def getSendData(turn,thrust,shoot): #make all the feelers/get current sichuation data heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) trackHeadRelative = (tracking-heading)/360 trackWall = ai.wallFeeler(500, tracking) trackL3 = ai.wallFeeler(500, tracking + 3) trackL10 = ai.wallFeeler(500, tracking + 10) trackR3 = ai.wallFeeler(500, tracking - 3) trackR10 = ai.wallFeeler(500, tracking - 10) frontWall = ai.wallFeeler(500, heading) frontL = ai.wallFeeler(500, heading + 10) frontR = ai.wallFeeler(500, heading - 10) leftWall = ai.wallFeeler(500, heading+90) rightWall = ai.wallFeeler(500,heading-90) backWall = ai.wallFeeler(500, heading - 180) backL = ai.wallFeeler(500, heading - 185) backR = ai.wallFeeler(500, heading - 175) speed = ai.selfSpeed()/10 #get position to enemy enemyX = ai.screenEnemyX(0) enemyY = ai.screenEnemyY(0) selfX = ai.selfX() selfY = ai.selfY() enemyDegrees = (heading - (math.degrees(math.atan2(enemyY-selfY,enemyX-selfX))+360)%360)/360 #enemyDegrees = heading - math.degrees(math.atan2(enemyY-selfY,enemyX-selfX))-360 enemySpeed = ai.enemySpeed(0)/10 enemyMoveDirection = ai.enemyTrackingDeg(0) distanceToEnemy = 1 - math.sqrt((selfX-enemyX)**2 + (selfY-enemyY)**2)/500 relativeTracking = (tracking-180)/360-(enemyMoveDirection-180)/360 #get shots at us data = [heading/360,tracking/360,trackHeadRelative,speed] for i in [trackWall,trackL3,trackL10,trackR3,trackR10,frontWall,frontL,frontR,leftWall,rightWall,backWall,backL,backR]: if i == -1: data.append(0) else: data.append(1 - i/500) for j in [enemySpeed,enemyDegrees,relativeTracking,distanceToEnemy]: if not math.isnan(j): if enemyX == -1: data.append(0) else: data.append(j) else: data.append(0) for k in [turn,thrust,shoot]: data.append(k) #print("distToEnemy",data[20]*500,"relTrack",data[19]*360) return data
def updateInputs(self): #The code in config is inserted into the updateInputs function so you can pull any data you want using ai.(some xpilot-ai function) and adding it with self.addInput("Some Float") #You can technically also add outputs with self.addOutput if you want your neural network to predict or control something beyond normal but this might not work nicely with the autogenerated controller #The trainer checks the size of both the input and output datasets and will build a network to accomodate these sizes automatically #Until the next comment is code for pulling relevant data from the game heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) backWall = ai.wallFeeler(500, heading - 180) backLeftWall = ai.wallFeeler(500, heading - 190) backRightWall = ai.wallFeeler(500, heading - 170) frontWall = ai.wallFeeler(500,heading) flWall = ai.wallFeeler(500, heading + 10) frWall = ai.wallFeeler(500, heading - 10) leftWall = ai.wallFeeler(500,heading+90) llWall = ai.wallFeeler(500, heading + 100) rlWall = ai.wallFeeler(500, heading + 80) rightWall = ai.wallFeeler(500,heading-90) lrWall = ai.wallFeeler(500, heading - 80) rrWall = ai.wallFeeler(500, heading - 100) calcDir = -1 targetX, targetY = ai.screenEnemyX(0), ai.screenEnemyY(0) if targetX- ai.selfX() != 0: calcDir = (math.degrees(math.atan2((targetY - ai.selfY()), (targetX- ai.selfX()))) + 360)%360 speed = ai.selfSpeed() fFan = min(frontWall, flWall, frWall) lFan = min(leftWall, llWall, rlWall) rFan = min(rightWall, rrWall, lrWall) bFan = min(backWall, backLeftWall, backRightWall) trackWall = ai.wallFeeler(500, tracking) #Everything below here is just selecting inputs for training - play around by commenting and uncommenting different inputs, or try adding your own! self.addInput(frontWall) self.addInput(leftWall) self.addInput(rightWall) self.addInput(backWall) self.addInput(trackWall) self.addInput(backLeftWall) self.addInput(backRightWall) #self.addInput(fFan) #self.addInput(rFan) #self.addInput(lFan) #self.addInput(bFan) #self.addInput(tracking) self.addInput(heading) self.addInput(calcDir) self.addInput(speed)
def getSendDataV1(): #make all the feelers/get current sichuation data heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) trackWall = ai.wallFeeler(500, tracking) trackL3 = ai.wallFeeler(500, tracking + 3) trackL10 = ai.wallFeeler(500, tracking + 10) trackR3 = ai.wallFeeler(500, tracking - 3) trackR10 = ai.wallFeeler(500, tracking - 10) frontWall = ai.wallFeeler(500, heading) frontL = ai.wallFeeler(500, heading + 10) frontR = ai.wallFeeler(500, heading - 10) leftWall = ai.wallFeeler(500, heading + 90) rightWall = ai.wallFeeler(500, heading - 90) backWall = ai.wallFeeler(500, heading - 180) backL = ai.wallFeeler(500, heading - 185) backR = ai.wallFeeler(500, heading - 175) speed = ai.selfSpeed() #get position to enemy enemyX = ai.screenEnemyX(0) enemyY = ai.screenEnemyY(0) selfX = ai.selfX() selfY = ai.selfY() enemyDegrees = (math.degrees(math.atan2(enemyY - selfY, enemyX - selfX)) + 360) % 360 enemySpeed = ai.enemySpeed(0) enemyMoveDirection = ai.enemyTrackingDeg(0) #get shots at us data = [heading / 360, tracking / 360] for i in [ trackWall, trackL3, trackL10, trackR3, trackR10, frontWall, frontL, frontR, leftWall, rightWall, backWall, backL, backR ]: if i == -1: data.append(1) else: data.append(i / 500) for j in [speed, enemyDegrees / 360, enemySpeed, enemyMoveDirection / 360]: if not math.isnan(j): data.append(j) else: data.append(1) return data
