def act(self):
enemy_pos = np.array(
[ai.screenEnemyXId(self.idE),
ai.screenEnemyYId(self.idE)])
if ai.screenEnemyXId(self.idE) != -1:
self.position = enemy_pos + self.pos_offset
self.control()
def get_readings():
""" Returns the main sensor readings """
cl_enemy = ai.closestShipId()
data = {}
data["X"] = ai.selfX()
data["Y"] = ai.selfY()
data["VelX"] = ai.selfVelX()
data["VelY"] = ai.selfVelY()
data["RadarX"] = ai.selfRadarX()
data["RadarY"] = ai.selfRadarY()
data["Orientation"] = ai.selfHeadingDeg()
data["ClosestRadarX"] = ai.closestRadarX()
data["ClosestRadarY"] = ai.closestRadarY()
data["ClosestItemX"] = ai.closestItemX()
data["ClosestItemY"] = ai.closestItemY()
data["EnemySpeed"] = ai.enemySpeedId(cl_enemy)
data["EnemyX"] = ai.screenEnemyXId(cl_enemy)
data["EnemyY"] = ai.screenEnemyYId(cl_enemy)
data["EnemyHeading"] = ai.enemyHeadingDegId(cl_enemy)
data["EnemyShield"] = ai.enemyShieldId(cl_enemy)
data["EnemyDistance"] = ai.enemyDistanceId(cl_enemy)
data["ShotAlert"] = ai.shotAlert(0)
data["ShotDist"] = ai.shotDist(0)
data["ShotVel"] = ai.shotVel(0)
data["ShotVelDir"] = ai.shotVelDir(0)
return data
def __init__(self, idE):
self.idE = idE
angle = uniform(0, np.pi)
offset = DISTANCE_TO_ENEMY * np.array([np.cos(angle), np.sin(angle)])
self.pos_offset = [np.round(coord) for coord in offset]
enemy_pos = np.array([ai.screenEnemyXId(idE), ai.screenEnemyYId(idE)])
pos = enemy_pos + self.pos_offset
super().__init__(position=[np.round(coord) for coord in pos])
def __init__(self, idE):
self.idE = idE
angle = uniform(0, np.pi)
offset = DISTANCE_TO_ENEMY * np.array([np.cos(angle), np.sin(angle)])
self.pos_offset = [np.round(coord) for coord in offset]
enemy_pos = np.array([ai.screenEnemyXId(idE), ai.screenEnemyYId(idE)])
pos = enemy_pos + self.pos_offset
super().__init__(position=[np.round(coord) for coord in pos])
def act(self):
angle = ai.enemyHeadingDeg(self.idE)
pos = np.array([ai.screenEnemyXId(self.idE), ai.screenEnemyYId(self.idE)])
vel = ai.enemySpeedId(self.idE) * np.array([np.cos(angle), np.sin(angle)])
self.target = pos - vel * self.K
self.open_fire()
# Put up shield if no good enemy. XOR operation:
if id_valid(self.idE) == ai.selfShield():
ai.shield()
def act(self):
angle = ai.enemyHeadingDeg(self.idE)
pos = np.array(
[ai.screenEnemyXId(self.idE),
ai.screenEnemyYId(self.idE)])
vel = ai.enemySpeedId(self.idE) * np.array(
[np.cos(angle), np.sin(angle)])
self.target = pos - vel * self.K
self.open_fire()
# Put up shield if no good enemy. XOR operation:
if id_valid(self.idE) == ai.selfShield():
ai.shield()
def id_valid(idE):
""" Return wether idE is a valid enemy id. """
return ai.screenEnemyXId(idE) != -1
def AI_loop(self):
# Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
if self.quitFlag == True:
with open('fitness.txt', 'a') as inFile:
outString = str(self.fitness) + "\n"
inFile.write(outString)
ai.quitAI()
if ai.selfAlive() == 0 or self.frames > 3000:
self.foundPreyFlag = False
self.parterFoundPreyFlag = False
self.checking = False
if self.foundPreyFlag == True and self.parterFoundPreyFlag == True:
self.fitness = self.fitness + 2
#-------------------- Set variables --------------------#
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontWall = ai.wallFeeler(500, heading)
leftWall = ai.wallFeeler(500, heading + 45)
rightWall = ai.wallFeeler(500, heading - 45)
