def ClientMain():
# physics off, ai off by default
# disable_physics()
OpenNero.disable_ai()
if not module.getMod().setup_map():
inputConfig.switchToHub()
return
# add a light source
OpenNero.getSimContext().addLightSource(OpenNero.Vector3f(500, -500, 1000), 1500)
# common.addSkyBox("data/sky/irrlicht2")
# setup the gui
CreateGui(common.getGuiManager())
# add a camera
camRotateSpeed = 100
camMoveSpeed = 15000
camZoomSpeed = 200
cam = OpenNero.getSimContext().addCamera(camRotateSpeed, camMoveSpeed, camZoomSpeed)
cam.setFarPlane(40000)
cam.setEdgeScroll(False)
recenter_cam = recenter(cam)
recenter_cam()
# create the io map
ioMap = inputConfig.createInputMapping()
ioMap.BindKey("KEY_SPACE", "onPress", recenter_cam)
OpenNero.getSimContext().setInputMapping(ioMap)
def ClientMain():
# physics off, ai off by default
#disable_physics()
OpenNero.disable_ai()
if not module.getMod().setup_map():
inputConfig.switchToHub()
return
# add a light source
OpenNero.getSimContext().addLightSource(OpenNero.Vector3f(500, -500, 1000),
1500)
#common.addSkyBox("data/sky/irrlicht2")
# setup the gui
CreateGui(common.getGuiManager())
# add a camera
camRotateSpeed = 100
camMoveSpeed = 15000
camZoomSpeed = 200
cam = OpenNero.getSimContext().addCamera(camRotateSpeed, camMoveSpeed,
camZoomSpeed)
cam.setFarPlane(40000)
cam.setEdgeScroll(False)
recenter_cam = recenter(cam)
recenter_cam()
# create the io map
ioMap = inputConfig.createInputMapping()
ioMap.BindKey("KEY_SPACE", "onPress", recenter_cam)
OpenNero.getSimContext().setInputMapping(ioMap)
def snapshot(self):
print 'snapshot was called'
if os.access('Hw5/snapshots/color/', os.W_OK):
filename = 'Hw5/snapshots/color/' + str(time.time()*100)[:-2] + '.png'
OpenNero.getSimContext().getActiveCamera().snapshot(filename)
# Launch python script to show this image
os.system('python Hw5/show_image.py "' + filename + '"')
def snapshot(self):
print 'snapshot was called'
if os.access('Hw5/snapshots/color/', os.W_OK):
filename = 'Hw5/snapshots/color/' + str(
time.time() * 100)[:-2] + '.png'
OpenNero.getSimContext().getActiveCamera().snapshot(filename)
# Launch python script to show this image
os.system('python Hw5/show_image.py "' + filename + '"')
def closest_enemy(self, agent):
"""
Returns the nearest enemy to agent
"""
friends, foes = self.getFriendFoe(agent)
if not foes:
return None
min_enemy = None
min_dist = constants.MAX_FIRE_ACTION_RADIUS
pose = self.get_state(agent).pose
color = OpenNero.Color(128, 0, 0, 0)
for f in foes:
f_pose = self.get_state(f).pose
dist = self.distance(pose, f_pose)
if dist < min_dist:
source_pos = agent.state.position
enemy_pos = f.state.position
source_pos.z = source_pos.z + 5
enemy_pos.z = enemy_pos.z + 5
obstacles = OpenNero.getSimContext().findInRay(
source_pos,
enemy_pos,
constants.OBJECT_TYPE_OBSTACLE,
False,
color,
color)
if len(obstacles) == 0:
min_enemy = f
min_dist = dist
return min_enemy
def setup_sandbox(self):
"""
setup the sandbox environment
"""
OpenNero.getSimContext().delay = 0.0
self.environment = RoombaEnvironment(constants.XDIM, constants.YDIM)
OpenNero.set_environment(self.environment)
def closest_enemy(self, agent):
"""
Returns the nearest enemy to agent
"""
friends, foes = self.get_friend_foe(agent)
if not foes:
return None
min_enemy = None
min_dist = constants.MAX_FIRE_ACTION_RADIUS
pose = self.get_state(agent).pose
color = OpenNero.Color(128, 0, 0, 0)
for f in foes:
f_pose = self.get_state(f).pose
dist = self.distance(pose, f_pose)
if dist < min_dist:
source_pos = agent.state.position
enemy_pos = f.state.position
source_pos.z = source_pos.z + 5
enemy_pos.z = enemy_pos.z + 5
obstacles = OpenNero.getSimContext().findInRay(
source_pos, enemy_pos, constants.OBJECT_TYPE_OBSTACLE, False, color, color
)
if len(obstacles) == 0:
min_enemy = f
min_dist = dist
return min_enemy
def ClientMain():
global modify_object_id
global object_ids
global guiMan
OpenNero.disable_ai()
if not module.getMod().setup_map():
switchToHub()
return
# add a light source
OpenNero.getSimContext().addLightSource(OpenNero.Vector3f(500, -500, 1000),
1500)
common.addSkyBox("data/sky/irrlicht2")
# setup the gui
guiMan = common.getGuiManager()
object_ids = {}
modify_object_id = {}
# add a camera
camRotateSpeed = 100
camMoveSpeed = 15000
camZoomSpeed = 200
cam = OpenNero.getSimContext().addCamera(camRotateSpeed, camMoveSpeed,
camZoomSpeed)
cam.setFarPlane(40000)
cam.setEdgeScroll(False)
def recenter(cam):
def closure():
cam.setPosition(OpenNero.Vector3f(0, 0, 100))
cam.setTarget(OpenNero.Vector3f(100, 100, 0))
return closure
recenter_cam = recenter(cam)
recenter_cam()
# create the io map
ioMap = createInputMapping()
ioMap.BindKey("KEY_SPACE", "onPress", recenter_cam)
OpenNero.getSimContext().setInputMapping(ioMap)
def addObject(templateFile,
position,
rotation=OpenNero.Vector3f(0, 0, 0),
scale=OpenNero.Vector3f(1, 1, 1),
label="",
type=0,
collision=0):
return OpenNero.getSimContext().addObject(templateFile, position, rotation,
scale, label, collision, type)
def ClientMain():
global modify_object_id
global object_ids
global guiMan
OpenNero.disable_ai()
if not module.getMod().setup_map():
switchToHub()
return
# add a light source
OpenNero.getSimContext().addLightSource(OpenNero.Vector3f(500, -500, 1000), 1500)
common.addSkyBox("data/sky/irrlicht2")
# setup the gui
guiMan = common.getGuiManager()
object_ids = {}
modify_object_id = {}
# add a camera
camRotateSpeed = 100
camMoveSpeed = 15000
camZoomSpeed = 200
cam = OpenNero.getSimContext().addCamera(camRotateSpeed, camMoveSpeed, camZoomSpeed)
cam.setFarPlane(40000)
cam.setEdgeScroll(False)
def recenter(cam):
def closure():
cam.setPosition(OpenNero.Vector3f(0, 0, 100))
cam.setTarget(OpenNero.Vector3f(100, 100, 0))
return closure
recenter_cam = recenter(cam)
recenter_cam()
# create the io map
ioMap = createInputMapping()