def dummyLoop(): global maxSpeed, shotAngle, wallClose, dead, previousScore global turnedLeft, turnedRight, thrusted, shot #Release keys DataMinerBD.tthrustDummy(0) DataMinerBD.tturnLeftDummy(0) DataMinerBD.tturnRightDummy(0) ai.setTurnSpeed(45) #Set variables""" heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) trackWall = ai.wallFeeler(500, tracking) trackLWall = ai.wallFeeler(500, tracking + 3) trackRWall = ai.wallFeeler(500, tracking - 3) frontWall = ai.wallFeeler(500, heading) flWall = ai.wallFeeler(500, heading + 10) frWall = ai.wallFeeler(500, heading - 10) leftWall = ai.wallFeeler(500, heading + 90) llWall = ai.wallFeeler(500, heading + 100) rlWall = ai.wallFeeler(500, heading + 80) rightWall = ai.wallFeeler(500, heading - 90) lrWall = ai.wallFeeler(500, heading - 80) rrWall = ai.wallFeeler(500, heading - 100) trackWall = ai.wallFeeler(500, tracking) backWall = ai.wallFeeler(500, heading - 180) backLeftWall = ai.wallFeeler(500, heading - 190) backRightWall = ai.wallFeeler(500, heading - 170) speed = ai.selfSpeed() closest = min(frontWall, leftWall, rightWall, backWall, flWall, frWall) def closestWall(x): #Find the closest Wall return { frontWall: 1, leftWall: 2, rightWall: 3, backWall: 4, flWall: 5, frWall: 6, }[x] wallNum = closestWall(closest) #Code for finding the angle to the closest ship targetX, targetY = ai.screenEnemyX(0), ai.screenEnemyY(0) #baseString = "["+str(flWall/500)+","+str(frontWall/500)+","+str(frWall/500) + "," + str(backLeftWall/500) + "," + str(backWall/500) + "," + str(backRightWall/500) + ","+str(leftWall/500)+","+str(rightWall/500)+","+str(trackLWall/500) + "," + str(trackWall/500) + ","+str(trackRWall/500) + "," + str(speed/10) calcDir = -1 if targetX - ai.selfX() != 0: calcDir = (math.degrees( math.atan2((targetY - ai.selfY()), (targetX - ai.selfX()))) + 360) % 360 crashWall = min( trackWall, trackLWall, trackRWall ) #The wall we are likely to crash into if we continue on our current course #Rules for turning if crashWall > wallClose * speed and closest > 25 and targetX != -1: #If we are far enough away from a predicted crash and no closer than 25 pixels to a wall we can try and aim and kill them diff = (calcDir - heading) #if ai.shotAlert(0) > -1 and ai.shotAlert(0) < 35: #If we are about to get shot # tturnRight(1) #Screw aiming and turn right and thrust # tthrust(1) #This is arguably a horrible strategy because our sideways profile is much larger, but it's required for the grade if diff >= 0: if diff >= 180: DataMinerBD.tturnRightDummy( 1) #If the target is to our right- turn right else: DataMinerBD.tturnLeftDummy( 1) #If the target is to our left - turn left else: if diff > -180: DataMinerBD.tturnRightDummy( 1) #If the target is to our right - turn right else: DataMinerBD.tturnLeftDummy( 1) #If the target is to our left - turn left else: #Rules for avoiding death # if crashWall/ai.selfSpeed() > ai.closestShot() : if wallNum == 1 or wallNum == 5 or wallNum == 6: #Front Wall is Closest (Turn Away From It) DataMinerBD.tturnLeftDummy(1) elif wallNum == 2: # Left Wall is Closest (Turn Away From It) DataMinerBD.tturnRightDummy(1) elif wallNum == 3: #Right Wall is Closest (Turn Away From It) DataMinerBD.tturnLeftDummy(1) else: #Back Wall is closest- turn so that we are facing directly away from it if backLeftWall < backRightWall: DataMinerBD.tturnRightDummy( 1 ) #We need to turn right to face more directly away from it if backLeftWall > backRightWall: # We need to turn left to face more directly away from it DataMinerBD.tturnLeftDummy(1) #Rules for thrusting if speed < maxSpeed and frontWall > 100: #If we are moving slowly and we won't ram into anything, accelerate DataMinerBD.tthrustDummy(1) elif trackWall < 200 and ( ai.angleDiff(heading, tracking) > 120 ): #If we are getting close to a wall, and we can thrust away from it, do so DataMinerBD.tthrustDummy(1) elif backWall < 20: #If there is a wall very close behind us, get away from it DataMinerBD.tthrustDummy(1) if abs( calcDir - heading ) < shotAngle and calcDir != -1: #If we are close to the current proper trajectory for a shot then fire DataMinerBD.tshootDummy() previousScore = ai.selfScore()
def AI_loop(): chrom = [ 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0 ] when_to_thrust_speed = convert(chrom[0:4]) front_wall_distance_thrust = convert(chrom[4:8]) * 4 back_wall_distance_thrust = convert(chrom[8:12]) * 2 track_wall_distance_thrust = convert(chrom[12:16]) * 4 left_wall_angle = convert(chrom[16:20]) * 3 right_wall_angle = convert(chrom[20:24]) * 3 back_wall_angle = convert(chrom[24:28]) * 10 left_90_wall_angle = convert(chrom[28:32]) * 6 right_90_wall_angle = convert(chrom[32:36]) * 6 left_back_wall_angle = convert(chrom[36:40]) * 9 right_back_wall_angle = convert(chrom[44:48]) * 9 fuzzy_rate = convert(chrom[48:52]) fuzzy_rate_1 = convert(chrom[52:56]) angle_diff_shoot = convert(chrom[56:60]) shot_alert_distance = convert(chrom[60:64]) * 6 rate = fuzzy_rate rate1 = fuzzy_rate_1 #Release keys ai.thrust(0) ai.turnLeft(0) ai.turnRight(0) #Set variables heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) frontWall = ai.wallFeeler(500, heading) leftWall = ai.wallFeeler(500, heading + left_wall_angle) rightWall = ai.wallFeeler(500, heading - right_wall_angle) left90Wall = ai.wallFeeler(500, heading + left_90_wall_angle) right90Wall = ai.wallFeeler(500, heading - right_90_wall_angle) leftbackWall = ai.wallFeeler(500, heading + left_back_wall_angle) rightbackWall = ai.wallFeeler(500, heading - right_back_wall_angle) trackWall = ai.wallFeeler(500, tracking) backWall = ai.wallFeeler(500, heading - back_wall_angle) #Shooting rule - checks whether theres an enemy to aim at using aimdir, #and then if we're pointing at them within 10 degrees #check whether theres a wall between us and the enemy; if there is not then we shoot if ai.aimdir(0) >= 0 and -angle_diff_shoot <= ai.angleDiff( heading, ai.aimdir(0)) <= angle_diff_shoot and ai.screenEnemyX( 0) >= 0 and ai.screenEnemyY(0) >= 0 and ai.wallBetween( ai.selfX(), ai.selfY(), ai.screenEnemyX(0), ai.screenEnemyY(0)) == -1: ai.fireShot() #Turn rules #standard check for enemy proximity and wall between us, #and if we're not aiming at them the angle is corrected if ai.aimdir(0) >= 0 and ai.angleDiff( heading, ai.aimdir(0)) > 0 and ai.wallBetween( ai.selfX(), ai.selfY(), ai.screenEnemyX(0), ai.screenEnemyY(0)) == -1: