class Agent(pygame.sprite.Sprite):
def __init__(self,
initBrain,
initEmpty,
screen_width,
screen_height,
name='agent'):
# Call the parent's constructor
super().__init__()
self.gravity = 0.6
self.drag = 0.6
self.lift = -15
self.push = 15
self.maxLim = 6
self.minLim = -15
self.velocity_y = 0
self.velocity_x = 0
self.radius = 25
self.color = (0, 0, 0, 50)
self.name = name
self.image = pygame.Surface([self.radius, self.radius],
pygame.SRCALPHA)
self.image.fill(self.color)
self.rect = self.image.get_rect()
self.rect.x = 20
self.rect.y = screen_height / 2
self.timeSamplesExperianced = 0
self.totalDistanceFromGapOverTime = 0
self.fitness = 0
self.avgDistFromGap = 0
msLayeruUnits = [10, 7, 4]
msActFunctions = ["relu", "softmax"]
self.functional_system = NeuralNetwork(
layer_units=msLayeruUnits, activation_func_list=msActFunctions)
if initEmpty == False:
self.functional_system.init_layers(init_type="he_normal")
else:
self.functional_system.init_layers(init_type="zeros")
def show(self):
pass
def think(self, closestBlock, screen_width, screen_height):
inputs = []
# input about on coming block object
inputs.append(closestBlock.xPos / screen_width)
inputs.append(closestBlock.top_block.rect.bottom / screen_height)
inputs.append(closestBlock.bottom_block.rect.top / screen_height)
inputs.append((closestBlock.xPos - self.rect.right) / screen_width)
# input about agents current position
inputs.append((screen_height - self.rect.bottom) /
screen_height) # distance from bottom of screen
inputs.append(self.rect.bottom / screen_height)
inputs.append(self.rect.top / screen_height)
inputs.append(self.rect.right / screen_height)
inputs.append(self.rect.left / screen_height)
inputs.append(self.minMaxNormalise(self.velocity_y))
inputs = np.array([inputs])
prediction = self.functional_system.feed_foward(inputs=inputs)
if prediction[0] > prediction[1]:
self.actionUp()
if prediction[2] > prediction[3]:
self.actionHorizontal()
def actionUp(self):
self.velocity_y += self.lift
def actionHorizontal(self):
self.velocity_x += self.push
def reset(self, screen_height):
self.gravity = 0.6
self.drag = 0.6
self.lift = -15
self.push = 5
self.maxLim = 6
self.minLim = -15
self.velocity_y = 0
self.velocity_x = 0
self.radius = 25
self.color = (0, 0, 0, 50)
self.image = pygame.Surface([self.radius, self.radius],
pygame.SRCALPHA)
self.image.fill(self.color)
self.rect = self.image.get_rect()
self.rect.x = 10
self.rect.y = screen_height / 2
self.timeSamplesExperianced = 0
self.totalDistanceFromGapOverTime = 0
self.fitness = 0
self.avgDistFromGap = 0
def update(self, closestBlock, screen_height):
self.velocity_y += self.gravity
self.velocity_y *= 0.9
self.rect.y += self.velocity_y
self.velocity_x += self.drag
self.velocity_x *= 0.1
self.rect.x += self.velocity_x
if self.velocity_y > self.maxLim:
self.velocity_y = self.maxLim
if self.velocity_y < self.minLim:
self.velocity_y = self.minLim
# if self.rect.bottom > screen_height:
# self.rect.bottom = screen_height
# self.velocity = 0
#
# elif self.rect.top < 5:
# self.rect.top = 0
# self.velocity = 0
# penalise agents for their distance on the y from the center of the gap of the blocks
gap = closestBlock.bottom_block.rect.top - closestBlock.top_block.rect.bottom
gapMid = closestBlock.top_block.rect.bottom + np.round((gap / 2))
agentDistanceFromGap = np.floor(np.abs(self.rect.midright[1] - gapMid))
self.totalDistanceFromGapOverTime = self.totalDistanceFromGapOverTime + agentDistanceFromGap
self.timeSamplesExperianced = self.timeSamplesExperianced + 1
self.fitness = self.fitness + 1
