class Chunk(Entity): chunkmass = 5.0 def __init__(self, world, blocks, pos, hpr=Point3(0,0,0), diff = Vec3(0,0,0), angVel = Vec3(0,0,0), linVel = Vec3(0,0,0)): super(Chunk, self).__init__() self.mass = len(blocks)*Chunk.chunkmass self.world = world self.blocks = blocks self.bnode = BulletRigidBodyNode() self.bnode.setMass(self.mass) self.bnode.setAngularFactor(Vec3(0,1,0)) self.bnode.setLinearSleepThreshold(20) self.bnode.setAngularSleepThreshold(20) self.bnode.setAngularVelocity(angVel) self.bnode.setLinearVelocity(linVel) self.np = utilities.app.render.attachNewNode(self.bnode) self.np.setPos(pos.x,20,pos.y) self.np.setHpr(hpr) self.np.setPos(self.np, diff) self.bnode.setPythonTag("entity", self) self.inScope = False # culling not done yet # centre the blocks around the np and add their shapes in. self.minMax() cog = Point2((self.minX+self.maxX) / 2.0, (self.minY+self.maxY) / 2.0) for block in blocks: block.rebuild(self, cog) world.bw.attachRigidBody(self.bnode) self.hitlist = dict() def update(self, timer): for index in self.hitlist: # returns true if the wall is destroyed by the hit if self.blocks[index].hitby(self.hitlist[index]): self.blocks[index].destroy() self.rebuild(index) self.hitlist.clear() if self.playerDistance() > 40.0: self.bnode.setAngularSleepThreshold(1) self.bnode.setLinearSleepThreshold(1) else: self.bnode.setAngularSleepThreshold(0) self.bnode.setLinearSleepThreshold(0) def playerDistance(self): sp = self.np.getPos() pp = self.world.player.node.getPos() distance = hypot(sp.x - pp.x, sp.z - pp.z) return distance # remove an element and rebuild # TODO add another method for removing multiple # blocks in a single go def rebuild(self, index): deadblock = self.blocks[index] out = list() for block in self.blocks: for edge in block.edges: if edge == deadblock: block.edges.remove(edge) for block in deadblock.edges: chunk = list() self.searchBlock(block, chunk, deadblock) out.append(chunk) #out is a list of lists of populated blocks #remove duplicate chunks results = list() for chunk in out: chunk.sort(compareBlock) if not chunk in results and len(chunk) > 0: results.append(chunk) for result in results: self.minMax(result) #diff = Point2((self.minX+self.maxX) / 2.0, (self.minY+self.maxY) / 2.0) diff = Vec3((self.minX+self.maxX) / 2.0, 0, (self.minY+self.maxY) / 2.0) p = self.np.getPos() pos = Point2(p.x, p.z) h = self.np.getHpr() self.world.entities.append(Chunk(self.world, result, pos, h, diff, self.bnode.getAngularVelocity(), self.bnode.getLinearVelocity())) self.destroyNow() self.remove = True def searchBlock(self, block, lst, deleted): if block in lst: return else: lst.append(block) for newblock in block.edges: self.searchBlock(newblock, lst, deleted) def minMax(self, blocks=None): if blocks == None: blocks = self.blocks self.minX = blocks[0].pos.x self.minY = blocks[0].pos.y self.maxX = blocks[0].pos.x self.maxY = blocks[0].pos.y for point in blocks: self.minX = min(point.pos.x, self.minX) self.minY = min(point.pos.y, self.minY) self.maxX = max(point.pos.x, self.maxX) self.maxY = max(point.pos.y, self.maxY) # Need to clear the bulletrigidbody immediately # so that the phys object isn't present during next sim phase # which occurs before cleanup normally. Otherwise shit will # fly everywhere since two things are inside each other def destroyNow(self): self.world.bw.removeRigidBody(self.bnode) return # since this is handled earlier nothing happens def destroy(self): return def hitby(self, projectile, index): self.hitlist[index] = projectile
class Player(Entity): walkspeed = 50 damping = 0.9 topspeed = 15 leftMove = False rightMove = False jumpToggle = False crouchToggle = False def __init__(self, world): super(Player, self).__init__() self.obj = utilities.loadObject("player", depth=20) self.world = world self.health = 100 self.inventory = dict() self.depth = self.obj.getPos().y self.location = Point2(0,0) self.velocity = Vec3(0) self.pt = 0.0 self.shape = BulletBoxShape(Vec3(0.3, 1.0, 0.49)) self.bnode = BulletRigidBodyNode('Box') self.bnode.setMass(1.0) self.bnode.setAngularVelocity(Vec3(0)) self.bnode.setAngularFactor(Vec3(0)) self.bnode.addShape(self.shape) self.bnode.setLinearDamping(0.95) self.bnode.setLinearSleepThreshold(0) world.bw.attachRigidBody(self.bnode) self.bnode.setPythonTag("Entity", self) self.bnode.setIntoCollideMask(BitMask32.bit(0)) self.node = utilities.app.render.attachNewNode(self.bnode) self.node.setPos(self.obj.getPos()) self.obj.setPos(0,0,0) self.obj.setScale(1) self.obj.reparentTo(self.node) self.node.setPos(self.location.x, self.depth, self.location.y) def initialise(self): self.inventory["LightLaser"] = LightLaser(self.world, self) self.inventory["Blowtorch"] = Blowtorch(self.world, self) self.inventory["Grenade"] = Grenade(self.world, self) for i in self.inventory: self.inventory[i].initialise() self.currentItem = self.inventory["Blowtorch"] self.currentItem.equip() self.armNode = self.obj.attachNewNode("arm") self.armNode.setPos(0.20,0,0.08) self.arm = utilities.loadObject("arm", scaleX = 0.5,scaleY = 0.5, depth = -0.2) self.arm.reparentTo(self.armNode) def activate(self): self.currentItem.activate() def update(self, timer): self.velocity = self.bnode.getLinearVelocity() if (self.leftMove): self.bnode.applyCentralForce(Vec3(-Player.walkspeed,0,0)) if (self.rightMove): self.bnode.applyCentralForce(Vec3(Player.walkspeed,0,0)) if (self.jumpToggle): self.bnode.applyCentralForce(Vec3(0,0,Player.walkspeed)) if (self.crouchToggle): self.bnode.applyCentralForce(Vec3(0,0,-Player.walkspeed)) if (self.velocity.x < -self.topspeed): self.velocity.x = -self.topspeed if (self.velocity.x > self.topspeed): self.velocity.x = self.topspeed mouse = utilities.app.mousePos # extrude test near = Point3() far = Point3() utilities.app.camLens.extrude(mouse, near, far) camp = utilities.app.camera.getPos() near *= 20 # player depth if near.x != 0: angle = atan2(near.z + camp.z - self.node.getPos().z, near.x + camp.x - self.node.getPos().x) #angle = atan2(near.z, near.x) else: angle = 90 self.angle = angle # set current item to point at cursor self.currentItem.update(timer) # move the camera so the player is centred horizontally, # but keep the camera steady vertically utilities.app.camera.setPos(self.node.getPos().x, 0, self.node.getPos().z) #move arm into correct position. gunLength = 2.0 self.gunVector = Point2(cos(angle)*gunLength - self.armNode.getX()*5, sin(angle)*gunLength - self.armNode.getZ()*2) armAngle = atan2(self.gunVector.y, self.gunVector.x) self.arm.setHpr(self.armNode, 0, 0, -1 * degrees(armAngle)) def moveLeft(self, switch): self.leftMove = switch #self.bnode.applyCentralForce(Vec3(-500,0,0)) def moveRight(self, switch): self.rightMove = switch #self.bnode.applyCentralForce(Vec3(500,0,0)) def jump(self, switch): self.jumpToggle = switch def crouch(self, switch): self.crouchToggle = switch
class DroneEnv(gym.Env): def __init__(self): self.visualize = False if self.visualize == False: from pandac.PandaModules import loadPrcFileData loadPrcFileData("", "window-type none") import direct.directbase.DirectStart self.ep = 0 self.ep_rew = 0 self.t = 0 self.prevDis = 0 self.action_space = Box(-1, 1, shape=(3, )) self.observation_space = Box(-50, 50, shape=(9, )) self.target = 8 * np.random.rand(3) self.construct() self.percentages = [] self.percentMean = [] self.percentStd = [] taskMgr.add(self.stepTask, 'update') taskMgr.add(self.lightTask, 'lights') self.rotorForce = np.array([0, 0, 9.81], dtype=np.float) def construct(self): if self.visualize: base.cam.setPos(17, 17, 1) base.cam.lookAt(0, 0, 0) wp = WindowProperties() wp.setSize(1200, 500) base.win.requestProperties(wp) # World self.world = BulletWorld() self.world.setGravity(Vec3(0, 0, -9.81)) #skybox skybox = loader.loadModel('../models/skybox.gltf') skybox.setTexGen(TextureStage.getDefault(), TexGenAttrib.MWorldPosition) skybox.setTexProjector(TextureStage.getDefault(), render, skybox) skybox.setTexScale(TextureStage.getDefault(), 1) skybox.setScale(100) skybox.setHpr(0, -90, 0) tex = loader.loadCubeMap('../textures/s_#.jpg') skybox.setTexture(tex) skybox.reparentTo(render) render.setTwoSided(True) #Light plight = PointLight('plight') plight.setColor((1.0, 1.0, 1.0, 1)) plnp = render.attachNewNode(plight) plnp.setPos(0, 0, 0) render.setLight(plnp) # Create Ambient Light ambientLight = AmbientLight('ambientLight') ambientLight.setColor((0.15, 0.05, 0.05, 1)) ambientLightNP = render.attachNewNode(ambientLight) render.setLight(ambientLightNP) # Drone shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5)) self.drone = BulletRigidBodyNode('Box') self.drone.setMass(1.0) self.drone.addShape(shape) self.droneN = render.attachNewNode(self.drone) self.droneN.setPos(0, 0, 3) self.world.attachRigidBody(self.drone) model = loader.loadModel('../models/drone.gltf') model.setHpr(0, 90, 0) model.flattenLight() model.reparentTo(self.droneN) blade = loader.loadModel("../models/blade.gltf") blade.reparentTo(self.droneN) blade.setHpr(0, 90, 0) blade.setPos(Vec3(0.3, -3.0, 1.1)) rotation_interval = blade.hprInterval(0.2, Vec3(180, 90, 0)) rotation_interval.loop() placeholder = self.droneN.attachNewNode("blade-placeholder") placeholder.setPos(Vec3(0, 6.1, 0)) blade.instanceTo(placeholder) placeholder = self.droneN.attachNewNode("blade-placeholder") placeholder.setPos(Vec3(3.05, 3.0, 0)) blade.instanceTo(placeholder) placeholder = self.droneN.attachNewNode("blade-placeholder") placeholder.setPos(Vec3(-3.05, 3.0, 0)) blade.instanceTo(placeholder) #drone ligths self.plight2 = PointLight('plight') self.plight2.setColor((0.9, 0.1, 0.1, 1)) plnp = self.droneN.attachNewNode(self.plight2) plnp.setPos(0, 0, -1) self.droneN.setLight(plnp) #over light plight3 = PointLight('plight') plight3.setColor((0.9, 0.8, 0.8, 1)) plnp = self.droneN.attachNewNode(plight3) plnp.setPos(0, 0, 2) self.droneN.setLight(plnp) #target object self.targetObj = loader.loadModel("../models/target.gltf") self.targetObj.reparentTo(render) self.targetObj.setPos( Vec3(self.target[0], self.target[1], self.target[2])) def lightTask(self, task): count = globalClock.getFrameCount() rest = count % 100 if rest < 10: self.plight2.setColor((0.1, 0.9, 0.1, 1)) elif rest > 30 and rest < 40: self.plight2.setColor((0.9, 0.1, 0.1, 1)) elif rest > 65 and rest < 70: self.plight2.setColor((0.9, 0.9, 0.9, 1)) elif rest > 75 and rest < 80: self.plight2.setColor((0.9, 0.9, 0.9, 1)) else: self.plight2.setColor((0.1, 0.1, 0.1, 1)) return task.cont def getState(self): #vel = self.drone.get_linear_velocity() po = self.drone.transform.pos ang = self.droneN.getHpr() #velocity = np.nan_to_num(np.array([vel[0], vel[1], vel[2]])) position = np.array([po[0], po[1], po[2]]) state = np.array([position, self.target]).reshape(6, ) state = np.around(state, decimals=3) return state def getReward(self): reward = 0 s = self.getState() d = np.linalg.norm(s[0:3] - s[3:6]) if d < 20: reward = 20 - d reward = reward / 40 #/4000 #if d < self.prevDis : # reward *= 1.2 #self.prevDis = np.copy(d) return reward def reset(self): #log self.percentages.append(self.ep_rew) me = np.mean(self.percentages[-500:]) self.percentMean.append(me) self.percentStd.append(np.std(self.percentages[-500:])) s = self.getState() d = np.linalg.norm(np.abs(s[:3] - self.target)) ds = np.linalg.norm(s[:3] - np.array([0, 0, 4])) if self.ep % 50 == 0: self.PlotReward() print( f'{self.ep} {self.t} {self.ep_rew:+8.2f} {me:+6.2f} {d:6.2f} {ds:6.2f} {s}' ) #{s[:6]} #physics reset self.droneN.setPos(0, 0, 4) self.droneN.setHpr(0, 0, 0) self.drone.set_linear_velocity(Vec3(0, 0, 0)) self.drone.setAngularVelocity(Vec3(0, 0, 0)) self.rotorForce = np.array([0, 0, 9.81], dtype=np.float) #define new target: self.target = 8 * (2 * np.random.rand(3) - 1) #self.target = np.zeros((3)) self.target[2] = np.abs(self.target[2]) self.target[1] = np.abs(self.target[1]) self.targetObj.setPos( Vec3(self.target[0], self.target[1], self.target[2])) self.ep += 1 self.t = 0 self.ep_rew = 0 state = self.getState() return state def stepTask(self, task): dt = globalClock.getDt() if self.visualize: self.world.doPhysics(dt) else: self.world.doPhysics(0.1) self.drone.setDeactivationEnabled(False) #application of force force = Vec3(self.rotorForce[0], self.rotorForce[1], self.rotorForce[2]) self.drone.applyCentralForce(force) #should be action po = self.drone.transform.pos position = np.array([po[0], po[1], po[2]]) return task.cont def step(self, action): done = False reward = 0 self.t += 1 reward = self.getReward() self.ep_rew += reward state = self.getState() basis = np.array([0, 0, 9.81], dtype=np.float) self.rotorForce = basis + 0.2 * action #0.1 *action #10 sub steps in each step for i in range(5): c = taskMgr.step() self.rotorForce -= 0.05 * (self.rotorForce - basis) #time constraint if self.t > 150: done = True return state, reward, done, {} def PlotReward(self): c = range(len(self.percentages)) plt.plot(self.percentMean, c='b', alpha=0.8) plt.fill_between( c, np.array(self.percentMean) + np.array(self.percentStd), np.array(self.percentMean) - np.array(self.percentStd), color='g', alpha=0.3, label='Objective 1') plt.grid() plt.savefig('rews.png') plt.close()
class Chunk(Entity): chunkmass = 5.0 def __init__(self, world, blocks, pos, hpr=Point3(0, 0, 0), diff=Vec3(0, 0, 0), angVel=Vec3(0, 0, 0), linVel=Vec3(0, 0, 0)): super(Chunk, self).__init__() self.mass = len(blocks) * Chunk.chunkmass self.world = world self.blocks = blocks self.bnode = BulletRigidBodyNode() self.bnode.setMass(self.mass) self.bnode.setAngularFactor(Vec3(0, 1, 0)) self.bnode.setLinearSleepThreshold(20) self.bnode.setAngularSleepThreshold(20) self.bnode.setAngularVelocity(angVel) self.bnode.setLinearVelocity(linVel) self.np = utilities.app.render.attachNewNode(self.bnode) self.np.setPos(pos.x, 20, pos.y) self.np.setHpr(hpr) self.np.setPos(self.np, diff) self.bnode.setPythonTag("entity", self) self.inScope = False # culling not done yet # centre the blocks around the np and add their shapes in. self.minMax() cog = Point2((self.minX + self.maxX) / 2.0, (self.minY + self.maxY) / 2.0) for block in blocks: block.rebuild(self, cog) world.bw.attachRigidBody(self.bnode) self.hitlist = dict() def update(self, timer): for index in self.hitlist: # returns true if the wall is destroyed by the hit if self.blocks[index].hitby(self.hitlist[index]): self.blocks[index].destroy() self.rebuild(index) self.hitlist.clear() if self.playerDistance() > 40.0: self.bnode.setAngularSleepThreshold(1) self.bnode.setLinearSleepThreshold(1) else: self.bnode.setAngularSleepThreshold(0) self.bnode.setLinearSleepThreshold(0) def playerDistance(self): sp = self.np.getPos() pp = self.world.player.node.getPos() distance = hypot(sp.x - pp.x, sp.z - pp.z) return distance # remove an element and rebuild # TODO add another method for removing multiple # blocks in a single go def rebuild(self, index): deadblock = self.blocks[index] out = list() for block in self.blocks: for edge in block.edges: if edge == deadblock: block.edges.remove(edge) for block in deadblock.edges: chunk = list() self.searchBlock(block, chunk, deadblock) out.append(chunk) #out is a list of lists of populated blocks #remove duplicate chunks results = list() for chunk in out: chunk.sort(compareBlock) if not chunk in results and len(chunk) > 0: results.append(chunk) for result in results: self.minMax(result) #diff = Point2((self.minX+self.maxX) / 2.0, (self.minY+self.maxY) / 2.0) diff = Vec3((self.minX + self.maxX) / 2.0, 0, (self.minY + self.maxY) / 2.0) p = self.np.getPos() pos = Point2(p.x, p.z) h = self.np.getHpr() self.world.entities.append( Chunk(self.world, result, pos, h, diff, self.bnode.getAngularVelocity(), self.bnode.getLinearVelocity())) self.destroyNow() self.remove = True def searchBlock(self, block, lst, deleted): if block in lst: return else: lst.append(block) for newblock in block.edges: self.searchBlock(newblock, lst, deleted) def minMax(self, blocks=None): if blocks == None: blocks = self.blocks self.minX = blocks[0].pos.x self.minY = blocks[0].pos.y self.maxX = blocks[0].pos.x self.maxY = blocks[0].pos.y for point in blocks: self.minX = min(point.pos.x, self.minX) self.minY = min(point.pos.y, self.minY) self.maxX = max(point.pos.x, self.maxX) self.maxY = max(point.pos.y, self.maxY) # Need to clear the bulletrigidbody immediately # so that the phys object isn't present during next sim phase # which occurs before cleanup normally. Otherwise shit will # fly everywhere since two things are inside each other def destroyNow(self): self.world.bw.removeRigidBody(self.bnode) return # since this is handled earlier nothing happens def destroy(self): return def hitby(self, projectile, index): self.hitlist[index] = projectile
