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 load_team(self, location, team=constants.OBJECT_TYPE_TEAM_0):
NERO.module.NeroModule.load_team(self, location, team)
rtneat = OpenNero.get_ai('rtneat-%s' % team)
if rtneat:
rtneat.set_lifetime(sys.maxint)
rtneat.disable_evolution()
OpenNero.disable_ai() # don't run until button
def parseInputCommand(content):
"""
Parse commands from training window
"""
mod = getMod()
command, arg = content.attrib['command'], content.attrib['arg']
# first word is command rest is filename
if command.isupper():
vali = int(arg)
if command == "LT": mod.ltChange(vali)
if command == "EE": mod.eeChange(vali)
if command == "HP": mod.hpChange(vali)
if command == "SP": mod.set_speedup(vali)
if command == "save1": mod.save_team(arg, constants.OBJECT_TYPE_TEAM_0)
if command == "load1": mod.load_team(arg, constants.OBJECT_TYPE_TEAM_0)
if command == "rtneat": mod.deploy('rtneat')
if command == "qlearning": mod.deploy('qlearning')
if command == "pause": OpenNero.disable_ai()
if command == "resume": OpenNero.enable_ai()
if command == "example":
print 'command: example'
if arg == "start":
print 'command: example start'
mod.start_demonstration()
elif arg == "cancel":
print 'command: example cancel'
OpenNero.get_environment().cancel_demonstration()
elif arg == "confirm":
print 'command: example confirm'
OpenNero.get_environment().use_demonstration()
def deploy(self, ai='rtneat', team=constants.OBJECT_TYPE_TEAM_0):
OpenNero.disable_ai()
if ai == 'rtneat':
OpenNero.set_ai('rtneat-%s' % team, None)
self.environment.remove_all_agents(team)
for _ in range(constants.pop_size):
self.spawnAgent(ai=ai, team=team)
OpenNero.enable_ai()
def start_tower1(self): #Problem reduction
""" start the tower demo """
self.num_disks = 3
OpenNero.disable_ai()
self.stop_agent()
env = TowerEnvironment()
env.initialize_blocks()
self.set_environment(env)
self.agent_id = common.addObject("data/shapes/character/BlocksRobot.xml", OpenNero.Vector3f(constants.GRID_DX, constants.GRID_DY, 2), type=constants.AGENT_MASK, scale=OpenNero.Vector3f(3,3,3))
OpenNero.enable_ai()
def start_my_planner_2_disk():
""" start the tower demo """
getMod().num_disks = 2
OpenNero.disable_ai()
getMod().stop_agent()
env = TowerEnvironment()
env.initialize_blocks()
getMod().set_environment(env)
getMod().agent_id = common.addObject("data/shapes/character/MyPlanningRobot2.xml", OpenNero.Vector3f(TowerofHanoi.constants.GRID_DX, TowerofHanoi.constants.GRID_DY, 2), type=TowerofHanoi.constants.AGENT_MASK, scale=OpenNero.Vector3f(3,3,3))
OpenNero.enable_ai()
def start_nlp_extended(): #Natural Language Processing
""" start the tower demo """
getMod().num_disks = 3
OpenNero.disable_ai()
getMod().stop_agent()
env = TowerEnvironment()
env.initialize_blocks()
getMod().set_environment(env)
getMod().agent_id = common.addObject("data/shapes/character/MyNLPRobot.xml", OpenNero.Vector3f(TowerofHanoi.constants.GRID_DX, TowerofHanoi.constants.GRID_DY, 2), type=TowerofHanoi.constants.AGENT_MASK, scale=OpenNero.Vector3f(3,3,3))
OpenNero.enable_ai()
def start_tower3(self): #2 Disk Goal Stack Planner
""" start the tower demo """
self.num_disks = 2
OpenNero.disable_ai()
self.stop_agent()
env = TowerEnvironment()
env.initialize_blocks()
self.set_environment(env)
#self.set_environment(TowerEnvironment())
