def __init__(self, windspeed, relative_scale, world): self.air = Air(b2Vec2(-windspeed, 0.0)) self.water = Water(b2Vec2(0.0,0.0)) self.world = world gap = 10.0 h_length = 1.0 h_wchord = 0.5 h_wspan = 2.0 h_schord = 0.25 h_sspan = 0.75 a_length = h_length * relative_scale a_wchord = h_wchord * relative_scale a_wspan = h_wspan * relative_scale a_schord = h_schord * relative_scale a_sspan = h_sspan * relative_scale self.airfoil = Glider (x=0.0, y=gap*0.5, anchor_point=0.12, polarity=1.0, body_length=a_length, wing_chord=a_wchord, wing_span=a_wspan, stabilizer_chord=a_schord, stabilizer_span=a_sspan, fluid=self.air, box2dWorld=world, density=50.0) self.hydrofoil = Glider (x=0.0, y=gap*-0.5, anchor_point=0.12, polarity=-1.0, body_length=h_length, wing_chord=h_wchord, wing_span=h_wspan, stabilizer_chord=h_schord, stabilizer_span=h_sspan, fluid=self.water, box2dWorld=world, density=300.0) self.add_anchor_joint()
def __init__(self, windspeed, relative_scale, world):
self.air = Air(b2Vec2(-windspeed, 0.0))
self.water = Water(b2Vec2(0.0, 0.0))
self.world = world
gap = 10.0
h_length = 1.0
h_wchord = 0.5
h_wspan = 2.0
h_schord = 0.25
h_sspan = 0.75
a_length = h_length * relative_scale
a_wchord = h_wchord * relative_scale
a_wspan = h_wspan * relative_scale
a_schord = h_schord * relative_scale
a_sspan = h_sspan * relative_scale
self.airfoil = Glider(x=0.0,
y=gap * 0.5,
anchor_point=0.12,
polarity=1.0,
body_length=a_length,
wing_chord=a_wchord,
wing_span=a_wspan,
stabilizer_chord=a_schord,
stabilizer_span=a_sspan,
fluid=self.air,
box2dWorld=world,
density=50.0)
self.hydrofoil = Glider(x=0.0,
y=gap * -0.5,
anchor_point=0.12,
polarity=-1.0,
body_length=h_length,
wing_chord=h_wchord,
wing_span=h_wspan,
stabilizer_chord=h_schord,
stabilizer_span=h_sspan,
fluid=self.water,
box2dWorld=world,
density=300.0)
self.add_anchor_joint()
def gt_eval(self, gt):
# run trials
data = []
for cfg in range(1, 5):
# for supervised trials
if self.sup:
self.sup_sts = self.supervised_states(cfg)
# new world and glider
self.world = defaultdict(int)
self.glider = Glider(gt, config=cfg)
ft, prog, gl_states = self.trial()
data.append([ft, prog, gl_states])
# average fitness
# av_ft = sum([dtrial[0] for dtrial in data])/len(data)
# weighted fitness
sorted_fts = sorted([dt[0] for dt in data], reverse=True)
wft = 2 / (len(data) *
(len(data) + 1)) * sum([(i + 1) * fi
for i, fi in enumerate(sorted_fts)])
data.insert(0, wft)
return data
def __init__(self, x, y, anchor_point, polarity, body_length, wing_chord,
wing_span, stabilizer_chord, stabilizer_span, fluid,
box2dWorld):
self.glider = Glider(x, y, anchor_point, polarity, body_length,
wing_chord, wing_span, stabilizer_chord,
stabilizer_span, fluid, box2dWorld)
self.original_x = x
# Make an anchor
anchorBodyDef = b2BodyDef()
anchorBodyDef.position.Set(x, 0.0)
anchor = box2dWorld.CreateBody(anchorBodyDef)
shapeDef = b2PolygonDef()
shapeDef.SetAsBox(1.0, 1.0)
shapeDef.density = 1000 # kg/m^3, from wikipedia for styrofoam density
anchor.CreateShape(shapeDef)
anchor.SetMassFromShapes()