leftWallStraight = ai.wallFeeler(500, heading + 90)
rightWallStraight = ai.wallFeeler(500, heading - 90)
leftBack = ai.wallFeeler(500, heading + 135)
rightBack = ai.wallFeeler(500, heading - 135)
backWall = ai.wallFeeler(500, heading - 180)
trackWall = ai.wallFeeler(500, tracking)
R = (heading - 90) % 360
L = (heading + 90) % 360
aim = ai.aimdir(0)
bullet = ai.shotAlert(0)
speed = ai.selfSpeed()
x = ai.selfX()
y = ai.selfY()
enemyX = -1
enemyY = -1
enemyTeam = -1
if self.preyID != -1:
enemyX = ai.screenEnemyXId(self.preyID)
enemyY = ai.screenEnemyYId(self.preyID)
enemyTeam = ai.enemyTeamId(self.preyID)
else:
enemyX = ai.screenEnemyXId(ai.closestShipId())
enemyY = ai.screenEnemyYId(ai.closestShipId())
enemyTeam = ai.enemyTeamId(ai.closestShipId())
myTeam = ai.selfTeam()
coordinate = self.grid[self.counter][1]
message = ai.scanMsg(0)
# Continually check messages
if message != self.MessageBuffer[-1]:
self.checkMessage(message)
# Check if enemy is on screen
# If it is: broadcast location of enemy
if enemyX != -1 and enemyY != -1 and enemyTeam != 2:
coordinate = (enemyX, enemyY)
self.foundPreyFlag = True
self.foundPrey(coordinate)
self.fitness += 1
elif self.foundPreyFlag == True:
self.foundPreyFlag = False
ai.talk("--- " + "Lost prey!")
if self.parterFoundPreyFlag == True:
coordinate = self.preyLocation
# Calculate most efficient way to turn to get where we want to
targetX = coordinate[0]
targetY = coordinate[1]
toTurn = self.angleToPoint(x, y, targetX, targetY, heading)
distance = self.distance(x, targetX, y, targetY)
if self.checking == False and self.foundPreyFlag == False:
ai.talk("checking! " + str(coordinate))
self.checking = True
# If speed is too fast, turn around and thrust to negate velocity
if speed > self.gene0:
turning = ai.angleDiff(heading, tracking)
if abs(turning) > self.gene1 and abs(turning) <= self.gene2:
ai.turnLeft(0)
ai.turnRight(0)
if self.frames % self.gene3 == 0:
ai.thrust(1)
elif turning <= self.gene4 and turning > self.gene5:
ai.turnRight(1)
else:
ai.turnLeft(1)
if self.foundPreyFlag == True and distance <= 150:
self.caughtPrey(coordinate, distance)
else:
#-------------------- Go to coordinate / enemy --------------------#
if abs(toTurn) < self.gene6 and distance > self.gene7:
ai.turnLeft(0)
ai.turnRight(0)
if self.frames % self.gene8 == 0:
ai.thrust(1)
elif toTurn >= self.gene9:
ai.turnLeft(1)
elif toTurn <= -self.gene10:
ai.turnRight(1)
if self.foundPreyFlag == True and distance <= 150:
self.caughtPrey(coordinate, distance)
elif self.foundPreyFlag == True and distance > 150:
self.foundPrey(coordinate)
elif distance < 150:
self.markSpotChecked(coordinate, "me")
#-------------------- Old turn and thrust rules --------------------#
if speed <= self.gene14 and frontWall >= self.gene15:
ai.thrust(1)
elif trackWall < self.gene16:
ai.thrust(1)
elif backWall < self.gene17:
ai.thrust(1)
if (backWall < self.gene18) and (rightWallStraight < self.gene19):
ai.turnLeft(1)
elif backWall < self.gene20 and (leftWallStraight < self.gene21):
ai.turnRight(1)
elif leftWallStraight < rightWallStraight and trackWall < self.gene22:
ai.turnRight(1)
elif leftWallStraight > rightWallStraight and trackWall < self.gene23:
ai.turnLeft(1)
self.frames = self.frames + 1
if self.caughtPreyFlag == True and self.quitFlag == False:
ai.talk("quit!")
