forked from arindam1993/PyBioSim
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Agent.py
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Agent.py
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'''
(c) 2015 Georgia Tech Research Corporation
This source code is released under the New BSD license. Please see the LICENSE.txt file included with this software for more information
authors: Arindam Bose (arindam.1993@gmail.com), Tucker Balch (trbalch@gmail.com)
'''
import numpy as np
from numpy import *
from numpy.linalg import *
from LinearAlegebraUtils import rotMatrixFromYPR, getYPRFromVector, normalize,clampRotation,\
distBetween
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
from Ball import Ball
from Obstacle import Obstacle
from SimTime import SimTime
from StatsTracker import StatsTracker
class Agent(object):
'''
An Agent class which encapsulates the begaviour of the agent.
classdocs
'''
def __init__(self, team, position, rotation, brain, turnRate, colRadius, drawRadius):
self.position = position.astype(float) #numpy array [x, y ,z]
self.rotation = rotation.astype(float) #numpy array [yaw, pitch, roll] (in degrees)
self.colRadius = colRadius #float size of collision sphere
self.drawRadius = drawRadius #float size of sphere to be drawn
self.team = team #provide team 'A' or team 'B'
self.forward = dot(array([1, 0, 0]), rotMatrixFromYPR(rotation)) #unit vector in forward direction of agent
self.right = dot(array([0, 1, 0]), rotMatrixFromYPR(rotation)) #unit vector in right direction of agent
self.up = cross(self.forward, self.right) #unit vector pointing upwards
self.maxMove = double(1.0) #max distance the agent can move in each frame
self.turnRate = turnRate
self.maxRot = array([turnRate, turnRate, turnRate]) #max YPR in degrees the agent can rotate in each frame
self.brain = brain
self.uid = id(self) #unique identifier
self.isStunned = False
self.lastStunned = float(-1) #Last time agent was stunned
self.stunDuration = float(-1) #Duration for which I am stunned
self.stunRange = 15
'''
Plots a sphere of radius 10 with a left hand co-ordinate frame on the provided subplot.
'''
def draw(self, subplot):
##plots the sphere
u = np.linspace(0, 2 * np.pi, 25)
v = np.linspace(0, np.pi, 25)
x = self.drawRadius * np.outer(np.cos(u), np.sin(v)) + self.position[0]
y = self.drawRadius * np.outer(np.sin(u), np.sin(v)) + self.position[1]
z = self.drawRadius * np.outer(np.ones(np.size(u)), np.cos(v)) + self.position[2]
if not self.isStunned:
sphereColor = self.team.color
else:
sphereColor = 'r'
subplot.plot_surface(x, y, z, rstride=4, cstride=4, linewidth = 0, color=sphereColor)
#plots the left handed co-ordinate Frame
#plots the forward a red line
fw = self.position + self.forward * (self.drawRadius + 10)
x_fw = array([self.position[0], fw[0]])
y_fw = array([self.position[1], fw[1]])
z_fw = array([self.position[2], fw[2]])
subplot.plot(x_fw, y_fw, z_fw, color='r')
#plots the right as a blue line
ri = self.position + self.right * (self.drawRadius + 10)
x_ri = array([self.position[0], ri[0]])
y_ri = array([self.position[1], ri[1]])
z_ri = array([self.position[2], ri[2]])
subplot.plot(x_ri, y_ri, z_ri, color='b')
#plots up as a green Line
up = self.position + self.up * (self.drawRadius + 10)
x_up = array([self.position[0], up[0]])
y_up = array([self.position[1], up[1]])
z_up = array([self.position[2], up[2]])
subplot.plot(x_up, y_up, z_up, color='g')
'''
Returns egocentric position of other object with respect to self
'''
def getEgoCentricOf(self, otherObject):
otherPosition = otherObject.position;
rotMat = rotMatrixFromYPR(self.rotation)
rotMatInverse = inv(rotMat)
posVector = otherPosition - self.position
egoCentric = dot(posVector, rotMatInverse)
return egoCentric
'''
Moves the agent, given information about the world, places restrictions on motion, called by the simulator.
Logic is placed in Brain.takeStep() method.
