def __init__(self):
super(Pulley, self).__init__()
y, L, a, b = 16.0, 12.0, 1.0, 2.0
# The ground
ground = self.world.create_static_body(
shapes=[edgeShape(vertices=[(-40, 0), (40, 0)]),
circleShape(radius=2, pos=(-10.0, y + b + L)),
circleShape(radius=2, pos=(10.0, y + b + L))]
)
body_a = self.world.create_dynamic_body(
position=(-10, y),
fixtures=fixtureDef(shape=polygonShape(box=(a, b)), density=5.0),
)
body_b = self.world.create_dynamic_body(
position=(10, y),
fixtures=fixtureDef(shape=polygonShape(box=(a, b)), density=5.0),
)
self.pulley = self.world.CreatePulleyJoint(
body_a=body_a,
body_b=body_b,
anchorA=(-10.0, y + b),
anchorB=(10.0, y + b),
groundAnchorA=(-10.0, y + b + L),
groundAnchorB=(10.0, y + b + L),
ratio=1.5,
)
def __init__(self):
super(Chain, self).__init__()
# The ground
ground = self.world.CreateBody(
shapes=edgeShape(vertices=[(-40, 0), (40, 0)])
)
plank = fixtureDef(
shape=polygonShape(box=(0.6, 0.125)),
density=20,
friction=0.2,
)
# Create one Chain (Only the left end is fixed)
prevBody = ground
y = 25
numPlanks = 30
for i in range(numPlanks):
body = self.world.CreateDynamicBody(
position=(0.5 + i, y),
fixtures=plank,
)
# You can try a WeldJoint for a slightly different effect.
# self.world.CreateWeldJoint(
self.world.CreateRevoluteJoint(
bodyA=prevBody,
bodyB=body,
anchor=(i, y),
)
prevBody = body
def __init__(self):
self.seed()
self.viewer = None
self.world = Box2D.b2World()
self.terrain = None
self.hull = None
self.prev_shaping = None
self.fd_polygon = fixtureDef(
shape = polygonShape(vertices=
[(0, 0),
(1, 0),
(1, -1),
(0, -1)]),
friction = FRICTION)
self.fd_edge = fixtureDef(
shape = edgeShape(vertices=
[(0, 0),
(1, 1)]),
friction = FRICTION,
categoryBits=0x0001,
)
self.reset()
high = np.array([np.inf]*24)
self.action_space = spaces.Box(np.array([-1,-1,-1,-1]), np.array([+1,+1,+1,+1]))
self.observation_space = spaces.Box(-high, high)
def __init__(self, vertices, inner_corners, color, position, world):
# use box2d edge
self.uuid = uuid1()
self.vertices = vertices
self.color = color
self.position = position
self.world = world
self.edge_fixtures = []
self.edge_bodies = []
for index, corner in enumerate(inner_corners):
next_corner = inner_corners[(index + 1) % len(inner_corners)]
fixture = edgeShape(vertices=[corner, next_corner*2-corner])
self.edge_fixtures.append(fixture)
body = world.CreateStaticBody(shapes=fixture, position=corner)
body.userData = self
self.edge_bodies.append(body)
def reset(self):
self._destroy()
self.world.contactListener_keepref = ContactDetector(self)
self.world.contactListener = self.world.contactListener_keepref
self.game_over = False
W = VIEWPORT_W/SCALE
H = VIEWPORT_H/SCALE
# terrain
CHUNKS = 11
height = self.np_random.uniform(0, H/2, size=(CHUNKS+1,) )
chunk_x = [W/(CHUNKS-1)*i for i in range(CHUNKS)]
self.helipad_x1 = chunk_x[CHUNKS//2-1]
self.helipad_x2 = chunk_x[CHUNKS//2+1]
self.helipad_y = H/4
height[CHUNKS//2-2] = self.helipad_y
height[CHUNKS//2-1] = self.helipad_y
height[CHUNKS//2+0] = self.helipad_y
height[CHUNKS//2+1] = self.helipad_y
height[CHUNKS//2+2] = self.helipad_y
smooth_y = [0.33*(height[i-1] + height[i+0] + height[i+1]) for i in range(CHUNKS)]
self.moon = self.world.CreateStaticBody( shapes=edgeShape(vertices=[(0, 0), (W, 0)]) )
self.sky_polys = []
for i in range(CHUNKS-1):
p1 = (chunk_x[i], smooth_y[i])
p2 = (chunk_x[i+1], smooth_y[i+1])
self.moon.CreateEdgeFixture(
vertices=[p1,p2],
density=0,
friction=0.1)
self.sky_polys.append( [p1, p2, (p2[0],H), (p1[0],H)] )
self.moon.color1 = (0.0,0.0,0.0)