self.agent_id = common.addObject("data/shapes/character/BlocksRobot3.xml", OpenNero.Vector3f(constants.GRID_DX, constants.GRID_DY, 2), type=constants.AGENT_MASK, scale=OpenNero.Vector3f(3,3,3))
OpenNero.enable_ai()
def start_rtneat(self, pop_size):
" start the rtneat learning demo "
OpenNero.disable_ai()
#self.environment = RoombaEnvironment(constants.XDIM, constants.YDIM, self)
#set_environment(self.environment)
#self.reset_sandbox()
# Create RTNEAT object
rbound = OpenNero.FeatureVectorInfo()
rbound.add_continuous(-sys.float_info.max, sys.float_info.max)
rtneat = OpenNero.RTNEAT("data/ai/neat-params.dat", 2, 1, pop_size, 1.0, rbound, False)
rtneat.set_weight(0,1)
OpenNero.set_ai("rtneat",rtneat)
OpenNero.enable_ai()
self.distribute_bots(pop_size, "data/shapes/roomba/RoombaRTNEAT.xml")
def setup_map(self):
"""
setup the test environment
"""
OpenNero.disable_ai()
if self.environment:
error("Environment already created")
return
self.environment = self.create_environment()
OpenNero.set_environment(self.environment)
self.environment.setup()
return True
def parseInputCommand(content):
"""
Parse commands from training window
"""
mod = getMod()
command, arg = content.attrib['command'], content.attrib['arg']
# first word is command rest is filename
if command.isupper():
vali = int(arg)
if command == "save1": mod.save_team(arg, constants.OBJECT_TYPE_TEAM_0)
if command == "load1": mod.load_team(arg, constants.OBJECT_TYPE_TEAM_0)
if command == "rtneat": mod.deploy('rtneat', 'neat')
if command == "qlearning": mod.deploy('none', 'qlearning')
if command == "pause": OpenNero.disable_ai()
if command == "resume": OpenNero.enable_ai()
def start_agent_state_space_search(self): # State-space search
""" start the tower demo """
self.num_disks = 3
OpenNero.disable_ai()
self.stop_agent()
env = TowerEnvironment()
env.initialize_blocks()
self.set_environment(env)
# self.set_environment(TowerEnvironment())
self.agent_id = common.addObject(
"data/shapes/character/BlocksRobot2.xml",
OpenNero.Vector3f(constants.GRID_DX, constants.GRID_DY, 2),
type=constants.AGENT_MASK,
scale=OpenNero.Vector3f(3, 3, 3),
)
OpenNero.enable_ai()
def start_demonstration(self):
'''
start the keyboard agent to collect demonstration example
'''
OpenNero.disable_ai()
team = constants.OBJECT_TYPE_TEAM_0
self.curr_team = team
#self.environment.remove_all_agents(team)
location = (self.spawn_x[team], self.spawn_y[team], 2)
agnt = common.addObject(
"data/shapes/character/steve_keyboard.xml",
position = OpenNero.Vector3f(*location),
type=team)
OpenNero.enable_ai()
self.environment.start_tracing()
return agnt
def add_bots(self, bot_type, num_bots):
OpenNero.disable_ai()
num_bots = int(num_bots)
if bot_type.lower().find("script") >= 0:
self.distribute_bots(num_bots, "data/shapes/roomba/Roomba.xml")
OpenNero.enable_ai()
return True
elif bot_type.lower().find("rtneat") >= 0:
self.start_rtneat(num_bots)
return True
elif bot_type.lower().find("rlagent") >= 0:
self.distribute_bots(num_bots, "data/shapes/roomba/RLAgent.xml")
OpenNero.enable_ai()
return True
else:
return False
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 load_team(self, location, team=constants.OBJECT_TYPE_TEAM_0):
OpenNero.disable_ai()
self.environment.remove_all_agents(team)
if not os.path.exists(location):
print location, 'does not exist, cannot load population'