'''
def moveAgent(self, world):
myTeam, enemyTeam, balls, obstacles = self.buildEgoCentricRepresentationOfWorld(world)
deltaPos, deltaRot, actions = self.brain.takeStep(myTeam, enemyTeam, balls, obstacles)
#handle movements
if not self.isStunned:
self.rotateAgent(deltaRot)
self.translateAgent(deltaPos)
#handle actions
if not self.isStunned:
for action in actions:
#handle stun action
if action.__class__.__name__ == 'Stun':
for agent in world.agents:
if agent.getUID() == action.agentUID:
if distBetween(self.position, agent.position) < self.stunRange:
agent.stun(action.duration)
#handle kick action
if action.__class__.__name__ == 'Kick':
for ball in world.balls:
if ball.getUID() == action.ballUID:
if distBetween(self.position, ball.position) < 20:
globalDirection = dot(action.direction, rotMatrixFromYPR(self.rotation))
ball.kick(globalDirection, action.intensity)
#Unstun Self
if self.isStunned:
if not (self.lastStunned == -1 and self.stunDuration == -1):
if SimTime.time - self.lastStunned > float(self.stunDuration):
self.isStunned = False
self.lastStunned = -1
self.stunDuration = -1
'''
Get Egocentric representation of the world
'''
def buildEgoCentricRepresentationOfWorld(self, world):
myTeam = []
enemyTeam = []
balls = []
obstacles =[]
for agent in world.agents:
if agent != self:
agentToAppend = Agent(agent.team, self.getEgoCentricOf(agent), agent.rotation - self.rotation, agent.brain, agent.turnRate, agent.colRadius, agent.drawRadius)
agentToAppend.setUID(agent.getUID())
if agent.isStunned:
agentToAppend.isStunned = True
if agent.team == self.team:
myTeam.append(agentToAppend)
else:
enemyTeam.append(agentToAppend)
for ball in world.balls:
ballToAppend = Ball(self.getEgoCentricOf(ball))
ballToAppend.setUID(ball.getUID())
balls.append(ballToAppend)
for obstacle in world.obstacles:
obstacleToAppend = Obstacle(self.getEgoCentricOf(obstacle), obstacle.radius)
obstacles.append(obstacleToAppend)
return myTeam, enemyTeam, balls, obstacles
'''
Rotate Agent by rotation specified as YPR
'''
def rotateAgent(self, rotation):
#clamping
if not self.isStunned:
rotation = clampRotation(rotation, self.maxRot)
self.rotation += rotation
self.forward = normalize(dot(array([1, 0, 0]), rotMatrixFromYPR(self.rotation)))
self.right = normalize(dot(array([0, 1, 0]), rotMatrixFromYPR(self.rotation)))
self.up = normalize(cross(self.forward, self.right))
def translateAgent(self, direction):
#clamp the direction by normalizing
if not self.isStunned:
globaldirection = dot(direction, rotMatrixFromYPR(self.rotation))
globaldirection = normalize(globaldirection) * self.maxMove
self.position =self.position + globaldirection
'''
Stun self for duration
'''
def stun(self, duration):
#Not re-stun if I am already stunned
if not self.isStunned:
self.isStunned = True
self.lastStunned = SimTime.time
self.stunDuration = duration
StatsTracker.stunTimeDict[self] += duration
def setUID(self, uid):
self.uid = uid
def getUID(self):
return self.uid
class RestrictedAgent(Agent):
def __init__(self, team, position, rotation, brain, turnRate, maxDistance, colRadius, drawRadius):
Agent.__init__(self, team, position, rotation, brain, turnRate, colRadius, drawRadius)
self.maxMove = double(0.6666)
self.maxDistance = maxDistance
def moveAgent(self, world):
myTeam, enemyTeam, balls, obstacles = self.buildEgoCentricRepresentationOfWorld(world)
deltaPos, deltaRot, actions = self.brain.takeStep(myTeam, enemyTeam, balls, obstacles)
#handle movements
if not self.isStunned:
#check if agent is within required area
if distBetween(self.position, array([0, 0, 0])) < self.maxDistance:
self.rotateAgent(deltaRot)
self.translateAgent(deltaPos)
#handle actions
if not self.isStunned:
for action in actions:
#handle stun action
if action.__class__.__name__ == 'Stun':
for agent in world.agents:
if agent.getUID() == action.agentUID:
if distBetween(self.position, agent.position) < self.stunRange:
agent.stun(action.duration)
#handle kick action
if action.__class__.__name__ == 'Kick':
for ball in world.balls:
if ball.getUID() == action.ballUID:
if distBetween(self.position, ball.position) < 20:
globalDirection = dot(action.direction, rotMatrixFromYPR(self.rotation))
ball.kick(globalDirection, action.intensity)
#Unstun Self
if self.isStunned:
if not (self.lastStunned == -1 and self.stunDuration == -1):
if SimTime.time - self.lastStunned > float(self.stunDuration):
self.isStunned = False
self.lastStunned = -1
self.stunDuration = -1