ai.turnLeft(1) print("aim turn left") elif ai.aimdir(0) >= 0 and ai.angleDiff( heading, ai.aimdir(0)) < 0 and ai.wallBetween( ai.selfX(), ai.selfY(), ai.screenEnemyX(0), ai.screenEnemyY(0)) == -1: ai.turnRight(1) print("aim turn right") #misc turn rules with fuzzy logic elif left90Wall < right90Wall and minmax(10, (rate * ai.selfSpeed()), 100): ai.turnRight(1) print("left90wall") elif right90Wall < left90Wall and minmax(10, (rate * ai.selfSpeed()), 100): ai.turnLeft(1) print("right90wall") elif leftbackWall < minmax(5, (rate1 * ai.selfSpeed()), 50): ai.turnRight(1) print("leftbackwall") elif rightbackWall < minmax(5, (rate1 * ai.selfSpeed()), 50): ai.turnLeft(1) print("rightbackwall") #default/base case turn rules elif leftWall < rightWall: ai.turnRight(1) else: ai.turnLeft(1) #Thrust rules #rule for speeding up when no wall in front of us if ai.selfSpeed( ) <= when_to_thrust_speed and frontWall >= front_wall_distance_thrust: ai.thrust(1) print("thrust 1") #dynamic thrust away from walls elif trackWall < track_wall_distance_thrust: ai.thrust(1) print("thrust 2") #thrust away from back wall elif backWall < back_wall_distance_thrust: ai.thrust(1) print("thrust 3") #this block handles dodging enemy bullets elif ai.shotAlert(0) >= 0 and ai.shotAlert( 0) <= shot_alert_distance and ai.shotVelDir( 0) != -1 and ai.angleDiff(heading, ai.shotVelDir(0)) > 0: print("shotveldir turn left") ai.turnLeft(1) ai.thrust(1) elif ai.shotAlert(0) >= 0 and ai.shotAlert( 0) <= shot_alert_distance and ai.shotVelDir( 0) != -1 and ai.angleDiff(heading, ai.shotVelDir(0)) < 0: print("shotveldir turn right") ai.turnRight(1) ai.thrust(1)
def AI_loop(): #Inserted Code if ai.selfAlive(): DataMinerBD.updateInputs() DataMinerBD.updateOutputs() DataMinerBD.savePair() print(DataMinerBD.length()) if DataMinerBD.length() > 10000: DataMinerBD.writeData() print("Finished") ai.quitAI() global lastTurn #Release keys DataMinerBD.tthrust(0) DataMinerBD.tturnLeft(0) DataMinerBD.tturnRight(0) ai.setTurnSpeed(45) #Set variables""" heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) trackWall = ai.wallFeeler(500, tracking) trackLWall = ai.wallFeeler(500, tracking+3) trackRWall = ai.wallFeeler(500, tracking - 3) frontWall = ai.wallFeeler(500,heading) flWall = ai.wallFeeler(500, heading + 10) frWall = ai.wallFeeler(500, heading - 10) leftWall = ai.wallFeeler(500,heading+90) rightWall = ai.wallFeeler(500,heading-90) trackWall = ai.wallFeeler(500,tracking) backWall = ai.wallFeeler(500, heading - 180) backLeftWall = ai.wallFeeler(500, heading - 185) backRightWall = ai.wallFeeler(500, heading - 175) speed = ai.selfSpeed() closest = min(frontWall, leftWall, rightWall, backWall) def closestWall(x): #Find the closest Wall return { frontWall : 1, leftWall : 2, rightWall : 3, backWall : 4, flWall : 5, frWall : 6, }[x] wallNum = closestWall(closest) #Code for finding the angle to the closest ship target = ai.closestShipId() targetX, targetY = ai.screenEnemyX(0), ai.screenEnemyY(0) calcDir = 0 if targetX- ai.selfX() != 0: calcDir = (math.degrees(math.atan2((targetY - ai.selfY()), (targetX- ai.selfX()))) + 360)%360 targetDir = calcDir crashWall = min(trackWall, trackLWall, trackRWall) #The wall we are likely to crash into if we continue on our current course #Rules for turning if crashWall > 25*speed and closest > 30 and targetX != -1: #If we are far enough away from a predicted crash and no closer than 25 pixels to a wall, and there isn't a wall between us and the closest enemy #print("Aiming", targetDir, " Current", heading) diff = (calcDir - heading) if ai.shotAlert(0) > -1 and ai.shotAlert(0) < 35: DataMinerBD.tturnRight(1) DataMinerBD.tthrust(1) elif diff >= 0: if diff >= 180: a = 0 DataMinerBD.tturnRight(1) #If the target is to our right- turn right elif diff != 0 : a = 0 DataMinerBD.tturnLeft(1) #If the target is to our left - turn left else : if diff > -180: a = 0 DataMinerBD.tturnRight(1) #If the target is to our right - turn right else : a = 0 DataMinerBD.tturnLeft(1) #If the target is to our left - turn left else : #Rules for avoiding death # if crashWall/ai.selfSpeed() > ai.closestShot() : #We find a target heading using our current trajectory and the closest wall then turn in it's direction targetHeading = heading print(heading) if wallNum == 1or wallNum == 6 or wallNum == 5: #Front Wall is Closest if lastTurn == 1: targetHeading += 270 targetHeading = (targetHeading)%360 else : targetHeading +=90 targetHeading = targetHeading%360 print("front") elif wallNum == 2 : # Left Wall is Closest targetHeading += 270 targetHeading = (targetHeading)%360 lastTurn = 1 print("leftwall") elif wallNum == 3 : targetHeading = targetHeading + 90 targetHeading = (targetHeading)%360 lastTurn = 2 print("rightWall") else : if backLeftWall < backRightWall: lastTurn = 2 targetHeading += 5 targetHeading = (targetHeading)%360 if backLeftWall > backRightWall: lastTurn = 1 targetHeading -= 5 targetHeading = (targetHeading)%360 speedConcern = ai.selfSpeed() - 4 if speedConcern < 0: speedConcern = 0 elif speedConcern > 5: speedConcern = 5 #targetHeading = (targetHeading*(1-(speedConcern/5))) + (((tracking+170)%360)*(speedConcern/5)) if speedConcern > 2: targetHeading = (tracking + 180)%360 diff = (targetHeading - heading) print("targetHEading : ", targetHeading, " heading : ", heading) if diff >= 0: if diff >= 180: DataMinerBD.tturnRight(1) #If the targetHEading is to our right- turn right print("right") elif diff != 0 : DataMinerBD.tturnLeft(1) #If the targeHeadingt is to our left - turn left print("left") else : if diff > -180: print("right") DataMinerBD.tturnRight(1) #If the targetHeading is to our right - turn right #print("right") else : print("left") DataMinerBD.tturnLeft(1) #If the targetHeading is to our left - turn left #print("nice") #Rules for thrusting if speed < 5 and frontWall > 200: #If we are moving slowly and we won't ram into anything, accelerate DataMinerBD.tthrust(1) elif crashWall < 25*speed and (abs(tracking - heading) > 120): #If we are getting close to a wall, and we can thrust away from it, do so DataMinerBD.tthrust(1) elif backWall < 30: #If there is a wall very close behind us, get away from it DataMinerBD.tthrust(1) if abs(calcDir - heading) < 15 : #If we are close to the current proper trajectory for a shot then fire DataMinerBD.tshoot()
