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More User Friendly, easier track creation, Tensorflow 2.X #11

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LjAquinox Feb 20, 2023
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LjAquinox Feb 20, 2023
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LjAquinox Feb 20, 2023
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4 changes: 2 additions & 2 deletions Drawer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
class Drawer:

def __init__(self):
self.color = [0, 0, 0]
self.color = [100, 0, 0]
self.lineThickness = 1

def setLineThinkness(self, thinkness):
Expand Down Expand Up @@ -42,4 +42,4 @@ def circle(self, x, y, radius):
for i in range(iterations + 1):
glVertex2f(x + dx, y + dy)
dx, dy = (dx * c - dy * s), (dy * c + dx * s)
glEnd()
glEnd()
155 changes: 66 additions & 89 deletions Game.py
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Original file line number Diff line number Diff line change
@@ -1,23 +1,20 @@
import numpy as np
import pyglet
from Globals import displayWidth, displayHeight
from Drawer import Drawer
from Global import *
from Draw import Drawer
from ShapeObjects import *
from PygameAdditionalMethods import *
import pygame

drawer = Drawer()
vec2 = pygame.math.Vector2


class Game:
no_of_actions = 9
state_size = 15
state_size = 20 #self.nbVect + 4

def __init__(self):
trackImg = pyglet.image.load('images/track.png')
trackImg = pyglet.image.load('Track.png')
self.trackSprite = pyglet.sprite.Sprite(trackImg, x=0, y=0)
# initiate car

# initiate walls
self.walls = []
Expand Down Expand Up @@ -93,56 +90,47 @@ def set_walls(self):
self.walls.append(Wall(1157, 528, 1233, 478))

def set_gates(self):
self.gates.append(RewardGate(314, 345, 200, 326))
self.gates.append(RewardGate(187, 435, 311, 451))
self.gates.append(RewardGate(307, 537, 171, 555))
self.gates.append(RewardGate(234, 681, 345, 628))
self.gates.append(RewardGate(408, 682, 363, 788))
self.gates.append(RewardGate(428, 816, 481, 712))
self.gates.append(RewardGate(568, 733, 543, 854))
self.gates.append(RewardGate(678, 858, 675, 710))
self.gates.append(RewardGate(852, 708, 855, 848))
self.gates.append(RewardGate(995, 836, 985, 705))
self.gates.append(RewardGate(1059, 710, 1076, 821))
self.gates.append(RewardGate(1078, 667, 1172, 572))
self.gates.append(RewardGate(997, 616, 1076, 532))
self.gates.append(RewardGate(967, 492, 909, 566))
self.gates.append(RewardGate(788, 512, 839, 438))
self.gates.append(RewardGate(790, 405, 781, 285))
self.gates.append(RewardGate(891, 302, 899, 427))
self.gates.append(RewardGate(1004, 434, 1027, 334))
self.gates.append(RewardGate(1139, 344, 1084, 452))
self.gates.append(RewardGate(1171, 502, 1233, 416))
self.gates.append(RewardGate(1305, 454, 1243, 556))
self.gates.append(RewardGate(1365, 588, 1408, 480))
self.gates.append(RewardGate(1487, 472, 1524, 587))
self.gates.append(RewardGate(1642, 508, 1575, 432))
self.gates.append(RewardGate(1608, 360, 1709, 419))
self.gates.append(RewardGate(1744, 324, 1625, 296))
self.gates.append(RewardGate(1609, 231, 1727, 190))
self.gates.append(RewardGate(1617, 66, 1541, 163))
self.gates.append(RewardGate(1487, 135, 1510, 14))
self.gates.append(RewardGate(1344, 16, 1328, 150))
self.gates.append(RewardGate(1077, 142, 1067, 14))
self.gates.append(RewardGate(909, 16, 900, 130))
self.gates.append(RewardGate(718, 138, 698, 20))
self.gates.append(RewardGate(551, 18, 567, 132))
self.gates.append(RewardGate(445, 138, 413, 13))
self.gates.append(RewardGate(379, 154, 243, 80))
self.gates.append(RewardGate(357, 221, 203, 182))