class CarEnv(DirectObject): def __init__(self, params={}): self._params = params if 'random_seed' in self._params: np.random.seed(self._params['random_seed']) self._use_vel = self._params.get('use_vel', True) self._run_as_task = self._params.get('run_as_task', False) self._do_back_up = self._params.get('do_back_up', False) self._use_depth = self._params.get('use_depth', False) self._use_back_cam = self._params.get('use_back_cam', False) self._collision_reward_only = self._params.get('collision_reward_only', False) self._collision_reward = self._params.get('collision_reward', -10.0) self._obs_shape = self._params.get('obs_shape', (64, 36)) self._steer_limits = params.get('steer_limits', (-30., 30.)) self._speed_limits = params.get('speed_limits', (-4.0, 4.0)) self._motor_limits = params.get('motor_limits', (-0.5, 0.5)) self._fixed_speed = (self._speed_limits[0] == self._speed_limits[1] and self._use_vel) if not self._params.get('visualize', False): loadPrcFileData('', 'window-type offscreen') # Defines base, render, loader try: ShowBase() except: pass base.setBackgroundColor(0.0, 0.0, 0.0, 1) # World self._worldNP = render.attachNewNode('World') self._world = BulletWorld() self._world.setGravity(Vec3(0, 0, -9.81)) self._dt = params.get('dt', 0.25) self._step = 0.05 # Vehicle shape = BulletBoxShape(Vec3(0.6, 1.0, 0.25)) ts = TransformState.makePos(Point3(0., 0., 0.25)) self._vehicle_node = BulletRigidBodyNode('Vehicle') self._vehicle_node.addShape(shape, ts) self._mass = self._params.get('mass', 10.) self._vehicle_node.setMass(self._mass) self._vehicle_node.setDeactivationEnabled(False) self._vehicle_node.setCcdSweptSphereRadius(1.0) self._vehicle_node.setCcdMotionThreshold(1e-7) self._vehicle_pointer = self._worldNP.attachNewNode(self._vehicle_node) self._world.attachRigidBody(self._vehicle_node) self._vehicle = BulletVehicle(self._world, self._vehicle_node) self._vehicle.setCoordinateSystem(ZUp) self._world.attachVehicle(self._vehicle) self._addWheel(Point3(0.3, 0.5, 0.07), True, 0.07) self._addWheel(Point3(-0.3, 0.5, 0.07), True, 0.07) self._addWheel(Point3(0.3, -0.5, 0.07), False, 0.07) self._addWheel(Point3(-0.3, -0.5, 0.07), False, 0.07) # Camera size = self._params.get('size', [160, 90]) hfov = self._params.get('hfov', 120) near_far = self._params.get('near_far', [0.1, 100.]) self._camera_sensor = Panda3dCameraSensor(base, color=not self._use_depth, depth=self._use_depth, size=size, hfov=hfov, near_far=near_far, title='front cam') self._camera_node = self._camera_sensor.cam self._camera_node.setPos(0.0, 0.5, 0.375) self._camera_node.lookAt(0.0, 6.0, 0.0) self._camera_node.reparentTo(self._vehicle_pointer) if self._use_back_cam: self._back_camera_sensor = Panda3dCameraSensor( base, color=not self._use_depth, depth=self._use_depth, size=size, hfov=hfov, near_far=near_far, title='back cam') self._back_camera_node = self._back_camera_sensor.cam self._back_camera_node.setPos(0.0, -0.5, 0.375) self._back_camera_node.lookAt(0.0, -6.0, 0.0) self._back_camera_node.reparentTo(self._vehicle_pointer) # Car Simulator self._des_vel = None self._setup() # Input self.accept('escape', self._doExit) self.accept('r', self.reset) self.accept('f1', self._toggleWireframe) self.accept('f2', self._toggleTexture) self.accept('f3', self._view_image) self.accept('f5', self._doScreenshot) self.accept('q', self._forward_0) self.accept('w', self._forward_1) self.accept('e', self._forward_2) self.accept('a', self._left) self.accept('s', self._stop) self.accept('x', self._backward) self.accept('d', self._right) self.accept('m', self._mark) self._steering = 0.0 # degree self._engineForce = 0.0 self._brakeForce = 0.0 self._env_time_step = 0 self._p = self._params.get('p', 1.25) self._d = self._params.get('d', 0.0) self._last_err = 0.0 self._curr_time = 0.0 self._accelClamp = self._params.get('accelClamp', 0.5) self._engineClamp = self._accelClamp * self._mass self._collision = False self._setup_spec() self.spec = EnvSpec(observation_im_space=self.observation_im_space, action_space=self.action_space, action_selection_space=self.action_selection_space, observation_vec_spec=self.observation_vec_spec, action_spec=self.action_spec, action_selection_spec=self.action_selection_spec, goal_spec=self.goal_spec) if self._run_as_task: self._mark_d = 0.0 taskMgr.add(self._update_task, 'updateWorld') base.run() def _setup_spec(self): self.action_spec = OrderedDict() self.action_selection_spec = OrderedDict() self.observation_vec_spec = OrderedDict() self.goal_spec = OrderedDict() self.action_spec['steer'] = Box(low=-45., high=45.) self.action_selection_spec['steer'] = Box(low=self._steer_limits[0], high=self._steer_limits[1]) if self._use_vel: self.action_spec['speed'] = Box(low=-4., high=4.) self.action_space = Box(low=np.array([ self.action_spec['steer'].low[0], self.action_spec['speed'].low[0] ]), high=np.array([ self.action_spec['steer'].high[0], self.action_spec['speed'].high[0] ])) self.action_selection_spec['speed'] = Box( low=self._speed_limits[0], high=self._speed_limits[1]) self.action_selection_space = Box( low=np.array([ self.action_selection_spec['steer'].low[0], self.action_selection_spec['speed'].low[0] ]), high=np.array([ self.action_selection_spec['steer'].high[0], self.action_selection_spec['speed'].high[0] ])) else: self.action_spec['motor'] = Box(low=-self._accelClamp, high=self._accelClamp) self.action_space = Box(low=np.array([ self.action_spec['steer'].low[0], self.action_spec['motor'].low[0] ]), high=np.array([ self.action_spec['steer'].high[0], self.action_spec['motor'].high[0] ])) self.action_selection_spec['motor'] = Box( low=self._motor_limits[0], high=self._motor_limits[1]) self.action_selection_space = Box( low=np.array([ self.action_selection_spec['steer'].low[0], self.action_selection_spec['motor'].low[0] ]), high=np.array([ self.action_selection_spec['steer'].high[0], self.action_selection_spec['motor'].high[0] ])) assert (np.logical_and( self.action_selection_space.low >= self.action_space.low - 1e-4, self.action_selection_space.high <= self.action_space.high + 1e-4).all()) self.observation_im_space = Box(low=0, high=255, shape=tuple( self._get_observation()[0].shape)) self.observation_vec_spec['coll'] = Discrete(1) self.observation_vec_spec['heading'] = Box(low=0, high=2 * 3.14) self.observation_vec_spec['speed'] = Box(low=-4.0, high=4.0) @property def _base_dir(self): return os.path.join(os.path.dirname(os.path.abspath(__file__)), 'models') @property def horizon(self): return np.inf @property def max_reward(self): return np.inf # _____HANDLER_____ def _doExit(self): sys.exit(1) def _toggleWireframe(self): base.toggleWireframe() def _toggleTexture(self): base.toggleTexture() def _doScreenshot(self): base.screenshot('Bullet') def _forward_0(self): self._des_vel = 1 self._brakeForce = 0.0 def _forward_1(self): self._des_vel = 2 self._brakeForce = 0.0 def _forward_2(self): self._des_vel = 4 self._brakeForce = 0.0 def _stop(self): self._des_vel = 0.0 self._brakeForce = 0.0 def _backward(self): self._des_vel = -4 self._brakeForce = 0.0 def _right(self): self._steering = np.min([np.max([-30, self._steering - 5]), 0.0]) def _left(self): self._steering = np.max([np.min([30, self._steering + 5]), 0.0]) def _view_image(self): from matplotlib import pyplot as plt image = self._camera_sensor.observe()[0] if self._use_depth: plt.imshow(image[:, :, 0], cmap='gray') else: def rgb2gray(rgb): return np.dot(rgb[..., :3], [0.299, 0.587, 0.114]) image = rgb2gray(image) im = cv2.resize(image, (64, 36), interpolation=cv2.INTER_AREA ) # TODO how does this deal with aspect ratio plt.imshow(im.astype(np.uint8), cmap='Greys_r') plt.show() def _mark(self): self._mark_d = 0.0 # Setup def _setup(self): self._setup_map() self._place_vehicle() self._setup_light() self._setup_restart_pos() def _setup_map(self): if hasattr(self, '_model_path'): # Collidable objects self._setup_collision_object(self._model_path) else: ground = self._worldNP.attachNewNode(BulletRigidBodyNode('Ground')) shape = BulletPlaneShape(Vec3(0, 0, 1), 0) ground.node().addShape(shape) ground.setCollideMask(BitMask32.allOn()) self._world.attachRigidBody(ground.node()) def _setup_collision_object(self, path, pos=(0.0, 0.0, 0.0), hpr=(0.0, 0.0, 0.0), scale=1): visNP = loader.loadModel(path) visNP.clearModelNodes() visNP.reparentTo(render) visNP.setPos(pos[0], pos[1], pos[2]) visNP.setHpr(hpr[0], hpr[1], hpr[2]) visNP.set_scale(scale, scale, scale) bodyNPs = BulletHelper.fromCollisionSolids(visNP, True) for bodyNP in bodyNPs: bodyNP.reparentTo(render) bodyNP.setPos(pos[0], pos[1], pos[2]) bodyNP.setHpr(hpr[0], hpr[1], hpr[2]) bodyNP.set_scale(scale, scale, scale) if