def off_screen(self, screen_height, screen_width):
if self.rect.top < 5:
return True
elif self.rect.bottom > screen_height:
return True
elif self.rect.left < 0:
return True
elif self.rect.right > screen_width:
return True
else:
return False
def minMaxNormalise(self, x):
return (x - self.minLim) / (self.maxLim - self.minLim)
def computeFitness(self):
# penalise agent based on average distance from gap
impactFactor = 0.9 # scales the percentage of penalisation applied
self.avgDistFromGap = np.floor(self.totalDistanceFromGapOverTime /
self.timeSamplesExperianced)
self.fitness = self.fitness - np.floor(
impactFactor * self.avgDistFromGap)
if self.fitness < 0:
self.fitness = 0
class Agent(pygame.sprite.Sprite):
def __init__(self, xPos, yPos,xPos_range, yPos_range, initEmpty,
vertical_fuel_depletion_rate=0.05, horizontal_fuel_depletion_rate=0.05,
name='agent', color=(0, 0, 0, 50)):
# Call the parent's constructor
super().__init__()
self.gravity = 0.0
self.drag = 0.0
self.lift = -10
self.push = 2
self.maxLim_y_velocity = 20
self.minLim_y_velocity = -20
self.maxLim_x_velocity = 4
self.minLim_x_velocity = -4
self.velocity_y = 0
self.velocity_x = 0
self.radius = 20
self.color = color
self.current_closest_block = None
self.fuel = 1.0
self.failure_meter = 0.0
self.vertical_fuel_depletion_rate = vertical_fuel_depletion_rate
self.horizontal_fuel_depletion_rate = horizontal_fuel_depletion_rate
if xPos_range is not None:
xPos = np.random.randint(xPos_range[0], xPos_range[1])
if yPos_range is not None:
yPos = np.random.randint(yPos_range[0], yPos_range[1])
self.name = name
self.image = pygame.Surface([self.radius, self.radius], pygame.SRCALPHA)
self.image.fill(self.color)
self.rect = self.image.get_rect()
self.rect.x = xPos
self.rect.y = yPos
self.previous_xPos = self.rect.right
self.starting_xPos = xPos
self.starting_yPos = yPos
self.timeSamplesExperianced = 1
self.totalDistanceFromGapOverTime = 0
self.fitness = 0
self.avgDistFromGap = 0
msLayeruUnits = [12, 7, 2]
msActFunctions = ["relu", "tanh"]
self.functional_system = NeuralNetwork(layer_units=msLayeruUnits, activation_func_list=msActFunctions)
if initEmpty == False:
self.functional_system.init_layers(init_type="he_normal")
else:
self.functional_system.init_layers(init_type="zeros")
def reset(self):
self.velocity_y = 0
self.current_closest_block = None
self.fuel = 1.0
self.rect.x = self.starting_xPos
self.rect.y = self.starting_yPos
self.previous_xPos = self.rect.center[0]
self.timeSamplesExperianced = 1
self.totalDistanceFromGapOverTime = 0
self.fitness = 0
self.avgDistFromGap = 0
def think(self, active_blocks, screen_width, screen_height):
# find closest block for data input
result = list(filter(lambda x: (x.top_block.rect.right > self.rect.right), active_blocks))
result.sort(key=lambda x:(x.top_block.rect.right))
if len(result) != 0:
closest_block = result[0]
inputs = []
#input about on coming block object
inputs.append(closest_block.xPos / screen_width)
inputs.append(closest_block.top_block.rect.bottom / screen_height)
inputs.append(closest_block.bottom_block.rect.top / screen_height)
inputs.append((closest_block.xPos - self.rect.right) / screen_width)
# input about agents current position
inputs.append((screen_height - self.rect.bottom)/screen_height) # distance from bottom of screen
inputs.append(self.rect.bottom / screen_height)
inputs.append(self.rect.top / screen_height)
inputs.append(self.rect.right / screen_height)
inputs.append(self.rect.left / screen_height)
inputs.append(self.fuel)