self.anchor = anchor
self.world = box2dWorld
# Create the anchor joint
self.move_anchor(0.0)
def __init__(self, x, y, anchor_point, polarity, body_length, wing_chord, wing_span, stabilizer_chord, stabilizer_span, fluid, box2dWorld): self.glider = Glider(x, y, anchor_point, polarity, body_length, wing_chord, wing_span, stabilizer_chord, stabilizer_span, fluid, box2dWorld) self.original_x = x # Make an anchor anchorBodyDef = b2BodyDef() anchorBodyDef.position.Set(x, 0.0) anchor = box2dWorld.CreateBody(anchorBodyDef) shapeDef = b2PolygonDef() shapeDef.SetAsBox(1.0, 1.0) shapeDef.density = 1000 # kg/m^3, from wikipedia for styrofoam density anchor.CreateShape(shapeDef) anchor.SetMassFromShapes() self.anchor = anchor self.world = box2dWorld # Create the anchor joint self.move_anchor(0.0)
class Craft(object):
def __init__(self, windspeed, relative_scale, world):
self.air = Air(b2Vec2(-windspeed, 0.0))
self.water = Water(b2Vec2(0.0, 0.0))
self.world = world
gap = 10.0
h_length = 1.0
h_wchord = 0.5
h_wspan = 2.0
h_schord = 0.25
h_sspan = 0.75
a_length = h_length * relative_scale
a_wchord = h_wchord * relative_scale
a_wspan = h_wspan * relative_scale
a_schord = h_schord * relative_scale
a_sspan = h_sspan * relative_scale
self.airfoil = Glider(x=0.0,
y=gap * 0.5,
anchor_point=0.12,
polarity=1.0,
body_length=a_length,
wing_chord=a_wchord,
wing_span=a_wspan,
stabilizer_chord=a_schord,
stabilizer_span=a_sspan,
fluid=self.air,
box2dWorld=world,
density=50.0)
self.hydrofoil = Glider(x=0.0,
y=gap * -0.5,
anchor_point=0.12,
polarity=-1.0,
body_length=h_length,
wing_chord=h_wchord,
wing_span=h_wspan,
stabilizer_chord=h_schord,
stabilizer_span=h_sspan,
fluid=self.water,
box2dWorld=world,
density=300.0)
self.add_anchor_joint()
def windspeed(self):
return self.air.velocity.Length()
def move_anchor(self, glider, amount):
glider.move_anchor(amount)
if hasattr(self, "anchorJoint"):
self.world.DestroyJoint(self.anchorJoint)
self.add_anchor_joint()
def add_anchor_joint(self):
anchorJoint = b2DistanceJointDef()
anchor1 = self.airfoil.get_anchor_point()
anchor2 = self.hydrofoil.get_anchor_point()
anchorJoint.Initialize(self.airfoil.body, self.hydrofoil.body, anchor1,
anchor2)
anchorJoint.collideConnected = True
self.anchorJoint = self.world.CreateJoint(anchorJoint).getAsType()
def get_center(self):
return (self.airfoil.body.GetPosition() +
self.hydrofoil.body.GetPosition()) * 0.5
def step(self, damper=0.0):
self.airfoil.step(damper)
self.hydrofoil.step(damper)
def draw(self, ctx):
self.airfoil.draw(ctx)
self.hydrofoil.draw(ctx)
def get_force_vectors(self):
forces = []
forces += self.airfoil.get_force_vectors()
forces += self.hydrofoil.get_force_vectors()
return forces
def clear_force_vectors(self):
self.airfoil.clear_force_vectors()
self.hydrofoil.clear_force_vectors()
def velocity(self):
return (self.hydrofoil.velocity() + self.airfoil.velocity()) / 2.0
class Kite(object):
def __init__(self, x, y, anchor_point, polarity, body_length, wing_chord,
wing_span, stabilizer_chord, stabilizer_span, fluid,
box2dWorld):