isinstance(bodyNP.node(), BulletRigidBodyNode): bodyNP.node().setMass(0.0) bodyNP.node().setKinematic(True) bodyNP.setCollideMask(BitMask32.allOn()) self._world.attachRigidBody(bodyNP.node()) else: print("Issue") def _setup_restart_pos(self): self._restart_index = 0 self._restart_pos = self._default_restart_pos() def _next_restart_pos_hpr(self): num = len(self._restart_pos) if num == 0: return None, None else: pos_hpr = self._restart_pos[self._restart_index] self._restart_index = (self._restart_index + 1) % num return pos_hpr[:3], pos_hpr[3:] def _setup_light(self): # alight = AmbientLight('ambientLight') # alight.setColor(Vec4(0.5, 0.5, 0.5, 1)) # alightNP = render.attachNewNode(alight) # render.clearLight() # render.setLight(alightNP) pass # Vehicle def _default_pos(self): return (0.0, 0.0, 0.3) def _default_hpr(self): return (0.0, 0.0, 0.0) def _default_restart_pos(self): return [self._default_pos() + self._default_hpr()] def _get_speed(self): vel = self._vehicle.getCurrentSpeedKmHour() / 3.6 return vel def _get_heading(self): h = np.array(self._vehicle_pointer.getHpr())[0] ori = h * (pi / 180.) while (ori > 2 * pi): ori -= 2 * pi while (ori < 0): ori += 2 * pi return ori def _update(self, dt=1.0, coll_check=True): self._vehicle.setSteeringValue(self._steering, 0) self._vehicle.setSteeringValue(self._steering, 1) self._vehicle.setBrake(self._brakeForce, 0) self._vehicle.setBrake(self._brakeForce, 1) self._vehicle.setBrake(self._brakeForce, 2) self._vehicle.setBrake(self._brakeForce, 3) if dt >= self._step: # TODO maybe change number of timesteps # for i in range(int(dt/self._step)): if self._des_vel is not None: vel = self._get_speed() err = self._des_vel - vel d_err = (err - self._last_err) / self._step self._last_err = err self._engineForce = np.clip(self._p * err + self._d * d_err, -self._accelClamp, self._accelClamp) * self._mass self._vehicle.applyEngineForce(self._engineForce, 0) self._vehicle.applyEngineForce(self._engineForce, 1) self._vehicle.applyEngineForce(self._engineForce, 2) self._vehicle.applyEngineForce(self._engineForce, 3) for _ in range(int(dt / self._step)): self._world.doPhysics(self._step, 1, self._step) self._collision = self._is_contact() elif self._run_as_task: self._curr_time += dt if self._curr_time > 0.05: if self._des_vel is not None: vel = self._get_speed() self._mark_d += vel * self._curr_time print(vel, self._mark_d, self._is_contact()) err = self._des_vel - vel d_err = (err - self._last_err) / 0.05 self._last_err = err self._engineForce = np.clip( self._p * err + self._d * d_err, -self._accelClamp, self._accelClamp) * self._mass self._curr_time = 0.0 self._vehicle.applyEngineForce(self._engineForce, 0) self._vehicle.applyEngineForce(self._engineForce, 1) self._vehicle.applyEngineForce(self._engineForce, 2) self._vehicle.applyEngineForce(self._engineForce, 3) self._world.doPhysics(dt, 1, dt) self._collision = self._is_contact() else: raise ValueError( "dt {0} s is too small for velocity control".format(dt)) def _stop_car(self): self._steering = 0.0 self._engineForce = 0.0 self._vehicle.setSteeringValue(0.0, 0) self._vehicle.setSteeringValue(0.0, 1) self._vehicle.applyEngineForce(0.0, 0) self._vehicle.applyEngineForce(0.0, 1) self._vehicle.applyEngineForce(0.0, 2) self._vehicle.applyEngineForce(0.0, 3) if self._des_vel is not None: self._des_vel = 0 self._vehicle_node.setLinearVelocity(Vec3(0.0, 0.0, 0.0)) self._vehicle_node.setAngularVelocity(Vec3(0.0, 0.0, 0.0)) for i in range(self._vehicle.getNumWheels()): wheel = self._vehicle.getWheel(i) wheel.setRotation(0.0) self._vehicle_node.clearForces() def _place_vehicle(self, pos=None, hpr=None): if pos is None: pos = self._default_pos() if hpr is None: hpr = self._default_hpr() self._vehicle_pointer.setPos(pos[0], pos[1], pos[2]) self._vehicle_pointer.setHpr(hpr[0], hpr[1], hpr[2]) self._stop_car() def _addWheel(self, pos, front, radius=0.25): wheel = self._vehicle.createWheel() wheel.setChassisConnectionPointCs(pos) wheel.setFrontWheel(front) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(radius) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(1e2) wheel.setRollInfluence(0.1) # Task def _update_task(self, task): dt = globalClock.getDt() self._update(dt=dt) self._get_observation() return task.cont # Helper functions def _get_observation(self): self._obs = self._camera_sensor.observe() observation = [] observation.append(self.process(self._obs[0], self._obs_shape)) if self._use_back_cam: self._back_obs = self._back_camera_sensor.observe() observation.append(self.process(self._back_obs[0], self._obs_shape)) observation_im = np.concatenate(observation, axis=2) coll = self._collision heading = self._get_heading() speed = self._get_speed() observation_vec = np.array([coll, heading, speed]) return observation_im, observation_vec def _get_goal(self): return np.array([]) def process(self, image, obs_shape): if self._use_depth: im = np.reshape(image, (image.shape[0], image.shape[1])) if im.shape != obs_shape: im = cv2.resize(im, obs_shape, interpolation=cv2.INTER_AREA) return im.astype(np.uint8) else: image = np.dot(image[..., :3], [0.299, 0.587, 0.114]) im = cv2.resize(image, obs_shape, interpolation=cv2.INTER_AREA ) #TODO how does this deal with aspect ratio # TODO might not be necessary im = np.expand_dims(im, 2) return im.astype(np.uint8) def _get_reward(self): if self._collision_reward_only: if self._collision: reward = self._collision_reward else: reward = 0.0 else: if self._collision: reward = self._collision_reward else: reward = self._get_speed() assert (reward <= self.max_reward) return reward def _get_done(self): return self._collision def _get_info(self): info = {} info['pos'] = np.array(self._vehicle_pointer.getPos()) info['hpr'] = np.array(self._vehicle_pointer.getHpr()) info['vel'] = self._get_speed() info['coll'] = self._collision info['env_time_step'] = self._env_time_step return info def _back_up(self): assert (self._use_vel) # logger.debug('Backing up!') self._params['back_up'] = self._params.get('back_up', {}) back_up_vel = self._params['back_up'].get('vel', -1.0) self._des_vel = back_up_vel back_up_steer = self._params['back_up'].get('steer', (-5.0, 5.0)) self._steering = np.random.uniform(*back_up_steer) self._brakeForce = 0. duration = self._params['back_up'].get('duration', 3.0) self._update(dt=duration) self._des_vel = 0. self._steering = 0. self._update(dt=duration) self._brakeForce = 0. def _is_contact(self): result = self._world.contactTest(self._vehicle_node) return result.getNumContacts() > 0 # Environment functions def reset(self, pos=None, hpr=None, hard_reset=False): if self._do_back_up and not hard_reset and \ pos is None and hpr is None: if self._collision: self._back_up() else: if hard_reset: logger.debug('Hard resetting!') if pos is None and hpr is None: pos, hpr = self._next_restart_pos_hpr() self._place_vehicle(pos=pos, hpr=hpr) self._collision = False self._env_time_step = 0 return self._get_observation(), self._get_goal() def step(self, action): self._steering = action[0] if action[1] == 0.0: self._brakeForce = 1000. else: self._brakeForce = 0. if self._use_vel: # Convert from m/s to km/h self._des_vel = action[1] else: self._engineForce = self._mass * action[1] self._update(dt=self._dt) observation = self._get_observation() goal = self._get_goal() reward = self._get_reward() done = self._get_done() info = self._get_info() self._env_time_step += 1 return observation, goal, reward, done, info