self.moon.color2 = (0.0,0.0,0.0)
for lander in self.landers:
self._create_lander(lander, len(self.landers))
self.drawlist = (
[lander.body for lander in self.landers]
+ [leg for lander in self.landers for leg in lander.legs])
return self.step()
def _generate_terrain(self, hardcore):
GRASS, STUMP, STAIRS, PIT, _STATES_ = range(5)
state = GRASS
velocity = 0.0
y = TERRAIN_HEIGHT
counter = TERRAIN_STARTPAD
oneshot = False
self.terrain = []
self.terrain_x = []
self.terrain_y = []
for i in range(TERRAIN_LENGTH):
x = i*TERRAIN_STEP
self.terrain_x.append(x)
if state==GRASS and not oneshot:
velocity = 0.8*velocity + 0.01*np.sign(TERRAIN_HEIGHT - y)
if i > TERRAIN_STARTPAD: velocity += np.random.uniform(-1, 1)/SCALE #1
y += velocity
elif state==PIT and oneshot:
counter = np.random.randint(3, 5)
poly = [
(x, y),
(x+TERRAIN_STEP, y),
(x+TERRAIN_STEP, y-4*TERRAIN_STEP),
(x, y-4*TERRAIN_STEP),
]
t = self.world.CreateStaticBody(
fixtures = fixtureDef(
shape=polygonShape(vertices=poly),
friction = FRICTION
))
t.color1, t.color2 = (1,1,1), (0.6,0.6,0.6)
self.terrain.append(t)
t = self.world.CreateStaticBody(
fixtures = fixtureDef(
shape=polygonShape(vertices=[(p[0]+TERRAIN_STEP*counter,p[1]) for p in poly]),
friction = FRICTION
))
t.color1, t.color2 = (1,1,1), (0.6,0.6,0.6)
self.terrain.append(t)
counter += 2
original_y = y
elif state==PIT and not oneshot:
y = original_y
if counter > 1:
y -= 4*TERRAIN_STEP
elif state==STUMP and oneshot:
counter = np.random.randint(1, 3)
poly = [
(x, y),
(x+counter*TERRAIN_STEP, y),
(x+counter*TERRAIN_STEP, y+counter*TERRAIN_STEP),
(x, y+counter*TERRAIN_STEP),
]
t = self.world.CreateStaticBody(
fixtures = fixtureDef(
shape=polygonShape(vertices=poly),
friction = FRICTION
))
t.color1, t.color2 = (1,1,1), (0.6,0.6,0.6)
self.terrain.append(t)
elif state==STAIRS and oneshot:
stair_height = +1 if np.random.ranf() > 0.5 else -1
stair_width = np.random.randint(4, 5)
stair_steps = np.random.randint(3, 5)
original_y = y
for s in range(stair_steps):
poly = [
(x+( s*stair_width)*TERRAIN_STEP, y+( s*stair_height)*TERRAIN_STEP),
(x+((1+s)*stair_width)*TERRAIN_STEP, y+( s*stair_height)*TERRAIN_STEP),
(x+((1+s)*stair_width)*TERRAIN_STEP, y+(-1+s*stair_height)*TERRAIN_STEP),
(x+( s*stair_width)*TERRAIN_STEP, y+(-1+s*stair_height)*TERRAIN_STEP),
]
t = self.world.CreateStaticBody(
fixtures = fixtureDef(
shape=polygonShape(vertices=poly),
friction = FRICTION
))
t.color1, t.color2 = (1,1,1), (0.6,0.6,0.6)
self.terrain.append(t)
counter = stair_steps*stair_width
elif state==STAIRS and not oneshot:
s = stair_steps*stair_width - counter - stair_height
n = s/stair_width
y = original_y + (n*stair_height)*TERRAIN_STEP
oneshot = False
self.terrain_y.append(y)
counter -= 1
if counter==0:
counter = np.random.randint(TERRAIN_GRASS/2, TERRAIN_GRASS)
if state==GRASS and hardcore:
state = np.random.randint(1, _STATES_)
oneshot = True
else:
state = GRASS
oneshot = True
self.terrain_poly = []
for i in range(TERRAIN_LENGTH-1):
poly = [
(self.terrain_x[i], self.terrain_y[i]),
(self.terrain_x[i+1], self.terrain_y[i+1])
]
t = self.world.CreateStaticBody(
fixtures = fixtureDef(
shape=edgeShape(vertices=poly),
friction = FRICTION,
categoryBits=0x0001,
))
color = (0.3, 1.0 if i%2==0 else 0.8, 0.3)
t.color1 = color
t.color2 = color
self.terrain.append(t)
color = (0.4, 0.6, 0.3)
poly += [ (poly[1][0], 0), (poly[0][0], 0) ]
self.terrain_poly.append( (poly, color) )
self.terrain.reverse()
def _reset(self):
self._destroy()
self.game_over = False
self.prev_shaping = None
W = VIEWPORT_W/SCALE