self.glider = Glider(x, y, anchor_point, polarity, body_length,
wing_chord, wing_span, stabilizer_chord,
stabilizer_span, fluid, box2dWorld)
self.original_x = x
# Make an anchor
anchorBodyDef = b2BodyDef()
anchorBodyDef.position.Set(x, 0.0)
anchor = box2dWorld.CreateBody(anchorBodyDef)
shapeDef = b2PolygonDef()
shapeDef.SetAsBox(1.0, 1.0)
shapeDef.density = 1000 # kg/m^3, from wikipedia for styrofoam density
anchor.CreateShape(shapeDef)
anchor.SetMassFromShapes()
self.anchor = anchor
self.world = box2dWorld
# Create the anchor joint
self.move_anchor(0.0)
def MakeTestKite(fluid, world):
return Kite(x=2.0,
y=20.0,
anchor_point=0.12,
polarity=1,
body_length=6.0,
wing_chord=1,
wing_span=4.0,
stabilizer_chord=0.5,
stabilizer_span=1.5,
fluid=fluid,
box2dWorld=world)
def MakeGiantKite(fluid, world):
return Kite(x=2.0,
y=20.0,
anchor_point=0.12,
polarity=1,
body_length=8.0,
wing_chord=2,
wing_span=12.0,
stabilizer_chord=1,
stabilizer_span=8.0,
fluid=fluid,
box2dWorld=world)
MakeTestKite = staticmethod(MakeTestKite)
MakeGiantKite = staticmethod(MakeGiantKite)
def get_force_vectors(self):
return self.glider.get_force_vectors()
def clear_force_vectors(self):
self.glider.clear_force_vectors()
def move_anchor(self, amount):
anchor_point = self.glider.move_anchor(amount)
if hasattr(self, "anchorJoint"):
self.world.DestroyJoint(self.anchorJoint)
self.add_anchor_joint(anchor_point)
def add_anchor_joint(self, anchor_point):
# Make a pully joint connecting the mount to the anchor
anchorJoint = b2PulleyJointDef()
anchor2 = self.anchor.GetWorldCenter()
groundAnchor1 = b2Vec2(self.original_x - 0.2, 0.2)
groundAnchor2 = b2Vec2(self.original_x - 0.1, 0.2)
ratio = 1.0
anchorJoint.Initialize(self.glider.body, self.anchor, groundAnchor1,
groundAnchor2, anchor_point, anchor2, ratio)
anchorJoint.maxLength2 = 10.0
anchorJoint.collideConnected = False
self.anchorJoint = self.world.CreateJoint(anchorJoint).getAsType()
def step(self, damper=0.0):
self.glider.step(damper)
def draw(self, ctx):
self.glider.draw(ctx)
class Evaluation:
def __init__(self, gt, time=25, wsize=100, supervised=True):
self.time = time
self.wsize = wsize
self.sup = supervised
'''evaluate the glider behavior starting from each
of the 4 canonical configurations'''
def gt_eval(self, gt):
# run trials
data = []
for cfg in range(1, 5):
# for supervised trials
if self.sup:
self.sup_sts = self.supervised_states(cfg)
# new world and glider
self.world = defaultdict(int)
self.glider = Glider(gt, config=cfg)
ft, prog, gl_states = self.trial()
data.append([ft, prog, gl_states])
# average fitness
# av_ft = sum([dtrial[0] for dtrial in data])/len(data)
# weighted fitness
sorted_fts = sorted([dt[0] for dt in data], reverse=True)
wft = 2 / (len(data) *
(len(data) + 1)) * sum([(i + 1) * fi
for i, fi in enumerate(sorted_fts)])
data.insert(0, wft)
return data
'''just the continuous update of the glider elements
history: space/domain conformed by the glider's cells
fitness: number of living cells at each time step
ft is intended to be global and simple, avoiding cells ft(?)'''