def AI_loop(): global frames, frameHistory, generation, current_chrom, population, scores, current_score print("frame", frames) #rules chrom = population[current_chrom][0] when_to_thrust_speed = convert(chrom[0:4]) front_wall_distance_thrust = convert(chrom[4:8]) * 4 back_wall_distance_thrust = convert(chrom[8:12]) * 2 track_wall_distance_thrust = convert(chrom[12:16]) * 4 left_wall_angle = convert(chrom[16:20]) * 3 right_wall_angle = convert(chrom[20:24]) * 3 back_wall_angle = convert(chrom[24:28]) * 10 left_90_wall_angle = convert(chrom[28:32]) * 6 right_90_wall_angle = convert(chrom[32:36]) * 6 left_back_wall_angle = convert(chrom[36:40]) * 9 right_back_wall_angle = convert(chrom[44:48]) * 9 fuzzy_rate = convert(chrom[48:52]) fuzzy_rate_1 = convert(chrom[52:56]) angle_diff_shoot = convert(chrom[56:60]) shot_alert_distance = convert(chrom[60:64]) * 6 rate = fuzzy_rate rate1 = fuzzy_rate_1 #Release keys ai.thrust(0) ai.turnLeft(0) ai.turnRight(0) #Set variables heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) frontWall = ai.wallFeeler(500, heading) leftWall = ai.wallFeeler(500, heading + left_wall_angle) rightWall = ai.wallFeeler(500, heading - right_wall_angle) left90Wall = ai.wallFeeler(500, heading + left_90_wall_angle) right90Wall = ai.wallFeeler(500, heading - right_90_wall_angle) leftbackWall = ai.wallFeeler(500, heading + left_back_wall_angle) rightbackWall = ai.wallFeeler(500, heading - right_back_wall_angle) trackWall = ai.wallFeeler(500, tracking) backWall = ai.wallFeeler(500, heading - back_wall_angle) #Shooting rules if ai.aimdir(0) >= 0 and -angle_diff_shoot <= ai.angleDiff( heading, ai.aimdir(0)) <= angle_diff_shoot and ai.screenEnemyX( 0) >= 0 and ai.screenEnemyY(0) >= 0 and ai.wallBetween( ai.selfX(), ai.selfY(), ai.screenEnemyX(0), ai.screenEnemyY(0)) == -1: ai.fireShot() #Turn rules if ai.aimdir(0) >= 0 and ai.angleDiff( heading, ai.aimdir(0)) > 0 and ai.wallBetween( ai.selfX(), ai.selfY(), ai.screenEnemyX(0), ai.screenEnemyY(0)) == -1: ai.turnLeft(1) #print("aim turn left") elif ai.aimdir(0) >= 0 and ai.angleDiff( heading, ai.aimdir(0)) < 0 and ai.wallBetween( ai.selfX(), ai.selfY(), ai.screenEnemyX(0), ai.screenEnemyY(0)) == -1: ai.turnRight(1) #print("aim turn right") elif left90Wall < right90Wall and minmax(10, (rate * ai.selfSpeed()), 100): ai.turnRight(1) #print("left90wall") elif right90Wall < left90Wall and minmax(10, (rate * ai.selfSpeed()), 100): ai.turnLeft(1) #print("right90wall") elif leftbackWall < minmax(5, (rate1 * ai.selfSpeed()), 50): ai.turnRight(1) #print("leftbackwall") elif rightbackWall < minmax(5, (rate1 * ai.selfSpeed()), 50): ai.turnLeft(1) #print("rightbackwall") #base case turn rules elif leftWall < rightWall: ai.turnRight(1) else: ai.turnLeft(1) #Thrust rules if ai.selfSpeed( ) <= when_to_thrust_speed and frontWall >= front_wall_distance_thrust: ai.thrust(1) #print("thrust 1") #dynamic thrust away from walls elif trackWall < track_wall_distance_thrust: ai.thrust(1) #print("thrust 2") #thrust away from back wall elif backWall < back_wall_distance_thrust: ai.thrust(1) #print("thrust 3") #Shot avoidance elif ai.shotAlert(0) >= 0 and ai.shotAlert( 0) <= shot_alert_distance and ai.shotVelDir( 0) != -1 and ai.angleDiff(heading, ai.shotVelDir(0)) > 0: #print("shotveldir turn left") ai.turnLeft(1) ai.thrust(1) elif ai.shotAlert(0) >= 0 and ai.shotAlert( 0) <= shot_alert_distance and ai.shotVelDir( 0) != -1 and ai.angleDiff(heading, ai.shotVelDir(0)) < 0: #print("shotveldir turn right") ai.turnRight(1) ai.thrust(1) #tracks frames alive if ai.selfAlive() == 1: frames += 1 elif ai.selfAlive() == 0 and frames == 0: pass else: #adds every fitness to a list to avoid the issue of xpilot score never resetting scores.append(ai.selfScore()) #base case if len(scores) < 2: current_score = scores[-1] else: current_score = scores[-1] - scores[-2] if current_score <= 0: current_score = 2 population[current_chrom][1] = (frames**2) * current_score print("fitness: ", population[current_chrom][1]) current_chrom += 1 print("current_chrom is: ", current_chrom) if current_chrom >= len(population): current_chrom = 0 print("current_chrom is: ", current_chrom) generation += 1 fitness_scores = fitness(population) #writes highest fitness agent to file if generation % 5 == 0: print("first write") current_fitness = max(fitness_scores) best_individual_index = fitness_scores.index(current_fitness) best_individual = population[best_individual_index][0] newfile = open("GA_output.txt", "a+") newfile.write("Generation: ") newfile.write("\n") newfile.write(str(generation)) newfile.write("\n") newfile.write("Best individual: ") newfile.write("\n") newfile.write(str(best_individual)) newfile.write("\n") newfile.write("Best fitness: ") newfile.write("\n") newfile.write(str(current_fitness)) newfile.write("\n") newfile.close() chrom_pair = top_individuals(population, fitness_scores) new_pop = [] new_pop += crossover(chrom_pair) while (len(new_pop) < population_size): new_pop += crossover(chrom_pair) population = [] population = new_pop #writes population to file if generation % 10 == 0: print("second write") popfile = open("GA_pop.txt", "a+") popfile.write("Generation: ") popfile.write("\n") popfile.write(str(generation)) popfile.write("\n") for i in population: popfile.write(str(i)) popfile.write("\n") popfile.write("\n") popfile.close() frames = 0
