def update(self, task: Task):
dt, ft = globalClock.getDt(), globalClock.getFrameTime()
heading, position, pitch = self.player.get_h(), self.player.get_pos(), self.player.get_p()
# self.sun.set_p(self.sun.get_p() - (dt * 20))
# self.sun.set_h(self.sun.get_h() - (dt * 20))
if KEY_MAP["up"]:
position.z += self.SPEED * dt
self.player.set_pos(position)
if KEY_MAP["down"]:
position.z -= self.SPEED * dt
self.player.set_pos(position)
if KEY_MAP["q"]:
position.x -= self.SPEED * dt
self.player.set_pos(position)
if KEY_MAP["e"]:
position.x += self.SPEED * dt
self.player.set_pos(position)
if KEY_MAP["w"]:
dx = (self.SPEED * dt) * np.cos(np.radians(heading + 90))
dy = (self.SPEED * dt) * np.sin(np.radians(heading + 90))
position.y, position.x = position.y + dy, position.x + dx
self.player.set_pos(position)
if KEY_MAP["s"]:
dx = - (self.SPEED * dt) * np.cos(np.radians(heading + 90))
dy = - (self.SPEED * dt) * np.sin(np.radians(heading + 90))
position.y, position.x = position.y + dy, position.x + dx
self.player.set_pos(position)
if KEY_MAP["d"] and not KEY_MAP["s"]:
heading -= self.SPEED * dt * 2
self.player.set_h(heading)
if KEY_MAP["a"] and not KEY_MAP["s"]:
heading += self.SPEED * dt * 2
self.player.set_h(heading)
if KEY_MAP["d"] and KEY_MAP["s"]:
heading += self.SPEED * dt * 2
self.player.set_h(heading)
if KEY_MAP["a"] and KEY_MAP["s"]:
heading -= self.SPEED * dt * 2
self.player.set_h(heading)
if KEY_MAP["left"]:
pitch += self.SPEED * dt * 2
self.player.set_p(pitch)
if KEY_MAP["right"]:
pitch -= self.SPEED * dt * 2
self.player.set_p(pitch)
return task.cont
def update(self, task: Task):
dt, ft = globalClock.getDt(), globalClock.getFrameTime()
if KEY_MAP["up"]:
self.bc304.set_pos(self.x, self.y, self.z)
self.z += self.speed * dt
if KEY_MAP["down"]:
self.bc304.set_pos(self.x, self.y, self.z)
self.z -= self.speed * dt
if KEY_MAP["right"]:
self.bc304.set_pos(self.x, self.y, self.z)
self.x += self.speed * dt
if KEY_MAP["left"]:
self.bc304.set_pos(self.x, self.y, self.z)
self.x -= self.speed * dt
if KEY_MAP["e"]:
pos = self.sphere.get_pos()
pos.z += self.speed * dt
self.sphere.set_pos(pos)
if KEY_MAP["q"]:
pos = self.sphere.get_pos()
pos.z -= self.speed * dt
self.sphere.set_pos(pos)
if KEY_MAP["a"]:
pos = self.sphere.get_pos()
pos.x -= self.speed * dt
self.sphere.set_pos(pos)
if KEY_MAP["d"]:
pos = self.sphere.get_pos()
pos.x += self.speed * dt
self.sphere.set_pos(pos)
if KEY_MAP["w"]:
pos = self.sphere.get_pos()
pos.y += self.speed * dt
self.sphere.set_pos(pos)
if KEY_MAP["s"]:
pos = self.sphere.get_pos()
pos.y -= self.speed * dt
self.sphere.set_pos(pos)
# self.sphere.set_pos(float(np.cos(ft) * 4), float(np.sin(ft) * 4), float(np.sin(ft) * 10))
# self.z -= 0.5 * dt
# self.bc304.set_hpr(self.h, self.p, 0)
# self.h += 0.1
# self.p += 0.1
return task.cont
def fire(self):
timeNow = globalClock.getFrameTime()
#small check for reloading condition
if self.isReloading != False:
#if reloading is not false, is a time firing kosher again. check and see if past
if timeNow > self.isReloading:
self.isReloading = False
#also fill mag
self.ammo['currentMag'] = self.ammo['magSize']
else:
#otherwise return with nothing to show for it
return
if (timeNow - self.lastFired) < self.fireRate:
# if difference is SMALLER than firerate, don't do anything - exit
return
#targetVector will be owner's target if AI
#targetVector = base.render.getRelativeVector(self.owner.target, Vec3(0, 1, 0))
startPos = base.render.getRelativePoint(
self.model, Vec3(0, self.length, -self.height / 2))
#account for target height - shoot at center mass
targetVector = self.owner.target.getPos() + Vec3(
0, 0, self.owner.target.height / 2)
targetVector = (targetVector - startPos)
targetVector.normalize()
#create projectile at set offset in front of weapon
bullet(self, startPos, targetVector, 3, 480, 400)
#play firing noise
self.firingNoise.play()
#record in lastFired
self.lastFired = timeNow
#decrement ammo
self.ammo['currentMag'] -= 1
#if this makes currentMag 0, reload
if self.ammo['currentMag'] < 1:
self.reload(timeNow)
def fire(self):
'''
if owner is a player:
Create projectile, play noise, decrement ammo counter
Projectile goes towards joint owner.headgun
otherwise just create projectile aimed at owner.target
'''
#check if time since last fired > firerate
timeNow = globalClock.getFrameTime()
if (timeNow - self.lastFired) < self.fireRate:
# if difference is SMALLER than firerate, don't do anything - exit
return
#initialize variables
targetVector = None
startPos = None
if self.owner.isPlayer:
#get player headgun
targetVector = base.render.getRelativeVector(
self.owner.headgun, Vec3(0, 1, 0))