H = VIEWPORT_H/SCALE
# terrain
CHUNKS = 11
height = np.random.uniform(0, H/2, size=(CHUNKS+1,) )
chunk_x = [W/(CHUNKS-1)*i for i in xrange(CHUNKS)]
self.helipad_x1 = chunk_x[CHUNKS//2-1]
self.helipad_x2 = chunk_x[CHUNKS//2+1]
self.helipad_y = H/4
height[CHUNKS//2-2] = self.helipad_y
height[CHUNKS//2-1] = self.helipad_y
height[CHUNKS//2+0] = self.helipad_y
height[CHUNKS//2+1] = self.helipad_y
height[CHUNKS//2+2] = self.helipad_y
smooth_y = [0.33*(height[i-1] + height[i+0] + height[i+1]) for i in xrange(CHUNKS)]
self.moon = self.world.CreateStaticBody( shapes=edgeShape(vertices=[(0, 0), (W, 0)]) )
self.sky_polys = []
for i in xrange(CHUNKS-1):
p1 = (chunk_x[i], smooth_y[i])
p2 = (chunk_x[i+1], smooth_y[i+1])
self.moon.CreateEdgeFixture(
vertices=[p1,p2],
density=0,
friction=0.1)
self.sky_polys.append( [p1, p2, (p2[0],H), (p1[0],H)] )
self.moon.color1 = (0.0,0.0,0.0)
self.moon.color2 = (0.0,0.0,0.0)
initial_y = VIEWPORT_H/SCALE
self.lander = self.world.CreateDynamicBody(
position = (VIEWPORT_W/SCALE/2, initial_y),
angle=0.0,
fixtures = fixtureDef(
shape=polygonShape(vertices=[ (x/SCALE,y/SCALE) for x,y in LANDER_POLY ]),
density=5.0,
friction=0.1,
categoryBits=0x0010,
maskBits=0x001, # collide only with ground
restitution=0.0) # 0.99 bouncy
)
self.lander.color1 = (0.5,0.4,0.9)
self.lander.color2 = (0.3,0.3,0.5)
self.lander.ApplyForceToCenter( (
np.random.uniform(-INITIAL_RANDOM, INITIAL_RANDOM),
np.random.uniform(-INITIAL_RANDOM, INITIAL_RANDOM)
), True)
self.legs = []
for i in [-1,+1]:
leg = self.world.CreateDynamicBody(
position = (VIEWPORT_W/SCALE/2 - i*LEG_AWAY/SCALE, initial_y),
angle = (i*0.05),
fixtures = fixtureDef(
shape=polygonShape(box=(LEG_W/SCALE, LEG_H/SCALE)),
density=1.0,
restitution=0.0,
categoryBits=0x0020,
maskBits=0x001)
)
leg.color1 = (0.5,0.4,0.9)
leg.color2 = (0.3,0.3,0.5)
rjd = revoluteJointDef(
bodyA=self.lander,
bodyB=leg,
localAnchorA=(0, 0),
localAnchorB=(i*LEG_AWAY/SCALE, LEG_DOWN/SCALE),
enableMotor=True,
enableLimit=True,
maxMotorTorque=LEG_SPRING_TORQUE,
motorSpeed=+0.3*i # low enough not to jump back into the sky
)
if i==-1:
rjd.lowerAngle = +0.9 - 0.5 # Yes, the most esoteric numbers here, angles legs have freedom to travel within
rjd.upperAngle = +0.9
else:
rjd.lowerAngle = -0.9
rjd.upperAngle = -0.9 + 0.5
leg.joint = self.world.CreateJoint(rjd)
self.legs.append(leg)
self.drawlist = [self.lander] + self.legs
return self._step(0)[0]
def _generate_terrain(self, hardcore):
GRASS, STUMP, STAIRS, PIT, _STATES_ = range(5)
state = GRASS
velocity = 0.0
y = TERRAIN_HEIGHT
counter = TERRAIN_STARTPAD
oneshot = False
self.terrain = []
self.terrain_x = []
self.terrain_y = []
for i in range(self.terrain_length):
x = i * TERRAIN_STEP
self.terrain_x.append(x)
if state == GRASS and not oneshot:
velocity = 0.8 * velocity + 0.01 * np.sign(TERRAIN_HEIGHT - y)
if i > TERRAIN_STARTPAD:
velocity += self.np_random.uniform(-1, 1) / SCALE # 1
y += velocity
elif state == PIT and oneshot:
counter = self.np_random.randint(3, 5)
poly = [
(x, y),
(x + TERRAIN_STEP, y),
(x + TERRAIN_STEP, y - 4 * TERRAIN_STEP),
(x, y - 4 * TERRAIN_STEP),
]
t = self.world.CreateStaticBody(fixtures=fixtureDef(
shape=polygonShape(vertices=poly), friction=FRICTION))
t.color1, t.color2 = (1, 1, 1), (0.6, 0.6, 0.6)
self.terrain.append(t)
t = self.world.CreateStaticBody(
fixtures=fixtureDef(shape=polygonShape(
vertices=[(p[0] + TERRAIN_STEP * counter, p[1])
for p in poly]),
friction=FRICTION))
t.color1, t.color2 = (1, 1, 1), (0.6, 0.6, 0.6)
self.terrain.append(t)
counter += 2
original_y = y
