def update(self, dt, global_velocity=(0, 0)):
velocity = vector.add(global_velocity, vector.multiply(self.force, dt))
self.force = vector.multiply(self.force, FORCE_DRAG)
self.position = vector.add(self.position,
vector.multiply(velocity, dt * self.speed))
self.bounce_from_boundaries()
def update_order(Vx,Vy,dt):
global t, v_init, has_scored, colli_point, START_POS, has_colli, score_point
if v_init[1] > 0:
if t > v_init[1]/abs(G): # is falling
ball.group = mid # change gourp
basket[1].group = front
#if check_collision() != None: # if collide
#reset_time()
#reset_ball()
#time.sleep(0.2)
if check_collision() == colli_point[0]:
has_colli = True
reset_time()
vec1 = vector.sub([ball.x, ball.y],colli_point[0])
vec1 = vector.vec_x_float(vec1,2)
v_init = vector.add(vec1,[Vx,Vy])
v_init = vector.vec_x_float(v_init,5)
START_POS[0] = ball.x
START_POS[1] = ball.y
elif check_collision() == colli_point[1]:
has_colli = True
reset_time()
vec1 = vector.sub([ball.x, ball.y],colli_point[1])
vec1 = vector.vec_x_float(vec1,2)
v_init = vector.add(vec1,[Vx,Vy])
v_init = vector.vec_x_float(v_init,5)
START_POS[0] = ball.x
START_POS[1] = ball.y
if vector.distance([ball.x,ball.y],score_point) <= 50:
has_scored = True
else:
ball.group = front
basket[1].group = mid
def display_grid(img, squares, cam_rot, base_object_points):
"""
Display the output of find_grid in a pretty way.
:param img: the image in which the grid was found
:param squares: the squares in the image
:param cam_rot: the deduced camera orientation
:param base_object_points: ??
:return: nothing
"""
birds_view = np.zeros([1000, 1000, 3], dtype=np.uint8)
cv2.circle(birds_view,
(int(birds_view.shape[0] / 2), int(birds_view.shape[1] / 2)), 5,
(255, 255, 0), -1)
if cam_rot != 0:
cam_line = vec.add(vec.scalar_mult(cam_rot, 50),
[birds_view.shape[0] / 2,
birds_view.shape[0] / 2, 0])
cv2.line(birds_view, (int(cam_line[0]), int(cam_line[1])),
(int(birds_view.shape[0] / 2), int(birds_view.shape[1] / 2)),
(0, 0, 255), 1, cv2.LINE_AA)
for square in squares:
for edge_index in range(4):
temp_draw_vec = vec.add(square.location,
base_object_points[edge_index])
temp_draw_vec2 = vec.add(square.location,
base_object_points[edge_index - 1])
cv2.line(birds_view, (int(temp_draw_vec[0] + birds_view.shape[0] / 2),
int(temp_draw_vec[1] + birds_view.shape[1] / 2)),
(int(temp_draw_vec2[0] + birds_view.shape[0] / 2),
int(temp_draw_vec2[1] + birds_view.shape[1] / 2)),
(255, 255, 255), 3, cv2.LINE_AA)
x = sum(point[0][0] for point in square.corners) // 4
y = sum(point[0][1] for point in square.corners) // 4
cv2.putText(img, '{} {}'.format(int(abs(square.location[2])),
int(square.score * 100)), (x, y), FONT,
1, (255, 255, 255), 1, cv2.LINE_AA)
cv2.polylines(img, [square.corners], True, (255, 0, 0))
cv2.drawContours(img, square.contour, True, (0, 255, 0))
if len(squares) > 0:
cam_line2 = vec.add(vec.scalar_mult(cam_rot, 50),
[birds_view.shape[0] / 2,
birds_view.shape[0] / 2, 0])
cv2.line(birds_view, (int(cam_line2[0]), int(cam_line2[1])),
(int(birds_view.shape[0] / 2), int(birds_view.shape[1] / 2)),
(255, 0, 255), 1, cv2.LINE_AA)
cv2.imshow("Squares", img)
cv2.imshow("Birds eye view", birds_view)
def display_grid(img, squares, cam_rot, base_object_points):
"""
Display the output of find_grid in a pretty way.
:param img: the image in which the grid was found
:param squares: the squares in the image
:param cam_rot: the deduced camera orientation
:param base_object_points: ??