ioMap.BindKey("KEY_SPACE", "onPress", recenter_cam)
OpenNero.getSimContext().setInputMapping(ioMap)
def mouse_action():
import math
global modify_object_id
global object_ids
if len(modify_object_id) == 0:
return
sim_context = OpenNero.getSimContext()
cursor = sim_context.getMousePosition()
location = sim_context.getClickedPosition(cursor.x, cursor.y)
if 'move' in modify_object_id:
sim_context.setObjectPosition(
modify_object_id['move'],
OpenNero.Vector3f(location.x, location.y,
constants.HEIGHT + constants.OFFSET))
if 'rot' in modify_object_id:
position = sim_context.getObjectPosition(modify_object_id['rot'])
angle = math.atan2(location.x - position.x, location.y - position.y)
sim_context.setObjectRotation(
modify_object_id['rot'],
OpenNero.Vector3f(0, 0, -math.degrees(angle)))
if 'scale' in modify_object_id:
position = sim_context.getObjectPosition(modify_object_id['scale'])
rotation = sim_context.getObjectRotation(modify_object_id['scale'])
theta = math.radians(rotation.z)
# calculate mouse location in the frame of reference of the object
localx = (location.x - position.x) * math.cos(theta) + (
location.y - position.y) * math.sin(theta)
localy = -(location.x - position.x) * math.sin(theta) + (
location.y - position.y) * math.cos(theta)
# scale < 1 if local coordinate is -ve and scale > 1 otherwise
scalex = 1 + math.fabs(localx)
scaley = 1 + math.fabs(localy)
if localx < 0: scalex = 1 / scalex
if localy < 0: scaley = 1 / scaley
prev_scale = sim_context.getObjectScale(modify_object_id['scale'])
sim_context.setObjectScale(
modify_object_id['scale'],
OpenNero.Vector3f(scalex, scaley, prev_scale.z))
def mouse_action():
import math
global modify_object_id
global object_ids
if len(modify_object_id) == 0:
return
sim_context = OpenNero.getSimContext()
cursor = sim_context.getMousePosition()
location = sim_context.getClickedPosition(cursor.x, cursor.y)
if "move" in modify_object_id:
sim_context.setObjectPosition(
modify_object_id["move"], OpenNero.Vector3f(location.x, location.y, constants.HEIGHT + constants.OFFSET)
)
if "rot" in modify_object_id:
position = sim_context.getObjectPosition(modify_object_id["rot"])
angle = math.atan2(location.x - position.x, location.y - position.y)
sim_context.setObjectRotation(modify_object_id["rot"], OpenNero.Vector3f(0, 0, -math.degrees(angle)))
if "scale" in modify_object_id:
position = sim_context.getObjectPosition(modify_object_id["scale"])
rotation = sim_context.getObjectRotation(modify_object_id["scale"])
theta = math.radians(rotation.z)
# calculate mouse location in the frame of reference of the object
localx = (location.x - position.x) * math.cos(theta) + (location.y - position.y) * math.sin(theta)
localy = -(location.x - position.x) * math.sin(theta) + (location.y - position.y) * math.cos(theta)
# scale < 1 if local coordinate is -ve and scale > 1 otherwise
scalex = 1 + math.fabs(localx)
scaley = 1 + math.fabs(localy)
if localx < 0:
scalex = 1 / scalex
if localy < 0:
scaley = 1 / scaley
prev_scale = sim_context.getObjectScale(modify_object_id["scale"])
sim_context.setObjectScale(modify_object_id["scale"], OpenNero.Vector3f(scalex, scaley, prev_scale.z))
def calculate_reward(self, agent, action):
reward = self.agent_info.reward.get_instance()
state = self.get_state(agent)
friends, foes = self.getFriendFoe(agent)
R = dict([(f, 0) for f in constants.FITNESS_DIMENSIONS])
R[constants.FITNESS_STAND_GROUND] = -abs(action[0])
friend = self.nearest(state.pose, friends)
if friend:
d = self.distance(self.get_state(friend).pose, state.pose)
R[constants.FITNESS_STICK_TOGETHER] = -d * d
foe = self.nearest(state.pose, foes)
if foe:
d = self.distance(self.get_state(foe).pose, state.pose)
R[constants.FITNESS_APPROACH_ENEMY] = -d * d
f = module.getMod().flag_loc
if f:
d = self.distance(state.pose, (f.x, f.y))
R[constants.FITNESS_APPROACH_FLAG] = -d * d
target = self.target(agent)
if target is not None:
obstacles = OpenNero.getSimContext().findInRay(
agent.state.position,
target.state.position,
constants.OBJECT_TYPE_OBSTACLE | agent.get_team(),
True)
if len(obstacles) == 0:
self.get_state(target).curr_damage += 1
R[constants.FITNESS_HIT_TARGET] = 1
damage = state.update_damage()
R[constants.FITNESS_AVOID_FIRE] = -damage
for i, f in enumerate(constants.FITNESS_DIMENSIONS):
reward[i] = R[f]
return reward
def step(self, agent, action):
"""
2A step for an agent
"""
# check if the action is valid
assert (self.agent_info.actions.validate(action))
state = self.get_state(agent)
#Initilize Agent state
if agent.step == 0 and agent.group != "Turret":
p = copy.copy(agent.state.position)
r = copy.copy(agent.state.rotation)
if agent.group == "Agent":
r.z = random.randrange(360)
agent.state.rotation = r
state.reset_pose(p, r)
return self.agent_info.reward.get_instance()
# spawn more agents if possible.
self.maybe_spawn(agent)
# get the desired action of the agent
move_by = action[0]
turn_by = math.degrees(action[1])
# set animation speed
# TODO: move constants into constants.py
self.set_animation(agent, state, 'run')
delay = OpenNero.getSimContext().delay
if delay > 0.0: # if there is a need to show animation
agent.state.animation_speed = move_by * 28.0 / delay
reward = self.calculate_reward(agent, action)
# tell the system to make the calculated motion
state.update_pose(move_by, turn_by)
return reward
def step(self, agent, action):
"""
2A step for an agent
"""
# check if the action is valid
assert(self.agent_info.actions.validate(action))
state = self.get_state(agent)
#Initilize Agent state
if agent.step == 0 and agent.group != "Turret":
p = copy.copy(agent.state.position)
r = copy.copy(agent.state.rotation)
if agent.group == "Agent":
r.z = random.randrange(360)
agent.state.rotation = r
state.reset_pose(p, r)
return self.agent_info.reward.get_instance()