return
# parse out different agents from the population file.
contents = ''
try:
try:
handle = gzip.open(location)
contents = handle.read()
finally:
handle.close()
except Exception, e:
with open(location) as handle:
contents = handle.read()
def parseInput(strn):
if strn == "deploy" or len(strn) < 2:
return
mod = getMod()
# first word is command rest is filename
loc, val = strn.split(' ',1)
vali = 1
if strn.isupper():
vali = int(val)
if loc == "HP": mod.hpChange(vali)
if loc == "SP": mod.set_speedup(vali)
if loc == "load1": mod.load_team(val, constants.OBJECT_TYPE_TEAM_0)
if loc == "load2": mod.load_team(val, constants.OBJECT_TYPE_TEAM_1)
if loc == "rtneat":
mod.deploy('rtneat', constants.OBJECT_TYPE_TEAM_0)
mod.deploy('rtneat', constants.OBJECT_TYPE_TEAM_1)
if loc == "qlearning":
mod.deploy('qlearning', constants.OBJECT_TYPE_TEAM_0)
mod.deploy('qlearning', constants.OBJECT_TYPE_TEAM_1)
if loc == "pause": OpenNero.disable_ai()
if loc == "resume": OpenNero.enable_ai()
def parseInput(strn):
if strn == "deploy" or len(strn) < 2:
return
mod = getMod()
# first word is command rest is filename
loc, val = strn.split(' ', 1)
vali = 1
if strn.isupper():
vali = int(val)
if loc == "HP": mod.hpChange(vali)
if loc == "SP": mod.set_speedup(vali)
if loc == "load1": mod.load_team(val, constants.OBJECT_TYPE_TEAM_0)
if loc == "load2": mod.load_team(val, constants.OBJECT_TYPE_TEAM_1)
if loc == "rtneat":
mod.deploy('rtneat', constants.OBJECT_TYPE_TEAM_0)
mod.deploy('rtneat', constants.OBJECT_TYPE_TEAM_1)
if loc == "qlearning":
mod.deploy('qlearning', constants.OBJECT_TYPE_TEAM_0)
mod.deploy('qlearning', constants.OBJECT_TYPE_TEAM_1)
if loc == "pause": OpenNero.disable_ai()
if loc == "resume": OpenNero.enable_ai()
def step(self, agent, action):
"""
2A step for an agent
"""
# make sure RL agents cannot learn in battle mode.
agent.alpha = 0.0
reward = NERO.NeroEnvironment.NeroEnvironment.step(self, agent, action)
live_agents = sum(len(t) for t in self.teams.itervalues())
# wait until all agents have spawned before we keep track of damage.
if self.print_damage < 0 and live_agents < 2 * constants.pop_size:
return reward
# print out damages every loop through the entire population.
self.print_damage += 1
if self.print_damage >= live_agents:
self.print_damage = 0
else:
return reward
damages = {}
winner = None
for team in constants.TEAMS:
damages[team] = 0
agents = self.teams.get(team, set())
agent_damages = [self.get_state(a).total_damage for a in agents]
if any(d < self.hitpoints for d in agent_damages):
damage = sum(agent_damages)
damage += (constants.pop_size - len(agents)) * self.hitpoints
damages[team] = damage
else:
damages[team] = constants.pop_size * self.hitpoints
winner = constants.OBJECT_TYPE_TEAM_0
if team == winner:
winner = constants.OBJECT_TYPE_TEAM_1
if len(damages) == 2:
ss = []
for t, d in sorted(damages.iteritems()):
s = '%s: %d' % (constants.TEAM_LABELS[t], d)
ss.append(s)
ss = tuple(ss)
if self.last_damage != ss:
print 'damages sustained by: ' +' '.join(ss)
self.last_damage = ss
if not constants.getDisplayHint():
OpenNero.setWindowCaption('Damage sustained: ' + ' '.join(ss))
if winner is not None:
s = constants.TEAM_LABELS[winner] + ' team wins!!!'