self.quitFlag = True
if ai.selfAlive() == 0 or self.frames > 1800:
self.quitFlag = True
def is_done(self):
return ai.screenEnemyXId(self.idE) == -1
def id_valid(idE):
""" Return wether idE is a valid enemy id. """
return ai.screenEnemyXId(idE) != -1
def AI_loop(self):
if self.team == False:
ai.talk("/team 2")
self.team = True
# 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 + 45)
rightWall = ai.wallFeeler(500, heading - 45)
leftWallStraight = ai.wallFeeler(500, heading + 90)
rightWallStraight = ai.wallFeeler(500, heading - 90)
leftBack = ai.wallFeeler(500, heading + 135)
rightBack = ai.wallFeeler(500, heading - 135)
backWall = ai.wallFeeler(500, heading - 180)
trackWall = ai.wallFeeler(500, tracking)
R = (heading - 90) % 360
L = (heading + 90) % 360
aim = ai.aimdir(0)
bullet = ai.shotAlert(0)
speed = ai.selfSpeed()
x = ai.selfX()
y = ai.selfY()
enemyX1 = ai.screenEnemyXId(0)
enemyY1 = ai.screenEnemyYId(0)
enemyX2 = ai.screenEnemyXId(1)
enemyY2 = ai.screenEnemyYId(1)
enemyTeam1 = ai.enemyTeamId(0)
enemyTeam2 = ai.enemyTeamId(1)
myTeam = ai.selfTeam()
coordinate = self.grid[self.counter][1]
message = ai.scanMsg(0)
# print(enemyX1, enemyY1, enemyX2, enemyY2)
# print(myTeam, enemyTeam1, enemyTeam2)
# Continually check messages
if message != self.MessageBuffer[-1]:
self.checkMessage(message)
# Check if enemy is on screen
# If it is: broadcast location of enemy
# If it is not: send message that we lost enemy
if enemyX1 != -1 and enemyY1 != -1:
print("enemy 1")
enemyCoordinate = (enemyX1, enemyY1)
self.foundPrey(enemyCoordinate)
coordinate = enemyCoordinate
elif enemyX2 != -1 and enemyY2 != -1:
print("enemy 2")
enemyCoordinate = (enemyX2, enemyY2)
self.foundPrey(enemyCoordinate)
coordinate = enemyCoordinate
elif self.foundPreyFlag == True:
print("lost prey")
self.lostPrey()
targetX = coordinate[0]
targetY = coordinate[1]
toTurn = self.angleToPoint(x, y, targetX, targetY, heading)
distance = self.distance(x, targetX, y, targetY)
if self.foundPreyFlag == False and self.checking == False:
ai.talk("checking! " + str(coordinate))
self.checking = True
# If speed is too fast, turn around and thrust to negate velocity
if speed > 5:
turning = ai.angleDiff(heading, tracking)
if abs(turning) > 165 and abs(turning) <= 180:
ai.turnLeft(0)
ai.turnRight(0)
if self.frames % 10 == 0:
ai.thrust(1)
elif turning <= 165 and turning > 0:
ai.turnRight(1)
else:
ai.turnLeft(1)
else:
#-------------------- Go to coordinate / enemy --------------------#
if abs(toTurn) < 10 and distance > 100:
ai.turnLeft(0)
ai.turnRight(0)
if self.frames % 3 == 0:
ai.thrust(1)
elif toTurn >= 10:
ai.turnLeft(1)
elif toTurn <= -10:
ai.turnRight(1)
if self.foundPreyFlag == True and distance < 150:
print("Caught enemy!")
ai.quitAI()
elif distance < 150:
self.markSpotChecked(coordinate, "me")
#-------------------- Old turn and thrust rules --------------------#
if speed <= 3 and frontWall >= 200:
ai.thrust(1)
elif trackWall < 50:
ai.thrust(1)
elif backWall < 40:
ai.thrust(1)
# Figures out what corner we are in and turns the right directon
if (backWall < 30) and (rightWallStraight < 200):
ai.turnLeft(1)
elif backWall < 30 and (leftWallStraight < 200):
ai.turnRight(1)
# Walls along our periphery (90 degree feelers)
elif leftWallStraight < rightWallStraight and trackWall < 75:
ai.turnRight(1)
elif leftWallStraight > rightWallStraight and trackWall < 75:
ai.turnLeft(1)
self.frames = self.frames + 1
def is_done(self):
return ai.screenEnemyXId(self.idE) == -1
def act(self):
enemy_pos = np.array([ai.screenEnemyXId(self.idE), ai.screenEnemyYId(self.idE)])
if ai.screenEnemyXId(self.idE) != -1:
self.position = enemy_pos + self.pos_offset
self.control()