def resetPositions(self):
for team in range(len(self.spawns)):
for index in range(self.BOTS_PER_TEAM):
actual_index = team + index * len(self.spawns)
if actual_index >= len(self.robots):
break
# Generate a uniformly random point in radius of spawn for bot.
diff_radius = Randomiser.random() * self.BOT_SPAWN_RADIUS
diff_angle = Randomiser.random() * 2 * np.pi
self.robots[actual_index].body.position = [
self.spawns[team][index][0][0] +
diff_radius * np.cos(diff_angle),
self.spawns[team][index][0][1] +
diff_radius * np.sin(diff_angle),
]
self.robots[actual_index].body.angle = self.spawns[team][
index][1] * np.pi / 180
self.robots[actual_index].body.velocity = (0.0, 0.0)
self.robots[actual_index].body.angular_velocity = 0
# Generate position for ball.
diff_radius = Randomiser.random() * self.BALL_SPAWN_RADIUS
diff_angle = Randomiser.random() * 2 * np.pi
ScriptLoader.instance.object_map["IR_BALL"].body.position = [
diff_radius * np.cos(diff_angle),
diff_radius * np.sin(diff_angle) - 18,
]
ScriptLoader.instance.object_map["IR_BALL"].body.velocity = (0.0, 0.0)
for idx in range(len(self.bot_penalties)):
if self.bot_penalties[idx] > 0:
self.finishPenalty(idx)
def _DistanceFromSensor(self, startPosition, centreRotation):
top_length = self.MAX_RAYCAST
while top_length > 0:
endPosition = startPosition + top_length * np.array(
[np.cos(centreRotation),
np.sin(centreRotation)])
# Ignore all ignored objects by setting the category on them.
cats = []
for obj in self.ignore_objects:
if isinstance(obj, PhysicsObject):
for shape in obj.shapes:
cats.append(shape.filter.categories)
shape.filter = pymunk.ShapeFilter(categories=0b1)
raycast = World.instance.space.segment_query_first(
[float(v) for v in startPosition],
[float(v) for v in endPosition],
self.RAYCAST_RADIUS,
pymunk.ShapeFilter(mask=STATIC_CATEGORY | DYNAMIC_CATEGORY),
)
i = 0
for obj in self.ignore_objects:
if isinstance(obj, PhysicsObject):
for shape in obj.shapes:
shape.filter = pymunk.ShapeFilter(categories=cats[i])
i += 1
if raycast == None:
if top_length == self.MAX_RAYCAST or (
not ScriptLoader.RANDOMISE_SENSORS):
return max(0,
min(self.MAX_RAYCAST, top_length + self.offset))
# If randomiser, linearly scale result by angle between surface normal of raycasted point.
return max(
0,
min(
self.MAX_RAYCAST,
top_length +
(1 + (self.last_angle_diff +
self.STATIC_RANDOM_ANGLE * Randomiser.random()) *
(Randomiser.random() - 0.5) *
self.ANGLE_RANDOM_AMPLITUDE / np.pi * 2) +
self.offset,
),
)
else:
opposite_angle = centreRotation + np.pi
while opposite_angle > raycast.normal.angle + np.pi:
opposite_angle -= 2 * np.pi
while opposite_angle < raycast.normal.angle - np.pi:
opposite_angle += 2 * np.pi
self.last_angle_diff = abs(opposite_angle -
raycast.normal.angle)
top_length = raycast.alpha * top_length - self.ACCEPTANCE_LEVEL
return max(0, min(self.MAX_RAYCAST, self.offset))
def _SenseValueAboutPosition(self, centrePosition, valueGetter):
# Randomly sample value from SENSOR_POINTS chosen around the centrePosition.
points = [Randomiser.random() * self.SENSOR_RADIUS for _ in range(self.SENSOR_POINTS)]
for x in range(len(points)):
angle = Randomiser.random() * 2 * np.pi
points[x] = valueGetter(np.array([np.cos(angle) * points[x], np.cos(angle) * points[x]]) + centrePosition)
# For some reason the color module hangs otherwise :/
if hasattr(points[x], "r"):
points[x] = np.array([points[x].r, points[x].g, points[x].b])
total = points[0]
for x in range(1, len(points)):
total += points[x]
return total / len(points)
def resetPositions(self):
for i, robot in enumerate(self.robots):
diff_radius = Randomiser.random() * self.BOT_SPAWN_RADIUS
diff_angle = Randomiser.random() * 2 * np.pi
robot.body.position = [
self.BOT_SPAWN_POSITION[i][0][0] * self.TILE_LENGTH + diff_radius * np.cos(diff_angle),
self.BOT_SPAWN_POSITION[i][0][1] * self.TILE_LENGTH + diff_radius * np.sin(diff_angle),
]
robot.body.angle = (
(
self.BOT_SPAWN_POSITION[i][1]
+ self.BOT_SPAWN_ANGLE[0]
+ Randomiser.random() * (self.BOT_SPAWN_ANGLE[1] - self.BOT_SPAWN_ANGLE[0])
)
* np.pi
/ 180
)
robot.body.velocity = (0.0, 0.0)
robot.body.angular_velocity = 0
def calibrate(self):
"""
Set the sensor so the current bearing is interpreted as 0.
Example usage:
```
>>> compass.calibrate()
>>> # Rotates 10 degrees to the left
>>> compass.value()
10
```
"""
self._setRelative()
self.current_offset = 0
if ScriptLoader.RANDOMISE_SENSORS:
self.current_sample_point = Randomiser.random() * self.NOISE_SAMPLE_HEIGHT