:return: nothing
"""
birds_view = np.zeros([1000, 1000, 3], dtype=np.uint8)
cv2.circle(birds_view,
(int(birds_view.shape[0] / 2), int(birds_view.shape[1] / 2)), 5,
(255, 255, 0), -1)
if cam_rot != 0:
cam_line = vec.add(vec.scalar_mult(cam_rot, 50),
[birds_view.shape[0] / 2,
birds_view.shape[0] / 2, 0])
cv2.line(birds_view, (int(cam_line[0]), int(cam_line[1])),
(int(birds_view.shape[0] / 2), int(birds_view.shape[1] / 2)),
(0, 0, 255), 1, cv2.LINE_AA)
for square in squares:
for edge_index in range(4):
temp_draw_vec = vec.add(square.location,
base_object_points[edge_index])
temp_draw_vec2 = vec.add(square.location,
base_object_points[edge_index - 1])
cv2.line(birds_view, (int(temp_draw_vec[0] + birds_view.shape[0] / 2),
int(temp_draw_vec[1] + birds_view.shape[1] / 2)),
(int(temp_draw_vec2[0] + birds_view.shape[0] / 2),
int(temp_draw_vec2[1] + birds_view.shape[1] / 2)),
(255, 255, 255), 3, cv2.LINE_AA)
x = sum(point[0][0] for point in square.corners) // 4
y = sum(point[0][1] for point in square.corners) // 4
cv2.putText(img, '{} {}'.format(int(abs(square.location[2])),
int(square.score * 100)), (x, y), FONT,
1, (255, 255, 255), 1, cv2.LINE_AA)
cv2.polylines(img, [square.corners], True, (255, 0, 0))
cv2.drawContours(img, square.contour, True, (0, 255, 0))
if len(squares) > 0:
cam_line2 = vec.add(vec.scalar_mult(cam_rot, 50),
[birds_view.shape[0] / 2,
birds_view.shape[0] / 2, 0])
cv2.line(birds_view, (int(cam_line2[0]), int(cam_line2[1])),
(int(birds_view.shape[0] / 2), int(birds_view.shape[1] / 2)),
(255, 0, 255), 1, cv2.LINE_AA)
cv2.imshow("Squares", img)
cv2.imshow("Birds eye view", birds_view)
def get_bbox(self):
start = vector.add(self.pos, vector.multiply(self.size, -0.5))
end = vector.add(self.pos, vector.multiply(self.size, 0.5))
return (
self.pos[0] - self.size[0] / 2,
self.pos[1] - self.size[1] / 2,
self.pos[0] + self.size[0] / 2,
self.pos[1] + self.size[1] / 2
)
def update_enemy(position, malo_pos, delta_time, camera):
'''
Actualiza el estado de la calabaza
'''
vertex = [0, 0]
malo_velocity = mult(normalizar(sub(position, malo_pos)),
SPEED * 0.25 * delta_time)
orientacion = rotar.rot(camera, math.pi / 2)
malo_pos = add(malo_pos, malo_velocity)
vertex[0] = add(malo_pos, mult(orientacion, 12.5))
vertex[1] = add(malo_pos, mult(orientacion, -12.5))
return (vertex, malo_pos)
def flock(self, l, delta):
v1 = vector.muls(self.cohesion(l), self.__cohesion_factor)
v2 = vector.muls(self.separation(l), self.__separation_factor)
v3 = vector.muls(self.rate(l), self.__rate_factor)
self.velocity = vector.add(self.velocity, v1, v2, v3)
self.velocity = vector.maxs(vector.mins(self.velocity, self.__velocity_max), -self.__velocity_max)
self.direction = vector.dir(vector.add(self.velocity, (0, 192 / 6)))
self.set_rotation(-math.degrees((self.direction - math.radians(90)) % math.radians(360)))
def line_of_sight(self,level,playerPos):
#check all nodes between the player and the enemy to see if there
#is a wall in the way
rel = vector.normalized(vector.add([playerPos[1],playerPos[0]],vector.negative(self.pos)))
checkPos = self.pos
for i in 10 * range(int(math.floor(vector.distance([playerPos[1],playerPos[0]],self.pos))) - 1):
checkPos = vector.add(checkPos,[rel[0] * 0.1,rel[1] * 0.1])
if not level.map[int(math.floor(checkPos[1]))][int(math.floor(checkPos[0]))] == 0:
return False
return True
def stoch_descent(X, y, alpha, w):
"""
Stochastic gradient descent
:param X:
:param y:
:param alpha:
:param w:
:return:
"""
global logs, logs_stoch
logs = []
logs_stoch = []
random.seed(0)
idx = list(range(len(X)))
for epoch in range(1000):
random.shuffle(idx)
w_old = w
for i in idx:
loss = y[i] - vector.dot(X[i], w)
gradient = vector.mul(loss, X[i])
w = vector.add(w, vector.mul(alpha, gradient))
logs_stoch += (w, alpha, sse(X, y, w))
if vector.norm(vector.sub(w, w_old)) / vector.norm(w) < 1.0e-5:
break
logs += (w, alpha, sse(X, y, w))
print("Epoch", epoch)
return w
def draw_puck(self, bag):
"""
Draws the puck into the image.