elif state == PIT and not oneshot:
y = original_y
if counter > 1:
y -= 4 * TERRAIN_STEP
elif state == STUMP and oneshot:
counter = self.np_random.randint(1, 3)
poly = [
(x, y),
(x + counter * TERRAIN_STEP, y),
(x + counter * TERRAIN_STEP, y + counter * TERRAIN_STEP),
(x, y + counter * TERRAIN_STEP),
]
t = self.world.CreateStaticBody(fixtures=fixtureDef(
shape=polygonShape(vertices=poly), friction=FRICTION))
t.color1, t.color2 = (1, 1, 1), (0.6, 0.6, 0.6)
self.terrain.append(t)
elif state == STAIRS and oneshot:
stair_height = +1 if self.np_random.rand() > 0.5 else -1
stair_width = self.np_random.randint(4, 5)
stair_steps = self.np_random.randint(3, 5)
original_y = y
for s in range(stair_steps):
poly = [
(x + (s * stair_width) * TERRAIN_STEP,
y + (s * stair_height) * TERRAIN_STEP),
(x + ((1 + s) * stair_width) * TERRAIN_STEP,
y + (s * stair_height) * TERRAIN_STEP),
(x + ((1 + s) * stair_width) * TERRAIN_STEP,
y + (-1 + s * stair_height) * TERRAIN_STEP),
(x + (s * stair_width) * TERRAIN_STEP,
y + (-1 + s * stair_height) * TERRAIN_STEP),
]
t = self.world.CreateStaticBody(fixtures=fixtureDef(
shape=polygonShape(vertices=poly), friction=FRICTION))
t.color1, t.color2 = (1, 1, 1), (0.6, 0.6, 0.6)
self.terrain.append(t)
counter = stair_steps * stair_width
elif state == STAIRS and not oneshot:
s = stair_steps * stair_width - counter - stair_height
n = s / stair_width
y = original_y + (n * stair_height) * TERRAIN_STEP
oneshot = False
self.terrain_y.append(y)
counter -= 1
if counter == 0:
counter = self.np_random.randint(TERRAIN_GRASS / 2,
TERRAIN_GRASS)
if state == GRASS and hardcore:
state = self.np_random.randint(1, _STATES_)
oneshot = True
else:
state = GRASS
oneshot = True
self.terrain_poly = []
for i in range(self.terrain_length - 1):
poly = [(self.terrain_x[i], self.terrain_y[i]),
(self.terrain_x[i + 1], self.terrain_y[i + 1])]
t = self.world.CreateStaticBody(fixtures=fixtureDef(
shape=edgeShape(vertices=poly),
friction=FRICTION,
categoryBits=0x0001,
))
color = (0.3, 1.0 if i % 2 == 0 else 0.8, 0.3)
t.color1 = color
t.color2 = color
self.terrain.append(t)
color = (0.4, 0.6, 0.3)
poly += [(poly[1][0], 0), (poly[0][0], 0)]
self.terrain_poly.append((poly, color))
self.terrain.reverse()
def _reset(self):
self._destroy()
self.world.contactListener_keepref = ContactDetector(self)
self.world.contactListener = self.world.contactListener_keepref
self.game_over = False
self.prev_shaping = None
W = VIEWPORT_W / SCALE
H = VIEWPORT_H / SCALE
# terrain
CHUNKS = 11
height = self.np_random.uniform(0, H / 2, size=(CHUNKS + 1, ))
chunk_x = [W / (CHUNKS - 1) * i for i in range(CHUNKS)]
self.helipad_x1 = chunk_x[CHUNKS // 2 - 1]
self.helipad_x2 = chunk_x[CHUNKS // 2 + 1]
self.helipad_y = H / 4
height[CHUNKS // 2 - 2] = self.helipad_y
height[CHUNKS // 2 - 1] = self.helipad_y
height[CHUNKS // 2 + 0] = self.helipad_y
height[CHUNKS // 2 + 1] = self.helipad_y
height[CHUNKS // 2 + 2] = self.helipad_y
smooth_y = [
0.33 * (height[i - 1] + height[i + 0] + height[i + 1])
for i in range(CHUNKS)
]
self.moon = self.world.CreateStaticBody(shapes=edgeShape(
vertices=[(0, 0), (W, 0)]))
self.sky_polys = []
for i in range(CHUNKS - 1):
p1 = (chunk_x[i], smooth_y[i])
p2 = (chunk_x[i + 1], smooth_y[i + 1])
self.moon.CreateEdgeFixture(vertices=[p1, p2],
density=0,
friction=0.1)
self.sky_polys.append([p1, p2, (p2[0], H), (p1[0], H)])
self.moon.color1 = (0.0, 0.0, 0.0)
self.moon.color2 = (0.0, 0.0, 0.0)
initial_y = VIEWPORT_H / SCALE
self.lander = self.world.CreateDynamicBody(
position=(VIEWPORT_W / SCALE / 2, initial_y),