def trial(self):
ft = 0
prog = []
gl_states = [self.glider.state]
# run trial
for ti in range(self.time):
# update world and glider
self.update_world()
self.glider.update(self.world)
# save cells history
gl_states.append(self.glider.state)
# ids of living cells
ai = np.where(self.glider.state[:, 5] > 0)
prog.append(self.glider.state[ai][:, 0])
# fitness fx according to supervised/unsupervised trial
if self.sup:
# ft according to cells' known locations + surviving
ft_t = self.supervised_ftfx(ti, gl_states[-2][:, 1:3])
else:
# ft based only on number of surviving cells
ft_t = np.sum(self.glider.state[:, 5])
# to give more importance to later states: max=418
# ft += ft_t*(ti+1)/10
ft += ft_t
# in case all cells die before time
if ft_t == 0:
return (ft, prog, gl_states)
return (ft, prog, gl_states)
'''rules for world change, just reset in empty world'''
def update_world(self):
self.world = defaultdict(int)
'''fts according to the known glider states (only xy)'''
def supervised_ftfx(self, ti, gl_xy0):
ct = ti % 4
# array with the 22 expected dxy
sup_dxy = np.array([sup_ci[ct] for sup_ci in self.sup_sts])
# expected xy
sup_xy = gl_xy0 + sup_dxy
# discard dead cells
glider_xy = self.glider.state[:, 1:3] * np.asarray(
[self.glider.state[:, 5]]).T
# compare expected vs glider
sup_gl_xy = np.sum(sup_xy - glider_xy, axis=1)
ft_t = np.sum(np.where(sup_gl_xy == 0, 1, 0))
return ft_t
'''states to train the cells to behave as a glider (only xy)'''
def supervised_states(self, cfg):
sup_sts = [None] * 22
# glider cell blocks (cells with the same behavior)
b0 = [i for i in range(1, 10)]
b1 = [10, 11, 12]
b2 = [14, 16, 18]
b3 = [13, 15, 17]
b4 = [19, 20, 21]
b5 = [22]
blocks = [b0, b1, b2, b3, b4, b5]
# "correct" glider transitions: 0:g12, 2:g23, 3:g34, 4:g41
b0_sts = [(0, -1), (0, 0), (1, 0), (0, 0)]
b1_sts = [(0, -1), (1, 0), (-1, 0), (1, 0)]
b2_sts = [(0, 1), (0, -1), (1, 0), (0, -1)]
b3_sts = [(0, 0), (0, -1), (1, 0), (0, 0)]
b4_sts = [(0, -1), (0, 0), (0, 0), (1, 0)]
b5_sts = [(0, 0), (0, -1), (0, 0), (1, 0)]
block_sts = [b0_sts, b1_sts, b2_sts, b3_sts, b4_sts, b5_sts]
# according to initial cfg
if cfg == 1:
cfg_sts = [0, 1, 2, 3]
elif cfg == 2:
cfg_sts = [1, 2, 3, 0]
elif cfg == 3:
cfg_sts = [2, 3, 0, 1]
elif cfg == 4:
cfg_sts = [3, 0, 1, 2]
# map of correct movements
for bi, block in enumerate(blocks):
for ci in block:
block_st = [block_sts[bi][cfg_i] for cfg_i in cfg_sts]
# from 1:22 to 0:21 (for array)
sup_sts[ci - 1] = block_st
# sup_sts: list of lists (index = sorted cell correct cfg xy)
return sup_sts
class Craft(object): def __init__(self, windspeed, relative_scale, world): self.air = Air(b2Vec2(-windspeed, 0.0)) self.water = Water(b2Vec2(0.0,0.0)) self.world = world gap = 10.0 h_length = 1.0 h_wchord = 0.5 h_wspan = 2.0 h_schord = 0.25 h_sspan = 0.75 a_length = h_length * relative_scale a_wchord = h_wchord * relative_scale a_wspan = h_wspan * relative_scale a_schord = h_schord * relative_scale a_sspan = h_sspan * relative_scale self.airfoil = Glider (x=0.0, y=gap*0.5, anchor_point=0.12, polarity=1.0, body_length=a_length, wing_chord=a_wchord, wing_span=a_wspan, stabilizer_chord=a_schord, stabilizer_span=a_sspan, fluid=self.air, box2dWorld=world, density=50.0) self.hydrofoil = Glider (x=0.0, y=gap*-0.5, anchor_point=0.12, polarity=-1.0, body_length=h_length, wing_chord=h_wchord, wing_span=h_wspan, stabilizer_chord=h_schord, stabilizer_span=h_sspan, fluid=self.water, box2dWorld=world, density=300.0) self.add_anchor_joint() def