def __generate_random_checks(self):
min_x = Constants.border_padding()
min_y = Constants.border_padding()
max_x = Constants.world_x() - Constants.border_padding()
max_y = Constants.world_y() - Constants.border_padding()
min_dist_sq = Constants.check_spacing() * Constants.check_spacing()
self.checkpoints = []
num_checks = random.randrange(Constants.min_checks(),
Constants.max_checks())
while len(self.checkpoints) < num_checks:
check = Vec2(random.randrange(min_x, max_x, 1),
random.randrange(min_y, max_y, 1))
too_close = next((True for x in self.checkpoints
if (x - check).square_length() < min_dist_sq),
False)
if not too_close:
self.checkpoints.append(check)
def play(self, pod: PodState) -> PlayOutput:
return PlayOutput(
Vec2(random() * Constants.world_x(), random() * Constants.world_y()),
math.ceil(random() * Constants.max_thrust())
)
import math
from typing import Tuple, Callable, List
from pod.ai.ai_utils import MAX_DIST
from pod.board import PodBoard
from pod.constants import Constants
from pod.util import PodState, clean_angle
#################################################
# Reward functions: signature is
# func(board, state) -> float
#################################################
RewardFunc = Callable[[PodBoard, PodState], float]
DIST_BASE = math.sqrt(Constants.world_x() * Constants.world_y())
def pgr(board: PodBoard, pod: PodState) -> float:
"""
Pretty Good Reward
Attempts to estimate the distance without using a SQRT calculation.
"""
pod_to_check = board.checkpoints[pod.nextCheckId] - pod.pos
prev_to_next_check = board.checkpoints[pod.nextCheckId] - board.get_check(pod.nextCheckId - 1)
pod_dist_estimate = (math.fabs(pod_to_check.x) + math.fabs(pod_to_check.y)) / 2
check_dist_estimate = (math.fabs(prev_to_next_check.x) + math.fabs(prev_to_next_check.y)) / 2
dist_estimate = pod_dist_estimate / check_dist_estimate
checks_hit = len(board.checkpoints) * pod.laps + pod.nextCheckId
return 2*checks_hit - dist_estimate + 1
def animate(self,
max_turns: int = 1000,
max_laps: int = 5,
as_gif=False,
filename='/tmp/pods',
reset: bool = True,
trail_len: int = 20,
highlight_checks: bool = False,
show_vel: bool = False,
fps: int = 10):
"""
Generate an animated GIF of the players running through the game
:param show_vel Whether to draw a vector showing each Pod's velocity
:param highlight_checks If true, a pod's next check will change to the pod's color
:param trail_len Number of turns behind the pod to show its path
:param as_gif If True, generate a GIF, otherwise an HTML animation
:param max_turns Max number of turns to play
:param max_laps Max number of laps for any player
:param filename Where to store the generated file
:param reset Whether to reset the state of each Player first
:param fps Frames per second
"""
if len(self.hist) < 1: self.record(max_turns, max_laps, reset)
_prepare_size()
self.__prepare_for_world()
#########################################
# Create the objects for display
#########################################
art = {
'check': [],
'pod': [],
'color': [],
'trails': [],
'vel': [],
'count':
0,
'log':
JupyterLog(),
'turnCounter':
self.ax.text(-PADDING,
Constants.world_y() + PADDING,
'Turn 0',
fontsize=14)
}
fa = _get_field_artist()
self.ax.add_artist(fa)
for (idx, check) in enumerate(self.board.checkpoints):
ca = self.__draw_check(check, idx)
self.ax.add_artist(ca)
art['check'].append(ca)
for (idx, p) in enumerate(self.players):
color = _gen_color(idx)
pa = _get_pod_artist(p.pod, color)
self.ax.add_artist(pa)
art['pod'].append(pa)
art['color'].append(color)
plt.legend(art['pod'], self.labels, loc='lower right')
if trail_len > 0:
for i in range(len(self.players)):
lc = LineCollection([], colors=art['color'][i])
lc.set_segments([])
lc.set_linestyle(':')
self.ax.add_collection(lc)
art['trails'].append(lc)
if show_vel:
for p in self.players:
xy = _vel_coords(p.pod)