:param bag:
:return:
"""
if 'position' in bag.puck:
# draw puck itself
color = ((255, 0, 0) if bag.puck.is_predicted_position else (0, 255, 0))
cv2.circle(bag.image, bag.puck.position_pixel, bag.puck.radius_unscaled, color, 2)
cv2.circle(bag.image, bag.puck.position_pixel, 2, (0, 0, 255), 3)
if 'path' in bag.puck:
# draw puck movement
#direction_velocity = vector.mul_by(bag.puck.direction, bag.puck.velocity)
#destination = vector.add(bag.puck.position, direction_velocity)
#destination_pixel = vector.coord_to_image_space(destination, bag.table_boundaries)
#cv2.line(bag.image, bag.puck.position_pixel, destination_pixel, (255, 0, 0))
# draw path
for i in xrange(0, len(bag.puck.path) - 1):
position = vector.coord_to_image_space(bag.puck.path[i][0], bag.table_boundaries)
destination = vector.coord_to_image_space(bag.puck.path[i + 1][0], bag.table_boundaries)
cv2.line(bag.image, position, destination, (255, 0, 0))
cv2.circle(bag.image, position, 1, (0, 0, 255), 2)
position_pixel = vector.coord_to_image_space(bag.puck.path[-1][0], bag.table_boundaries)
direction_velocity = vector.mul_by(bag.puck.path[-1][1], bag.puck.path[-1][2])
destination = vector.add(bag.puck.path[-1][0], direction_velocity)
destination_pixel = vector.coord_to_image_space(destination, bag.table_boundaries)
cv2.line(bag.image, position_pixel, destination_pixel, (255, 0, 0))
def draw_angle(self):
"""Draw a line representing the angle """
direction = vector.from_angle(self.angle)
vect = vector.scalar_multiply(direction, 20)
endpos = vector.add(self.rect.center, vect)
return pygame.draw.line(self.level.screen, (255, 255, 0),
self.rect.center, endpos)
def stoch_descent(X, y, alpha, w):
"""
Stochastic gradient descent
:param X:
:param y:
:param alpha:
:param w:
:return:
"""
global logs, logs_stoch
logs = []
logs_stoch = []
random.seed(0)
idx = list(range(len(X)))
for epoch in range(1000):
random.shuffle(idx)
w_old = w
for i in idx:
loss = y[i] - vector.dot(X[i], w)
gradient = vector.mul(loss, X[i])
w = vector.add(w, vector.mul(alpha, gradient))
logs_stoch += (w, alpha, sse(X, y, w))
if vector.norm(vector.sub(w, w_old)) / vector.norm(w) < 1.0e-5:
break
logs += (w, alpha, sse(X, y, w))
print("Epoch", epoch)
return w
def cohesion(self, l):
v = (0, 0)
for i in l:
v = vector.add(v, i.rect.center)
v = vector.divs(v, len(l))
return self.steer(v)
def require_tile(pos):
global tile_offset
global board
(x, y) = vec.add(pos, tile_offset)
width = len(board)
height = len(board[0])
if x < 0:
tile_offset = (tile_offset[0] - x, tile_offset[1])
board = [mk_tile_list(height) for i in range(-x)] + board
x = 0
elif x >= width:
board += [mk_tile_list(height) for i in range(x - width + 1)]
if y < 0:
tile_offset = (tile_offset[0], tile_offset[1] - y)
amt = -y
for i in range(
len(board)
): # Cannot use 'width' here, possibly invalidated by x-axis expansion
board[i] = mk_tile_list(amt) + board[i]
y = 0
elif y >= height:
amt = y - height + 1
for col in board:
col += mk_tile_list(amt)
return board[x][y]
def move_stick(self, bag):
"""
Moves the stick.
:param bag: The parameter bag.
:return:
"""
if 'position' not in bag.stick:
bag.next.stick.position = strategy.SimpleStrategy.HOME_POSITION
return
if 'dest_position' not in bag.stick:
position = bag.stick.position
else:
# move stick towards destination
# ignore dest_direction and dest_velocity
dist_moved = strategy.SimpleStrategy.STICK_MAX_SPEED * bag.time_diff
direction = vector.from_to(bag.stick.position, bag.stick.dest_position)
if dist_moved > vector.length(direction):
position = bag.stick.dest_position
else:
direction = vector.mul_by(vector.normalize(direction), dist_moved * strategy.SimpleStrategy.STICK_MAX_SPEED)
position = vector.add(bag.stick.position, direction)
# set new position
bag.next.stick.position = position
def _predict_position(self, bag, current_time):
"""
Guesses the puck's position.
:param bag: The parameter bag
:param current_time: The current time.
:return:
"""
# only possible if we have a path and a velocity
if len(self.last_path) > 0:
# find path part in which the the puck should be by now
path_part_index = 0
while path_part_index < len(self.last_path):
path_part = self.last_path[path_part_index]
if path_part[3] > current_time:
# collision time is in future -> take last part
path_part_index -= 1
break
path_part_index += 1
path_part = self.last_path[path_part_index - 1]
# predict position
remaining_time = current_time - path_part[3]
direction = vector.mul_by(path_part[1], path_part[2] * remaining_time)
bag.puck.predicted_position = vector.add(path_part[0], direction)
elif 'position' in bag.puck:
# use actual position if found
bag.puck.predicted_position = bag.puck.position
def draw(self, layer):
for y in range(11):
for x in range(15):
map_position = vector.sub((x, y), self.model.player.position)
sprite_id = layer[map_position[0]][map_position[1]]
sprite_image = self.model.sprites.sprites[sprite_id]
self.model.window.blit(sprite_image, vector.add((x * 32, y * 32), self.model.camera.offset))
def __shoot(self):
shooting_blob = self.main_blob
if shooting_blob.get_weight() >= 2*BLOB_INIT_WEIGHT:
shooting_blob.add_weight(-BULLET_WEIGHT)
position = vector.add(shooting_blob.get_position(), vector.multiply(self.velocity, shooting_blob.get_radius()))
new_blob = BulletBlob(self.model, position, self.player_id, vector.multiply(vector.normalize(self.velocity), BLOB_SHOOT_STRENGTH))
self.model.add_bullet_blob(new_blob)
def predict_puck_movement(self, bag): #ausgefuehrt
"""
Predicts the pucks movement.
:param bag: The parameter bag.