def AI_loop(): """ The main loop for this agent! Prod.py is a rule-based expert system. """ # Release keys ai.thrust(0) ai.turnLeft(0) ai.turnRight(0) # Heuristics sideFeelerOffset = 65 # Offsets from heading for wall feelers (degrees) perpFeelerOffset = 90 # (degrees) trackFeelerOffset = 45 # (degrees) nearLimit = 150 # Threshold for a relatively "close" object (xp distance units) nearLimitThreat = 300 # Threshold for a "very close" object (xp distance units) shotDanger = 130 # Threshold for relatively "close" bullets (xp distance units) speedLimit = 5 # (xp speed units) powerHigh = 45 # (xp thrust power units) powerLow = 20 # (xp thrust power units) targetingAccuracy = 5 # Tolerance from heading within which firing is OK (degrees) # Reset everything else ai.setTurnSpeedDeg(20) # Artificial handicap! ai.setPower(powerLow) # Acquire information heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) feelers = [] heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) frontWall = ai.wallFeeler(500, heading) leftWall = ai.wallFeeler(500, heading + perpFeelerOffset) rightWall = ai.wallFeeler(500, heading - perpFeelerOffset) trackWall = ai.wallFeeler(500, tracking) rearWall = ai.wallFeeler(500, heading - 180) backLeftWall = ai.wallFeeler(500, heading + 135) backRightWall = ai.wallFeeler(500, heading - 135) frontLeftWall = ai.wallFeeler(500, heading + 45) frontRightWall = ai.wallFeeler(500, heading - 45) feelers.append(frontWall) feelers.append(leftWall) feelers.append(rightWall) feelers.append(trackWall) feelers.append(rearWall) feelers.append(backLeftWall) feelers.append(backRightWall) feelers.append(frontLeftWall) feelers.append(frontRightWall) # Collect distances if ai.enemyDistanceId(ai.closestShipId()) > 0: closestPlayerDistance = ai.enemyDistanceId(ai.closestShipId()) else: closestPlayerDistance = math.inf if ai.shotDist(0) > 0: closestBulletDistance = ai.shotDist(0) else: closestBulletDistance = math.inf dcw = min(feelers) distToNearestThreat = min(closestPlayerDistance, closestBulletDistance) # Assign priority to nearest threat if closestBulletDistance <= dcw and closestBulletDistance <= closestPlayerDistance: # if closest threat is a bullet priority = 1 elif dcw <= closestPlayerDistance and dcw <= closestBulletDistance: # if closest threat is a wall priority = 2 else: # closest threat is a player priority = 3 if distToNearestThreat < nearLimitThreat: ai.setPower(powerHigh) # If the closest threat is a bullet if priority == 1: m = angleToPointDeg((ai.selfX(), ai.selfY()), (ai.shotX(0), ai.shotY(0))) if m >= 0: ai.turnRight(1) else: ai.turnLeft(1) if ai.shotAlert(0) < shotDanger: ai.thrust(1) # If the closest threat is a wall elif priority == 2: # Thrust if ai.selfSpeed() <= speedLimit: ai.thrust(1) elif trackWall < nearLimit and angleDiff(heading, tracking) > 90: ai.thrust(1) elif rearWall < nearLimit and angleDiff(heading, tracking) > 90: ai.thrust(1) # Turn if trackWall < nearLimit and leftWall < rightWall: ai.turnRight(1) elif trackWall < nearLimit and rightWall < leftWall: ai.turnLeft(1) elif backLeftWall < nearLimit and rightWall > 50: ai.turnRight(1) elif backRightWall < nearLimit and leftWall > 50: ai.turnLeft(1) elif frontRightWall < nearLimit: ai.turnLeft(1) elif frontLeftWall < nearLimit: ai.turnRight(1) # If the closest threat is a player elif priority == 3: m = angleToPointDeg((ai.selfX(), ai.selfY()), (ai.shotX(0), ai.shotY(0))) if m <= 0: ai.turnRight(1) else: ai.turnLeft(1) if ai.selfHeadingDeg() <= (targetingAccuracy + angleToPointDeg( (ai.selfX(), ai.selfY()), (ai.screenEnemyX(0), ai.screenEnemyY(0)))) and ai.selfHeadingDeg( ) >= (targetingAccuracy - angleToPointDeg( (ai.selfX(), ai.selfY()), (ai.screenEnemyX(0), ai.screenEnemyY(0)))): ai.fireShot()
def enemyBehindWall(self, idx): if ai.wallBetween(ai.selfX(), ai.selfY(), ai.screenEnemyX(idx), ai.screenEnemyY(idx)) == -1: return False return True
def AI_loop(self): # print("AI_LOOP") if ai.selfAlive() == 0: print("selfAlive is 0") # if ai.selfAlive() == 0 and time2quit: outputFile = open("output.txt", "w") outputFile.write(str(self.counter)) outputFile.close() # ai.quitAI() # print(countFrames) # Release keys ai.thrust(0) ai.turnLeft(0) ai.turnRight(0) ai.setTurnSpeed(55) turnSpeedMin = 15 turnSpeedMax = 64 # Heuristics #frontFeelerOffset = 35 ffo = self.frontFeelerOffset rfo = self.rearFeelerOffset perpFeelerOffset = 90 #rearFeelerOffset = 135 # speedLimit = 5 lowSpeedLimit = 2 targetingAccuracy = 4 # 1/2 tolerance in deg for aiming accuracy shotIsDangerous = 130 # Acquire information heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) # Wall feeling feelers = [] frontWall = ai.wallFeeler(750, heading) leftWall = ai.wallFeeler(500, heading + perpFeelerOffset) rightWall = ai.wallFeeler(500, heading - perpFeelerOffset) trackWall = ai.wallFeeler(750, tracking) rearWall = ai.wallFeeler(250, heading - 180) backLeftWall = ai.wallFeeler(500, heading + round(rfo)) backRightWall = ai.wallFeeler(500, heading - round(rfo)) frontLeftWall = ai.wallFeeler(500, heading + round(ffo)) frontRightWall = ai.wallFeeler(500, heading - round(ffo)) feelers.append(frontWall) feelers.append(leftWall) feelers.append(rightWall) feelers.append(trackWall) feelers.append(rearWall) feelers.append(backLeftWall) feelers.append(backRightWall) feelers.append(frontLeftWall) feelers.append(frontRightWall) if min(feelers) < self.veryNearLimit: self.speedLimit = lowSpeedLimit # Movement controls # Compute angles to the nearest things m = self.angleToPointDeg((ai.selfX(), ai.selfY()), (ai.shotX(0), ai.shotY(0))) n = self.angleToPointDeg((ai.selfX(), ai.selfY()), (ai.shotX(0), ai.shotY(0))) # Sets turn speed and degree to the enemy if ai.screenEnemyX(0) >= 0: enemyDeg = self.angleToPointDeg( (ai.selfX(), ai.selfY()), (ai.screenEnemyX(0), ai.screenEnemyY(0))) ai.setTurnSpeed( self.rangeMap(abs(enemyDeg), 0, 180, turnSpeedMin, turnSpeedMax)) else: enemyDeg = self.angleToPointDeg( (ai.selfRadarX(), ai.selfRadarY()), (ai.closestRadarX(), ai.closestRadarY())) ai.setTurnSpeed( self.rangeMap(abs(enemyDeg), 0, 180, turnSpeedMin, turnSpeedMax)) # Turn towards unoccluded enemies while in open space if ai.aimdir(0) >= 0 and self.headingDiff( heading, ai.aimdir(0)) > 0 and not self.enemyBehindWall(0): ai.turnRight(1) elif ai.aimdir(0) >= 0 and self.headingDiff( heading, ai.aimdir(0)) < 0 and not self.enemyBehindWall(0): ai.turnLeft(1) # Turn away from nearby walls elif min(feelers) < ai.enemyDistance( 0 ) and trackWall < self.nearLimit and leftWall < rightWall: #DONE ai.turnRight(1) elif min(feelers) < ai.enemyDistance( 0 ) and trackWall < self.nearLimit and rightWall < leftWall: #DONE ai.turnLeft(1) elif min(feelers) < ai.enemyDistance( 0 ) and backLeftWall < self.nearLimit and rightWall > self.nearLimit: ai.turnRight(1) elif min(feelers) < ai.enemyDistance( 0 ) and backRightWall < self.nearLimit and leftWall > self.nearLimit: ai.turnLeft(1) elif min(feelers) < ai.enemyDistance( 0) and frontRightWall < self.nearLimit: ai.turnLeft(1) elif min(feelers) < ai.enemyDistance( 0) and frontLeftWall < self.nearLimit: ai.turnRight(1) # TODO: NEED RULES FOR WHEN ENEMY IS OCCLUDED elif self.enemyBehindWall and enemyDeg < 0: ai.turnRight(1) elif self.enemyBehindWall and enemyDeg >= 0: ai.turnLeft(1) # Turn away from shots elif m > 0: ai.turnRight(1) elif m < 0: ai.turnLeft(1) # THRUST (includes fuzzy controller) # Power levels power1 = 55 power2 = 45 power3 = 55 power4 = 36 power5 = 36 power6 = 28 power7 = 24 power8 = 30 mfS = self.mfSpeed(ai.selfSpeed()) mfD = self.mfDanger(ai.shotAlert(0)) # Aggregation # if S is high and D is moderate or high: p1 = max(mfS[2], min(mfD[1], mfD[2])) # if S is moderate and D is moderate: p2 = max(mfS[1], mfD[1]) # if S is low and D is high: p3 = max(mfS[0], mfD[2]) # if S is moderate and D is moderate: p4 = max(mfS[1], mfD[1]) # if S is low and D is moderate: p5 = max(mfS[0], mfD[1]) # if S is high and D is low: p6 = max(mfS[2], mfD[0]) # if S is moderate and D is low: p7 = max(mfS[1], mfD[0]) # if S is low and D is low: p8 = max(mfS[0], mfD[0]) consequents = [ power1, power2, power3, power4, power5, power6, power7, power8 ] memberships = [p1, p2, p3, p4, p5, p6, p7, p8] # Defuzzification ai.setPower(self.crispify(memberships, consequents)) # Further thrusting rules if ai.shotAlert(0) < 130 and ai.shotAlert(0) != -1 and ai.wallBetween( ai.selfX(), ai.selfY(), ai.shotX(0), ai.shotY(0)) == -1: ai.thrust(1) elif ai.selfSpeed() <= self.speedLimit: ai.thrust(1) elif trackWall < self.nearLimit and self.angleDiff(heading, tracking) > 75: ai.thrust(1) elif rearWall < self.nearLimit and self.angleDiff(heading, tracking) > 90: ai.thrust(1) # FIRE # Restrict firing to reasonably accurate attempts if self.headingDiff(heading, ai.aimdir( 0)) < targetingAccuracy and not self.enemyBehindWall(0): ai.fireShot() self.counter += 1
def AI_loop(self): # print("AI_LOOP") if ai.selfAlive() == 0: outputFile = open("fitness.txt", "a") # outputFile.write(str((self.totalDists/self.counter))+"\t") outputFile.write(str(int((self.fitness**1.2))) + "\t") [ print(str("%.5f" % g) + "\t", end="", file=outputFile) for g in self.chromosome ] print("\n", end="", file=outputFile) outputFile.close() # Release keys ai.thrust(0) ai.turnLeft(0) ai.turnRight(0) ai.setTurnSpeed(55) # Heuristics frontFeelerOffset = 45 perpFeelerOffset = 90 rearFeelerOffset = 135 # turnSpeedMin = 15 # learn range: 4 - 24 turnSpeedMax = 55 speedLimit = 5 # learn range: 2-6 lowSpeedLimit = 2 targetingAccuracy = 4 # 1/2 tolerance in deg for aiming accuracy shotIsDangerous = 130 # Acquire information heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) ###=== ENEMY FEELERS ===### # gets angle to enemy enemyDeg = self.angleToPointDeg( (ai.selfX(), ai.selfY()), (ai.screenEnemyX(0), ai.screenEnemyY(0))) enemyWallDistances = [] # maxAngleOffset = 90 # learn range: 30 - 120 # resolution = 5 # learn range: 2 - 10 distAngleTuples = [] # creates tuples of degrees and wallFeelers for m in (0, self.maxAngleOffset, self.resolution): distAngleTuples.append( (enemyDeg - m, ai.wallFeeler(500, int(enemyDeg - m)))) distAngleTuples.append( (enemyDeg + m, ai.wallFeeler(500, int(enemyDeg + m)))) # gets furthest feeler maxFeelerAngle = max(distAngleTuples, key=self.returnSecond) angleToOpenSpace = self.headingDiff(ai.selfHeadingDeg(), maxFeelerAngle[0]) ###=== WALL FEELERS ===### frontWall = ai.wallFeeler( self.genericFeelerDist, heading) # wall feeler for wall directly ahead leftFrontWall = ai.wallFeeler( self.genericFeelerDist, heading + frontFeelerOffset) # wall feeler for wall 45 degrees to the left rightFrontWall = ai.wallFeeler( self.genericFeelerDist, heading - frontFeelerOffset) # wall feeler for wall 45 degrees to the right leftWall = ai.wallFeeler( self.genericFeelerDist, heading + perpFeelerOffset) # wall feeler for wall 90 degrees to the left rightWall = ai.wallFeeler( self.genericFeelerDist, heading - perpFeelerOffset) # wall feeler for wall 90 degrees to the right backWall = ai.wallFeeler(self.genericFeelerDist, heading - 180) # wall feeler for wall straight back leftBackWall = ai.wallFeeler( self.genericFeelerDist, heading + rearFeelerOffset) # wall feeler for wall 135 degrees to the left rightBackWall = ai.wallFeeler( self.genericFeelerDist, heading - rearFeelerOffset) # wall feeler for wall 135 degrees to the right trackWall = ai.wallFeeler( self.genericFeelerDist, tracking) # wall in front of where ship is moving # Keep track of all the feeler distances feelers = [ frontWall, leftFrontWall, rightFrontWall, leftWall, rightWall, backWall, leftBackWall, rightBackWall, trackWall ] # Aim assist leftDir = (heading + 90) % 360 # angle 90 degrees to the left of current heading rightDir = (heading - 90 ) % 360 # angle 90 degrees to the right of current heading aimer = ai.aimdir( 0 ) # direction that the ship needs to turn to in order to face the enemy in degrees shot = ai.shotAlert( 0 ) # returns a danger rating of a shot, the smaller the number the more likely the shot is to hit the ship enemyX = ai.screenEnemyX(0) # returns the closest enemy's x-coord enemyY = ai.screenEnemyY(0) # returns the closest enemy's y-coord selfX = ai.selfX() # returns the ship's x-coord selfY = ai.selfY() # returns the ship's x-coord # Fuzzy variable declaration trackRisk = riskEval(trackWall, ai.selfSpeed()) #risk of running into trackWall frontRisk = riskEval(frontWall, ai.selfSpeed()) #risk of running into frontWall leftRisk = riskEval(leftWall, ai.selfSpeed()) #risk of running into leftWall rightRisk = riskEval(rightWall, ai.selfSpeed()) #risk of running into rightWall LFRisk = riskEval(leftFrontWall, ai.selfSpeed()) #risk of running into leftFrontWall RFRisk = riskEval(rightFrontWall, ai.selfSpeed()) #risk of running into rightFrontWall LBRisk = riskEval(leftBackWall, ai.selfSpeed()) #risk of running into leftBackWall RBRisk = riskEval(rightBackWall, ai.selfSpeed()) #risk of running into rightBackWall backRisk = riskEval(backWall, ai.selfSpeed()) #risk of running into backWall # Compress some wall feelers sTrack = self.squisher(trackWall) sLeft = self.squisher(leftFrontWall) sRight = self.squisher(rightFrontWall) sLeftStraight = self.squisher(leftWall) sRightStraight = self.squisher(rightWall) # output from neural network that tells how much to turn and which direction turn = self.trainedNeuralNetwork(sTrack, sLeft, sRight, sLeftStraight, sRightStraight) ###=== THRUST POWER ADJUSTMENT ===# # Power levels mfS = self.mfSpeed(ai.selfSpeed()) mfD = self.mfDanger(ai.shotAlert(0)) # if S is high and D is moderate or high: p1 = max(mfS[2], min(mfD[1], mfD[2])) # if S is moderate and D is moderate: p2 = max(mfS[1], mfD[1]) # if S is low and D is high: p3 = max(mfS[0], mfD[2]) # if S is moderate and D is moderate: p4 = max(mfS[1], mfD[1]) # if S is low and D is moderate: p5 = max(mfS[0], mfD[1]) # if S is high and D is low: p6 = max(mfS[2], mfD[0]) # if S is moderate and D is low: p7 = max(mfS[1], mfD[0]) # if S is low and D is low: p8 = max(mfS[0], mfD[0]) consequents = [55, 45, 55, 36, 36, 28, 24, 30] memberships = [p1, p2, p3, p4, p5, p6, p7, p8] ai.setPower(self.crispify(memberships, consequents)) if ai.enemyDistance(0) > self.lastDist and ai.enemyDistance( 0) < self.enemyClose: ai.thrust(1) elif ai.selfSpeed( ) <= 3 and frontWall >= 200: # if speed is slow and front wall is far away, thrust ai.thrust(1) elif trackWall < 60 and frontWall >= 200: # if the track wall is close, thrust ai.thrust(1) elif backWall < 20: # if the back wall is close, thrust ai.thrust(1) ###=== TURNING RULES ===### # Escape shots if shot > 0 and shot < 70: # if a shot is closeby, turn and thrust to avoid if self.angleDif(rightDir, ai.shotX(0)) < self.angleDif( leftDir, ai.shotX(0) ) or self.angleDif(rightDir, ai.shotY(0)) < self.angleDif( leftDir, ai.shotY(0) ): # if shot is coming from the right, turn away and thrust # print("Turning: avoiding shot")#debug ai.turnLeft(1) ai.thrust(1) elif self.angleDif(leftDir, ai.shotX(0)) < self.angleDif( rightDir, ai.shotX(0) ) or self.angleDif(leftDir, ai.shotY(0)) < self.angleDif( rightDir, ai.shotY(0) ): # if shot is coming from the left, turn away and shoot ------> change this shot is just a number # print("Turning: avoiding shot")#debug ai.turnRight(1) ai.thrust(1) # Turn towards unoccluded enemy elif aimer >= 0 and self.angleDif(rightDir, aimer) < self.angleDif( leftDir, aimer) and not self.enemyBehindWall( 0): # if an enemy to the right, turn and shoot it if ai.screenEnemyX(0) >= 0: enemyDeg = self.angleToPointDeg( (ai.selfX(), ai.selfY()), (ai.screenEnemyX(0), ai.screenEnemyY(0))) ai.setTurnSpeed( self.rangeMap(abs(enemyDeg), 0, 180, self.turnSpeedMin, turnSpeedMax)) else: enemyDeg = self.angleToPointDeg( (ai.selfRadarX(), ai.selfRadarY()), (ai.closestRadarX(), ai.closestRadarY())) ai.setTurnSpeed( self.rangeMap(abs(enemyDeg), 0, 180, self.turnSpeedMin, turnSpeedMax)) # print("Turning: aiming right")#debug ai.turnRight(1) elif aimer >= 0 and self.angleDif(leftDir, aimer) < self.angleDif( rightDir, aimer) and not self.enemyBehindWall( 0): # if an enemy to the left, turn and shoot it if ai.screenEnemyX(0) >= 0: enemyDeg = self.angleToPointDeg( (ai.selfX(), ai.selfY()), (ai.screenEnemyX(0), ai.screenEnemyY(0))) ai.setTurnSpeed( self.rangeMap(abs(enemyDeg), 0, 180, self.turnSpeedMin, turnSpeedMax)) else: enemyDeg = self.angleToPointDeg( (ai.selfRadarX(), ai.selfRadarY()), (ai.closestRadarX(), ai.closestRadarY())) ai.setTurnSpeed( self.rangeMap(abs(enemyDeg), 0, 180, self.turnSpeedMin, turnSpeedMax)) # print("Turning: aiming left")#debug ai.turnLeft(1) #fuzzy avoid walls ahead elif leftRisk > rightRisk and trackRisk > 0.5: # and min(feelers) < self.nearLimit: #if the left wall and track walls are close, turn right #if enemyX >=0 and enemyY >= 0 and ai.wallBetween(selfX, selfY, enemyX, enemyY) == -1: ai.turnRight(1) # print("Turning: fuzzy right")#debug elif rightRisk > leftRisk and trackRisk > 0.5: # and min(feelers) < self.nearLimit: #if the right wall and track walls are close, turn left # if enemyX >=0 and enemyY >= 0 and ai.wallBetween(selfX, selfY, enemyX, enemyY) == -1: ai.turnLeft(1) # print("Turning: fuzzy left")#debug # Turn to open space nearest the angle to the enemy elif self.enemyBehindWall(0) and min(feelers) > self.nearLimit: if angleToOpenSpace < 0: # print("Turning: open space left")#debug ai.turnLeft(1) elif angleToOpenSpace > 0: # print("Turning: open space right")#debug