line = self.ax.plot(xy[0], xy[1])[0]
art['vel'].append(line)
all_updates = [
fa, *art['check'], *art['pod'], *art['trails'], *art['vel'],
art['turnCounter']
]
#########################################
# Define the animation function
#########################################
def do_animate(frame_idx: int):
art['log'].replace("Drawing frame {}".format(art['count']))
art['count'] += 1
check_colors = [
'royalblue' for _ in range(len(self.board.checkpoints))
]
frame_data = self.hist[frame_idx]
# Update the pods
for (p_idx, player_log) in enumerate(frame_data):
pod = player_log['pod']
theta1, theta2, center = _pod_wedge_info(pod)
art['pod'][p_idx].set_center((center.x, center.y))
art['pod'][p_idx].set_theta1(theta1)
art['pod'][p_idx].set_theta2(theta2)
art['pod'][p_idx]._recompute_path() # pylint: disable=protected-access
check_colors[pod.nextCheckId] = art['color'][p_idx]
# Update the velocities
if show_vel:
xy = _vel_coords(pod)
art['vel'][p_idx].set_xdata(xy[0])
art['vel'][p_idx].set_ydata(xy[1])
# Update the trails
if frame_idx > 0 and trail_len > 0:
for p_idx in range(len(self.players)):
line = _to_line(self.hist[frame_idx - 1][p_idx]['pod'].pos,
frame_data[p_idx]['pod'].pos)
segs = art['trails'][p_idx].get_segments() + [line]
art['trails'][p_idx].set_segments(segs[-trail_len:])
# Update the check colors
if highlight_checks:
for col, check_art in zip(check_colors, art['check']):
check_art.set_color(col)
# Update the turn counter
art['turnCounter'].set_text('Turn ' + str(frame_idx))
return all_updates
#########################################
# Create the animation
#########################################
anim = FuncAnimation(
plt.gcf(),
do_animate,
frames=len(self.hist),
)
plt.close(self.fig)
if as_gif:
if not filename.endswith(".gif"): filename = filename + ".gif"
anim.save(filename, writer=PillowWriter(fps=fps))
return Image(filename=filename)
else:
if not filename.endswith(".html"): filename = filename + ".html"
anim.save(filename,
writer=HTMLWriter(fps=fps,
embed_frames=True,
default_mode='loop'))
path = Path(filename)
return HTML(path.read_text())
def __prepare_for_world(self):
self.fig = plt.figure()
self.ax = plt.axes(xlim=(-PADDING, Constants.world_x() + PADDING),
ylim=(-PADDING, Constants.world_y() + PADDING))
self.ax.invert_yaxis()
def random() -> 'PodState':
return PodState(pos=Vec2.random(Constants.world_x(),
Constants.world_y()),
vel=UNIT.rotate(2 * math.pi * random()) *
(random() * Constants.max_vel()),
angle=2 * math.pi * random())
def _get_reward(self) -> int:
reward = Constants.world_x() * Constants.world_y()
reward += self._player.pod.nextCheckId * 10000
reward -= (self._world.checkpoints[self._player.pod.nextCheckId] - self._player.pod.pos).square_length()
return np.asarray(reward, dtype=np.float32)
import math
from typing import List
import numpy as np
from pod.constants import Constants
from pod.controller import Controller
from pod.util import PodState, clean_angle
from vec2 import Vec2, UNIT
# Distance to use for scaling inputs
MAX_DIST = Vec2(Constants.world_x(), Constants.world_y()).length()
def gen_pods(checks: List[Vec2], pos_angles: List[float],
pos_dists: List[float], angles: List[float],
vel_angles: List[float], vel_mags: List[float]):
"""
Generate pods in various states
:param checks: Checkpoints around which to generate
:param pos_angles: Angles from check to pod
:param pos_dists: Distances from check to pod
:param angles: Orientations of pods. This will be rotated so that 0 points toward the check!
:param vel_angles: Angles of velocity. Also rotated so that 0 points toward the check.
:param vel_mags: Magnitudes of velocity
:return: One pod for each combination of parameters
"""
relative_poss = [
UNIT.rotate(ang) * dist for ang in pos_angles for dist in pos_dists
]
relative_vels = [
UNIT.rotate(ang) * mag for ang in vel_angles for mag in vel_mags