:return:
"""
# need at least 2 points
if len(self.buffer) < 2:
return
# loop over points
direction_sum = (0, 0)
for i in xrange(0, len(self.buffer) - 1):
# get tuples and time diff
current_tuple = self.buffer[i]
next_tuple = self.buffer[i+1]
time_diff = next_tuple[2] - current_tuple[2]
# get direction (length is velocity) and divide by time_diff
direction = vector.mul_by(vector.from_to(current_tuple, next_tuple), 1.0 / time_diff)
# sum up
direction_sum = vector.add(direction_sum, direction)
# averaging
direction = vector.mul_by(direction_sum, 1.0 / self.buffer_size)
# add puck direction (normalized) and velocity
bag.puck.velocity = vector.length(direction)
bag.puck.direction = vector.normalize(direction)
bag.next.puck.olddirection = bag.puck.direction
def bound(self, area):
v = (0, 0)
diff = area.left - self.rect.left
if diff > 0:
v = vector.add(v, (diff, 0))
diff = self.rect.right - area.right
if diff > 0:
v = vector.sub(v, (diff, 0))
diff = area.top - self.rect.top
if diff > 0:
v = vector.add(v, (0, diff))
diff = self.rect.bottom - area.bottom
if diff > 0:
v = vector.sub(v, (0, diff))
self.velocity = vector.add(self.velocity, vector.muls(v, self.__bound_factor))
def explode(self):
self.set_weight(int(self.get_weight() * BLOB_EXPLOSION_SHRINK + 0.5))
has_divided = False
while self.get_weight(
) >= 2 * BLOB_INIT_WEIGHT and self.blob_family.number_of_blobs(
) < BLOB_MAX_NUM:
direction = vector.random_direction()
position = vector.add(
self.get_position(),
vector.multiply(direction, self.get_radius()))
shoot = random.randint(0, BLOB_EXPLOSION_SHOOT_CHANCE) == 0
if shoot:
self.add_weight(-BULLET_WEIGHT)
bullet_blob = BulletBlob(
self.model, position, self.player_id,
vector.multiply(direction, BLOB_SHOOT_STRENGTH))
self.model.add_bullet_blob(bullet_blob)
else:
weight = min(
random.randint(
BLOB_INIT_WEIGHT,
max(BLOB_INIT_WEIGHT, int(self.get_weight() / 4))),
self.get_weight() - BLOB_INIT_WEIGHT)
self.add_weight(-weight)
new_blob = Blob(self.model, position, self.player_id,
self.blob_family, (0, 0), weight)
self.blob_family.add_blob(new_blob)
self.model.add_blob(new_blob)
has_divided = True
if has_divided: self.blob_family.set_countdown()
def fit_stoch(X, y, alpha, w, epochs=500, epsilon=1.0e-5):
"""
Stochastic gradient descent
:param X:
:param y:
:param alpha:
:param w:
:param epochs:
:param epsilon:
:return:
"""
global logs, logs_stoch
logs = []
logs_stoch = []
random.seed(0)
idx = list(range(len(X)))
for epoch in range(epochs):
random.shuffle(idx)
for i in idx:
y_hat = predict([X[i]], w)[0]
loss = y[i] - y_hat
gradient = vector.mul(loss, X[i])
w = vector.add(w, vector.mul(alpha, gradient))
logs_stoch += (w, alpha, sse(X, y, w))
if vector.norm(gradient) < epsilon:
print('Gradient', vector.norm(gradient))
break
logs += (w, alpha, sse(X, y, w))
print("Epoch", epoch)
return w
def step(points, t):
"""
Implementation of a single step of the de Casteljau algorithm
:param points: list of n-dimensional points
:param t: de-Casteljau scaling parameter, numerical value
:return: the next set of points
"""
return [vector.add(scal(1 - t, points[i]), scal(t, points[i + 1])) for i in range(len(points) - 1)]
def testAdd02(self):
z = v.add(self.x, self.x)
e = (self.x[0] + self.x[0], self.x[1] + self.x[1])
for zk, ek in zip(z, e):
self.assertEqual(zk, ek)
del e
del z
def separation(self, list):
mean = (0.0, 0.0)
for i in list:
dist = vector.mag(vector.sub(self.rect.center, i.rect.center))
if dist > 0 and dist < self.__separation_limit:
mean = vector.add(mean, vector.divs(vector.sub(self.rect.center, i.rect.center), dist))
return vector.divs(mean, len(list))
def get_tile(pos):
(x, y) = vec.add(pos, tile_offset)
if x < 0 or x >= len(board):
return invalid_tile
row = board[x]
if y < 0 or y >= len(row):
return invalid_tile
return row[y]
def testAdd01(self):
z = v.add(self.x, self.y)
expected = (self.x[0] + self.y[0], self.x[1] + self.y[1])
for k in xrange(2):
self.assertEqual(z[k], expected[k])
del expected
del z
def match_vector_sums_to(vector_dict, v):
return set(
vector.flatten2(
[ x
for x in vector.permutations_unordered_no_repeat(list(vector_dict))
if vector.add(vector_dict[x[0]], vector_dict[x[1]]) == v
]
)
)
def move(self, offset):
self.moves += 1
toff = vector.scalar_multiply(self.velocity, self.moves)
self.rect = self.original_rect.move(
vector.add(toff, self.scroll_offset))
self.maprect = self.original_maprect.move(toff)
self.ttl -= 1
if self.ttl <= 0:
self.kill()
def get_locs_in_range(self):
ret = []
# Firstly, target anyone adjacent.
# This is almost elegant, a list of angles offsets, as from MeleeUnit.
for x in [0, -1, 1, -2, 2, -3]:
angle = (6 + x * self.bias_flip + self.bias_angle) % 6
ret.append(vec.add(self.pos, vec.units[angle]))