class CarEnv(DirectObject): def __init__(self, params={}): self._params = params if 'random_seed' in self._params: np.random.seed(self._params['random_seed']) self._use_vel = self._params.get('use_vel', True) self._run_as_task = self._params.get('run_as_task', False) self._do_back_up = self._params.get('do_back_up', False) self._use_depth = self._params.get('use_depth', False) self._use_back_cam = self._params.get('use_back_cam', False) self._collision_reward = self._params.get('collision_reward', 0.) if not self._params.get('visualize', False): loadPrcFileData('', 'window-type offscreen') # Defines base, render, loader try: ShowBase() except: pass base.setBackgroundColor(0.0, 0.0, 0.0, 1) # World self._worldNP = render.attachNewNode('World') self._world = BulletWorld() self._world.setGravity(Vec3(0, 0, -9.81)) self._dt = params.get('dt', 0.25) self._step = 0.05 # Vehicle shape = BulletBoxShape(Vec3(0.6, 1.0, 0.25)) ts = TransformState.makePos(Point3(0., 0., 0.25)) self._vehicle_node = BulletRigidBodyNode('Vehicle') self._vehicle_node.addShape(shape, ts) self._mass = self._params.get('mass', 10.) self._vehicle_node.setMass(self._mass) self._vehicle_node.setDeactivationEnabled(False) self._vehicle_node.setCcdSweptSphereRadius(1.0) self._vehicle_node.setCcdMotionThreshold(1e-7) self._vehicle_pointer = self._worldNP.attachNewNode(self._vehicle_node) self._world.attachRigidBody(self._vehicle_node) self._vehicle = BulletVehicle(self._world, self._vehicle_node) self._vehicle.setCoordinateSystem(ZUp) self._world.attachVehicle(self._vehicle) self._addWheel(Point3(0.3, 0.5, 0.07), True, 0.07) self._addWheel(Point3(-0.3, 0.5, 0.07), True, 0.07) self._addWheel(Point3(0.3, -0.5, 0.07), False, 0.07) self._addWheel(Point3(-0.3, -0.5, 0.07), False, 0.07) # Camera size = self._params.get('size', [160, 90]) hfov = self._params.get('hfov', 60) near_far = self._params.get('near_far', [0.1, 100.]) self._camera_sensor = Panda3dCameraSensor(base, color=not self._use_depth, depth=self._use_depth, size=size, hfov=hfov, near_far=near_far, title='front cam') self._camera_node = self._camera_sensor.cam self._camera_node.setPos(0.0, 0.5, 0.375) self._camera_node.lookAt(0.0, 6.0, 0.0) self._camera_node.reparentTo(self._vehicle_pointer) if self._use_back_cam: self._back_camera_sensor = Panda3dCameraSensor( base, color=not self._use_depth, depth=self._use_depth, size=size, hfov=hfov, near_far=near_far, title='back cam') self._back_camera_node = self._back_camera_sensor.cam self._back_camera_node.setPos(0.0, -0.5, 0.375) self._back_camera_node.lookAt(0.0, -6.0, 0.0) self._back_camera_node.reparentTo(self._vehicle_pointer) # Car Simulator self._des_vel = None self._setup() # Input self.accept('escape', self._doExit) self.accept('r', self.reset) self.accept('f1', self._toggleWireframe) self.accept('f2', self._toggleTexture) self.accept('f3', self._view_image) self.accept('f5', self._doScreenshot) self.accept('q', self._forward_0) self.accept('w', self._forward_1) self.accept('e', self._forward_2) self.accept('a', self._left) self.accept('s', self._stop) self.accept('x', self._backward) self.accept('d', self._right) self.accept('m', self._mark) self._steering = 0.0 # degree self._engineForce = 0.0 self._brakeForce = 0.0 self._p = self._params.get('p', 1.25) self._d = self._params.get('d', 0.0) self._last_err = 0.0 self._curr_time = 0.0 self._accelClamp = self._params.get('accelClamp', 2.0) self._engineClamp = self._accelClamp * self._mass self._collision = False if self._run_as_task: self._mark_d = 0.0 taskMgr.add(self._update_task, 'updateWorld') base.run() # _____HANDLER_____ def _doExit(self): sys.exit(1) def _toggleWireframe(self): base.toggleWireframe() def _toggleTexture(self): base.toggleTexture() def _doScreenshot(self): base.screenshot('Bullet') def _forward_0(self): self._des_vel = 1 self._brakeForce = 0.0 def _forward_1(self): self._des_vel = 2 self._brakeForce = 0.0 def _forward_2(self): self._des_vel = 4 self._brakeForce = 0.0 def _stop(self): self._des_vel = 0.0 self._brakeForce = 0.0 def _backward(self): self._des_vel = -4 self._brakeForce = 0.0 def _right(self): self._steering = np.min([np.max([-30, self._steering - 5]), 0.0]) def _left(self): self._steering = np.max([np.min([30, self._steering + 5]), 0.0]) def _view_image(self): from matplotlib import pyplot as plt image = self._camera_sensor.observe()[0] if self._use_depth: plt.imshow(image[:, :, 0], cmap='gray') else: import cv2 def rgb2gray(rgb): return np.dot(rgb[..., :3], [0.299, 0.587, 0.114]) image = rgb2gray(image) im = cv2.resize(image, (64, 36), interpolation=cv2.INTER_AREA ) # TODO how does this deal with aspect ratio plt.imshow(im.astype(np.uint8), cmap='Greys_r') plt.show() def _mark(self): self._mark_d = 0.0 # Setup def _setup(self): if hasattr(self, '_model_path'): # Collidable objects visNP = loader.loadModel(self._model_path) visNP.clearModelNodes() visNP.reparentTo(render) pos = (0., 0., 0.) visNP.setPos(pos[0], pos[1], pos[2]) bodyNPs = BulletHelper.fromCollisionSolids(visNP, True) for bodyNP in bodyNPs: bodyNP.reparentTo(render) bodyNP.setPos(pos[0], pos[1], pos[2]) if isinstance(bodyNP.node(), BulletRigidBodyNode): bodyNP.node().setMass(0.0) bodyNP.node().setKinematic(True) bodyNP.setCollideMask(BitMask32.allOn()) self._world.attachRigidBody(bodyNP.node()) else: ground = self._worldNP.attachNewNode(BulletRigidBodyNode('Ground')) shape = BulletPlaneShape(Vec3(0, 0, 1), 0) ground.node().addShape(shape) ground.setCollideMask(BitMask32.allOn()) self._world.attachRigidBody(ground.node()) self._place_vehicle() self._setup_light() self._setup_restart_pos() def _setup_restart_pos(self): self._restart_pos = [] self._restart_index = 0 if self._params.get('position_ranges', None) is not None: ranges = self._params['position_ranges'] num_pos = self._params['num_pos'] if self._params.get('range_type', 'random') == 'random': for _ in range(num_pos): ran = ranges[np.random.randint(len(ranges))] self._restart_pos.append(np.random.uniform(ran[0], ran[1])) elif self._params['range_type'] == 'fix_spacing': num_ran = len(ranges) num_per_ran = num_pos // num_ran for i in range(num_ran): ran = ranges[i] low = np.array(ran[0]) diff = np.array(ran[1]) - np.array(ran[0]) for j in range(num_per_ran): val = diff * ((j + 0.0) / num_per_ran) + low self._restart_pos.append(val) elif self._params.get('positions', None) is not None: self._restart_pos = self._params['positions'] else: self._restart_pos = self._default_restart_pos() def _next_restart_pos_hpr(self): num = len(self._restart_pos) if num == 0: return None, None else: pos_hpr = self._restart_pos[self._restart_index] self._restart_index = (self._restart_index + 1) % num return pos_hpr[:3], pos_hpr[3:] def _next_random_restart_pos_hpr(self): num = len(self._restart_pos) if num == 0: return None, None else: index = np.random.randint(num) pos_hpr = self._restart_pos[index] self._restart_index = (self._restart_index + 1) % num return pos_hpr[:3], pos_hpr[3:] def _setup_light(self): alight = AmbientLight('ambientLight') alight.setColor(Vec4(0.5, 0.5, 0.5, 1)) alightNP = render.attachNewNode(alight) render.clearLight() render.setLight(alightNP) # Vehicle def _default_pos(self): return (0.0, 0.0, 0.3) def _default_hpr(self): return (0.0, 0.0, 3.14) def _default_restart_pos(): return [self._default_pos() + self._default_hpr()] def _get_speed(self): vel = self._vehicle.getCurrentSpeedKmHour() / 3.6 return vel def _update(self, dt=1.0, coll_check=True): self._vehicle.setSteeringValue(self._steering, 0) self._vehicle.setSteeringValue(self._steering, 1) self._vehicle.setBrake(self._brakeForce, 0) self._vehicle.setBrake(self._brakeForce, 1) self._vehicle.setBrake(self._brakeForce, 2) self._vehicle.setBrake(self._brakeForce, 3) if dt >= self._step: # TODO maybe change number of timesteps for i in range(int(dt / self._step)): if self._des_vel is not None: vel = self._get_speed() err = self._des_vel - vel d_err = (err - self._last_err) / self._step self._last_err = err self._engineForce = np.clip( self._p * err + self._d * d_err, -self._accelClamp, self._accelClamp) * self._mass self._vehicle.applyEngineForce(self._engineForce, 0) self._vehicle.applyEngineForce(self._engineForce, 1) self._vehicle.applyEngineForce(self._engineForce, 2) self._vehicle.applyEngineForce(self._engineForce, 3) self._world.doPhysics(self._step, 1, self._step) self._collision = self._is_contact() elif self._run_as_task: self._curr_time += dt if self._curr_time > 0.05: if self._des_vel is not None: vel = self._get_speed() self._mark_d += vel * self._curr_time print(vel, self._mark_d, self._is_contact()) err = self._des_vel - vel d_err = (err - self._last_err) / 0.05 self._last_err = err self._engineForce = np.clip( self._p * err + self._d * d_err, -self._accelClamp, self._accelClamp) * self._mass self._curr_time = 0.0 self._vehicle.applyEngineForce(self._engineForce, 0) self._vehicle.applyEngineForce(self._engineForce, 1) self._vehicle.applyEngineForce(self._engineForce, 2) self._vehicle.applyEngineForce(self._engineForce, 3) self._world.doPhysics(dt, 1, dt) self._collision = self._is_contact() else: raise ValueError( "dt {0} s is too small for velocity control".format(dt)) def _stop_car(self): self._steering = 0.0 self._engineForce = 0.0 self._vehicle.setSteeringValue(0.0, 0) self._vehicle.setSteeringValue(0.0, 1) self._vehicle.applyEngineForce(0.0, 