
backWall = ai.wallFeeler(self.genericFeelerDist, heading -
180) # wall feeler for wall straight back
leftBackWall = ai.wallFeeler(
self.genericFeelerDist, heading +
rearFeelerOffset) # wall feeler for wall 135 degrees to the left
rightBackWall = ai.wallFeeler(
self.genericFeelerDist, heading -
rearFeelerOffset) # wall feeler for wall 135 degrees to the right
trackWall = ai.wallFeeler(
self.genericFeelerDist,
tracking) # wall in front of where ship is moving
# Keep track of all the feeler distances
feelers = [
frontWall, leftFrontWall, rightFrontWall, leftWall, rightWall,
backWall, leftBackWall, rightBackWall, trackWall
]
# Aim assist
leftDir = (heading +
90) % 360 # angle 90 degrees to the left of current heading
rightDir = (heading - 90
) % 360 # angle 90 degrees to the right of current heading
aimer = ai.aimdir(
0
) # direction that the ship needs to turn to in order to face the enemy in degrees
shot = ai.shotAlert(
0
) # returns a danger rating of a shot, the smaller the number the more likely the shot is to hit the ship
enemyX = ai.screenEnemyX(0) # returns the closest enemy's x-coord
enemyY = ai.screenEnemyY(0) # returns the closest enemy's y-coord
selfX = ai.selfX() # returns the ship's x-coord
selfY = ai.selfY() # returns the ship's x-coord
# Fuzzy variable declaration
trackRisk = riskEval(trackWall,
ai.selfSpeed()) #risk of running into trackWall
frontRisk = riskEval(frontWall,
ai.selfSpeed()) #risk of running into frontWall
leftRisk = riskEval(leftWall,
ai.selfSpeed()) #risk of running into leftWall
rightRisk = riskEval(rightWall,
ai.selfSpeed()) #risk of running into rightWall
LFRisk = riskEval(leftFrontWall,
ai.selfSpeed()) #risk of running into leftFrontWall
RFRisk = riskEval(rightFrontWall,
ai.selfSpeed()) #risk of running into rightFrontWall
LBRisk = riskEval(leftBackWall,
ai.selfSpeed()) #risk of running into leftBackWall
RBRisk = riskEval(rightBackWall,
ai.selfSpeed()) #risk of running into rightBackWall
backRisk = riskEval(backWall,
ai.selfSpeed()) #risk of running into backWall
# Compress some wall feelers
sTrack = self.squisher(trackWall)
sLeft = self.squisher(leftFrontWall)
sRight = self.squisher(rightFrontWall)
sLeftStraight = self.squisher(leftWall)
sRightStraight = self.squisher(rightWall)
# output from neural network that tells how much to turn and which direction
turn = self.trainedNeuralNetwork(sTrack, sLeft, sRight, sLeftStraight,
sRightStraight)
###=== THRUST POWER ADJUSTMENT ===#
# Power levels
mfS = self.mfSpeed(ai.selfSpeed())
mfD = self.mfDanger(ai.shotAlert(0))
# if S is high and D is moderate or high:
p1 = max(mfS[2], min(mfD[1], mfD[2]))
# if S is moderate and D is moderate:
p2 = max(mfS[1], mfD[1])
# if S is low and D is high:
p3 = max(mfS[0], mfD[2])
# if S is moderate and D is moderate:
p4 = max(mfS[1], mfD[1])
# if S is low and D is moderate:
p5 = max(mfS[0], mfD[1])
# if S is high and D is low:
p6 = max(mfS[2], mfD[0])
# if S is moderate and D is low:
p7 = max(mfS[1], mfD[0])
# if S is low and D is low:
p8 = max(mfS[0], mfD[0])
consequents = [55, 45, 55, 36, 36, 28, 24, 30]
memberships = [p1, p2, p3, p4, p5, p6, p7, p8]
ai.setPower(self.crispify(memberships, consequents))
if ai.enemyDistance(0) > self.lastDist and ai.enemyDistance(
0) < self.enemyClose:
ai.thrust(1)
elif ai.selfSpeed(
) <= 3 and frontWall >= 200: # if speed is slow and front wall is far away, thrust
ai.thrust(1)
elif trackWall < 60 and frontWall >= 200: # if the track wall is close, thrust
ai.thrust(1)
elif backWall < 20: # if the back wall is close, thrust
ai.thrust(1)
###=== TURNING RULES ===###
# Escape shots
if shot > 0 and shot < 70:
# if a shot is closeby, turn and thrust to avoid
if self.angleDif(rightDir, ai.shotX(0)) < self.angleDif(
leftDir, ai.shotX(0)
) or self.angleDif(rightDir, ai.shotY(0)) < self.angleDif(
leftDir, ai.shotY(0)
): # if shot is coming from the right, turn away and thrust
# print("Turning: avoiding shot")#debug
ai.turnLeft(1)
ai.thrust(1)
elif self.angleDif(leftDir, ai.shotX(0)) < self.angleDif(
rightDir, ai.shotX(0)
) or self.angleDif(leftDir, ai.shotY(0)) < self.angleDif(
rightDir, ai.shotY(0)
): # if shot is coming from the left, turn away and shoot ------> change this shot is just a number