# Next, target people at range 2.
# This should favor the space "ahead" of us (according to bias_angle)
# and work back (in even pairs, resolving by bias_flip);
# unfortuately, I can't tink of an elegant way to do this :(
range_2_vecs = [(2, 0), (1, 1), (2, -1), (0, 2), (2, -2), (-1, 2),
(1, -2), (-2, 2), (0, -2), (-2, 1), (-1, -1), (-2, 0)]
for v in range_2_vecs:
ret.append(
vec.add(self.pos,
vec.transform(v, self.bias_flip, self.bias_angle)))
return ret
def draw_point(position):
c = level[position[X]][position[Y]]
position = vector.multiply(position, UNIT)
if c == '.':
pygame.draw.circle(
surface, DOT_COLOR,
vector.to_int(vector.add(position, vector.divide_scalar(UNIT, 2))),
int(DOT_RADIUS))
elif c == '|':
pygame.draw.rect(surface, WALL_COLOR, position + UNIT)
def update(self, dt, level, playerPos):
if self.timer > 0:
self.timer -= 1 * dt
if self.timer < 0:
self.timer = 0
relplayer = vector.add([playerPos[1], playerPos[0]],
vector.negative(self.pos))
if self.line_of_sight(level, playerPos):
#move directly at the player if they can be seen
if vector.length(relplayer) > 0.2:
reldir = vector.normalized(relplayer)
self.pos = vector.add(
self.pos,
[reldir[0] * self.speed * dt, reldir[1] * self.speed * dt])
else:
#update the target position if the player moves to far away
#from the original target position
if len(self.nodes) == 0 or vector.distance(
self.pos, self.nodes[len(self.nodes) - 1]) > 2:
self.find_path(level, playerPos)
else:
#get the direction to move in
rel = vector.add(self.nodes[len(self.nodes) - 1],
vector.negative(self.pos))
#set the position to the vector if moving one step will cause
#the enemy to move over the node
if vector.length(rel) < self.speed * dt:
self.pos = self.nodes[len(self.nodes) - 1]
#return subset of original that doesn't include the first entry
self.nodes.remove(self.nodes[len(self.nodes) - 1])
else:
#move towards the node
rel = vector.normalized(rel)
self.pos = vector.add(
self.pos,
[rel[0] * self.speed * dt, rel[1] * self.speed * dt])
def _shoot(self):
self.ticks_to_fire -= 1
if self.ticks_to_fire <= 0:
direction = vector.from_angle(self.angle + 180)
velocity = vector.scalar_multiply(direction, 3)
location = vector.add(
self.maprect.center,
vector.scalar_multiply(direction, self.maprect.width / 2))
self.level.add(TickShot(velocity=list(velocity)), location)
self.ticks_to_fire = self.fps
def pacman_loop():
if level[pacman.position[X]][pacman.position[Y]] == '.':
bite_sound.stop()
bite_sound.play()
level[pacman.position[X]][pacman.position[Y]] = ' '
position = vector.add(pacman.position, pacman.direction)
position = border(position)
if get(position) == '|':
return
pacman.position = position
def _fits_on_screen(self, item):
right, bottom = self._map_coord_to_screen(
vector.substract(item.get_position(),
(item.get_radius(), item.get_radius())))
left, top = self._map_coord_to_screen(
vector.add(item.get_position(),
(item.get_radius(), item.get_radius())))
screen_size = self.screen.get_size()
return left >= 0 and top >= 0 and right <= screen_size[
0] and bottom <= screen_size[1]
def extend(self, n):
if n <= self.max_cache:
return self.cache[:n + 1]
result = self.cache
row = self.cache[-1]
for i in range(self.max_cache, n + 1):
row = vector.add(row, vector.shift(row, 1))
result.append(row)
self.cache = result
self.max_cache = n
return result
def update(self):
super(TickFactory, self).update()
self.ticks_to_spawn -= 1
if self.ticks_to_spawn <= 0:
direction = vector.from_angle(self.angle + 180)
velocity = vector.scalar_multiply(direction, 3)
location = vector.add(
self.maprect.center,
vector.scalar_multiply(direction, self.maprect.width / 2))
self.level.add(TickShip(velocity=list(velocity)), location)
self.ticks_to_spawn = self.fps * 2.1
def line_of_sight(self, level, playerPos):
#check all nodes between the player and the enemy to see if there
#is a wall in the way
rel = vector.normalized(
vector.add([playerPos[1], playerPos[0]],
vector.negative(self.pos)))
checkPos = self.pos
for i in 10 * range(
int(
math.floor(
vector.distance([playerPos[1], playerPos[0]],
self.pos))) - 1):
checkPos = vector.add(checkPos, [rel[0] * 0.1, rel[1] * 0.1])
if not level.map[int(math.floor(checkPos[1]))][int(
math.floor(checkPos[0]))] == 0:
return False
return True
def cast_ray(r):
# walk the ray the distance to the nearest object
start = r[0]
for s in range(MAX_STEPS):
if vector.length(vector.subtract(r[0], start)) > MAX_DISTANCE:
break
d, s = min_distance(r[0])
if d < TOLERANCE:
return ray_colour(r, s)
r[0] = vector.add(r[0], vector.scale(r[1], d))
return 0, 0, 0
def walls(self, width, height):
""" Return all the walls which can be used for drawing the maze. """
maze_width, maze_height = len(self.grid[0]), len(self.grid)
scalex, scaley = width / maze_width, height / maze_height
scale = min(scalex, scaley)
centerx = (width - scale * (maze_width - 1)) / 2
centery = (height - scale * (maze_height - 1)) / 2
center = (centerx, centery)
walls = []