angle=0.0,
fixtures=fixtureDef(
shape=polygonShape(vertices=[(x / SCALE, y / SCALE)
for x, y in LANDER_POLY]),
density=5.0,
friction=0.1,
categoryBits=0x0010,
maskBits=0x001, # collide only with ground
restitution=0.0) # 0.99 bouncy
)
self.lander.color1 = (0.5, 0.4, 0.9)
self.lander.color2 = (0.3, 0.3, 0.5)
self.lander.ApplyForceToCenter(
(self.np_random.uniform(-INITIAL_RANDOM, INITIAL_RANDOM),
self.np_random.uniform(-INITIAL_RANDOM, INITIAL_RANDOM)), True)
self.legs = []
for i in [-1, +1]:
leg = self.world.CreateDynamicBody(
position=(VIEWPORT_W / SCALE / 2 - i * LEG_AWAY / SCALE,
initial_y),
angle=(i * 0.05),
fixtures=fixtureDef(shape=polygonShape(box=(LEG_W / SCALE,
LEG_H / SCALE)),
density=1.0,
restitution=0.0,
categoryBits=0x0020,
maskBits=0x001))
leg.ground_contact = False
leg.color1 = (0.5, 0.4, 0.9)
leg.color2 = (0.3, 0.3, 0.5)
rjd = revoluteJointDef(
bodyA=self.lander,
bodyB=leg,
localAnchorA=(0, 0),
localAnchorB=(i * LEG_AWAY / SCALE, LEG_DOWN / SCALE),
enableMotor=True,
enableLimit=True,
maxMotorTorque=LEG_SPRING_TORQUE,
motorSpeed=+0.3 * i # low enough not to jump back into the sky
)
if i == -1:
rjd.lowerAngle = +0.9 - 0.5 # Yes, the most esoteric numbers here, angles legs have freedom to travel within
rjd.upperAngle = +0.9
else:
rjd.lowerAngle = -0.9
rjd.upperAngle = -0.9 + 0.5
leg.joint = self.world.CreateJoint(rjd)
self.legs.append(leg)
self.drawlist = [self.lander] + self.legs
return self._step(np.array([0, 0]) if self.continuous else 0)[0]
def __init__(self, max_steps=1500, leg_length=34, terrain_length_scale=2,
fall_penalty = -50):
print(leg_length)
self.max_steps = max_steps
self.terrain_length_scale=terrain_length_scale
self.fall_penalty = fall_penalty
self.torque_penalty = 0.00035
self.head_balance_penalty = 5
self.LEG_W, self.LEG_H = 8 / SCALE, leg_length / SCALE
self.HULL_FD = fixtureDef(
shape=polygonShape(vertices=[(x / SCALE, y / SCALE) for x, y in HULL_POLY]),
density=5.0,
friction=0.1,
categoryBits=0x0020,
maskBits=0x001, # collide only with ground
restitution=0.0) # 0.99 bouncy
self.LEG_FD = fixtureDef(
shape=polygonShape(box=(self.LEG_W / 2, self.LEG_H / 2)),
density=1.0,
restitution=0.0,
categoryBits=0x0020,
maskBits=0x001)
self.LOWER_FD = fixtureDef(
shape=polygonShape(box=(0.8 * self.LEG_W / 2, self.LEG_H / 2)),
density=1.0,
restitution=0.0,
categoryBits=0x0020,
maskBits=0x001)
EzPickle.__init__(self)
self.seed()
self.viewer = None
self.world = Box2D.b2World()
self.terrain = None
self.hull = None
self.prev_shaping = None
self.fd_polygon = fixtureDef(
shape = polygonShape(vertices=
[(0, 0),
(1, 0),
(1, -1),
(0, -1)]),
friction = FRICTION)
self.fd_edge = fixtureDef(
shape = edgeShape(vertices=
[(0, 0),
(1, 1)]),
friction = FRICTION,
categoryBits=0x0001,
)
self.reset()
high = np.array([np.inf] * 24)
self.action_space = spaces.Box(np.array([-1, -1, -1, -1]), np.array([1, 1, 1, 1]), dtype=np.float32)
self.observation_space = spaces.Box(-high, high, dtype=np.float32)
def reset(self):
self._destroy()
self.prev_shaping = None
self.startpos = None
W = self.VIEWPORT_W / self.SCALE
H = self.VIEWPORT_H / self.SCALE
# terrain
height = self.np_random.uniform(0,
H / 2,
size=(self.TERRAIN_CHUNKS + 1, ))
chunk_x = [
W / (self.TERRAIN_CHUNKS - 1) * i
for i in range(self.TERRAIN_CHUNKS)
]
self.helipad_x1 = chunk_x[self.TERRAIN_CHUNKS // 2 - 1]
self.helipad_x2 = chunk_x[self.TERRAIN_CHUNKS // 2 + 1]
self.helipad_y = H / 4
height[self.TERRAIN_CHUNKS // 2 - 2] = self.helipad_y
height[self.TERRAIN_CHUNKS // 2 - 1] = self.helipad_y