# print("Turning: avoiding shot")#debug
ai.turnRight(1)
ai.thrust(1)
# Turn towards unoccluded enemy
elif aimer >= 0 and self.angleDif(rightDir, aimer) < self.angleDif(
leftDir, aimer) and not self.enemyBehindWall(
0): # if an enemy to the right, turn and shoot it
if ai.screenEnemyX(0) >= 0:
enemyDeg = self.angleToPointDeg(
(ai.selfX(), ai.selfY()),
(ai.screenEnemyX(0), ai.screenEnemyY(0)))
ai.setTurnSpeed(
self.rangeMap(abs(enemyDeg), 0, 180, self.turnSpeedMin,
turnSpeedMax))
else:
enemyDeg = self.angleToPointDeg(
(ai.selfRadarX(), ai.selfRadarY()),
(ai.closestRadarX(), ai.closestRadarY()))
ai.setTurnSpeed(
self.rangeMap(abs(enemyDeg), 0, 180, self.turnSpeedMin,
turnSpeedMax))
# print("Turning: aiming right")#debug
ai.turnRight(1)
elif aimer >= 0 and self.angleDif(leftDir, aimer) < self.angleDif(
rightDir, aimer) and not self.enemyBehindWall(
0): # if an enemy to the left, turn and shoot it
if ai.screenEnemyX(0) >= 0:
enemyDeg = self.angleToPointDeg(
(ai.selfX(), ai.selfY()),
(ai.screenEnemyX(0), ai.screenEnemyY(0)))
ai.setTurnSpeed(
self.rangeMap(abs(enemyDeg), 0, 180, self.turnSpeedMin,
turnSpeedMax))
else:
enemyDeg = self.angleToPointDeg(
(ai.selfRadarX(), ai.selfRadarY()),
(ai.closestRadarX(), ai.closestRadarY()))
ai.setTurnSpeed(
self.rangeMap(abs(enemyDeg), 0, 180, self.turnSpeedMin,
turnSpeedMax))
# print("Turning: aiming left")#debug
ai.turnLeft(1)
#fuzzy avoid walls ahead
elif leftRisk > rightRisk and trackRisk > 0.5: # and min(feelers) < self.nearLimit: #if the left wall and track walls are close, turn right
#if enemyX >=0 and enemyY >= 0 and ai.wallBetween(selfX, selfY, enemyX, enemyY) == -1:
ai.turnRight(1)
# print("Turning: fuzzy right")#debug
elif rightRisk > leftRisk and trackRisk > 0.5: # and min(feelers) < self.nearLimit: #if the right wall and track walls are close, turn left
# if enemyX >=0 and enemyY >= 0 and ai.wallBetween(selfX, selfY, enemyX, enemyY) == -1:
ai.turnLeft(1)
# print("Turning: fuzzy left")#debug
# Turn to open space nearest the angle to the enemy
elif self.enemyBehindWall(0) and min(feelers) > self.nearLimit:
if angleToOpenSpace < 0:
# print("Turning: open space left")#debug
ai.turnLeft(1)
elif angleToOpenSpace > 0:
# print("Turning: open space right")#debug
ai.turnRight(1)
# if neural net value is not between 0.48 and 0.52 then we have to turn right or left
elif not (turn >= 0.43 and turn <= 0.57):
if turn < 0.43: # turn right if value is below 0.43
# print("Turning: neural net right")#debug
ai.turnRight(1)
elif turn > 0.57: # turn left if value is below 0.57
# print("Turning: neural net left")#debug
ai.turnLeft(1)
###=== FIRING RULES ===###
# Restrict firing to reasonably accurate attempts:
# accurate range, enemy not behind wall and enemy close enough
if self.headingDiff(
heading,
ai.aimdir(0)) < targetingAccuracy and not self.enemyBehindWall(
0) and ai.enemyDistance(0) < self.enemyFireDist:
ai.fireShot()
# print("Shot Fired")#debug
# print("Firing Dist: ", self.enemyFireDist)#debug
self.counter += 1
###=== How did we die? and other Fitness Calculations ===###
# Fitness function information
self.totalDists += ai.enemyDistance(0)
if ai.enemyDistance(0) > 0:
self.currentDist = ai.enemyDistance(0)
if self.currentDist < self.lastDist:
self.fitness += 1
self.lastDist = self.currentDist
self.fitness += 1
alive = ai.selfAlive()
message = ai.scanGameMsg(1)
# print(message)#debug
if alive == 0:
self.framesDead += 1
# print(self.framesDead, message)#debug
if self.framesDead == 2:
# print("dead now")#debug
# Ran into wall
if message.find("Beal-Morneault") != -1 and message.find(
"wall") != -1:
print("End of match: wall collision.") #debug
self.fitness -= self.wallPenalty
# Crashed into player
elif message.find("crashed.") != -1:
print("End of match: player collision.") #debug
self.fitness -= self.crashPenalty
# Killed by bullet
elif message.find("Beal-Morneault was") != -1:
print("End of match: killed by opponent.") #debug
self.fitness -= self.killedPenalty
# Killed the opponent
elif message.find("by a shot from Beal-Morneault") != -1:
print("End of match: killed the opponent!") #debug
self.fitness += self.killerBonus
else:
print("End of match: enemy died.")