#start pos should always be self.length from pos. Will experiment with
# https://discourse.panda3d.org/t/calculating-forward-vector-from-hpr/6261/2
# Post describes how to get the forward vector from Panda's HPR format, particularly
# in the context of a parent coordinate space rather than local.
# This was critical to getting a vector that bullets should follow that approximates the
# direction of the weapon, see line 78.
startPos = base.render.getRelativePoint(
self.model, Vec3(0, -self.length, -self.height / 2))
#create projectile at set offset in front of weapon
bullet(self, startPos, targetVector, 6, 480, 400)
self.firingNoise.play()
#record in lastFired
self.lastFired = timeNow
def control(self,ValveCommands):
self.gimbalX = 0
self.gimbalY = 0
self.Valves = ValveCommands-(ValveCommands-self.Valves)*np.exp(-self.dt/self.tau)
self.EngObs = self.vulcain.predict_data_point(np.array(self.Valves).reshape(1,-1 ))
#Brennkammerdruck, Gaskammertemp, H2Massenstrom, LOX MAssentrom, Schub
#Bar,K,Kg/s,Kg/s,kN
#self.dt = globalClock.getDt()
pos = self.rocketNP.getPos()
vel = self.rocketNP.node().getLinearVelocity()
quat = self.rocketNP.getTransform().getQuat()
Roll, Pitch, Yaw = quat.getHpr()
rotVel = self.rocketNP.node().getAngularVelocity()
# CHECK STATE
if self.fuelMass <= 0:
self.EMPTY = True
#if pos.getZ() <= 36:
# self.LANDED = True
self.LANDED = False
self.processContacts()
P, T, rho = air_dens(pos[2])
rocketZWorld = quat.xform(Vec3(0, 0, 1))
AoA = math.acos(min(max(dot(norm(vel), norm(-rocketZWorld)), -1), 1))
dynPress = 0.5 * dot(vel, vel) * rho
dragArea = self.rocketCSLon + (self.rocketCSLat - self.rocketCSLon) * math.sin(AoA)
drag = norm(-vel) * dynPress * self.Cd * dragArea
time = globalClock.getFrameTime()
liftVec = norm(vel.project(rocketZWorld) - vel)
if AoA > 0.5 * math.pi:
liftVec = -liftVec
lift = liftVec * (math.sin(AoA * 2) * self.rocketCSLat * dynPress)
if self.CONTROL:
self.throttle = self.heightPID.control(pos.getZ(), vel.getZ(), 33)
pitchTgt = self.XPID.control(pos.getX(), vel.getX(), 0)
self.gimbalX = -self.pitchPID.control(Yaw, rotVel.getY(), pitchTgt)
rollTgt = self.YPID.control(pos.getY(), vel.getY(), 0)
self.gimbalY = -self.rollPID.control(Pitch, rotVel.getX(), -rollTgt)
self.thrust = self.EngObs[0][4]*1000
#print(self.EngObs)
quat = self.rocketNP.getTransform().getQuat()
quatGimbal = TransformState.makeHpr(Vec3(0, self.gimbalY, self.gimbalX)).getQuat()
thrust = quatGimbal.xform(Vec3(0, 0, self.thrust))
thrustWorld = quat.xform(thrust)
#print(thrustWorld)
self.npDragForce.reset()
self.npDragForce.drawArrow2d(Vec3(0, 0, 0), quat.conjugate().xform(drag) / 1000, 45, 2)
self.npDragForce.create()
self.npLiftForce.reset()
self.npLiftForce.drawArrow2d(Vec3(0, 0, 0), quat.conjugate().xform(lift) / 1000, 45, 2)
self.npLiftForce.create()
self.npThrustForce.reset()
if self.EMPTY is False & self.LANDED is False:
self.npThrustForce.drawArrow2d(Vec3(0, 0, -0.5 * self.length),
Vec3(0, 0, -0.5 * self.length) - thrust / 30000, 45, 2)
self.npThrustForce.create()
self.rocketNP.node().applyForce(drag, Vec3(0, 0, 0))
self.rocketNP.node().applyForce(lift, Vec3(0, 0, 0))
#print(self.EMPTY,self.LANDED)
if self.EMPTY is False & self.LANDED is False:
self.rocketNP.node().applyForce(thrustWorld, quat.xform(Vec3(0, 0, -1 / 2 * self.length)))
self.updateRocket(self.EngObs[0][2]+self.EngObs[0][3], self.dt)
self.rocketNP.node().setActive(True)
self.fuelNP.node().setActive(True)
self.processInput()
self.world.doPhysics(self.dt)
self.steps+=1
if self.steps > 1000:
self.DONE = True
telemetry = []
telemetry.append('Thrust: {}'.format(int(self.EngObs[0][4])))
telemetry.append('Fuel: {}%'.format(int(self.fuelMass / self.fuelMass_full * 100.0)))