# Draw all the horizontal going walls.
for y in range(maze_height):
lines = ''.join(map(str, self.grid[y])).split(str(EMPTY))
offset = 0
for line in lines:
if len(line) > 1:
start = add(center, mul((offset, y), scale))
end = add(center, mul(((offset + len(line)-1), y), scale))
walls.append(Wall(start, end))
offset += len(line) + 1
else:
offset += 2
# Draw all the vertical going walls.
grid_transposed = [list(x) for x in zip(*self.grid)]
for x in range(maze_width):
lines = ''.join(map(str, grid_transposed[x])).split(str(EMPTY))
offset = 0
for line in lines:
if len(line) > 1:
start = add(center, mul((x, offset), scale))
end = add(center, mul((x, (offset + len(line)-1)), scale))
walls.append(Wall(start, end))
offset += len(line) + 1
else:
offset += 2
return walls
def rate(self, list):
mean = (0, 0)
for i in list:
mean = vector.add(mean, i.velocity)
mean = vector.divs(mean, len(list))
meandist = vector.mag(mean)
if meandist > self.__force_max:
mean = vector.muls(vector.divs(mean, meandist), self.__force_max)
return mean
def train(self, training_input):
wrong_predictions = 0
for input, label in zip([item[1:] for item in training_input], [item[0] for item in training_input]):
prediction = self.predict(input)
if prediction != label:
wrong_predictions += 1
if label == 0 and prediction == 1:
self.weights[1:] = vector.sub(self.weights[1:], vector.mul(self.learning_rate, input))
self.weights[0] -= self.learning_rate
if label == 1 and prediction == 0:
self.weights[1:] = vector.add(vector.mul(self.learning_rate, input), self.weights[1:])
self.weights[0] += self.learning_rate
def move(self, move, walls):
angle_offset = 0
if move == MOVE_EAST or move == MOVE_WEST:
angle_offset = 90 if move == MOVE_WEST else -90
elif move == MOVE_SOUTH:
angle_offset = -180
move_vector = atov(self.angle + 30 + angle_offset)
newpos = add(self.pos, mul(move_vector, Player.AMPLIFIER_MOVE))
if not intersect_segments(Line(self.pos, newpos), walls):
self.pos = newpos
for ray in self.rays: ray.update(newpos)
def border(position):
x = 0
y = 0
if position[X] < 0:
x = WIDTH
elif position[X] >= WIDTH:
x = -WIDTH
if position[Y] < 0:
y = HEIGHT
elif position[Y] >= HEIGHT:
y = -HEIGHT
return vector.add(position, (x, y))
def longBlit(self):
if self.attacking:
blit_pos = self.game.off(self.game.Player.getPos())
blit_pos = vector.add(blit_pos, self.game.Player.getRigging())
blit_pos = vector.sub(blit_pos, self.attack_image.get_size())
#offset for left/back
blit_pos[0] += self.x_offset
blit_pos[1] += self.y_offset
self.new_rect = self.game.screen.blit(self.mod_DAT, blit_pos)
self.new_rect.center = self.attack_rect.center
self.attack_rect = self.new_rect
def update(self,dt,level,playerPos):
if self.timer > 0:
self.timer -= 1 * dt
if self.timer < 0:
self.timer = 0
relplayer = vector.add([playerPos[1],playerPos[0]],vector.negative(self.pos))
if self.line_of_sight(level,playerPos):
#move directly at the player if they can be seen
if vector.length(relplayer) > 0.2:
reldir = vector.normalized(relplayer)
self.pos = vector.add(self.pos,[reldir[0] * self.speed * dt, reldir[1] * self.speed * dt])
else:
#update the target position if the player moves to far away
#from the original target position
if len(self.nodes) == 0 or vector.distance(self.pos,self.nodes[len(self.nodes) - 1]) > 2:
self.find_path(level,playerPos)
else:
#get the direction to move in
rel = vector.add(self.nodes[len(self.nodes) - 1],vector.negative(self.pos))
#set the position to the vector if moving one step will cause
#the enemy to move over the node
if vector.length(rel) < self.speed * dt:
self.pos = self.nodes[len(self.nodes) - 1]
#return subset of original that doesn't include the first entry
self.nodes.remove(self.nodes[len(self.nodes) - 1])
else:
#move towards the node
rel = vector.normalized(rel)
self.pos = vector.add(self.pos,[rel[0] * self.speed * dt,rel[1] * self.speed * dt])
def update(self, delta, view):
"""Updates Location"""
super(Guppy, self).update(delta)
# Move based on School
if self.whirl:
v = (self.target.centerx - self.rect.centerx, self.target.centery - self.rect.centery)
mag = vector.mag(v)
if mag < 300 * delta:
self.rect.center = self.target.center
else:
v = vector.muls(vector.divs(v, vector.mag(v)), 300 * delta)
self.move(v)
else:
self.rect.center = vector.add(self.rect.center, vector.muls(self.velocity, delta))
def build_puck_path(self, bag, remaining_forecast_time=None): #ausgefuehrt
"""
Checks for a collision with the table boundaries.
:param bag: The parameter bag.