height[self.TERRAIN_CHUNKS // 2 + 0] = self.helipad_y
height[self.TERRAIN_CHUNKS // 2 + 1] = self.helipad_y
height[self.TERRAIN_CHUNKS // 2 + 2] = self.helipad_y
smooth_y = [
0.33 * (height[i - 1] + height[i + 0] + height[i + 1])
for i in range(self.TERRAIN_CHUNKS)
]
self.ground = self.world.CreateStaticBody(shapes=edgeShape(
vertices=[(0, 0), (W, 0)]))
self.sky_polys = []
for i in range(self.TERRAIN_CHUNKS - 1):
p1 = (chunk_x[i], smooth_y[i])
p2 = (chunk_x[i + 1], smooth_y[i + 1])
self.ground.CreateEdgeFixture(vertices=[p1, p2],
density=0,
friction=0.1)
self.sky_polys.append([p1, p2, (p2[0], H), (p1[0], H)])
self.startpos = self.VIEWPORT_W / self.SCALE / 2, self.VIEWPORT_H / self.SCALE
self.lander = self.world.CreateDynamicBody(
position=self.startpos,
angle=0.0,
fixtures=[
fixtureDef(shape=polygonShape(vertices=[(x / self.SCALE,
y / self.SCALE)
for x, y in poly]),
density=0.0)
for poly in [
self.HULL_POLY, self.LEG1_POLY, self.LEG2_POLY,
self.MOTOR1_POLY, self.MOTOR2_POLY, self.BLADE1L_POLY,
self.BLADE1R_POLY, self.BLADE2L_POLY, self.BLADE2R_POLY
]
])
# By showing props periodically, we can emulate prop rotation
self.props_visible = 0
# Create cusom dynamics model
self.dynamics = DJIPhantomDynamics()
# Initialize custom dynamics with slight velocity perturbation
state = np.zeros(12)
d = self.dynamics
state[d.STATE_Y] = self.startpos[
0] # 3D copter Y comes from 2D copter X
state[d.STATE_Z] = -self.startpos[
1] # 3D copter Z comes from 2D copter Y, negated for NED
state[d.STATE_Y_DOT] = self.INITIAL_RANDOM_VELOCITY * np.random.randn()
state[d.STATE_Z_DOT] = self.INITIAL_RANDOM_VELOCITY * np.random.randn()
self.dynamics.setState(state)
return self.step(np.array([0, 0]))[0]
def _reset(self, xoff=0, yoff=0):
self._destroy()
self.world.contactListener_keepref = ContactDetector(self)
self.world.contactListener = self.world.contactListener_keepref
self.landed = False
self.prev_shaping = None
self.rendering = False
W = self.VIEWPORT_W / self.SCALE
H = self.VIEWPORT_H / self.SCALE
# Turn off gravity so we can run our own dynamics
self.world.gravity = 0, 0
# terrain
CHUNKS = 11
height = self.np_random.uniform(0, H / 2, size=(CHUNKS + 1, ))
chunk_x = [W / (CHUNKS - 1) * i for i in range(CHUNKS)]
self.helipad_x1 = chunk_x[CHUNKS // 2 - 1]
self.helipad_x2 = chunk_x[CHUNKS // 2 + 1]
self.helipad_y = H / 4
height[CHUNKS // 2 - 2] = self.helipad_y
height[CHUNKS // 2 - 1] = self.helipad_y
height[CHUNKS // 2 + 0] = self.helipad_y
height[CHUNKS // 2 + 1] = self.helipad_y
height[CHUNKS // 2 + 2] = self.helipad_y
smooth_y = [
0.33 * (height[i - 1] + height[i + 0] + height[i + 1])
for i in range(CHUNKS)
]
self.ground = self.world.CreateStaticBody(shapes=edgeShape(
vertices=[(0, 0), (W, 0)]))
self.sky_polys = []
for i in range(CHUNKS - 1):
p1 = (chunk_x[i], smooth_y[i])
p2 = (chunk_x[i + 1], smooth_y[i + 1])
self.ground.CreateEdgeFixture(vertices=[p1, p2],
density=0,
friction=0.1)
self.sky_polys.append([p1, p2, (p2[0], H), (p1[0], H)])
initial_y = self.VIEWPORT_H / self.SCALE
self.lander = self.world.CreateDynamicBody(
position=(self.VIEWPORT_W / self.SCALE / 2, initial_y),
angle=0.0,
fixtures=[
fixtureDef(shape=polygonShape(vertices=[(x / self.SCALE,
y / self.SCALE)
for x, y in poly]),
density=1.0)
for poly in [
self.HULL_POLY, self.LEG1_POLY, self.LEG2_POLY,
self.MOTOR1_POLY, self.MOTOR2_POLY, self.BLADE1L_POLY,
self.BLADE1R_POLY, self.BLADE2L_POLY, self.BLADE2R_POLY
]
])
self.dynamics = DJIPhantomDynamics()
# Start at top center, plus optional offset
state = np.zeros(12)
state[
self.dynamics.