self.fitness += (ai.selfScore() - ai.enemyScoreId(0)
) * self.scoreDiffBonusFactor
ai.quitAI()
else:
self.framesDead = 0
def AI_loop():
#Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
ai.setTurnSpeed(45)
turn, thrust, shoot = 0.5, 0, 0
maxSpeed = 3
shotAngle = 9
wallClose = 12
#Set variables"""
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
trackWall = ai.wallFeeler(500, tracking)
trackLWall = ai.wallFeeler(500, tracking+3)
trackRWall = ai.wallFeeler(500, tracking - 3)
frontWall = ai.wallFeeler(500,heading)
flWall = ai.wallFeeler(500, heading + 10)
frWall = ai.wallFeeler(500, heading - 10)
leftWall = ai.wallFeeler(500,heading+90)
rightWall = ai.wallFeeler(500,heading-90)
trackWall = ai.wallFeeler(500,tracking)
backWall = ai.wallFeeler(500, heading - 180)
backLeftWall = ai.wallFeeler(500, heading - 185)
backRightWall = ai.wallFeeler(500, heading - 175)
speed = ai.selfSpeed()
closest = min(frontWall, leftWall, rightWall, backWall, flWall, frWall)
def closestWall(x): #Find the closest Wall
return {
frontWall : 1,
leftWall : 2,
rightWall : 3,
backWall : 4,
flWall : 5,
frWall : 6,
}[x]
wallNum = closestWall(closest)
#Code for finding the angle to the closest ship
targetX, targetY = ai.screenEnemyX(0), ai.screenEnemyY(0)
calcDir = 0
if targetX- ai.selfX() != 0:
calcDir = (math.degrees(math.atan2((targetY - ai.selfY()), (targetX- ai.selfX()))) + 360)%360
crashWall = min(trackWall, trackLWall, trackRWall) #The wall we are likely to crash into if we continue on our current course
#Rules for turning
if crashWall > wallClose*speed and closest > 25 and targetX != -1: #If we are far enough away from a predicted crash and no closer than 25 pixels to a wall we can try and aim and kill them
diff = (calcDir - heading)
if ai.shotAlert(0) > -1 and ai.shotAlert(0) < 35: #If we are about to get shot
ai.turnRight(1) #Screw aiming and turn right and thrust
ai.thrust(1)
thrust = 1
#This is arguably a horrible strategy because our sideways profile is much larger, but it's required for the grade
elif diff >= 0:
if diff >= 180:
ai.turnRight(1) #If the target is to our right- turn right
turn = 1
else :
ai.turnLeft(1) #If the target is to our left - turn left
turn = 0
else :
if diff > -180:
ai.turnRight(1) #If the target is to our right - turn right
turn = 1
else :
ai.turnLeft(1) #If the target is to our left - turn left
turn = 0
#Rules for avoiding death
else :
# if crashWall/ai.selfSpeed() > ai.closestShot() :
if wallNum == 1 or wallNum == 5 or wallNum == 6: #Front Wall is Closest (Turn Away From It)
ai.turnLeft(1)
turn = 0
elif wallNum == 2 : # Left Wall is Closest (Turn Away From It)
ai.turnRight(1)
turn = 1
elif wallNum == 3 : #Right Wall is Closest (Turn Away From It)
ai.turnLeft(1)
turn = 0
else : #Back Wall is closest- turn so that we are facing directly away from it
if backLeftWall < backRightWall:
ai.turnRight(1) #We need to turn right to face more directly away from it
turn = 1
if backLeftWall > backRightWall: # We need to turn left to face more directly away from it
ai.turnLeft(1)
turn = 0
#Rules for thrusting
if speed < maxSpeed and frontWall > 100: #If we are moving slowly and we won't ram into anything, accelerate
ai.thrust(1)
thrust = 1
elif trackWall < 250 and (ai.angleDiff(heading, tracking) > 120): #If we are getting close to a wall, and we can thrust away from it, do so
ai.thrust(1)
thrust = 1
elif backWall < 20: #If there is a wall very close behind us, get away from it
ai.thrust(1)
thrust = 1
if abs(calcDir - heading) < shotAngle : #If we are close to the current proper trajectory for a shot then fire
ai.fireShot()
shoot = 1
#adjust the the learning NN
infile = open("myBotWeights.txt","r")
weight = eval(infile.read())
infile.close()
sendData = getSendData(turn, thrust, shoot)
weight = adjustNN(sendData, 21, 8, 3, weight)
outfile = open("myBotWeights.txt","w")
outfile.write(str(weight))
outfile.close()
