def __init__(self, ctx):
super(SelfxBillardEye, self).__init__(ctx)
self.x_threshold = XTHRESHOLD // 4
self.y_threshold = YTHRESHOLD // 4
self.drawer = OpencvDrawFuncs(w=self.x_threshold, h=self.y_threshold, ppm=1.0)
self.b2 = b2World(gravity=(0, 0), doSleep=True)
def __init__(self, ctx, aname):
super(SelfxBillardWorld, self).__init__(ctx, aname)
self.x_threshold = XTHRESHOLD
self.y_threshold = YTHRESHOLD
self.x_pos = self.x_threshold // 2
self.y_pos = self.y_threshold // 2
self.drawer = OpencvDrawFuncs(w=self.x_threshold, h=self.y_threshold, ppm=1.0)
self.b2 = b2World(gravity=(0, 0), doSleep=True)
self._state = self.available_states()[0]
self._action = self.available_actions()[0]
class SelfxBillardWorld(selfx.SelfxWorld):
def __init__(self, ctx, aname):
super(SelfxBillardWorld, self).__init__(ctx, aname)
self.x_threshold = XTHRESHOLD
self.y_threshold = YTHRESHOLD
self.x_pos = self.x_threshold // 2
self.y_pos = self.y_threshold // 2
self.drawer = OpencvDrawFuncs(w=self.x_threshold,
h=self.y_threshold,
ppm=1.0)
self.b2 = b2World(gravity=(0, 0), doSleep=True)
self._state = self.available_states()[0]
self._action = self.available_actions()[0]
def action(self):
return self._action
def state(self):
return self._state
def reset(self):
self.drawer.clear_screen()
for b in self.b2.bodies:
self.b2.DestroyBody(b)
def render(self, mode='rgb_array', close=False):
if mode == 'rgb_array':
self.drawer.clear_screen()
self.drawer.draw_world(self.b2)
return self.drawer.screen
else:
return None
def add_obstacle(self):
if 30 < self.x_pos < self.x_threshold - 30 and 30 < self.y_pos < self.y_threshold - 30:
self.b2.CreateStaticBody(
position=(self.x_pos, self.y_pos),
shapes=circleShape(radius=20),
linearDamping=0.0,
bullet=True,
userData={
'world': self.b2,
'type': 'obstacle',
'ax': 0,
'ay': 0,
'color': (192, 128, 128)
},
)
def add_candy(self):
self.b2.CreateDynamicBody(
position=(self.x_pos, self.y_pos),
linearVelocity=(np.random.normal() * 500 + 500,
np.random.normal() * 500),
angle=random.random() * 360,
linearDamping=0.0,
bullet=True,
userData={
'world': self.b2,
'type': 'candy',
'ax': 0,
'ay': 0,
'color': (128, 255, 128)
},
).CreateCircleFixture(radius=5.0, density=1, friction=0.0)
def up(self):
self.y_pos += 10
self.y_pos = self.y_pos % self.y_threshold
def dn(self):
self.y_pos -= 10
self.y_pos = self.y_pos % self.y_threshold
def lf(self):
self.x_pos -= 10
self.x_pos = self.x_pos % self.x_threshold
def rt(self):
self.x_pos += 10
self.x_pos = self.x_pos % self.x_threshold
def random_walk(self, times):
for _ in range(times):
d = int(random.random() * 4)
if d == 0:
self.up()
elif d == 1:
self.dn()
elif d == 2:
self.lf()
elif d == 3:
self.rt()
class SelfxBillardEye(selfx.SelfxEye):
def __init__(self, ctx):
super(SelfxBillardEye, self).__init__(ctx)
self.x_threshold = XTHRESHOLD // 4
self.y_threshold = YTHRESHOLD // 4
self.drawer = OpencvDrawFuncs(w=self.x_threshold,
h=self.y_threshold,
ppm=1.0)
self.b2 = b2World(gravity=(0, 0), doSleep=True)
def reset(self):
self.drawer.clear_screen()
for b in self.b2.bodies:
self.b2.DestroyBody(b)
self.ownbody = self.b2.CreateStaticBody(
position=(self.x_threshold / 2, self.y_threshold / 2),
shapes=circleShape(radius=5.0),
linearDamping=0.0,
bullet=True,
userData={'color': (255, 255, 0)})
def view(self, world, center, direction):
self.reset()
x0, y0 = center
rx, ry = direction
theta = np.arctan2(ry, rx)
rx, ry = np.cos(theta), np.sin(theta)
px, py = np.cos(theta + np.pi / 2), np.sin(theta + np.pi / 2)
for b in world.b2.bodies:
x, y = b.position
dx, dy = x - x0, y - y0
alngr = rx * dx + ry * dy
alngp = px * dx + py * dy
if -self.x_threshold / 2 < alngr < self.x_threshold / 2 and -self.y_threshold / 2 < alngp < self.y_threshold / 2:
bx, by = self.ownbody.position
if b.userData['type'] == 'candy':
self.b2.CreateStaticBody(
position=(bx - alngr, by - alngp),
shapes=circleShape(radius=5.0),
linearDamping=0.0,
bullet=True,
userData={'color': (128, 255, 128)})
if b.userData['type'] == 'obstacle':
self.b2.CreateStaticBody(
position=(bx - alngr, by - alngp),
shapes=circleShape(radius=20.0),
linearDamping=0.0,
bullet=True,
userData={'color': (192, 128, 128)})
self.drawer.install()
self.drawer.draw_world(self.b2)
return self.drawer.screen
def available_states(self):
return itertools.product('01', '01', '01')
def state(self):
outer = self.ctx['outer']
agent = self.ctx['agent']
view = self.view(outer, agent.center(), agent.direction())
w, h, _ = view.shape
fl = view[:w // 2, :h // 2, :]
fr = view[w // 2:, :h // 2, :]
b = view[:, h // 2:, :]
fl = fl * (fl < 255)
fr = fr * (fr < 255)
b = b * (b < 255)
fl = np.max(fl) > 128
fr = np.max(fr) > 128
b = np.max(b) > 128
bits = '%d%d%d' % (fl, fr, b)
return bits