0) self._vehicle.applyEngineForce(0.0, 1) self._vehicle.applyEngineForce(0.0, 2) self._vehicle.applyEngineForce(0.0, 3) if self._des_vel is not None: self._des_vel = 0 self._vehicle_node.setLinearVelocity(Vec3(0.0, 0.0, 0.0)) self._vehicle_node.setAngularVelocity(Vec3(0.0, 0.0, 0.0)) for i in range(self._vehicle.getNumWheels()): wheel = self._vehicle.getWheel(i) wheel.setRotation(0.0) self._vehicle_node.clearForces() def _place_vehicle(self, pos=None, hpr=None): if pos is None: pos = self._default_pos() if hpr is None: hpr = self._default_hpr() self._vehicle_pointer.setPos(pos[0], pos[1], pos[2]) self._vehicle_pointer.setHpr(hpr[0], hpr[1], hpr[2]) self._stop_car() def _addWheel(self, pos, front, radius=0.25): wheel = self._vehicle.createWheel() wheel.setChassisConnectionPointCs(pos) wheel.setFrontWheel(front) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(radius) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(1e2) wheel.setRollInfluence(0.1) # Task def _update_task(self, task): dt = globalClock.getDt() self._update(dt=dt) self._get_observation() return task.cont # Helper functions def _get_observation(self): self._obs = self._camera_sensor.observe() observation = [] observation.append(self._obs[0]) if self._use_back_cam: self._back_obs = self._back_camera_sensor.observe() observation.append(self._back_obs[0]) observation = np.concatenate(observation, axis=2) return observation def _get_reward(self): reward = self._collision_reward if self._collision else self._get_speed( ) return reward def _get_done(self): return self._collision def _get_info(self): info = {} info['pos'] = np.array(self._vehicle_pointer.getPos()) info['hpr'] = np.array(self._vehicle_pointer.getHpr()) info['vel'] = self._get_speed() info['coll'] = self._collision return info def _back_up(self): assert (self._use_vel) back_up_vel = self._params['back_up'].get('vel', -2.0) self._des_vel = back_up_vel back_up_steer = self._params['back_up'].get('steer', (-5.0, 5.0)) # TODO self._steering = np.random.uniform(*back_up_steer) self._brakeForce = 0. duration = self._params['back_up'].get('duration', 1.0) self._update(dt=duration) self._des_vel = 0.0 self._steering = 0.0 self._update(dt=duration) self._brakeForce = 0. def _is_contact(self): result = self._world.contactTest(self._vehicle_node) num_contacts = result.getNumContacts() return result.getNumContacts() > 0 # Environment functions def reset(self, pos=None, hpr=None, hard_reset=False, random_reset=False): if self._do_back_up and not hard_reset and \ pos is None and hpr is None: if self._collision: self._back_up() else: if pos is None and hpr is None: if random_reset: pos, hpr = self._next_random_restart_pos_hpr() else: pos, hpr = self._next_restart_pos_hpr() self._place_vehicle(pos=pos, hpr=hpr) self._collision = False return self._get_observation() def step(self, action): self._steering = action[0] if action[1] == 0.0: self._brakeForce = 1000. else: self._brakeForce = 0. if self._use_vel: # Convert from m/s to km/h self._des_vel = action[1] else: self._engineForce = self._engineClamp * \ ((action[1] - 49.5) / 49.5) self._update(dt=self._dt) observation = self._get_observation() reward = self._get_reward() done = self._get_done() info = self._get_info() return observation, reward, done, info
class CharacterController(DynamicObject, FSM): def __init__(self, game): self.game = game FSM.__init__(self, "Player") # key states # dx direction left or right, dy direction forward or backward self.kh = self.game.kh self.dx = 0 self.dy = 0 self.jumping = 0 self.crouching = 0 # maximum speed when only walking self.groundSpeed = 5.0 # acceleration used when walking to rise to self.groundSpeed self.groundAccel = 100.0 # maximum speed in the air (air friction) self.airSpeed = 30.0 # player movement control when in the air self.airAccel = 10.0 # horizontal speed on jump start self.jumpSpeed = 5.5 self.turnSpeed = 5 self.moveSpeedVec = Vec3(0,0,0) self.platformSpeedVec = Vec3(0,0,0) h = 1.75 w = 0.4 self.shape = BulletCapsuleShape(w, h - 2 * w, ZUp) self.node = BulletRigidBodyNode('Player') self.node.setMass(2) self.node.addShape(self.shape) self.node.setActive(True, True) self.node.setDeactivationEnabled(False, True) self.node.setFriction(200) #self.node.setGravity(10) #self.node.setFallSpeed(200) self.node.setCcdMotionThreshold(1e-7) self.node.setCcdSweptSphereRadius(0.5) self.node.setAngularFactor(Vec3(0,0,1)) self.np = self.game.render.attachNewNode(self.node) self.np.setPos(0, 0, 0) self.np.setH(0) #self.np.setCollideMask(BitMask32.allOn()) self.game.world.attachRigidBody(self.node) self.playerModel = None self.slice_able = False def setActor(self, modelPath, animDic={}, flip = False, pos = (0,0,0), scale = 1.0): self.playerModel = Actor(modelPath, animDic) self.playerModel.reparentTo(self.np) self.playerModel.setScale(scale) # 1ft = 0.3048m if flip: self.playerModel.setH(180) self.playerModel.setPos(pos) self.playerModel.setScale(scale) #------------------------------------------------------------------- # Speed def getSpeedVec(self): return self.node.getLinearVelocity() def setSpeedVec(self, speedVec): #print "setting speed to %s" % (speedVec) self.node.setLinearVelocity(speedVec) return speedVec def setPlatformSpeed(self, speedVec): self.platformSpeedVec = speedVec def getSpeed(self): return self.getSpeedVec().length() def setSpeed(self, speed): speedVec = self.getSpeedVec() speedVec.normalize() self.setSpeedVec(speedVec*speed) def getLocalSpeedVec(self): return self.np.getRelativeVector(self.getSpeed()) def getSpeedXY(self): vec = self.getSpeedVec() return Vec3(vec[0], vec[1], 0) def setSpeedXY(self, speedX, speedY): vec = self.getSpeedVec() z = self.getSpeedZ() self.setSpeedVec(Vec3(speedX, speedY, z)) def getSpeedH(self): return self.getSpeedXY().length() def getSpeedZ(self): return self.getSpeedVec()[2] def setSpeedZ(self, zSpeed): vec = self.getSpeedVec() speedVec = Vec3(vec[0], vec[1], zSpeed) return self.setSpeedVec(speedVec) def setLinearVelocity(self, speedVec): return self.setSpeedVec(speedVec) def setAngularVelocity(self, speed): self.node.setAngularVelocity(Vec3(0, 0, speed)) def getFriction(self): return self.node.getFriction() def setFriction(self, friction): return self.node.setFriction(friction) #------------------------------------------------------------------- # Acceleration def doJump(self): #self.setSpeedZ(self.getSpeedZ()+self.jumpSpeed) self.setSpeedZ(self.jumpSpeed) def setForce(self, force): self.node.applyCentralForce(force) #------------------------------------------------------------------- # contacts #------------------------------------------------------------------- # update def update(self, dt, dx=0, dy=0, jumping=0, crouching=0, dRot=0): #self.setR(0) #self.setP(0) self.jumping = jumping self.crouching = crouching self.dx = dx self.dy = dy #self.setAngularVelocity(dRot*self.turnSpeed) #self.setAngularVelocity(0) self.setH(self.game.camHandler.gameNp.getH()) speedVec = self.getSpeedVec() - self.platformSpeedVec speed = speedVec.length() localSpeedVec = self.np.getRelativeVector(self.game.render, speedVec) pushVec = self.game.render.getRelativeVector(self.np, Vec3(self.dx,self.dy,0)) if self.dx != 0 or self.dy != 0: pushVec.normalize() else: pushVec = Vec3(0,0,0) contacts = self.getContacts() contact = self.checkFeet() if self.jumping and contact in contacts: self.setFriction(0) self.doJump() if self.jumping: self.setForce(pushVec * self.airAccel) if speed > self.airSpeed: self.setSpeed(self.airSpeed) else: if contacts: self.setForce(pushVec * self.groundAccel) else: self.setForce(pushVec * self.airAccel) if self.dx == 0 and self.dy == 0: self.setFriction(100) else: self.setFriction(0) if speed > self.groundSpeed: if contacts: self.setSpeed(self.groundSpeed) '''