# spawn more agents if possible.
self.maybe_spawn(agent)
# get the desired action of the agent
move_by = action[0]
turn_by = math.degrees(action[1])
# set animation speed
# TODO: move constants into constants.py
self.set_animation(agent, state, 'run')
delay = OpenNero.getSimContext().delay
if delay > 0.0: # if there is a need to show animation
agent.state.animation_speed = move_by * 28.0 / delay
reward = self.calculate_reward(agent, action)
# tell the system to make the calculated motion
state.update_pose(move_by, turn_by)
return reward
def set_speedup(self, speedup):
OpenNero.getSimContext().delay = 1.0 - (speedup / 100.0)
print 'speedup delay', OpenNero.getSimContext().delay
def step(self, agent, action):
"""
2A step for an agent
"""
# if this agent has a serialized representation waiting, load it.
chunk = self.agents_to_load.get(agent.state.id)
if chunk is not None:
print 'loading agent', agent.state.id, 'from', len(chunk), 'bytes'
del self.agents_to_load[agent.state.id]
try:
agent.from_string(chunk)
except:
# if loading fails, remove this agent.
print 'error loading agent', agent.state.id
self.remove_agent(agent)
# if a user has a badly formatted q-learning agent in a mixed
# population file, the agent won't load and will be properly
# removed here. however, RTNEAT has only allocated enough brainz
# to cover (pop_size - num_qlearning_agents) agents, so whenever
# it comes time to spawn new agents, RTNEAT will think that it
# needs to spawn an extra agent to cover for this "missing" one.
# to prevent this exception, we decrement pop_size here.
#
# this probably prevents teams from having the proper number of
# agents if the user clicks on the deploy button after loading a
# broken pop file ... but that's tricky to fix.
constants.pop_size -= 1
return agent.info.reward.get_instance()
# set the epsilon for this agent, in case it's changed recently.
agent.epsilon = self.epsilon
state = self.get_state(agent)
#Initilize Agent state
if agent.step == 0 and agent.group != "Turret":
p = agent.state.position
r = agent.state.rotation
if agent.group == "Agent":
r.z = random.randrange(360)
agent.state.rotation = r
state.reset_pose(p, r)
return agent.info.reward.get_instance()
# display agent info if neccessary
if hasattr(agent, 'set_display_hint'):
agent.set_display_hint()
# spawn more agents if possible.
self.maybe_spawn(agent)
# get the desired action of the agent
move_by = action[constants.ACTION_INDEX_SPEED]
turn_by = math.degrees(action[constants.ACTION_INDEX_TURN])
firing = action[constants.ACTION_INDEX_FIRE]
firing_status = (firing >= 0.5)
scored_hit = False
# firing decision
if firing_status:
target = self.closest_enemy(agent)
if target is not None:
pose = state.pose
target_pose = self.get_state(target).pose
relative_angle = self.angle(pose, target_pose)
if abs(relative_angle) <= 2:
source_pos = agent.state.position
target_pos = target.state.position
source_pos.z = source_pos.z + 5
target_pos.z = target_pos.z + 5
dist = target_pos.getDistanceFrom(source_pos)
d = (constants.MAX_SHOT_RADIUS - dist)/constants.MAX_SHOT_RADIUS
if random.random() < d/2: # attempt a shot depending on distance
team_color = constants.TEAM_LABELS[agent.get_team()]
if team_color == 'red':
color = OpenNero.Color(255, 255, 0, 0)
elif team_color == 'blue':
color = OpenNero.Color(255, 0, 0, 255)
else:
color = OpenNero.Color(255, 255, 255, 0)
wall_color = OpenNero.Color(128, 0, 255, 0)
obstacles = OpenNero.getSimContext().findInRay(
source_pos,
target_pos,
constants.OBJECT_TYPE_OBSTACLE,
True,
wall_color,
color)
#if len(obstacles) == 0 and random.random() < d/2:
if len(obstacles) == 0:
# count as hit depending on distance
self.get_state(target).curr_damage += 1
scored_hit = True
else: # turn toward the enemy
turn_by = relative_angle
# set animation speed
# TODO: move constants into constants.py
self.set_animation(agent, state, 'run')
delay = OpenNero.getSimContext().delay
agent.state.animation_speed = move_by * constants.ANIMATION_RATE
reward = self.calculate_reward(agent, action, scored_hit)
# tell the system to make the calculated motion
state.update_pose(move_by, turn_by)
return reward
def show_context_menu():
global modify_object_id
global object_ids
if len(modify_object_id) > 0:
return
guiMan.setTransparency(1.0)
sim_context = OpenNero.getSimContext()
# find the screen position at which to open the context menu
cursor = sim_context.getMousePosition()
location = sim_context.getClickedPosition(cursor.x, cursor.y)
selected_object_id = sim_context.getClickedEntityId(cursor.x, cursor.y)
if selected_object_id not in object_ids and abs(location.z) > 10: return
print "location:", location
contextMenu = gui.create_context_menu(guiMan, 'context', cursor)
def add_wall():
obj_id = common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(location.x, location.y, constants.HEIGHT + constants.OFFSET),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(5, 30, constants.HEIGHT*2),
type=1)
object_ids[obj_id] = set(['rotate', 'move', 'scale', 'remove'])
def rotate_object():
modify_object_id['rot'] = selected_object_id
def scale_object():
modify_object_id['scale'] = selected_object_id
def move_object():
modify_object_id['move'] = selected_object_id
def remove_flag():
module.getMod().remove_flag()
def place_flag():
module.getMod().change_flag([location.x, location.y, 0])
def place_basic_turret():
obj_id = module.getMod().place_basic_turret([location.x, location.y, 0])
object_ids[obj_id] = set(['move', 'remove'])
def set_spawn_1():
module.getMod().set_spawn(location.x, location.y, constants.OBJECT_TYPE_TEAM_0)
def set_spawn_2():
module.getMod().set_spawn(location.x, location.y, constants.OBJECT_TYPE_TEAM_1)
def remove_wall():
common.removeObject(selected_object_id)
if selected_object_id in object_ids:
operations = object_ids[selected_object_id]
if 'rotate' in operations:
rotateButton = gui.create_button(guiMan, 'rotate', OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), '')