STATE_Y] = self.START_X + xoff # 3D copter Y comes from 2D copter X
state[self.dynamics.STATE_Z] = -(
self.START_Y + yoff) # 3D copter Z comes from 2D copter Y
self.dynamics.setState(state)
# By showing props periodically, we can emulate prop rotation
self.show_props = 0
# Support showing vehicle while on ground
self.ground_count = 0
return self.step(np.array([0, 0]))[0]
def get_transformed_edge(edge, body):
new_vertices = [tuple(body.transform * v) for v in edge.vertices]
return edgeShape(vertices=new_vertices)
def reset(self):
self._destroy()
self.world.contactListener_keepref = ContactDetector(self)
self.world.contactListener = self.world.contactListener_keepref
self.game_over = False
self.prev_shaping = None
W = VIEWPORT_W / SCALE # window_width / scale = 600 / 30 = 20
H = VIEWPORT_H / SCALE # window_height / scale = 400 /30 = 13
# terrain
CHUNKS = 15 # the number of vertex on surface
height = self.np_random.uniform(
0, H / 3,
size=(CHUNKS +
1, )) # vertex's y-axis position (randomly generate)
chunk_x = [W / (CHUNKS - 1) * i
for i in range(CHUNKS)] # vertex's x-axis position
# interval length
self.interval_length = chunk_x[4] - chunk_x[3]
self.helipad_x1 = chunk_x[CHUNKS // 2 -
0] # define the x-position of left flag
self.helipad_x2 = chunk_x[CHUNKS // 2 +
0] # define the y-position of right flag
self.helipad_y = H / 4 # define the y-position of flag-bottom
smooth_y = [
0.33 * (height[i - 1] + height[i + 0] + height[i + 1])
for i in range(CHUNKS)
]
"""########################### change the position of flag ##############################"""
index = np.random.randint(1, CHUNKS - 2)
self.helipad_one_x = chunk_x[index] + (chunk_x[index + 1] -
chunk_x[index]) / 2
self.helipad_one_y = smooth_y[index]
smooth_y[index + 1] = self.helipad_one_y
"""########################### change the position of flag ##############################"""
self.moon = self.world.CreateStaticBody(fixtures=fixtureDef(
shape=edgeShape(vertices=[(0, 0), (W, 0)]))) # ???
self.moon_polys = []
self.sky_polys = []
for i in range(CHUNKS - 1):
p1 = (chunk_x[i], smooth_y[i]
) # use chunk_x and smooth_y to generate points
p2 = (chunk_x[i + 1], smooth_y[i + 1])
self.moon.CreateEdgeFixture(
vertices=[p1,
p2], # use 2-neighbor points to create ground ???
density=0, # density of the ground
friction=0.1) # friction of the ground
self.moon_polys.append([p1, p2, (p2[0], 0), (p1[0], 0)])
self.sky_polys.append([p1, p2, (p2[0], H),
(p1[0], H)]) # sky-poly shape, 4 points
initial_y = VIEWPORT_H / SCALE # starting altitude of the lander
"""########################### Create Earth, Stars, Smoke ##############################"""
self._create_stars_large()
self._create_stars_small()
"""########################### Create Earth, Stars ##############################"""
self.lander = self.world.CreateDynamicBody(
position=(VIEWPORT_W / SCALE / 2,
initial_y), # starting point: (middle, top)
angle=0.0, # angle: no idea
fixtures=fixtureDef(
shape=polygonShape(vertices=[(x / SCALE, y / SCALE)
for x, y in LANDER_POLY]),
density=5.0,
friction=0.1,
categoryBits=0x0010, # the category the lander belongs to
maskBits=0x001, # the category the lander with collide with
restitution=0.99) # 0.99 bouncy
)
self.lander.color1 = (160 / 255, 160 / 255, 160 / 255
) # filling color for lander
self.lander.color2 = (160 / 255, 160 / 255, 160 / 255
) # border color for lander
self.lander.ApplyForceToCenter(
( # not understood
self.np_random.uniform(-INITIAL_RANDOM, INITIAL_RANDOM),
self.np_random.uniform(-INITIAL_RANDOM, INITIAL_RANDOM)),
True)
self.legs = []
for i in [-1, +1]:
leg = self.world.CreateDynamicBody(
position=(VIEWPORT_W / SCALE / 2 - i * LEG_AWAY / SCALE,
initial_y), # x <-> ; y <-> lander's "middle"
angle=(i * 0.20), # control the angle between legs and body
fixtures=fixtureDef(
shape=polygonShape(box=(LEG_W / SCALE, LEG_H / SCALE)),
density=1.0,
restitution=0.0,
categoryBits=0x0020, # the category the legs belongs to
maskBits=0x001) # the category the legs with collide with
)
leg.ground_contact = False