:param remaining_forecast_time:
:return:
"""
if 'direction' not in bag.puck:
return
if remaining_forecast_time is None:
remaining_forecast_time = const.CONST.TABLE_BOUNDARIES_COLLISION_FORECAST_TIME
if 'path' not in bag.puck:
bag.puck.path = []
if len(bag.puck.path) == 0:
bag.puck.path.append((bag.puck.position, bag.puck.direction, bag.puck.velocity, bag.puck.detection_time))
# get position and direction for the current path part
position = bag.puck.path[-1][0]
direction = bag.puck.path[-1][1]
velocity = bag.puck.path[-1][2]
# follow puck movement for remaining time
movement = vector.mul_by(direction, velocity)
predicted_position = vector.add(position, vector.mul_by(movement, remaining_forecast_time))
# check if position is out of bounds
collision = self._check_collision(position, predicted_position, movement)
if collision is not None:
# add to path
bag.puck.path.append((collision[0], vector.normalize(collision[1]), velocity, bag.puck.path[-1][3] + collision[2]))
# continue building path
remaining_forecast_time -= collision[2]
#print("Velocity: " + str(velocity))
#print(remaining_forecast_time)
#if len(bag.puck.path) > 20:
# exit()
if remaining_forecast_time > 0:
self.build_puck_path(bag, remaining_forecast_time)
# save path
#print("done, path: " + str(bag.puck.path))
self.last_path = bag.puck.path
def batch_descent(X, y, alpha, w):
"""
Batch gradient descent
:param X:
:param y:
:param alpha:
:param w:
:return:
"""
global logs
logs = []
alpha /= len(X)
for epoch in range(1, 1000):
loss = vector.sub(y, vector.mul_mat_vec(X, w))
gradient = vector.mul_mat_vec(vector.transpose(X), loss)
w_old = w
w = vector.add(w, vector.mul(alpha, gradient))
logs += (w, alpha, sse(X, y, w))
if vector.norm(vector.sub(w, w_old)) / vector.norm(w) < 1.0e-5:
break
print("Epoch", epoch)
return w
def intermingle(communities):
# each race is a dimension, each mix is a vector
pops, mixes = [], []
for community in communities:
pops.append(community.thousands)
mixes.append(community.racial_mix)
dimensions = sorted(
{c.heritage for mix in mixes for c in mix.contributions if c.fraction > 0},
key=lambda h: h.name)
totals = []
for mix_index in range(len(mixes)):
mix = mixes[mix_index]
total = [0 for _ in dimensions]
for c in mix.contributions:
for i in range(len(dimensions)):
if c.heritage == dimensions[i]:
total[i] = c.fraction
break
totals.append(total)
# find the average of all communities, weighted by population
centroid = vector.centroid(totals, pops)
# differences to the mean from each mix
diffs = [vector.diff(centroid, total) for total in totals]
# the smallest community changes the most, up to 2 percentage points
# everything else scaled to that
smallest_index = min(range(len(pops)), key=lambda i: pops[i])
scaled = [vector.scalemax(diffs[i], .02 * pops[smallest_index]/pops[i]) for i in range(len(pops))]
new_mixes = [vector.add(totals[i], scaled[i]) for i in range(len(pops))]
return [Community(communities[i].thousands, communities[i].nationality,
people.racial_mix.RacialMix(
[people.racial_mix.RaceContribution(new_mixes[i][j], dimensions[j])
for j in range(len(dimensions)) if new_mixes[i][j] > 0]),
communities[i].language, communities[i].culture)
for i in range(len(communities))]
def move(self):
self.pos = vector.add(self.pos, self.velocity)
def find_grid(img, cam_rot_guess):
"""
Takes an undistorted image and a camera rotation guess and finds the position
of the camera relative to the grid, as well as identifying all visible
squares in the grid.
:param img: The image to process
:param cam_rot_guess:
:return: (squares, cam_rot, base_object_points)
"""
birds_view = np.zeros([1000, 1000, 3], dtype=np.uint8)
cv2.circle(birds_view,
(int(birds_view.shape[0] / 2), int(birds_view.shape[1] / 2)), 5,
(255, 255, 0), -1)
squares, cam_rot_guess = grid.get_square_stats(img, camera_matrix,
np.array([[]]),
cam_rot_guess)
cam_rot = cam_rot_guess
glued_square_corners = []
glued_square_coords = []
square_length = 28.5
square_gap = 2
base_object_points = [[-square_length / 2, -square_length / 2, 0],
[-square_length / 2, square_length / 2, 0],
[square_length / 2, square_length / 2, 0],
[square_length / 2, -square_length / 2, 0]]
for square in squares:
temp_vec = vec.sub(square.location, squares[0].location)
temp_vec[0] = (square_length + square_gap) * round(
temp_vec[0] / (square_length + square_gap), 0)
temp_vec[1] = (square_length + square_gap) * round(
temp_vec[1] / (square_length + square_gap), 0)
temp_vec[2] = 0
for i in base_object_points:
glued_square_coords.append(
[[vec.add(i, temp_vec)[0]], [vec.add(i, temp_vec)[1]],
[vec.add(i, temp_vec)[2]]])
for i in vec.denumpify(square.corners):
glued_square_corners.append([[i[0]], [i[1]]])
if len(squares) > 0:
glued_square_corners = np.asarray(glued_square_corners).astype(float)
glued_square_coords = np.asarray(glued_square_coords).astype(float)
glued_square_corners.reshape(len(glued_square_corners), 2, 1)
glued_square_coords.reshape(len(glued_square_coords), 3, 1)
# Where the magic happens. Gets vector from camera to center of square
inliers, full_r_vec, full_t_vec = cv2.solvePnP(glued_square_coords,
glued_square_corners,
camera_matrix,
distortion_coefficients,
squares[0].rvec,
squares[0].tvec, True)
rot_matrix = cv2.Rodrigues(full_r_vec)
camera_pos = np.multiply(cv2.transpose(rot_matrix[0]), -1).dot(
full_t_vec)
cam_to_grid_transform = np.concatenate(
(cv2.transpose(rot_matrix[0]), camera_pos), axis=1)
cam_rot = list(cam_to_grid_transform.dot(np.array([0, 0, 1, 0])))
return squares, cam_rot, base_object_points
def move(self, direction):
"""direction should be a 2D vector"""
self.rect.center = add(self.rect.center, scale(direction, self.speed))
#!/usr/bin/env python2 import vector import math v1 = [36.886, 53.177, 21.887] v2 = [38.323, 52.817, 21.996] v3 = [38.493, 51.553, 22.830] v4 = [39.483, 50.748, 22.463] n1 = vector.normalize(v1) n2 = vector.normalize(v2) v1 = n1 = 1,2,3 v2 = n2 = 3,4,5 print vector.add(v1, v2) print vector.subtract(v1, v2) print vector.normalize(v1) print vector.dot(n1, n2) print vector.cross(n1, n2) print vector.torsion(v1, v2, v3, v4)
def _calculate_collision_point(self, bag):
"""
Calculates the collision point between the puck and the stick.
