-
Notifications
You must be signed in to change notification settings - Fork 0
/
play_world.py
198 lines (178 loc) · 7.2 KB
/
play_world.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
from __future__ import division
from direct.showbase.ShowBase import ShowBase
from direct.actor.Actor import ActorNode
from panda3d.core import WindowProperties, NodePath, LVector3
from panda3d.core import LineSegs, OrthographicLens, CardMaker
from inputs import Inputs
from sys import path
try:
path.insert(1, '../pydaq')
import pydaq
except ImportError:
pydaq = None
class PlayWorld(object):
def __init__(self, config=None):
if config is None:
self.config = {}
execfile('play_config.py', self.config)
else:
self.config = config
self.reward = None
print self.config['pydaq']
if pydaq and self.config.setdefault('pydaq', True) is not None:
self.reward = pydaq.GiveReward()
self.reward_count = 0
# adjustment to speed so corresponds to gobananas task
# 7 seconds to cross original environment
# speed needs to be adjusted to both speed in original
# environment and c_range of colors
# self.speed = 0.05 * (self.c_range[1] - self.c_range[0])
# speed is own variable, so can be changed during training.
self.speed = self.config['speed']
# need a multiplier to the joystick output to tolerable speed
self.vel_base = 4
self.max_vel = [500, 500, 0]
self.base = ShowBase()
self.base.disableMouse()
# self.base.setFrameRateMeter(True)
# assume we are showing windows unless proven otherwise
if self.config.get('win', True):
# only need inputs if we have a window
self.inputs = Inputs(self.base)
props = WindowProperties()
props.setCursorHidden(True)
props.setForeground(True)
print self.config.get('resolution')
if self.config.get('resolution'):
# main window
props.set_size(int(self.config['resolution'][0]), int(self.config['resolution'][1]))
# props.set_origin(1920, 0)
props.set_origin(500, 0)
else:
props.set_size(600, 600)
props.set_origin(400, 50)
self.base.win.requestProperties(props)
# print 'background color', self.base.getBackgroundColor()
# field = self.base.loader.loadModel("../goBananas/models/play_space/field.bam")
field = self.base.loader.loadModel("../goBananas/models/play_space/round_courtyard.bam")
field.setPos(0, 0, 0)
field.reparent_to(self.base.render)
field_node_path = field.find('**/+CollisionNode')
field_node_path.node().setIntoCollideMask(0)
sky = self.base.loader.loadModel("../goBananas/models/sky/sky_kahana2.bam")
sky.setPos(0, 0, 0)
sky.setScale(1.6)
sky.reparentTo(self.base.render)
windmill = self.base.loader.loadModel("../goBananas/models/windmill/windmill.bam")
windmill.setPos(-10, 30, -1)
windmill.setScale(0.03)
windmill.reparentTo(self.base.render)
# mountain = self.base.loader.loadModel("../goBananas/models/mountain/mountain.bam")
# mountain.setScale(0.0005)
# mountain.setPos(10, 30, -0.5)
# create the avatar
self.avatar = NodePath(ActorNode("avatar"))
self.avatar.reparentTo(self.base.render)
self.avatar.setPos(0, 0, 1)
self.avatar.setScale(0.5)
pl = self.base.cam.node().getLens()
pl.setFov(60)
self.base.cam.node().setLens(pl)
self.base.camera.reparentTo(self.avatar)
# initialize task variables
self.frame_task = None
self.started_game = None
self.showed_match = None
self.gave_reward = None
# initialize and start the game
self.set_next_trial()
# print 'end init'
def start_loop(self):
# need to get new match
self.start_play()
def start_play(self):
print 'start play'
# log this
# print self.base.render.ls()
self.frame_task = self.base.taskMgr.add(self.game_loop, "game_loop")
self.frame_task.last = 0 # initiate task time of the last frame
def game_loop(self, task):
dt = task.time - task.last
task.last = task.time
velocity = self.inputs.poll_inputs(LVector3(0))
self.move_avatar(dt, velocity)
return task.cont
def reward_loop(self, task):
self.reward_count += 1
if self.reward_count <= self.config['num_beeps']:
if self.reward:
# log this
print 'give a bloody reward already'
self.reward.pumpOut()
print 'give reward'
return task.again
else:
self.end_loop()
return task.done
def move_avatar(self, dt, velocity):
# print 'velocity', self.velocity
self.avatar.setH(self.avatar.getH() - velocity[0] * 1.1)
move = LVector3(0, velocity[1], 0)
self.avatar.setPos(self.avatar, move * dt * self.vel_base)
def give_reward(self):
# clear the background
self.base.setBackgroundColor(0.41, 0.41, 0.41)
print 'give first reward'
self.reward_count = 1
if self.reward:
# log this
self.reward.pumpOut()
self.gave_reward = self.base.taskMgr.doMethodLater(self.config['pump_delay'], self.reward_loop, 'reward_loop')
def end_loop(self):
print 'end loop'
# clear avatar map
# if there is a match set, return to center of color gradient,
# set new match, if applicable
self.set_next_trial()
def set_next_trial(self):
print 'set next trial'
# move avatar back to beginning position, only matters for
# showing card for next color match
# self.avatar.set_pos(-10, -10, 2)
# start the game
self.start_loop()
def check_key_map(self):
if self.config['colors'][0]:
if self.inputs.key_map['r']:
self.config['match_direction'] = ['right']
elif self.inputs.key_map['r'] is not None:
self.config['match_direction'] = ['left']
elif self.config['colors'][1]:
if self.inputs.key_map['f']:
self.config['match_direction'] = ['front']
elif self.inputs.key_map['f'] is not None:
self.config['match_direction'] = ['back']
def setup_display2(self, display_node):
print 'setup display2'
props = WindowProperties()
props.set_cursor_hidden(True)
props.set_foreground(False)
if self.config.get('resolution'):
props.setSize(700, 700)
props.setOrigin(-int(self.config['resolution'][0] - 5), 5)
else:
props.setSize(300, 300)
props.setOrigin(10, 10)
window2 = self.base.openWindow(props=props, aspectRatio=1)
lens = OrthographicLens()
lens.set_film_size(2, 2)
lens.setNearFar(-100, 100)
self.render2d = NodePath('render2d')
self.render2d.attach_new_node(display_node)
camera2d = self.base.makeCamera(window2)
camera2d.setPos(0, -10, 0)
camera2d.node().setLens(lens)
camera2d.reparentTo(self.render2d)
if __name__ == "__main__":
CW = PlayWorld()
CW.base.run()