leg.color1 = (1, 0, 0) # filling color for legs
leg.color2 = (1, 0, 0) # border color for legs
rjd = revoluteJointDef( # para about joints between lander and legs
bodyA=self.lander,
bodyB=leg,
localAnchorA=(0, 0),
localAnchorB=(i * LEG_AWAY / SCALE, LEG_DOWN / SCALE),
enableMotor=True,
enableLimit=True,
maxMotorTorque=LEG_SPRING_TORQUE,
motorSpeed=+0.3 * i # low enough not to jump back into the sky
)
if i == -1:
rjd.lowerAngle = +0.9 - 0.6 # Yes, the most esoteric numbers here,
rjd.upperAngle = +0.36 # angles legs have freedom to travel within
else:
rjd.lowerAngle = -0.36 # angle between legs and body
rjd.upperAngle = -0.9 + 0.6 # angle between legs and body
leg.joint = self.world.CreateJoint(rjd)
self.legs.append(leg)
self.drawlist = [self.lander] + self.legs
return self.step(np.array([0, 0]) if self.continuous else 0)[
0] # not understood
def _reset(self):
self._destroy()
self.world.contactListener_keepref = ContactDetector(self)
self.world.contactListener = self.world.contactListener_keepref
self.terminated = False
self.prev_shaping = None
self.human_render = False
# Each episode we choose a new wind speed and the direction on the wind (from to the right and vise versa)
self.wind_speed = random.choice(WIND_SPEED_RANGE)
self.wind_direction = random.choice(
(-1, 1)) # -1 means from right to left; 1 means from left to right
# Le't monitor the fuel capacity
self.fuel_capacity = FULL_TANK
self.total_angle = 0
self.prev_angle = 0
# Relief
BENDS = 15
bends_y = np.random.uniform(0, H / 2, size=(BENDS + 1, ))
hill_width = W / (BENDS - 1)
bends_x = [
hill_width * i +
np.random.uniform(-0.5 * hill_width, 0.5 * hill_width) *
int(n != 0 and n != BENDS - 1) for n, i in enumerate(range(BENDS))
]
self.plateau_x1 = bends_x[BENDS // 2 - 1]
self.plateau_x2 = bends_x[BENDS // 2 + 1]
self.plateau_center = (self.plateau_x2 + self.plateau_x1) / 2
self.plateau_y = np.random.uniform(H / 8, H / 2)
bends_y[BENDS // 2 - 2:BENDS // 2 + 3] = self.plateau_y
smooth_y = [
np.mean([bends_y[i - 1], bends_y[i + 0], bends_y[i + 1]])
for i in range(BENDS)
]
self.mars = self.world.CreateStaticBody(shapes=edgeShape(
vertices=[(0, 0), (W, 0)]))
self.relief_coords = []
for i in range(BENDS - 1):
p1 = (bends_x[i], smooth_y[i])
p2 = (bends_x[i + 1], smooth_y[i + 1])
self.mars.CreateEdgeFixture(vertices=[p1, p2],
density=0,
friction=0.1)
self.relief_coords.append([p1, p2, (p2[0], 0), (p1[0], 0)])
# Lander
# Body
initial_y = H
initial_x = np.random.uniform(0.1 * W, 0.9 * W)
self.lander = self.world.CreateDynamicBody(
position=(initial_x, initial_y),
angle=0.0,
fixtures=fixtureDef(
shape=polygonShape(vertices=[(x / SCALE, y / SCALE)
for x, y in LANDER_POLY]),
density=5.0,
friction=0.1,
categoryBits=0x0010,
maskBits=0x001, # collide only with ground
restitution=0.0) # 0.99 bouncy
)
self.lander.color1 = LANDER_COLOR
self.lander.color2 = LANDER_COLOR_BORDER
self.lander.ApplyForceToCenter(
(np.random.uniform(-INITIAL_RANDOM_FORCE, INITIAL_RANDOM_FORCE),
np.random.uniform(-INITIAL_RANDOM_FORCE, INITIAL_RANDOM_FORCE)),
True)
# Legs
self.legs = []
for i in [-1, +1]:
leg = self.world.CreateDynamicBody(
position=(initial_x - i * LEG_AWAY / SCALE, initial_y),
angle=(i * 0.05),
fixtures=fixtureDef(shape=polygonShape(box=(LEG_W / SCALE,
LEG_H / SCALE)),
density=1.0,
restitution=0.0,
categoryBits=0x0020,
maskBits=0x001))
leg.ground_contact = False
leg.color1 = LEGS_COLOR
leg.color2 = LEGS_COLOR_BORDER
rjd = revoluteJointDef(
bodyA=self.lander,
bodyB=leg,
localAnchorA=(0, 0),
localAnchorB=(i * LEG_AWAY / SCALE, LEG_DOWN / SCALE),
enableMotor=True,
enableLimit=True,
maxMotorTorque=LEG_SPRING_TORQUE,
motorSpeed=+0.3 * i # low enough not to jump back into the sky
)
if i == -1:
rjd.lowerAngle = +0.9 - 0.5 # Yes, the most esoteric numbers here, angles legs have freedom to travel within
rjd.upperAngle = +0.9
else:
rjd.lowerAngle = -0.9
rjd.upperAngle = -0.9 + 0.5
leg.joint = self.world.CreateJoint(rjd)
self.legs.append(leg)
self.drawlist = [self.lander] + self.legs
return self._step(np.array([0, 0]) if self.continuous else 0)[0]