ai.turnRight(1) # if neural net value is not between 0.48 and 0.52 then we have to turn right or left elif not (turn >= 0.43 and turn <= 0.57): if turn < 0.43: # turn right if value is below 0.43 # print("Turning: neural net right")#debug ai.turnRight(1) elif turn > 0.57: # turn left if value is below 0.57 # print("Turning: neural net left")#debug ai.turnLeft(1) ###=== FIRING RULES ===### # Restrict firing to reasonably accurate attempts: # accurate range, enemy not behind wall and enemy close enough if self.headingDiff( heading, ai.aimdir(0)) < targetingAccuracy and not self.enemyBehindWall( 0) and ai.enemyDistance(0) < self.enemyFireDist: ai.fireShot() # print("Shot Fired")#debug # print("Firing Dist: ", self.enemyFireDist)#debug self.counter += 1 ###=== How did we die? and other Fitness Calculations ===### # Fitness function information self.totalDists += ai.enemyDistance(0) if ai.enemyDistance(0) > 0: self.currentDist = ai.enemyDistance(0) if self.currentDist < self.lastDist: self.fitness += 1 self.lastDist = self.currentDist self.fitness += 1 alive = ai.selfAlive() message = ai.scanGameMsg(1) # print(message)#debug if alive == 0: self.framesDead += 1 # print(self.framesDead, message)#debug if self.framesDead == 2: # print("dead now")#debug # Ran into wall if message.find("Beal-Morneault") != -1 and message.find( "wall") != -1: print("End of match: wall collision.") #debug self.fitness -= self.wallPenalty # Crashed into player elif message.find("crashed.") != -1: print("End of match: player collision.") #debug self.fitness -= self.crashPenalty # Killed by bullet elif message.find("Beal-Morneault was") != -1: print("End of match: killed by opponent.") #debug self.fitness -= self.killedPenalty # Killed the opponent elif message.find("by a shot from Beal-Morneault") != -1: print("End of match: killed the opponent!") #debug self.fitness += self.killerBonus else: print("End of match: enemy died.") self.fitness += (ai.selfScore() - ai.enemyScoreId(0) ) * self.scoreDiffBonusFactor ai.quitAI() else: self.framesDead = 0
def AI_loop(): #Release keys ai.thrust(0) ai.turnLeft(0) ai.turnRight(0) ai.setTurnSpeed(45) turn, thrust, shoot = 0.5, 0, 0 maxSpeed = 3 shotAngle = 9 wallClose = 12 #Set variables""" heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) trackWall = ai.wallFeeler(500, tracking) trackLWall = ai.wallFeeler(500, tracking+3) trackRWall = ai.wallFeeler(500, tracking - 3) frontWall = ai.wallFeeler(500,heading) flWall = ai.wallFeeler(500, heading + 10) frWall = ai.wallFeeler(500, heading - 10) leftWall = ai.wallFeeler(500,heading+90) rightWall = ai.wallFeeler(500,heading-90) trackWall = ai.wallFeeler(500,tracking) backWall = ai.wallFeeler(500, heading - 180) backLeftWall = ai.wallFeeler(500, heading - 185) backRightWall = ai.wallFeeler(500, heading - 175) speed = ai.selfSpeed() closest = min(frontWall, leftWall, rightWall, backWall, flWall, frWall) def closestWall(x): #Find the closest Wall return { frontWall : 1, leftWall : 2, rightWall : 3, backWall : 4, flWall : 5, frWall : 6, }[x] wallNum = closestWall(closest) #Code for finding the angle to the closest ship targetX, targetY = ai.screenEnemyX(0), ai.screenEnemyY(0) calcDir = 0 if targetX- ai.selfX() != 0: calcDir = (math.degrees(math.atan2((targetY - ai.selfY()), (targetX- ai.selfX()))) + 360)%360 crashWall = min(trackWall, trackLWall, trackRWall) #The wall we are likely to crash into if we continue on our current course #Rules for turning if crashWall > wallClose*speed and closest > 25 and targetX != -1: #If we are far enough away from a predicted crash and no closer than 25 pixels to a wall we can try and aim and kill them diff = (calcDir - heading) if ai.shotAlert(0) > -1 and ai.shotAlert(0) < 35: #If we are about to get shot ai.turnRight(1) #Screw aiming and turn right and thrust ai.thrust(1) thrust = 1 #This is arguably a horrible strategy because our sideways profile is much larger, but it's required for the grade elif diff >= 0: if diff >= 180: ai.turnRight(1) #If the target is to our right- turn right turn = 1 else : ai.turnLeft(1) #If the target is to our left - turn left turn = 0 else : if diff > -180: ai.turnRight(1) #If the target is to our right - turn right turn = 1 else : ai.turnLeft(1) #If the target is to our left - turn left turn = 0 #Rules for avoiding death else : # if crashWall/ai.selfSpeed() > ai.closestShot() : if wallNum == 1 or wallNum == 5 or wallNum == 6: #Front Wall is Closest (Turn Away From It) ai.turnLeft(1) turn = 0 elif wallNum == 2 : # Left Wall is Closest (Turn Away From It) ai.turnRight(1) turn = 1 elif wallNum == 3 : #Right Wall is Closest (Turn Away From It) ai.turnLeft(1) turn = 0 else : #Back Wall is closest- turn so that we are facing directly away from it if backLeftWall < backRightWall: ai.turnRight(1) #We need to turn right to face more directly away from it turn = 1 if backLeftWall > backRightWall: # We need to turn left to face more directly away from it ai.turnLeft(1) turn = 0 #Rules for thrusting if speed < maxSpeed and frontWall > 100: #If we are moving slowly and we won't ram into anything, accelerate ai.thrust(1) thrust = 1 elif trackWall < 250 and (ai.angleDiff(heading, tracking) > 120): #If we are getting close to a wall, and we can thrust away from it, do so ai.thrust(1) thrust = 1 elif backWall < 20: #If there is a wall very close behind us, get away from it ai.thrust(1) thrust = 1 if abs(calcDir - heading) < shotAngle : #If we are close to the current proper trajectory for a shot then fire ai.fireShot() shoot = 1 #adjust the the learning NN infile = open("myBotWeights.txt","r") weight = eval(infile.read()) infile.close() sendData = getSendData(turn, thrust, shoot) weight = adjustNN(sendData, 21, 8, 3, weight) outfile = open("myBotWeights.txt","w") outfile.write(str(weight)) outfile.close()