rotateButton.OnMouseLeftClick = lambda: rotate_object()
contextMenu.addItem('Rotate Object', rotateButton)
if 'scale' in operations:
scaleButton = gui.create_button(guiMan, 'scale', OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), '')
scaleButton.OnMouseLeftClick = lambda: scale_object()
contextMenu.addItem('Scale Object', scaleButton)
if 'move' in operations:
moveButton = gui.create_button(guiMan, 'move', OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), '')
moveButton.OnMouseLeftClick = lambda: move_object()
contextMenu.addItem('Move Object', moveButton)
if 'remove' in operations:
removeButton = gui.create_button(guiMan, 'remove', OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), '')
removeButton.OnMouseLeftClick = lambda: remove_wall()
contextMenu.addItem('Remove Object', removeButton)
else:
wallButton = gui.create_button(guiMan, 'wall', OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), '')
wallButton.OnMouseLeftClick = lambda: add_wall()
contextMenu.addItem('Add wall', wallButton)
rmFlagButton = gui.create_button(guiMan, 'flag', OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), '')
rmFlagButton.OnMouseLeftClick = lambda: remove_flag()
contextMenu.addItem('Remove Flag', rmFlagButton)
flagButton = gui.create_button(guiMan, 'flag', OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), '')
flagButton.OnMouseLeftClick = lambda: place_flag()
contextMenu.addItem('Place Flag', flagButton)
turretButton = gui.create_button(guiMan, 'b_turret', OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), '')
turretButton.OnMouseLeftClick = lambda: place_basic_turret()
contextMenu.addItem('Place Basic Turret', turretButton)
spawn1Button = gui.create_button(guiMan, 'blue spawn', OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), '')
spawn1Button.OnMouseLeftClick = lambda: set_spawn_1()
contextMenu.addItem('Set Blue Spawn Location', spawn1Button)
spawn2Button = gui.create_button(guiMan, 'red spawn', OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), '')
spawn2Button.OnMouseLeftClick = lambda: set_spawn_2()
contextMenu.addItem('Set Red Spawn Location', spawn2Button)
def __init__(self, xdim, ydim, world_file = WORLD_FILE):
"""
Create the environment
"""
#self.Qlog = open("Qlog", "wb+")
OpenNero.Environment.__init__(self)
OpenNero.getSimContext().delay = 0.0;
self.XDIM = xdim
self.YDIM = ydim
self.max_steps = 500
self.states = {} # dictionary of agent states
if WORLD_FILE is None:
self.crumbs = world_handler.pattern_cluster(500, "Roomba/world_config.txt")
else: # read external file
data = world_handler.read_world(WORLD_FILE)
self.XDIM = data['dims'][0]
self.YDIM = data['dims'][1]
self.crumbs = data['pellets']
print len(self.crumbs)
# only keep crumbs that are inside the walls
self.crumbs = [c for c in self.crumbs if in_bounds(c.x,c.y)]
self.init_list = AgentInit()
self.init_list.add_type("<class 'Roomba.roomba.RoombaBrain'>")
self.init_list.add_type("<class 'Roomba.RTNEATAgent.RTNEATAgent'>")
self.init_list.add_type("<class 'Roomba.RLAgent.TabularRLAgent'>")
#print self.init_list.types
roomba_abound = self.init_list.get_action("<class 'Roomba.roomba.RoombaBrain'>")
roomba_sbound = self.init_list.get_sensor("<class 'Roomba.roomba.RoombaBrain'>")
roomba_rbound = self.init_list.get_reward("<class 'Roomba.roomba.RoombaBrain'>")
rtneat_abound = self.init_list.get_action("<class 'Roomba.RTNEATAgent.RTNEATAgent'>")
rtneat_sbound = self.init_list.get_sensor("<class 'Roomba.RTNEATAgent.RTNEATAgent'>")
rtneat_rbound = self.init_list.get_reward("<class 'Roomba.RTNEATAgent.RTNEATAgent'>")
### Bounds for Roomba ###
# actions
roomba_abound.add_continuous(-math.pi, math.pi) # amount to turn by
# sensors
roomba_sbound.add_discrete(0,1) # wall bump
roomba_sbound.add_continuous(0,xdim) # self.x
roomba_sbound.add_continuous(0,ydim) # self.y
roomba_sbound.add_continuous(0,xdim) # closest.x
roomba_sbound.add_continuous(0,ydim) # closest.y
# rewards
roomba_rbound.add_continuous(-100,100) # range for reward
### End Bounds for Roomba ####
### Bounds for RTNEAT ###
# actions
rtneat_abound.add_continuous(-math.pi, math.pi) # amount to turn by
#rtneat_abound.add_continuous(0, 1) # signal
# sensors
rtneat_sbound.add_continuous(-math.pi, math.pi) # nearest crumb angle
rtneat_sbound.add_continuous(0, 1) # proportion of crumb nearby
# angle and distance sensors for (up to) 8 nearest neighbors
rtneat_sbound.add_continuous(-math.pi, math.pi)
rtneat_sbound.add_continuous(0, 1)
rtneat_sbound.add_continuous(-math.pi, math.pi)
rtneat_sbound.add_continuous(0, 1)
rtneat_sbound.add_continuous(-math.pi, math.pi)
rtneat_sbound.add_continuous(0, 1)
rtneat_sbound.add_continuous(-math.pi, math.pi)
rtneat_sbound.add_continuous(0, 1)
rtneat_sbound.add_continuous(-math.pi, math.pi)
rtneat_sbound.add_continuous(0, 1)
rtneat_sbound.add_continuous(-math.pi, math.pi)
rtneat_sbound.add_continuous(0, 1)
rtneat_sbound.add_continuous(-math.pi, math.pi)
rtneat_sbound.add_continuous(0, 1)
rtneat_sbound.add_continuous(-math.pi, math.pi)
rtneat_sbound.add_continuous(0, 1)
# rewards
rtneat_rbound.add_continuous(-math.pi, math.pi)
### End Bounds for RTNEAT ###
#------------------------------------------------------------------------
rltabular_abound = self.init_list.get_action("<class 'Roomba.RLAgent.TabularRLAgent'>")
rltabular_sbound = self.init_list.get_sensor("<class 'Roomba.RLAgent.TabularRLAgent'>")
rltabular_rbound = self.init_list.get_reward("<class 'Roomba.RLAgent.TabularRLAgent'>")
### Bounds for RLTabular ###
# actions
rltabular_abound.add_continuous(-math.pi, math.pi) # amount to turn by
# sensors
rltabular_sbound.add_continuous(-1, 1)
rltabular_sbound.add_continuous(-1, 1)
rltabular_sbound.add_continuous(-1, 1)
rltabular_sbound.add_continuous(-1, 1)
rltabular_sbound.add_continuous(-1, 1)
rltabular_sbound.add_continuous(-1, 1)
# rewards
rltabular_rbound.add_continuous(-1, 1)