class CharacterController(DynamicObject, FSM): def __init__(self, game): self.game = game FSM.__init__(self, "Player") # key states # dx direction left or right, dy direction forward or backward self.kh = self.game.kh self.dx = 0 self.dy = 0 self.jumping = 0 self.crouching = 0 # maximum speed when only walking self.groundSpeed = 5.0 # acceleration used when walking to rise to self.groundSpeed self.groundAccel = 100.0 # maximum speed in the air (air friction) self.airSpeed = 30.0 # player movement control when in the air self.airAccel = 10.0 # horizontal speed on jump start self.jumpSpeed = 5.5 self.turnSpeed = 5 self.moveSpeedVec = Vec3(0, 0, 0) self.platformSpeedVec = Vec3(0, 0, 0) h = 1.75 w = 0.4 self.shape = BulletCapsuleShape(w, h - 2 * w, ZUp) self.node = BulletRigidBodyNode('Player') self.node.setMass(2) self.node.addShape(self.shape) self.node.setActive(True, True) self.node.setDeactivationEnabled(False, True) self.node.setFriction(200) #self.node.setGravity(10) #self.node.setFallSpeed(200) self.node.setCcdMotionThreshold(1e-7) self.node.setCcdSweptSphereRadius(0.5) self.node.setAngularFactor(Vec3(0, 0, 1)) self.np = self.game.render.attachNewNode(self.node) self.np.setPos(0, 0, 0) self.np.setH(0) #self.np.setCollideMask(BitMask32.allOn()) self.game.world.attachRigidBody(self.node) self.playerModel = None self.slice_able = False def setActor(self, modelPath, animDic={}, flip=False, pos=(0, 0, 0), scale=1.0): self.playerModel = Actor(modelPath, animDic) self.playerModel.reparentTo(self.np) self.playerModel.setScale(scale) # 1ft = 0.3048m if flip: self.playerModel.setH(180) self.playerModel.setPos(pos) self.playerModel.setScale(scale) #------------------------------------------------------------------- # Speed def getSpeedVec(self): return self.node.getLinearVelocity() def setSpeedVec(self, speedVec): #print "setting speed to %s" % (speedVec) self.node.setLinearVelocity(speedVec) return speedVec def setPlatformSpeed(self, speedVec): self.platformSpeedVec = speedVec def getSpeed(self): return self.getSpeedVec().length() def setSpeed(self, speed): speedVec = self.getSpeedVec() speedVec.normalize() self.setSpeedVec(speedVec * speed) def getLocalSpeedVec(self): return self.np.getRelativeVector(self.getSpeed()) def getSpeedXY(self): vec = self.getSpeedVec() return Vec3(vec[0], vec[1], 0) def setSpeedXY(self, speedX, speedY): vec = self.getSpeedVec() z = self.getSpeedZ() self.setSpeedVec(Vec3(speedX, speedY, z)) def getSpeedH(self): return self.getSpeedXY().length() def getSpeedZ(self): return self.getSpeedVec()[2] def setSpeedZ(self, zSpeed): vec = self.getSpeedVec() speedVec = Vec3(vec[0], vec[1], zSpeed) return self.setSpeedVec(speedVec) def setLinearVelocity(self, speedVec): return self.setSpeedVec(speedVec) def setAngularVelocity(self, speed): self.node.setAngularVelocity(Vec3(0, 0, speed)) def getFriction(self): return self.node.getFriction() def setFriction(self, friction): return self.node.setFriction(friction) #------------------------------------------------------------------- # Acceleration def doJump(self): #self.setSpeedZ(self.getSpeedZ()+self.jumpSpeed) self.setSpeedZ(self.jumpSpeed) def setForce(self, force): self.node.applyCentralForce(force) #------------------------------------------------------------------- # contacts #------------------------------------------------------------------- # update def update(self, dt, dx=0, dy=0, jumping=0, crouching=0, dRot=0): #self.setR(0) #self.setP(0) self.jumping = jumping self.crouching = crouching self.dx = dx self.dy = dy #self.setAngularVelocity(dRot*self.turnSpeed) #self.setAngularVelocity(0) self.setH(self.game.camHandler.gameNp.getH()) speedVec = self.getSpeedVec() - self.platformSpeedVec speed = speedVec.length() localSpeedVec = self.np.getRelativeVector(self.game.render, speedVec) pushVec = self.game.render.getRelativeVector(self.np, Vec3(self.dx, self.dy, 0)) if self.dx != 0 or self.dy != 0: pushVec.normalize() else: pushVec = Vec3(0, 0, 0) contacts = self.getContacts() contact = self.checkFeet() if self.jumping and contact in contacts: self.setFriction(0) self.doJump() if self.jumping: self.setForce(pushVec * self.airAccel) if speed > self.airSpeed: self.setSpeed(self.airSpeed) else: if contacts: self.setForce(pushVec * self.groundAccel) else: self.setForce(pushVec * self.airAccel) if self.dx == 0 and self.dy == 0: self.setFriction(100) else: self.setFriction(0) if speed > self.groundSpeed: if contacts: self.setSpeed(self.groundSpeed) '''
class Window3D: def __init__(self, window_id, rect): print("Creating window ID={}".format(window_id)) self.rect = rect self.window_id = window_id self.box = WindowBox(globals.front_texture, globals.back_texture) self.box.update_vertices(rect, globals.desk_rect) x0 = int(rect[0] * 1.1) - 2000 + int(0.7 * rect[2]) y0 = 1980 z0 = int(rect[1] * 1.1) - 500 self.default_position = Point3(x0, y0, z0) self.box.node.setTag('wid', str(window_id)) size = [0.5 * (a - b) for a, b in zip(self.box.mx, self.box.mn)] self.shape = BulletBoxShape(Vec3(size[0], size[1], size[2] + 10)) self.phy_node = BulletRigidBodyNode('window') volume = size[0] * size[1] * size[2] self.phy_node.setMass(0.001 * volume) self.phy_node.addShape(self.shape) self.node = globals.gui.render.attachNewNode(self.phy_node) self.phy_node.setLinearDamping(0.6) self.phy_node.setAngularDamping(0.6) globals.gui.world.attachRigidBody(self.phy_node) self.node.setCollideMask(BitMask32.bit(1)) self.box.node.reparentTo(self.node) self.box.node.setPos(0, 0, size[2] - 10) self.node.setPos(x0, y0, z0) self.set_physics(False) def reset_position(self): self.node.setPos(self.default_position) self.node.setHpr(0, 0, 0) self.set_physics(False) def get_hook_pos(self): return self.node.getPos() + self.box.node.getPos() def update_rectangle(self, rect): self.rect = rect self.box.update_vertices(rect, globals.desk_rect) def set_physics(self, state): if state: self.phy_node.setMass(1.0) else: self.phy_node.setMass(0.0) self.phy_node.setLinearVelocity(LVector3(0, 0, 0)) self.phy_node.setAngularVelocity(LVector3(0, 0, 0)) def rotate(self, dx, dy): dx = norm_rot(dx) dy = norm_rot(dy) v = self.box.node.getHpr() v = v + LVecBase3(dx, dy, 0) self.box.node.setHpr(v) def move(self, delta): v = self.node.getPos() for i in range(len(delta)): v[i] = v[i] + delta[i] self.node.setPos(v) # self.phy_node.setAngularVelocity(LVector3(0,0,0)) def close(self): self.box.close() def calc_desktop_coords(self, v): if v[2] > 0: return None x = int(self.rect[0] + (0.5 * self.rect[2] + v[0])) y = int(self.rect[1] - v[2]) return x, y
class Player(Entity): walkspeed = 5 damping = 0.9 topspeed = 15 leftMove = False rightMove = False jumpToggle = False crouchToggle = False def __init__(self, world): super(Player, self).__init__() self.obj = utilities.loadObject("tdplayer", depth=20) self.world = world self.health = 100 self.inventory = list() self.depth = self.obj.getPos().y self.location = Point2(10,0) self.velocity = Vec3(0) self.shape = BulletBoxShape(Vec3(0.3, 1.0, 0.49)) self.bnode = BulletRigidBodyNode('Box') self.bnode.setMass(0.1) self.bnode.setAngularVelocity(Vec3(0)) self.bnode.setAngularFactor(Vec3(0)) self.bnode.addShape(self.shape) self.bnode.setLinearDamping(0.95) self.bnode.setLinearSleepThreshold(0) world.bw.attachRigidBody(self.bnode) self.bnode.setPythonTag("entity", self) self.bnode.setIntoCollideMask(BitMask32.bit(0)) self.node = utilities.app.render.attachNewNode(self.bnode) self.node.setPos(self.obj.getPos()) self.obj.setPos(0,0,0) self.obj.setScale(1) self.obj.reparentTo(self.node) self.node.setPos(self.location.x, self.depth, self.location.y) def initialise(self): self.inventory.append(LightLaser(self.world, self)) self.inventory.append(Blowtorch(self.world, self)) #self.inventory["Grenade"] = Grenade(self.world, self) for item in self.inventory: item.initialise() self.currentItemIndex = 1 self.currentItem = self.inventory[self.currentItemIndex] self.currentItem.equip() def activate(self): self.currentItem.activate() def update(self, timer): self.velocity = self.bnode.getLinearVelocity() if (self.leftMove): self.bnode.applyCentralForce(Vec3(-Player.walkspeed,0,0)) if (self.rightMove): self.bnode.applyCentralForce(Vec3(Player.walkspeed,0,0)) if (self.jumpToggle): self.bnode.applyCentralForce(Vec3(0,0,Player.walkspeed)) if (self.crouchToggle): self.bnode.applyCentralForce(Vec3(0,0,-Player.walkspeed)) if (self.velocity.x < -self.topspeed): self.velocity.x = -self.topspeed if (self.velocity.x > self.topspeed): self.velocity.x = self.topspeed mouse = utilities.app.mousePos # extrude test near = Point3() far = Point3() utilities.app.camLens.extrude(mouse, near, far) camp = utilities.app.camera.getPos() near *= 20 # player depth if near.x != 0: angle = atan2(near.z + camp.z - self.node.getPos().z, near.x + camp.x - self.node.getPos().x) #angle = atan2(near.z, near.x) else: angle = 90 self.angle = angle # set current item to point at cursor self.currentItem.update(timer) # move the camera so the player is centred horizontally, # but keep the camera steady vertically utilities.app.camera.setPos(self.node.getPos().x, 0, self.node.getPos().z) self.obj.setHpr(0, 0, -1 * degrees(angle)) self.location.x = self.node.getPos().x self.location.y = self.node.getPos().z def moveLeft(self, switch): self.leftMove = switch def moveRight(self, switch): self.rightMove = switch def jump(self, switch): self.jumpToggle = switch def crouch(self, switch): self.crouchToggle = switch def scrollItem(self, number): self.currentItem.unequip() self.currentItemIndex = self.currentItemIndex + number if self.currentItemIndex < 0: self.currentItemIndex = len(self.inventory) - 1 if self.currentItemIndex > len(self.inventory) - 1: self.currentItemIndex = 0 self.currentItem = self.inventory[self.currentItemIndex] self.currentItem.equip() def selectItem(self, number): if (number - 1 < len(self.inventory) and number - 1 >= 0): self.currentItem.unequip() self.currentItemIndex = number - 1 self.currentItem = self.inventory[self.currentItemIndex] self.currentItem.equip() def hitby(self, projectile, index): self.health -= projectile.damage if (self.health < 0): self.obj.setColor(1,0,0,1) return True greyscale = 0.3 + (0.01 * self.health) self.obj.setColor(greyscale, greyscale,greyscale,greyscale) return False