windspeed(self): return self.air.velocity.Length() def move_anchor(self, glider, amount): glider.move_anchor(amount) if hasattr(self, "anchorJoint"): self.world.DestroyJoint(self.anchorJoint) self.add_anchor_joint() def add_anchor_joint(self): anchorJoint = b2DistanceJointDef() anchor1 = self.airfoil.get_anchor_point() anchor2 = self.hydrofoil.get_anchor_point() anchorJoint.Initialize(self.airfoil.body, self.hydrofoil.body, anchor1, anchor2); anchorJoint.collideConnected = True self.anchorJoint = self.world.CreateJoint(anchorJoint).getAsType() def get_center(self): return (self.airfoil.body.GetPosition() + self.hydrofoil.body.GetPosition()) * 0.5 def step(self, damper=0.0): self.airfoil.step(damper) self.hydrofoil.step(damper) def draw(self, ctx): self.airfoil.draw(ctx) self.hydrofoil.draw(ctx) def get_force_vectors(self): forces = [] forces += self.airfoil.get_force_vectors() forces += self.hydrofoil.get_force_vectors() return forces def clear_force_vectors(self): self.airfoil.clear_force_vectors() self.hydrofoil.clear_force_vectors() def velocity(self): return (self.hydrofoil.velocity() + self.airfoil.velocity()) / 2.0
class Kite(object): def __init__(self, x, y, anchor_point, polarity, body_length, wing_chord, wing_span, stabilizer_chord, stabilizer_span, fluid, box2dWorld): self.glider = Glider(x, y, anchor_point, polarity, body_length, wing_chord, wing_span, stabilizer_chord, stabilizer_span, fluid, box2dWorld) self.original_x = x # Make an anchor anchorBodyDef = b2BodyDef() anchorBodyDef.position.Set(x, 0.0) anchor = box2dWorld.CreateBody(anchorBodyDef) shapeDef = b2PolygonDef() shapeDef.SetAsBox(1.0, 1.0) shapeDef.density = 1000 # kg/m^3, from wikipedia for styrofoam density anchor.CreateShape(shapeDef) anchor.SetMassFromShapes() self.anchor = anchor self.world = box2dWorld # Create the anchor joint self.move_anchor(0.0) def MakeTestKite(fluid, world): return Kite(x=2.0, y=20.0, anchor_point=0.12, polarity=1, body_length=6.0, wing_chord=1, wing_span=4.0, stabilizer_chord=0.5, stabilizer_span=1.5, fluid=fluid, box2dWorld=world) def MakeGiantKite(fluid, world): return Kite(x=2.0, y=20.0, anchor_point=0.12, polarity=1, body_length=8.0, wing_chord=2, wing_span=12.0, stabilizer_chord=1, stabilizer_span=8.0, fluid=fluid, box2dWorld=world) MakeTestKite = staticmethod(MakeTestKite) MakeGiantKite = staticmethod(MakeGiantKite) def get_force_vectors(self): return self.glider.get_force_vectors() def clear_force_vectors(self): self.glider.clear_force_vectors() def move_anchor(self, amount): anchor_point = self.glider.move_anchor(amount) if hasattr(self, "anchorJoint"): self.world.DestroyJoint(self.anchorJoint) self.add_anchor_joint(anchor_point) def add_anchor_joint(self, anchor_point): # Make a pully joint connecting the mount to the anchor anchorJoint = b2PulleyJointDef() anchor2 = self.anchor.GetWorldCenter() groundAnchor1 = b2Vec2(self.original_x - 0.2, 0.2) groundAnchor2 = b2Vec2(self.original_x - 0.1, 0.2) ratio = 1.0 anchorJoint.Initialize(self.glider.body, self.anchor, groundAnchor1, groundAnchor2, anchor_point, anchor2, ratio); anchorJoint.maxLength2 = 10.0 anchorJoint.collideConnected = False self.anchorJoint = self.world.CreateJoint(anchorJoint).getAsType() def step(self, damper=0.0): self.glider.step(damper) def draw(self, ctx): self.glider.draw(ctx)