### End Bounds for RLTabular ###
#------------------------------------------------------------------------
# set up shop
# Add Wayne's Roomba room with experimentally-derived vertical offset to match crumbs.
common.addObject("data/terrain/RoombaRoom.xml", OpenNero.Vector3f(xdim/2,ydim/2, -1), OpenNero.Vector3f(0,0,0), OpenNero.Vector3f(xdim/245.0, ydim/245.0, constants.HEIGHT/24.5), type = constants.OBJECT_TYPE_WALLS)
# OpenNero.getSimContext().addAxes()
self.add_crumbs()
for crumb in self.crumbs:
self.add_crumb_sensors(roomba_sbound)
def initObjectBrain(simId, brain):
return OpenNero.getSimContext().initObjectBrain(simId, brain)
def set_speedup(self, speedup):
OpenNero.getSimContext().delay = 1.0 - (speedup / 100.0)
if self.environment:
self.environment.speedup = (speedup / 100.0)
def step(self, agent, action):
"""
2A step for an agent
"""
# if this agent has a serialized representation waiting, load it.
chunk = self.agents_to_load.get(agent.state.id)
if chunk is not None:
print 'loading agent', agent.state.id, 'from', len(chunk), 'bytes'
del self.agents_to_load[agent.state.id]
try:
agent.from_string(chunk)
except:
# if loading fails, remove this agent.
print 'error loading agent', agent.state.id
self.remove_agent(agent)
# if a user has a badly formatted q-learning agent in a mixed
# population file, the agent won't load and will be properly
# removed here. however, RTNEAT has only allocated enough brainz
# to cover (pop_size - num_qlearning_agents) agents, so whenever
# it comes time to spawn new agents, RTNEAT will think that it
# needs to spawn an extra agent to cover for this "missing" one.
# to prevent this exception, we decrement pop_size here.
#
# this probably prevents teams from having the proper number of
# agents if the user clicks on the deploy button after loading a
# broken pop file ... but that's tricky to fix.
constants.pop_size -= 1
return agent.info.reward.get_instance()
# set the epsilon for this agent, in case it's changed recently.
agent.epsilon = self.epsilon
state = self.get_state(agent)
#Initilize Agent state
if agent.step == 0 and agent.group != "Turret":
p = agent.state.position
r = agent.state.rotation
if agent.group == "Agent":
r.z = random.randrange(360)
agent.state.rotation = r
state.reset_pose(p, r)
return agent.info.reward.get_instance()
# display agent info if neccessary
if hasattr(agent, 'set_display_hint'):
agent.set_display_hint()
# spawn more agents if possible.
self.maybe_spawn(agent)
# get the desired action of the agent
move_by = action[constants.ACTION_INDEX_SPEED]
turn_by = math.degrees(action[constants.ACTION_INDEX_TURN])
firing = action[constants.ACTION_INDEX_FIRE]
firing_status = (firing >= 0.5)
scored_hit = False
# firing decision
if firing_status:
target = self.closest_enemy(agent)
if target is not None:
pose = state.pose
target_pose = self.get_state(target).pose
relative_angle = self.angle(pose, target_pose)
if abs(relative_angle) <= 2:
source_pos = agent.state.position
target_pos = target.state.position
source_pos.z = source_pos.z + 5
target_pos.z = target_pos.z + 5
dist = target_pos.getDistanceFrom(source_pos)
d = (constants.MAX_SHOT_RADIUS - dist)/constants.MAX_SHOT_RADIUS
if random.random() < d/2: # attempt a shot depending on distance
team_color = constants.TEAM_LABELS[agent.get_team()]
if team_color == 'red':
color = OpenNero.Color(255, 255, 0, 0)
elif team_color == 'blue':
color = OpenNero.Color(255, 0, 0, 255)
else:
color = OpenNero.Color(255, 255, 255, 0)
wall_color = OpenNero.Color(128, 0, 255, 0)
obstacles = OpenNero.getSimContext().findInRay(
source_pos,
target_pos,
constants.OBJECT_TYPE_OBSTACLE,
True,
wall_color,
color)
#if len(obstacles) == 0 and random.random() < d/2:
if len(obstacles) == 0:
# count as hit depending on distance
self.get_state(target).curr_damage += 1
scored_hit = True
else: # turn toward the enemy
turn_by = relative_angle
# set animation speed
# TODO: move constants into constants.py
self.set_animation(agent, state, 'run')
delay = OpenNero.getSimContext().delay
agent.state.animation_speed = move_by * constants.ANIMATION_RATE
reward = self.calculate_reward(agent, action, scored_hit)
# tell the system to make the calculated motion
state.update_pose(move_by, turn_by)
return reward
def show_context_menu():
global modify_object_id
global object_ids
if len(modify_object_id) > 0:
return
guiMan.setTransparency(1.0)
sim_context = OpenNero.getSimContext()
# find the screen position at which to open the context menu
cursor = sim_context.getMousePosition()
location = sim_context.getClickedPosition(cursor.x, cursor.y)
selected_object_id = sim_context.getClickedEntityId(cursor.x, cursor.y)
if selected_object_id not in object_ids and abs(location.z) > 1:
return
print "location:", location
contextMenu = gui.create_context_menu(guiMan, "context", cursor)
def add_wall():
object_ids.append(
common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(location.x, location.y, constants.HEIGHT + constants.OFFSET),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(1, 30, constants.HEIGHT),
type=1,
)
)
def rotate_object():
modify_object_id["rot"] = selected_object_id
def scale_object():
modify_object_id["scale"] = selected_object_id
def move_object():
modify_object_id["move"] = selected_object_id
def place_flag():
module.getMod().change_flag([location.x, location.y, 0])
def place_basic_turret():
module.getMod().place_basic_turret([location.x, location.y, 0])
def set_spawn():
module.getMod().set_spawn(location.x, location.y)
def remove_wall():
common.removeObject(selected_object_id)
if selected_object_id in object_ids:
rotateButton = gui.create_button(guiMan, "rotate", OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), "")
rotateButton.OnMouseLeftClick = lambda: rotate_object()
contextMenu.addItem("Rotate Object", rotateButton)
scaleButton = gui.create_button(guiMan, "scale", OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), "")
scaleButton.OnMouseLeftClick = lambda: scale_object()
contextMenu.addItem("Scale Object", scaleButton)
moveButton = gui.create_button(guiMan, "move", OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), "")
moveButton.OnMouseLeftClick = lambda: move_object()
contextMenu.addItem("Move Object", moveButton)