class Catcher(Enemy): damage = 25 def __init__(self, location, player, cmap, world): super(Catcher, self).__init__(location) self.player = player self.cmap = cmap self.obj = utilities.loadObject("robot", depth=20) self.world = world self.health = 100 self.depth = self.obj.getPos().y self.location = location self.velocity = Vec3(0) self.shape = BulletBoxShape(Vec3(0.5, 1.0, 0.5)) self.bnode = BulletRigidBodyNode('Box') self.bnode.setMass(0.1) self.bnode.setAngularVelocity(Vec3(0)) self.bnode.setAngularFactor(Vec3(0)) self.bnode.addShape(self.shape) self.bnode.setLinearDamping(0.75) self.bnode.setLinearSleepThreshold(0) world.bw.attachRigidBody(self.bnode) self.bnode.setPythonTag("entity", self) self.bnode.setIntoCollideMask(BitMask32.bit(0)) self.node = utilities.app.render.attachNewNode(self.bnode) self.node.setPos(self.obj.getPos()) self.obj.setPos(0,0,0) self.obj.setScale(1) self.obj.reparentTo(self.node) self.node.setPos(self.location.x, self.depth, self.location.y) def update(self, time): self.location = Point2(self.node.getPos().x - self.player.location.x, self.node.getPos().z - self.player.location.y) if self.location.x > 20 or self.location.x < -20: return if self.location.y > 20 or self.location.y < -20: return path = findPath(Point2(self.location + Point2(20,20)), Point2(20,20), self.world.cmap) if len(path) > 1: move = path[1] - self.location self.bnode.applyCentralForce(Vec3(move.x-20,0,move.y-20)) def hitby(self, projectile, index): self.health -= projectile.damage if (self.health < 0): self.remove = True greyscale = 0.3 + (0.01 * self.health) self.obj.setColor(1, greyscale,greyscale,1) return False def removeOnHit(self): return def destroy(self): self.obj.hide() self.world.bw.removeRigidBody(self.bnode)
class Catcher(Enemy): damage = 25 def __init__(self, location, player, cmap, world): super(Catcher, self).__init__(location) self.player = player self.cmap = cmap self.obj = utilities.loadObject("robot", depth=20) self.world = world self.health = 100 self.depth = self.obj.getPos().y self.location = location self.velocity = Vec3(0) self.shape = BulletBoxShape(Vec3(0.5, 1.0, 0.5)) self.bnode = BulletRigidBodyNode('Box') self.bnode.setMass(0.1) self.bnode.setAngularVelocity(Vec3(0)) self.bnode.setAngularFactor(Vec3(0)) self.bnode.addShape(self.shape) self.bnode.setLinearDamping(0.75) self.bnode.setLinearSleepThreshold(0) world.bw.attachRigidBody(self.bnode) self.bnode.setPythonTag("entity", self) self.bnode.setIntoCollideMask(BitMask32.bit(0)) self.node = utilities.app.render.attachNewNode(self.bnode) self.node.setPos(self.obj.getPos()) self.obj.setPos(0, 0, 0) self.obj.setScale(1) self.obj.reparentTo(self.node) self.node.setPos(self.location.x, self.depth, self.location.y) def update(self, time): self.location = Point2(self.node.getPos().x - self.player.location.x, self.node.getPos().z - self.player.location.y) if self.location.x > 20 or self.location.x < -20: return if self.location.y > 20 or self.location.y < -20: return path = findPath(Point2(self.location + Point2(20, 20)), Point2(20, 20), self.world.cmap) if len(path) > 1: move = path[1] - self.location self.bnode.applyCentralForce(Vec3(move.x - 20, 0, move.y - 20)) def hitby(self, projectile, index): self.health -= projectile.damage if (self.health < 0): self.remove = True greyscale = 0.3 + (0.01 * self.health) self.obj.setColor(1, greyscale, greyscale, 1) return False def removeOnHit(self): return def destroy(self): self.obj.hide() self.world.bw.removeRigidBody(self.bnode)
class Player(Entity): walkspeed = 5 damping = 0.9 topspeed = 15 leftMove = False rightMove = False jumpToggle = False crouchToggle = False def __init__(self, world): super(Player, self).__init__() self.obj = utilities.loadObject("tdplayer", depth=20) self.world = world self.health = 100 self.inventory = list() self.depth = self.obj.getPos().y self.location = Point2(10, 0) self.velocity = Vec3(0) self.shape = BulletBoxShape(Vec3(0.3, 1.0, 0.49)) self.bnode = BulletRigidBodyNode('Box') self.bnode.setMass(0.1) self.bnode.setAngularVelocity(Vec3(0)) self.bnode.setAngularFactor(Vec3(0)) self.bnode.addShape(self.shape) self.bnode.setLinearDamping(0.95) self.bnode.setLinearSleepThreshold(0) world.bw.attachRigidBody(self.bnode) self.bnode.setPythonTag("entity", self) self.bnode.setIntoCollideMask(BitMask32.bit(0)) self.node = utilities.app.render.attachNewNode(self.bnode) self.node.setPos(self.obj.getPos()) self.obj.setPos(0, 0, 0) self.obj.setScale(1) self.obj.reparentTo(self.node) self.node.setPos(self.location.x, self.depth, self.location.y) def initialise(self): self.inventory.append(LightLaser(self.world, self)) self.inventory.append(Blowtorch(self.world, self)) #self.inventory["Grenade"] = Grenade(self.world, self) for item in self.inventory: item.initialise() self.currentItemIndex = 1 self.currentItem = self.inventory[self.currentItemIndex] self.currentItem.equip() def activate(self): self.currentItem.activate() def update(self, timer): self.velocity = self.bnode.getLinearVelocity() if (self.leftMove): self.bnode.applyCentralForce(Vec3(-Player.walkspeed, 0, 0)) if (self.rightMove): self.bnode.applyCentralForce(Vec3(Player.walkspeed, 0, 0)) if (self.jumpToggle): self.bnode.applyCentralForce(Vec3(0, 0, Player.walkspeed)) if (self.crouchToggle): self.bnode.applyCentralForce(Vec3(0, 0, -Player.walkspeed)) if (self.velocity.x < -self.topspeed): self.velocity.x = -self.topspeed if (self.velocity.x > self.topspeed): self.velocity.x = self.topspeed mouse = utilities.app.mousePos # extrude test near = Point3() far = Point3() utilities.app.camLens.extrude(mouse, near, far) camp = utilities.app.camera.getPos() near *= 20 # player depth if near.x != 0: angle = atan2(near.z + camp.z - self.node.getPos().z, near.x + camp.x - self.node.getPos().x) #angle = atan2(near.z, near.x) else: angle = 90 self.angle = angle # set current item to point at cursor self.currentItem.update(timer) # move the camera so the player is centred horizontally, # but keep the camera steady vertically utilities.app.camera.setPos(self.node.getPos().x, 0, self.node.getPos().z) self.obj.setHpr(0, 0, -1 * degrees(angle)) self.location.x = self.node.getPos().x self.location.y = self.node.getPos().z def moveLeft(self, switch): self.leftMove = switch def moveRight(self, switch): self.rightMove = switch def jump(self, switch): self.jumpToggle = switch def crouch(self, switch): self.crouchToggle = switch def scrollItem(self, number): self.currentItem.unequip() self.currentItemIndex = self.currentItemIndex + number if self.currentItemIndex < 0: self.currentItemIndex = len(self.inventory) - 1 if self.currentItemIndex > len(self.inventory) - 1: self.currentItemIndex = 0 self.currentItem = self.inventory[self.currentItemIndex] self.currentItem.equip() def selectItem(self, number): if (number - 1 < len(self.inventory) and number - 1 >= 0): self.currentItem.unequip() self.currentItemIndex = number - 1 self.currentItem = self.inventory[self.currentItemIndex] self.currentItem.equip() def hitby(self, projectile, index): self.health -= projectile.damage if (self.health < 0): self.obj.setColor(1, 0, 0, 1) return True greyscale = 0.3 + (0.01 * self.health) self.obj.setColor(greyscale, greyscale, greyscale, greyscale) return False