# inputs.append(self.vertical_fuel_depletion_rate)
# inputs.append(self.horizontal_fuel_depletion_rate)
inputs.append(self.minMaxNormalise(self.velocity_x, min=self.minLim_x_velocity, max=self.maxLim_x_velocity))
inputs.append(self.minMaxNormalise(self.velocity_y, min=self.minLim_y_velocity, max=self.maxLim_y_velocity))
inputs = np.array([inputs])
prediction = self.functional_system.feed_foward(inputs=inputs)
self.actionVertical(input=prediction[0], mode='joystick_control')
self.actionHorizontal(input=prediction[1], mode='joystick_control')
# if prediction[0] > prediction[1]:
# self.actionVertical()
# if prediction[2] > prediction[3]:
# self.actionHorizontal()
self.current_closest_block = closest_block
def actionVertical(self, input=None, mode='discrete_control'):
if mode == 'discrete_control':
self.velocity_y += self.lift
elif mode == 'joystick_control':
self.velocity_y += self.lift * input
else:
raise ValueError('ERROR: Invalid action control entry')
self.fuel -= self.vertical_fuel_depletion_rate
self.color_gauge(self.vertical_fuel_depletion_rate)
def actionHorizontal(self, input=None, mode='discrete_control'):
if mode == 'discrete_control':
self.velocity_x += self.push
elif mode == 'joystick_control':
self.velocity_x += self.push * input
else:
raise ValueError('ERROR: Invalid action control entry')
self.fuel -= self.horizontal_fuel_depletion_rate
self.color_gauge(self.horizontal_fuel_depletion_rate)
def color_gauge(self, deduction):
self.failure_meter += deduction
if self.failure_meter > 1: self.failure_meter = 0
c = list(self.color)
c[0] = self.failure_meter*255
self.color = tuple(c)
self.image.fill(self.color)
def update(self, screen_height):
self.velocity_y += self.gravity
self.velocity_y *= 0.9
self.rect.y += self.velocity_y
self.velocity_x += self.drag
# self.velocity_x *= 0.9
self.rect.x += self.velocity_x
if self.velocity_y > self.maxLim_y_velocity:
self.velocity_y = self.maxLim_y_velocity
if self.velocity_y < self.minLim_y_velocity:
self.velocity_y = self.minLim_y_velocity
if self.velocity_x > self.maxLim_x_velocity:
self.velocity_x = self.maxLim_x_velocity
if self.velocity_x < self.minLim_x_velocity:
self.velocity_x = self.minLim_x_velocity
# penalise agents for their distance on the y from the center of the gap of the blocks
gap = self.current_closest_block.bottom_block.rect.top - self.current_closest_block.top_block.rect.bottom
gapMid = self.current_closest_block.top_block.rect.bottom + np.round((gap / 2))
agentDistanceFromGap = np.floor(np.abs(self.rect.midright[1] - gapMid))
self.totalDistanceFromGapOverTime += agentDistanceFromGap
self.timeSamplesExperianced += 1
if self.rect.right > self.previous_xPos:
# fitness only increses if the agent is moving to the right towards the goal
self.fitness += 1
self.previous_xPos = self.rect.right
def fuel_depleted(self):
if self.fuel < 0:
return True
return False
def off_screen(self, screen_height, screen_width):
if self.rect.top < 5:
return True
elif self.rect.bottom > screen_height:
return True
elif self.rect.left < 0:
return True
elif self.rect.right > screen_width:
return True
else:
return False
def minMaxNormalise(self, x, min, max):
return (x - min) / (max - min)
def computeFitness(self):
self.fitness = math.pow(self.fitness, 4)
impactFactor = 0.5 # scales the percentage of penalisation applied
self.avgDistFromGap = np.floor(self.totalDistanceFromGapOverTime / self.timeSamplesExperianced)
fitness_penalty =np.floor(impactFactor * self.avgDistFromGap)
self.fitness -= fitness_penalty
if self.fitness < 0:
self.fitness = 0