removeButton = gui.create_button(guiMan, "remove", OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), "")
removeButton.OnMouseLeftClick = lambda: remove_wall()
contextMenu.addItem("Remove Object", removeButton)
else:
wallButton = gui.create_button(guiMan, "wall", OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), "")
wallButton.OnMouseLeftClick = lambda: add_wall()
contextMenu.addItem("Add wall", wallButton)
flagButton = gui.create_button(guiMan, "flag", OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), "")
flagButton.OnMouseLeftClick = lambda: place_flag()
contextMenu.addItem("Place Flag", flagButton)
turretButton = gui.create_button(guiMan, "b_turret", OpenNero.Pos2i(0, 0), OpenNero.Pos2i(0, 0), "")
turretButton.OnMouseLeftClick = lambda: place_basic_turret()
contextMenu.addItem("Place Basic Turret", turretButton)
def addSkyBox(prefix, extension=None):
""" add a skybox starting with the prefix and ending with the extension """
if extension:
OpenNero.getSimContext().addSkyBox(prefix, extension)
else:
OpenNero.getSimContext().addSkyBox(prefix)
def show_context_menu():
global modify_object_id
global object_ids
if len(modify_object_id) > 0:
return
guiMan.setTransparency(1.0)
sim_context = OpenNero.getSimContext()
# find the screen position at which to open the context menu
cursor = sim_context.getMousePosition()
location = sim_context.getClickedPosition(cursor.x, cursor.y)
selected_object_id = sim_context.getClickedEntityId(cursor.x, cursor.y)
if selected_object_id not in object_ids and abs(location.z) > 10: return
print "location:", location
contextMenu = gui.create_context_menu(guiMan, 'context', cursor)
def add_wall():
obj_id = common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(location.x, location.y,
constants.HEIGHT + constants.OFFSET),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(5, 30, constants.HEIGHT * 2),
type=1)
object_ids[obj_id] = set(['rotate', 'move', 'scale', 'remove'])
def rotate_object():
modify_object_id['rot'] = selected_object_id
def scale_object():
modify_object_id['scale'] = selected_object_id
def move_object():
modify_object_id['move'] = selected_object_id
def remove_flag():
module.getMod().remove_flag()
def place_flag():
module.getMod().change_flag([location.x, location.y, 0])
def place_basic_turret():
obj_id = module.getMod().place_basic_turret(
[location.x, location.y, 0])
object_ids[obj_id] = set(['move', 'remove'])
def set_spawn_1():
module.getMod().set_spawn(location.x, location.y,
constants.OBJECT_TYPE_TEAM_0)
def set_spawn_2():
module.getMod().set_spawn(location.x, location.y,
constants.OBJECT_TYPE_TEAM_1)
def remove_wall():
common.removeObject(selected_object_id)
if selected_object_id in object_ids:
operations = object_ids[selected_object_id]
if 'rotate' in operations:
rotateButton = gui.create_button(guiMan, 'rotate',
OpenNero.Pos2i(0, 0),
OpenNero.Pos2i(0, 0), '')
rotateButton.OnMouseLeftClick = lambda: rotate_object()
contextMenu.addItem('Rotate Object', rotateButton)
if 'scale' in operations:
scaleButton = gui.create_button(guiMan, 'scale',
OpenNero.Pos2i(0, 0),
OpenNero.Pos2i(0, 0), '')
scaleButton.OnMouseLeftClick = lambda: scale_object()
contextMenu.addItem('Scale Object', scaleButton)
if 'move' in operations:
moveButton = gui.create_button(guiMan, 'move',
OpenNero.Pos2i(0, 0),
OpenNero.Pos2i(0, 0), '')
moveButton.OnMouseLeftClick = lambda: move_object()
contextMenu.addItem('Move Object', moveButton)
if 'remove' in operations:
removeButton = gui.create_button(guiMan, 'remove',
OpenNero.Pos2i(0, 0),
OpenNero.Pos2i(0, 0), '')
removeButton.OnMouseLeftClick = lambda: remove_wall()
contextMenu.addItem('Remove Object', removeButton)
else:
wallButton = gui.create_button(guiMan, 'wall', OpenNero.Pos2i(0, 0),
OpenNero.Pos2i(0, 0), '')
wallButton.OnMouseLeftClick = lambda: add_wall()
contextMenu.addItem('Add wall', wallButton)
rmFlagButton = gui.create_button(guiMan, 'flag', OpenNero.Pos2i(0, 0),
OpenNero.Pos2i(0, 0), '')
rmFlagButton.OnMouseLeftClick = lambda: remove_flag()
contextMenu.addItem('Remove Flag', rmFlagButton)
flagButton = gui.create_button(guiMan, 'flag', OpenNero.Pos2i(0, 0),
OpenNero.Pos2i(0, 0), '')
flagButton.OnMouseLeftClick = lambda: place_flag()
contextMenu.addItem('Place Flag', flagButton)
turretButton = gui.create_button(guiMan, 'b_turret',
OpenNero.Pos2i(0, 0),
OpenNero.Pos2i(0, 0), '')
turretButton.OnMouseLeftClick = lambda: place_basic_turret()
contextMenu.addItem('Place Basic Turret', turretButton)
spawn1Button = gui.create_button(guiMan, 'blue spawn',
OpenNero.Pos2i(0, 0),
OpenNero.Pos2i(0, 0), '')
spawn1Button.OnMouseLeftClick = lambda: set_spawn_1()
contextMenu.addItem('Set Blue Spawn Location', spawn1Button)
spawn2Button = gui.create_button(guiMan, 'red spawn',
OpenNero.Pos2i(0, 0),
OpenNero.Pos2i(0, 0), '')
spawn2Button.OnMouseLeftClick = lambda: set_spawn_2()
contextMenu.addItem('Set Red Spawn Location', spawn2Button)
def step(self, agent, action):
"""
2A step for an agent
"""
state = self.get_state(agent)
#Initilize Agent state
if agent.step == 0 and agent.group != "Turret":
p = agent.state.position
r = agent.state.rotation
if agent.group == "Agent":
r.z = random.randrange(360)
agent.state.rotation = r
state.reset_pose(p, r)
return agent.rewards.get_instance()
# display agent info if neccessary
if hasattr(agent, 'set_display_hint'):
agent.set_display_hint()
# get the desired action of the agent
move_by = action[constants.ACTION_INDEX_SPEED]
turn_by = math.degrees(action[constants.ACTION_INDEX_TURN])
firing = action[constants.ACTION_INDEX_FIRE]
firing_status = (firing >= 0.5)
scored_hit = False
# firing decision
closest_enemy = self.closest_enemy(agent)
if firing_status:
if closest_enemy is not None:
pose = state.pose
closest_enemy_pose = self.get_state(closest_enemy).pose
relative_angle = self.angle(pose, closest_enemy_pose)
if abs(relative_angle) <= 2:
source_pos = agent.state.position
closest_enemy_pos = closest_enemy.state.position
source_pos.z = source_pos.z + 5
closest_enemy_pos.z = closest_enemy_pos.z + 5
dist = closest_enemy_pos.getDistanceFrom(source_pos)
d = (constants.MAX_SHOT_RADIUS - dist)/constants.MAX_SHOT_RADIUS
if random.random() < d/2: # attempt a shot depending on distance
team_color = constants.TEAM_LABELS[agent.team_type]
if team_color == 'red':