print s
try:
if OpenNero.getAppConfig().rendertype != 'null':
import tkMessageBox
tkMessageBox.showinfo('NERO Battle Results', s)
except:
pass
if not constants.getDisplayHint():
OpenNero.setWindowCaption(s)
OpenNero.disable_ai()
for a in self.teams[winner]:
self.set_animation(a, self.get_state(a), 'jump')
return reward
def remove_bots(self):
""" remove all existing bots from the environment """
OpenNero.disable_ai()
for id in self.agent_ids:
common.removeObject(id) # delete id from Registry, not from list
self.agent_ids = []
def setup_map(self):
"""
setup the test environment
"""
OpenNero.disable_ai()
if self.environment:
error("Environment already created")
return
# create the environment - this also creates the rtNEAT object
self.environment = self.create_environment()
OpenNero.set_environment(self.environment)
# world walls
height = constants.HEIGHT + constants.OFFSET
common.addObject("data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM / 2, 0, height),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(constants.WIDTH,
constants.XDIM,
constants.HEIGHT * 2),
label="World Wall0",
type=constants.OBJECT_TYPE_OBSTACLE)
common.addObject("data/shapes/cube/Cube.xml",
OpenNero.Vector3f(0, constants.YDIM / 2, height),
OpenNero.Vector3f(0, 0, 0),
scale=OpenNero.Vector3f(constants.WIDTH,
constants.YDIM,
constants.HEIGHT * 2),
label="World Wall1",
type=constants.OBJECT_TYPE_OBSTACLE)
common.addObject("data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM, constants.YDIM / 2,
height),
OpenNero.Vector3f(0, 0, 0),
scale=OpenNero.Vector3f(constants.WIDTH,
constants.YDIM,
constants.HEIGHT * 2),
label="World Wall2",
type=constants.OBJECT_TYPE_OBSTACLE)
common.addObject("data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM / 2, constants.YDIM,
height),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(constants.WIDTH,
constants.XDIM,
constants.HEIGHT * 2),
label="World Wall3",
type=constants.OBJECT_TYPE_OBSTACLE)
# Add an obstacle wall in the middle
common.addObject("data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM / 2,
constants.YDIM / 2, height),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(constants.WIDTH,
constants.YDIM / 4,
constants.HEIGHT * 2),
label="World Wall4",
type=constants.OBJECT_TYPE_OBSTACLE)
# Add some trees
for i in (0.25, 0.75):
for j in (0.25, 0.75):
# don't collide with trees - they are over 500 triangles each
common.addObject("data/shapes/tree/Tree.xml",
OpenNero.Vector3f(i * constants.XDIM,
j * constants.YDIM,
constants.OFFSET),
OpenNero.Vector3f(0, 0, 0),
scale=OpenNero.Vector3f(1, 1, 1),
label="Tree %d %d" % (10 * i, 10 * j),
type=constants.OBJECT_TYPE_LEVEL_GEOM)
# collide with their trunks represented with cubes instead
common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(i * constants.XDIM, j * constants.YDIM,
constants.OFFSET),
OpenNero.Vector3f(0, 0, 0),
scale=OpenNero.Vector3f(1, 1, constants.HEIGHT),
type=constants.OBJECT_TYPE_OBSTACLE)
# Add the surrounding Environment
common.addObject("data/terrain/NeroWorld.xml",
OpenNero.Vector3f(constants.XDIM / 2,
constants.YDIM / 2, 0),
scale=OpenNero.Vector3f(1.2, 1.2, 1.2),
label="NeroWorld",
type=constants.OBJECT_TYPE_LEVEL_GEOM)
return True
def step(self, agent, action):
"""
2A step for an agent
"""
# make sure RL agents cannot learn in battle mode.
agent.alpha = 0.0
reward = NERO.NeroEnvironment.NeroEnvironment.step(self, agent, action)
live_agents = sum(len(t) for t in self.teams.itervalues())
# wait until all agents have spawned before we keep track of damage.
if self.print_damage < 0 and live_agents < 2 * constants.pop_size:
return reward
# print out damages every loop through the entire population.
self.print_damage += 1
if self.print_damage >= live_agents:
self.print_damage = 0
else:
return reward
damages = {}
winner = None
for team in constants.TEAMS:
damages[team] = 0
agents = self.teams.get(team, set())
agent_damages = [self.get_state(a).total_damage for a in agents]
if any(d < self.hitpoints for d in agent_damages):
damage = sum(agent_damages)
damage += (constants.pop_size - len(agents)) * self.hitpoints
damages[team] = damage
else:
damages[team] = constants.pop_size * self.hitpoints
winner = constants.OBJECT_TYPE_TEAM_0
if team == winner:
winner = constants.OBJECT_TYPE_TEAM_1
if len(damages) == 2:
ss = []
for t, d in sorted(damages.iteritems()):
s = '%s: %d' % (constants.TEAM_LABELS[t], d)
ss.append(s)
ss = tuple(ss)
if self.last_damage != ss:
print 'damages sustained by: ' + ' '.join(ss)
self.last_damage = ss
if not constants.getDisplayHint():
OpenNero.setWindowCaption('Damage sustained: ' +
' '.join(ss))
if winner is not None:
s = constants.TEAM_LABELS[winner] + ' team wins!!!'