:param bag: The parameter bag.
:return:
"""
# NOTE: First attempt, ignoring stick and puck acceleration, puck radius and stick radius here
# OK, math first:
#
# S = stick position
# C = point of collision
# v = max speed of the stick
# P = puck position
# p = puck direction * velocity
#
# Points which the stick can reach in time t build a circle around him:
# 1. (Cx - Sx)^2 + (Cy - Sy)^2 = r = v * t
#
# Points which the puck reaches in time t are on the line:
# 2. Px + px * t = Cx
# 3. Py + py * t = Cy
#
# Approach:
# - replace Cx and Cy in 1. with 2. and 3.
# - bracket the square terms (Px + px * t - Sx)^2 and (Py + py * t - Sy)^2
# - outline t^2 and t to get a formula like t^2*(...) + t*(...) + (...)
# - name (...) a, b and c
# - use the quadratic formula to get t
# - use puck movement and t to get collision point
# - use stick position and collision point
# - gg
Sx = bag.stick.position[0]
Sy = bag.stick.position[1]
Px = bag.puck.position[0]
Py = bag.puck.position[1]
px = bag.puck.direction[0] * bag.puck.velocity
py = bag.puck.direction[1] * bag.puck.velocity
v = self.STICK_MAX_SPEED
# calculate a, b and c
a = px*px + py*py - v*v
b = 2*Px*px - 2*Sx*px + 2*Py*py - 2*Sy*py
c = Px*Px - 2*Px*Sx + Sx*Sx + Py*Py - 2*Py*Sy + Sy*Sy
# calculate t
inner_sqrt = b*b - 4*a*c
if inner_sqrt < 0:
print("Going home, inner sqrt: " + str(inner_sqrt))
# no chance to get that thing, go home
self.go_home(bag)
return
# use + first, since a is negative (Vpuck - Vstick)
# (... / 2 * a) -> shortest time needed
sqrt_b2_4ac = math.sqrt(inner_sqrt)
t = (-b + sqrt_b2_4ac) / 2*a
print("Vp: "+str(bag.puck.velocity))
print("t: "+str(t))
if t < 0:
# too late for that chance, use other result
t = (-b - sqrt_b2_4ac) / 2*a
print("t2: "+str(t))
# get collision point
C = vector.add((Px, Py), vector.mul_by((px, py), t))
s = vector.from_to((Sx, Sy), C)
# save
bag.stick.dest_position = C
bag.stick.dest_direction = vector.normalize(s)
bag.stick.dest_velocity = self.STICK_MAX_SPEED
bag.stick.dest_time = time.time() + t
def get_bbox(self):
start = vector.add(self.pos, vector.multiply(self.size, -0.5))
end = vector.add(self.pos, vector.multiply(self.size, 0.5))
return start + end
def test_add_vector(self):
result = vector.add((10,20),(30,40))
self.assertEqual(result, (40,60))
from math import trunc, sqrt import GF2 # version code ef5291f09f60+ coursera = 1 # Please fill out this stencil and submit using the provided submission script. # Some of the GF2 problems require use of the value GF2.one so the stencil imports it. from GF2 import one ## 1: (Problem 1) Vector Addition Practice 1 #Please express each answer as a list of numbers p1_v = [-1, 3] p1_u = [0, 4] p1_v_plus_u = vector.add(p1_v, p1_u) p1_v_minus_u = vector.minus(p1_v, p1_u) p1_three_v_minus_two_u = vector.minus(vector.scalar_mult(3, p1_v), vector.scalar_mult(2, p1_u)) ## 2: (Problem 2) Vector Addition Practice 2 p2_u = [-1, 1, 1] p2_v = [ 2, -1, 5] p2_v_plus_u = vector.add(p2_v, p2_u) p2_v_minus_u = vector.minus(p2_v, p2_u) p2_two_v_minus_u = vector.minus(vector.scalar_mult(2, p2_v), p2_u) p2_v_plus_two_u = vector.add(p2_v, vector.scalar_mult(2, p2_u)) ## 3: (Problem 3) Vector Addition Practice 3 p3_v = [GF2.zero, GF2.one, GF2.one] p3_u = [GF2.one, GF2.one, GF2.one] p3_vector_sum_1 = vector.add(p3_v, p3_u)