color = OpenNero.Color(255, 255, 0, 0)
elif team_color == 'blue':
color = OpenNero.Color(255, 0, 0, 255)
else:
color = OpenNero.Color(255, 255, 255, 0)
wall_color = OpenNero.Color(128, 0, 255, 0)
obstacles = OpenNero.getSimContext().findInRay(
source_pos,
closest_enemy_pos,
constants.OBJECT_TYPE_OBSTACLE,
True,
wall_color,
color)
#if len(obstacles) == 0 and random.random() < d/2:
if len(obstacles) == 0:
# count as hit depending on distance
self.get_state(closest_enemy).curr_damage += 1
scored_hit = True
else: # turn toward the enemy
turn_by = relative_angle
# set animation speed
# TODO: move constants into constants.py
self.set_animation(agent, state, 'run')
delay = OpenNero.getSimContext().delay
agent.state.animation_speed = move_by * constants.ANIMATION_RATE
reward = self.calculate_reward(agent, action, scored_hit)
team = self.get_team(agent)
# tell the system to make the calculated motion
# if the motion doesn't result in a collision
dist = constants.MAX_MOVEMENT_SPEED * move_by
heading = common.wrap_degrees(agent.state.rotation.z, turn_by)
x = agent.state.position.x + dist * math.cos(math.radians(heading))
y = agent.state.position.y + dist * math.sin(math.radians(heading))
# manual collision detection
desired_pose = (x, y, heading)
collision_detected = False
friends, foes = self.get_friend_foe(agent)
for f in friends:
if f != agent:
f_state = self.get_state(f)
# we impose an order on agents to avoid deadlocks. Without this
# two agents which spawn very close to each other can never escape
# each other's collision radius
if state.id > f_state.id:
f_pose = f_state.pose
dist = self.distance(desired_pose, f_pose)
if dist < constants.MANUAL_COLLISION_DISTANCE:
collision_detected = True
continue
# just check for collisions with the closest enemy
if closest_enemy:
if not collision_detected:
f_pose = self.get_state(closest_enemy).pose
dist = self.distance(desired_pose, f_pose)
if dist < constants.MANUAL_COLLISION_DISTANCE:
collision_detected = True
if not collision_detected:
state.update_pose(move_by, turn_by)
return reward
def set_speedup(self, speedup):
print 'Speedup set to', speedup
# speed up between 0 (delay set to 1 second) and 1 (delay set to 0)
OpenNero.getSimContext().delay = 1.0 - speedup
def step(self, agent, action):
"""
2A step for an agent
"""
# if this agent has a serialized representation waiting, load it.
chunk = self.agents_to_load.get(agent.state.id)
if chunk is not None:
print 'loading agent', agent.state.id, 'from', len(chunk), 'bytes'
del self.agents_to_load[agent.state.id]
try:
agent.from_string(chunk)
except:
# if loading fails, remove this agent.
print 'error loading agent', agent.state.id
self.remove_agent(agent)
# if a user has a badly formatted q-learning agent in a mixed
# population file, the agent won't load and will be properly
# removed here. however, RTNEAT has only allocated enough brainz
# to cover (pop_size - num_qlearning_agents) agents, so whenever
# it comes time to spawn new agents, RTNEAT will think that it
# needs to spawn an extra agent to cover for this "missing" one.
# to prevent this exception, we decrement pop_size here.
#
# this probably prevents teams from having the proper number of
# agents if the user clicks on the deploy button after loading a
# broken pop file ... but that's tricky to fix.
constants.pop_size -= 1
return agent.info.reward.get_instance()
# set the epsilon for this agent, in case it's changed recently.
agent.epsilon = self.epsilon
state = self.get_state(agent)
#Initilize Agent state
if agent.step == 0 and agent.group != "Turret":
p = agent.state.position
r = agent.state.rotation
if agent.group == "Agent":
r.z = random.randrange(360)
agent.state.rotation = r
state.reset_pose(p, r)
return agent.info.reward.get_instance()
# display agent info if neccessary
if hasattr(agent, 'set_display_hint'):
agent.set_display_hint()
# spawn more agents if possible.
self.maybe_spawn(agent)
# get the desired action of the agent
move_by = action[constants.ACTION_INDEX_SPEED]
turn_by = math.degrees(action[constants.ACTION_INDEX_TURN])
firing = action[constants.ACTION_INDEX_FIRE]
firing_status = (firing >= 0.5)
scored_hit = False
# firing decision
closest_enemy = self.closest_enemy(agent)
if firing_status:
if closest_enemy is not None:
pose = state.pose
closest_enemy_pose = self.get_state(closest_enemy).pose
relative_angle = self.angle(pose, closest_enemy_pose)
if abs(relative_angle) <= 2:
source_pos = agent.state.position
closest_enemy_pos = closest_enemy.state.position
source_pos.z = source_pos.z + 5
closest_enemy_pos.z = closest_enemy_pos.z + 5
dist = closest_enemy_pos.getDistanceFrom(source_pos)
d = (constants.MAX_SHOT_RADIUS - dist)/constants.MAX_SHOT_RADIUS
if random.random() < d/2: # attempt a shot depending on distance
team_color = constants.TEAM_LABELS[agent.get_team()]
if team_color == 'red':
color = OpenNero.Color(255, 255, 0, 0)
elif team_color == 'blue':
color = OpenNero.Color(255, 0, 0, 255)
else:
color = OpenNero.Color(255, 255, 255, 0)
wall_color = OpenNero.Color(128, 0, 255, 0)
obstacles = OpenNero.getSimContext().findInRay(
source_pos,
closest_enemy_pos,
constants.OBJECT_TYPE_OBSTACLE,
True,
wall_color,
color)
#if len(obstacles) == 0 and random.random() < d/2:
if len(obstacles) == 0:
# count as hit depending on distance
self.get_state(closest_enemy).curr_damage += 1
scored_hit = True
else: # turn toward the enemy
turn_by = relative_angle
# set animation speed
# TODO: move constants into constants.py
self.set_animation(agent, state, 'run')
delay = OpenNero.getSimContext().delay
agent.state.animation_speed = move_by * constants.ANIMATION_RATE
reward = self.calculate_reward(agent, action, scored_hit)
# tell the system to make the calculated motion
# if the motion doesn't result in a collision
dist = constants.MAX_MOVEMENT_SPEED * move_by
heading = common.wrap_degrees(agent.state.rotation.z, turn_by)
x = agent.state.position.x + dist * math.cos(math.radians(heading))
y = agent.state.position.y + dist * math.sin(math.radians(heading))
# manual collision detection
desired_pose = (x, y, heading)
collision_detected = False
friends, foes = self.getFriendFoe(agent)
for f in friends:
if f != agent:
f_state = self.get_state(f)