print s
try:
if OpenNero.getAppConfig().rendertype != 'null':
import tkMessageBox
tkMessageBox.showinfo('NERO Battle Results', s)
except:
pass
if not constants.getDisplayHint():
OpenNero.setWindowCaption(s)
OpenNero.disable_ai()
for a in self.teams[winner]:
self.set_animation(a, self.get_state(a), 'jump')
return reward
def setup_map(self):
"""
setup the test environment
"""
OpenNero.disable_ai()
if self.environment:
error("Environment already created")
return
# create the environment - this also creates the rtNEAT object
self.environment = self.create_environment()
OpenNero.set_environment(self.environment)
# world walls
height = constants.HEIGHT + constants.OFFSET
common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM/2, 0, height),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(constants.WIDTH, constants.XDIM, constants.HEIGHT*2),
label="World Wall0",
type=constants.OBJECT_TYPE_OBSTACLE)
common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(0, constants.YDIM/2, height),
OpenNero.Vector3f(0, 0, 0),
scale=OpenNero.Vector3f(constants.WIDTH, constants.YDIM, constants.HEIGHT*2),
label="World Wall1",
type=constants.OBJECT_TYPE_OBSTACLE)
common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM, constants.YDIM/2, height),
OpenNero.Vector3f(0, 0, 0),
scale=OpenNero.Vector3f(constants.WIDTH, constants.YDIM, constants.HEIGHT*2),
label="World Wall2",
type=constants.OBJECT_TYPE_OBSTACLE)
common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM/2, constants.YDIM, height),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(constants.WIDTH, constants.XDIM, constants.HEIGHT*2),
label="World Wall3",
type=constants.OBJECT_TYPE_OBSTACLE)
# Add an obstacle wall in the middle
common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM/2, constants.YDIM/2, height),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(constants.WIDTH, 100, constants.HEIGHT*2),
label="World Wall4",
type=constants.OBJECT_TYPE_OBSTACLE)
# # Add some trees
# for i in (0.25, 0.75):
# for j in (0.25, 0.75):
# # don't collide with trees - they are over 500 triangles each
# common.addObject(
# "data/shapes/tree/Tree.xml",
# OpenNero.Vector3f(i * constants.XDIM, j * constants.YDIM, constants.OFFSET),
# OpenNero.Vector3f(0, 0, 0),
# scale=OpenNero.Vector3f(1, 1, 1),
# label="Tree %d %d" % (10 * i, 10 * j),
# type=constants.OBJECT_TYPE_LEVEL_GEOM)
# # collide with their trunks represented with cubes instead
# common.addObject(
# "data/shapes/cube/Cube.xml",
# OpenNero.Vector3f(i * constants.XDIM, j * constants.YDIM, constants.OFFSET),
# OpenNero.Vector3f(0,0,0),
# scale=OpenNero.Vector3f(1,1,constants.HEIGHT),
# type=constants.OBJECT_TYPE_OBSTACLE)
# Add the surrounding Environment
common.addObject(
"data/terrain/NeroWorld.xml",
OpenNero.Vector3f(constants.XDIM/2, constants.YDIM/2, 0),
scale=OpenNero.Vector3f(1.2, 1.2, 1.2),
label="NeroWorld",
type=constants.OBJECT_TYPE_LEVEL_GEOM)
return True
def setup_map(self):
"""
setup the test environment
"""
OpenNero.disable_ai()
if self.environment:
error("Environment already created")
return
# create the environment - this also creates the rtNEAT object
self.environment = self.create_environment()
OpenNero.set_environment(self.environment)
# world walls
height = constants.HEIGHT + constants.OFFSET
common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM/2, 0, height),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(1, constants.XDIM, constants.HEIGHT),
label="World Wall0",
type=constants.OBJECT_TYPE_OBSTACLE)
common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(0, constants.YDIM/2, height),
OpenNero.Vector3f(0, 0, 0),
scale=OpenNero.Vector3f(1, constants.YDIM, constants.HEIGHT),
