def reset(self,
scored=False,
puck_was_hit=False,
puck_is_at_the_bottom=False,
distance_decreased=False,
hit_the_border=False):
draw_puck = self.use_object['puck']
draw_top_mallet = self.use_object['top_mallet']
# 重置冰球、两个击球器的位置
if draw_puck:
# self.puck.reset(self.dim, self.dim.rink_top, self.dim.center[1])
# self.puck.reset(self.dim, self.dim.center[1], self.dim.rink_bottom-self.dim.mallet_radius-10) # 将冰球置于中线以下
self.puck.reset(self.dim,
self.dim.rink_top + self.dim.mallet_radius + 10,
self.dim.center[1])
# self.puck.reset(self.dim, self.dim.rink_top - self.dim.mallet_radius , self.dim.rink_top - self.dim.mallet_radius+1)
self.bottom_mallet.reset(self.dim, self.dim.center[1],
self.dim.rink_bottom)
if draw_top_mallet:
self.top_mallet.reset(self.dim, self.dim.rink_top,
self.dim.center[1])
self.motions.clear_all_motions()
# Resolve possible interpenetration
Collision.circle_circle([self.puck, self.top_mallet])
Collision.circle_circle([self.top_mallet, self.bottom_mallet])
# 计算小球是否在bottom_target这个圆圈里
in_the_target = Collision.circle_circle(
[self.bottom_mallet, self.bottom_target], resolve=False)
# 读取贴图
# self.sprites, self.dominant_arm = load_sprites()
# 画图
self.render()
puck_position = self.puck.get_position()
puck_velocity = V.address_data(self.puck.get_velocity())
bottom_mallet_position = self.bottom_mallet.get_position()
bottom_mallet_velocity = V.address_data(
self.bottom_mallet.get_velocity())
top_mallet_position = self.top_mallet.get_position()
top_mallet_velocity = V.address_data(self.top_mallet.get_velocity())
puck_position_mode = bool(
self.dim.center[1] <= puck_position[1] <= self.dim.rink_bottom)
game_info = GameInfo([], puck_position, puck_velocity,
bottom_mallet_position, bottom_mallet_velocity,
top_mallet_position, top_mallet_velocity,
puck_was_hit, puck_is_at_the_bottom,
distance_decreased, hit_the_border, in_the_target,
puck_position_mode)
return game_info
def step(self,
robot_action=None,
human_action=None,
debug=False,
n_steps=4):
dt = 0.25 # dt is randomly in interval [1, 2)
time_iter = dt * n_steps
# 记录上一步的游戏状态
past_bottom_pos = self.bottom_mallet.get_position()
# 如果输入参数是None，就使用AI move
if robot_action is None:
if self.use_object['puck']:
# robot_action = self.bottom_ai.move()
robot_action = [0, 0]
else:
robot_action = [0, 0]
if human_action is None:
if self.use_object['top_mallet']:
human_action = self.top_ai.move()
# human_action = [0, 0]
elif not self.use_object['puck']:
human_action = [0, 0]
else:
human_action = [0, 0]
self.bot_mallet_motion.set_motion(robot_action)
self.top_mallet_motion.set_motion(self.top_ai.move())
# self.bottom_ai_motion.update_motion(robot_action)
# 用数组来储存n_steps循环中
# puck_was_hit 和 border_was_hit 和 scored 的值
n_puck_was_hit = np.zeros(n_steps, dtype=np.float32)
n_hit_the_border = np.zeros(n_steps, dtype=np.float32)
n_score_flag = np.zeros(n_steps, dtype=np.float32)
for k in range(n_steps):
# Clear forces from last frame
for body in self.bodies:
body.clear_accumulated_v()
self.motions.update_motions()
# Move bodies
for body in self.bodies:
body.speed_position_update(dt)
# Check collisions between all possible pairs of bodies
if self.use_object['top_mallet']:
Collision.circle_circle([self.puck, self.top_mallet])
Collision.circle_circle([self.top_mallet, self.bottom_mallet])
if self.use_object['puck']:
n_puck_was_hit[k] = bool(
Collision.circle_circle([self.puck, self.bottom_mallet]))
else:
n_puck_was_hit[k] = False
in_the_target = Collision.circle_circle(
[self.bottom_mallet, self.bottom_target], resolve=False)
# Make sure all bodies are within their borders
collided = [False, False, False]
for i, body in enumerate(self.bodies):
for border in body.borders:
if Collision.circle_line(body, border):
collided[i] = True
n_hit_the_border[k] = collided[2]
puck_is_at_the_bottom = self.puck.position[1] > self.dim.center[1]
distance_decreased = False
if puck_is_at_the_bottom:
distance = V.magnitude(self.puck.position -
self.bottom_mallet.position)
distance_decreased = distance < self.distance
self.distance = distance
else:
self.distance = P.max_distance
_, n_score_flag[k] = self.score.update(self.puck)
puck_position = self.puck.get_position()
puck_velocity = V.address_data(self.puck.get_velocity())
bottom_mallet_position = self.bottom_mallet.get_position()
bottom_mallet_velocity = V.address_data(
self.bottom_mallet.get_velocity())
for i in range(len(past_bottom_pos)):
if np.linalg.norm(past_bottom_pos[i] -
self.bottom_mallet.get_position()[i]) < 1e-5:
bottom_mallet_velocity[i] = 0
else:
pass
top_mallet_position = self.top_mallet.get_position()
top_mallet_velocity = V.address_data(self.top_mallet.get_velocity())
puck_was_hit = np.any(n_puck_was_hit == 1)
hit_the_border = np.any(n_hit_the_border == 1)
scored = None
score_flag = 0
if np.any(n_score_flag == 1):
score_flag = 1
self.score.add_bottom()
scored = 'bottom'
elif np.any(n_score_flag == -1):
score_flag = -1
self.score.add_top()
scored = 'top'
puck_position_mode = bool(
self.dim.center[1] <= puck_position[1] <= self.dim.rink_bottom)
game_info = GameInfo([], puck_position, puck_velocity,
bottom_mallet_position, bottom_mallet_velocity,
top_mallet_position, top_mallet_velocity,
robot_action, human_action, scored, score_flag,
puck_was_hit, puck_is_at_the_bottom,
distance_decreased, hit_the_border, in_the_target,
time_iter, puck_position_mode)
return game_info