telemetry.append('Gimbal: {}'.format(int(self.gimbalX)) + ',{}'.format(int(self.gimbalY)))
telemetry.append('AoA: {}'.format(int(AoA / math.pi * 180.0)))
telemetry.append('\nPos: {},{}'.format(int(pos.getX()), int(pos.getY())))
telemetry.append('Height: {}'.format(int(pos.getZ())))
telemetry.append('RPY: {},{},{}'.format(int(Roll), int(Pitch), int(Yaw)))
telemetry.append('Speed: {}'.format(int(np.linalg.norm(vel))))
telemetry.append('Vel: {},{},{}'.format(int(vel.getX()), int(vel.getY()), int(vel.getZ())))
telemetry.append('Rot: {},{},{}'.format(int(rotVel.getX()), int(rotVel.getY()), int(rotVel.getZ())))
telemetry.append('LANDED: {}'.format(self.LANDED))
telemetry.append('Time: {}'.format(self.steps*self.dt))
telemetry.append('TARGET: {}'.format(self.targetAlt))
#print(pos)
if self.VISUALIZE is True:
self.ostData.setText('\n'.join(telemetry))
self.cam.setPos(pos[0] - 120 * self.scale, pos[1] - 120 * self.scale, pos[2] + 80 * self.scale)
self.cam.lookAt(pos[0], pos[1], pos[2])
self.taskMgr.step()
def update(self, task: Task):
if self.f.state == settings.IN_MENU_STATE:
return task.cont
dt, ft = globalClock.getDt(), globalClock.getFrameTime()
tank_heading, tank_position = self.tank.tank.get_h(
), self.tank.tank.get_pos()
# # self.sun.set_p(self.sun.get_p() - (dt * 40))
# # self.sun.set_h(self.sun.get_h() - (dt * 20))
# self.tank.hit()
z_pos = 0.01 if settings.DISABLE_Z_MOV else tank_position.z
self.tank.tank.set_fluid_pos(tank_position.x, tank_position.y, z_pos)
self.tank.handle_sfx()
if self.enemy.hp <= 0 and self.enemy.is_alive:
self.enemy.tank.removeNode()
del self.environment["enemy"]
self.enemy.is_alive = False
print("defeated")
if KEY_MAP["up"]:
tank_position.z += self.SPEED * dt
self._tank.set_fluid_pos(tank_position)
if KEY_MAP["down"]:
tank_position.z -= self.SPEED * dt
self._tank.set_fluid_pos(tank_position)
if KEY_MAP["q"]:
tank_position.x -= self.SPEED * dt
self._tank.set_fluid_pos(tank_position)
if KEY_MAP["e"]:
tank_position.x += self.SPEED * dt
self._tank.set_fluid_pos(tank_position)
if KEY_MAP["w"]:
dx = (self.SPEED * dt) * np.cos(np.radians(tank_heading + 90))
dy = (self.SPEED * dt) * np.sin(np.radians(tank_heading + 90))
tank_position.y, tank_position.x = tank_position.y + dy, tank_position.x + dx
self._tank.set_fluid_pos(tank_position)
if KEY_MAP["s"]:
dx = -(self.SPEED * dt) * np.cos(np.radians(tank_heading + 90))
dy = -(self.SPEED * dt) * np.sin(np.radians(tank_heading + 90))
tank_position.y, tank_position.x = tank_position.y + dy, tank_position.x + dx
self._tank.set_fluid_pos(tank_position)
if KEY_MAP["d"] and not KEY_MAP["s"]:
tank_heading -= self.TURN_SPEED * dt * 2
self._tank.set_h(tank_heading)
if KEY_MAP["a"] and not KEY_MAP["s"]:
tank_heading += self.TURN_SPEED * dt * 2
self._tank.set_h(tank_heading)
if KEY_MAP["d"] and KEY_MAP["s"]:
tank_heading += self.TURN_SPEED * dt * 2
self._tank.set_h(tank_heading)
if KEY_MAP["a"] and KEY_MAP["s"]:
tank_heading -= self.TURN_SPEED * dt * 2
self._tank.set_h(tank_heading)
return task.cont
def render(self, visualize=False):
#self.sim.setVisualization(visualize)
...
def close(self):
...
if __name__ == "__main__":
env = LearningRocket()
observation = env.reset()
done = False
while done is False:
observation, reward, done, info = env.step([0.1, 0, 0])
# print(observation)
time = globalClock.getFrameTime()
print(time)
print(observation)
env.sim.VISUALIZE = True
observation = env.reset()
for i in range(1000):
observation = env.step([0.1, 0, 0])
# print(observation)
time = globalClock.getFrameTime()
print(time)
print(observation)
# observation = env.reset()
# If the environment don't follow the interface, an error will be thrown
# check_env(env, warn=True)