# we impose an order on agents to avoid deadlocks. Without this
# two agents which spawn very close to each other can never escape
# each other's collision radius
if state.id > f_state.id:
f_pose = f_state.pose
dist = self.distance(desired_pose, f_pose)
if dist < constants.MANUAL_COLLISION_DISTANCE:
collision_detected = True
continue
# no need to check for collisions with all enemies
#if foes:
# if not collision_detected:
# for f in foes:
# f_pose = self.get_state(f).pose
# dist = self.distance(desired_pose, f_pose)
# if dist < constants.MANUAL_COLLISION_DISTANCE:
# collision_detected = True
# continue
# just check for collisions with the closest enemy
if closest_enemy:
if not collision_detected:
f_pose = self.get_state(closest_enemy).pose
dist = self.distance(desired_pose, f_pose)
if dist < constants.MANUAL_COLLISION_DISTANCE:
collision_detected = True
if not collision_detected:
state.update_pose(move_by, turn_by)
return reward
def set_speedup(self, speedup):
OpenNero.getSimContext().delay = 1.0 - (speedup / 100.0)
print 'speedup delay', OpenNero.getSimContext().delay
if self.environment:
self.environment.speedup = speedup / 100.0
def set_speedup(self, speedup):
print 'Speedup set to', speedup
# speed up between 0 (delay set to 1 second) and 1 (delay set to 0)
OpenNero.getSimContext().delay = 1.0 - speedup
def set_speedup(self, speedup):
OpenNero.getSimContext().delay = 1.0 - (speedup / 100.0)
print 'speedup delay', OpenNero.getSimContext().delay
def set_speedup(self, speedup):
OpenNero.getSimContext().delay = 1.0 - (speedup / 100.0)
print 'speedup delay', OpenNero.getSimContext().delay
if self.environment:
self.environment.speedup = speedup / 100.0
def addAxes(self):
OpenNero.getSimContext().addAxes()
def addAxes(self):
OpenNero.getSimContext().addAxes()
def initObjectBrain(simId, brain):
return OpenNero.getSimContext().initObjectBrain(simId, brain)
def step(self, agent, action):
"""
2A step for an agent
"""
state = self.get_state(agent)
# Initilize Agent state
if agent.step == 0 and agent.group != "Turret":
p = agent.state.position
r = agent.state.rotation
if agent.group == "Agent":
r.z = random.randrange(360)
agent.state.rotation = r
state.reset_pose(p, r)
return agent.rewards.get_instance()
# display agent info if neccessary
if hasattr(agent, "set_display_hint"):
agent.set_display_hint()
# get the desired action of the agent
move_by = action[constants.ACTION_INDEX_SPEED]
turn_by = math.degrees(action[constants.ACTION_INDEX_TURN])
firing = action[constants.ACTION_INDEX_FIRE]
firing_status = firing >= 0.5
scored_hit = False
# firing decision
closest_enemy = self.closest_enemy(agent)
if firing_status:
if closest_enemy is not None:
pose = state.pose
closest_enemy_pose = self.get_state(closest_enemy).pose
relative_angle = self.angle(pose, closest_enemy_pose)
if abs(relative_angle) <= 2:
source_pos = agent.state.position
closest_enemy_pos = closest_enemy.state.position
source_pos.z = source_pos.z + 5
closest_enemy_pos.z = closest_enemy_pos.z + 5
dist = closest_enemy_pos.getDistanceFrom(source_pos)
d = (constants.MAX_SHOT_RADIUS - dist) / constants.MAX_SHOT_RADIUS
if random.random() < d / 2: # attempt a shot depending on distance
team_color = constants.TEAM_LABELS[agent.team_type]
if team_color == "red":
color = OpenNero.Color(255, 255, 0, 0)
elif team_color == "blue":
color = OpenNero.Color(255, 0, 0, 255)
else:
color = OpenNero.Color(255, 255, 255, 0)
wall_color = OpenNero.Color(128, 0, 255, 0)
obstacles = OpenNero.getSimContext().findInRay(
source_pos, closest_enemy_pos, constants.OBJECT_TYPE_OBSTACLE, True, wall_color, color
)
# if len(obstacles) == 0 and random.random() < d/2:
if len(obstacles) == 0:
# count as hit depending on distance
self.get_state(closest_enemy).curr_damage += 1
scored_hit = True
else: # turn toward the enemy
turn_by = relative_angle
# set animation speed
# TODO: move constants into constants.py
self.set_animation(agent, state, "run")
delay = OpenNero.getSimContext().delay
agent.state.animation_speed = move_by * constants.ANIMATION_RATE
reward = self.calculate_reward(agent, action, scored_hit)
team = self.get_team(agent)
# tell the system to make the calculated motion
# if the motion doesn't result in a collision
dist = constants.MAX_MOVEMENT_SPEED * move_by
heading = common.wrap_degrees(agent.state.rotation.z, turn_by)
x = agent.state.position.x + dist * math.cos(math.radians(heading))
y = agent.state.position.y + dist * math.sin(math.radians(heading))
# manual collision detection
desired_pose = (x, y, heading)
collision_detected = False
friends, foes = self.get_friend_foe(agent)
for f in friends:
if f != agent:
f_state = self.get_state(f)
# we impose an order on agents to avoid deadlocks. Without this
# two agents which spawn very close to each other can never escape
# each other's collision radius
if state.id > f_state.id:
f_pose = f_state.pose
dist = self.distance(desired_pose, f_pose)
if dist < constants.MANUAL_COLLISION_DISTANCE:
collision_detected = True
continue
# just check for collisions with the closest enemy
if closest_enemy:
if not collision_detected:
f_pose = self.get_state(closest_enemy).pose
dist = self.distance(desired_pose, f_pose)
if dist < constants.MANUAL_COLLISION_DISTANCE:
collision_detected = True
if not collision_detected:
state.update_pose(move_by, turn_by)
return reward
def removeObject(ID):
""" remove an object from the simulation """
OpenNero.getSimContext().removeObject(ID)
def set_speedup(self, speedup):
OpenNero.getSimContext().delay = 1.0 - (speedup/100.0)
if self.environment:
self.environment.speedup = (speedup/100.0)
def addSkyBox(prefix, extension = None):
""" add a skybox starting with the prefix and ending with the extension """
if extension:
OpenNero.getSimContext().addSkyBox(prefix, extension)
else:
OpenNero.getSimContext().addSkyBox(prefix)
def removeObject(ID):
""" remove an object from the simulation """
OpenNero.getSimContext().removeObject(ID)
def getGuiManager():
return OpenNero.getSimContext().getGuiManager()
def getGuiManager():
return OpenNero.getSimContext().getGuiManager()
def addObject(templateFile, position, rotation=OpenNero.Vector3f(0, 0, 0), scale=OpenNero.Vector3f(1, 1, 1), label="", type=0, collision=0):
return OpenNero.getSimContext().addObject(
templateFile, position, rotation, scale, label, collision, type)