label="World Wall1",
type=constants.OBJECT_TYPE_OBSTACLE)
common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM, constants.YDIM/2, height),
OpenNero.Vector3f(0, 0, 0),
scale=OpenNero.Vector3f(1, constants.YDIM, constants.HEIGHT),
label="World Wall2",
type=constants.OBJECT_TYPE_OBSTACLE)
common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM/2, constants.YDIM, height),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(1, constants.XDIM, constants.HEIGHT),
label="World Wall3",
type=constants.OBJECT_TYPE_OBSTACLE)
# Add an obstacle wall in the middle
"""
common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM/2, constants.YDIM/2, height),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(1, constants.YDIM / 4, constants.HEIGHT),
label="World Wall4",
type=constants.OBJECT_TYPE_OBSTACLE)
"""
# Add the surrounding Environment
common.addObject(
"data/terrain/NeroWorld.xml",
OpenNero.Vector3f(constants.XDIM/2, constants.YDIM/2, 0),
scale=OpenNero.Vector3f(1, 1, 1),
label="NeroWorld",
type=constants.OBJECT_TYPE_LEVEL_GEOM)
self.spawnAgent(agent_xml = 'data/shapes/tree/Tree.xml', first_person = False)
self.spawnAgent(agent_xml = 'data/shapes/character/steve_still_blue.xml', first_person = False)
self.spawnAgent(agent_xml = 'data/shapes/character/sydney_still.xml', first_person = False, z_pos=5)
self.spawnAgent(agent_xml = 'data/shapes/cube/GreenCube.xml', first_person = False, z_pos=7)
return True
def setup_map(self):
"""
setup the test environment
"""
OpenNero.disable_ai()
if self.environment:
error("Environment already created")
return
# create the environment - this also creates the rtNEAT object
self.environment = self.create_environment()
OpenNero.set_environment(self.environment)
# world walls
height = constants.HEIGHT + constants.OFFSET
common.addObject("data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM / 2, 0, height),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(1, constants.XDIM,
constants.HEIGHT),
label="World Wall0",
type=constants.OBJECT_TYPE_OBSTACLE)
common.addObject("data/shapes/cube/Cube.xml",
OpenNero.Vector3f(0, constants.YDIM / 2, height),
OpenNero.Vector3f(0, 0, 0),
scale=OpenNero.Vector3f(1, constants.YDIM,
constants.HEIGHT),
label="World Wall1",
type=constants.OBJECT_TYPE_OBSTACLE)
common.addObject("data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM, constants.YDIM / 2,
height),
OpenNero.Vector3f(0, 0, 0),
scale=OpenNero.Vector3f(1, constants.YDIM,
constants.HEIGHT),
label="World Wall2",
type=constants.OBJECT_TYPE_OBSTACLE)
common.addObject("data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM / 2, constants.YDIM,
height),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(1, constants.XDIM,
constants.HEIGHT),
label="World Wall3",
type=constants.OBJECT_TYPE_OBSTACLE)
# Add an obstacle wall in the middle
"""
common.addObject(
"data/shapes/cube/Cube.xml",
OpenNero.Vector3f(constants.XDIM/2, constants.YDIM/2, height),
OpenNero.Vector3f(0, 0, 90),
scale=OpenNero.Vector3f(1, constants.YDIM / 4, constants.HEIGHT),
label="World Wall4",
type=constants.OBJECT_TYPE_OBSTACLE)
"""
# Add the surrounding Environment
common.addObject("data/terrain/NeroWorld.xml",
OpenNero.Vector3f(constants.XDIM / 2,
constants.YDIM / 2, 0),
scale=OpenNero.Vector3f(1, 1, 1),
label="NeroWorld",
type=constants.OBJECT_TYPE_LEVEL_GEOM)
self.spawnAgent(agent_xml='data/shapes/tree/Tree.xml',
first_person=False)
self.spawnAgent(agent_xml='data/shapes/character/steve_still_blue.xml',
first_person=False)
self.spawnAgent(agent_xml='data/shapes/character/sydney_still.xml',
first_person=False,
z_pos=5)
self.spawnAgent(agent_xml='data/shapes/cube/GreenCube.xml',
first_person=False,
z_pos=7)
return True