self.gates.append(RewardGate(212, 645, 288, 634))
self.gates.append(RewardGate(206, 518, 279, 526))
self.gates.append(RewardGate(224, 390, 286, 416))
self.gates.append(RewardGate(302, 261, 369, 314))
self.gates.append(RewardGate(545, 175, 561, 236))
self.gates.append(RewardGate(846, 182, 841, 259))
self.gates.append(RewardGate(1114, 203, 1100, 282))
self.gates.append(RewardGate(1217, 297, 1113, 300))
self.gates.append(RewardGate(1185, 403, 1102, 339))
self.gates.append(RewardGate(1042, 462, 979, 408))
self.gates.append(RewardGate(876, 543, 807, 482))
self.gates.append(RewardGate(765, 598, 693, 545))
self.gates.append(RewardGate(801, 596, 815, 694))
self.gates.append(RewardGate(883, 587, 904, 680))
self.gates.append(RewardGate(1102, 567, 1128, 640))
self.gates.append(RewardGate(1261, 452, 1304, 514))
self.gates.append(RewardGate(1461, 412, 1454, 499))
self.gates.append(RewardGate(1615, 480, 1572, 535))
self.gates.append(RewardGate(1722, 680, 1655, 698))
self.gates.append(RewardGate(1693, 873, 1623, 815))
self.gates.append(RewardGate(1510, 966, 1495, 886))
self.gates.append(RewardGate(1297, 970, 1282, 888))
self.gates.append(RewardGate(1054, 971, 1045, 887))
self.gates.append(RewardGate(925, 969, 907, 885))
self.gates.append(RewardGate(742, 969, 733, 884))
self.gates.append(RewardGate(549, 965, 537, 880))
self.gates.append(RewardGate(295, 920, 361, 864))
self.gates.append(RewardGate(238, 766, 309, 754))

def new_episode(self):
self.car.reset()


def get_state(self):
return self.car.getState()
pass

def make_action(self, action):
# returns reward
actionNo = np.argmax(action)
self.car.updateWithAction(actionNo)
#actionNo = np.argmax(action)
self.car.updateWithAction(action)
return self.car.reward

def is_episode_finished(self):
Expand All @@ -156,18 +144,14 @@ def get_lifespan(self):

def render(self):
glPushMatrix()
#
# glTranslatef(-1, -1, 0)
# glScalef(1 / (displayWidth / 2), 1 / (displayHeight / 2), 1)

# self.clear()
self.trackSprite.draw()
self.car.show()

# for w in self.walls:
# w.draw()
# for g in self.gates:
# g.draw()
for w in self.walls:
w.draw()
for g in self.gates:
g.draw()
self.car.show()
#self.car.showCollisionVectors()

glPopMatrix()

Expand All @@ -181,24 +165,22 @@ def __init__(self, x1, y1, x2, y2):
self.y2 = displayHeight - y2

self.line = Line(self.x1, self.y1, self.x2, self.y2)
self.line.setLineThinkness(2)
self.line.setLineThinkness(5)
self.line.setColor([255, 0, 0])

"""
draw the line
"""

def draw(self):
self.line.draw()

"""
returns true if the car object has hit this wall
"""

def hitCar(self, car):
global vec2
cw = car.width
# since the car sprite isn't perfectly square the hitbox is a little smaller than the width of the car
ch = car.height - 4
ch = car.height
rightVector = vec2(car.direction)
upVector = vec2(car.direction).rotate(-90)
carCorners = []
Expand All @@ -213,6 +195,7 @@ def hitCar(self, car):
j = j % 4
if linesCollided(self.x1, self.y1, self.x2, self.y2, carCorners[i].x, carCorners[i].y, carCorners[j].x,
carCorners[j].y):
#print("u ded")
return True
return False

Expand All @@ -227,9 +210,9 @@ class RewardGate:
def __init__(self, x1, y1, x2, y2):
global vec2
self.x1 = x1
self.y1 = y1
self.y1 = displayHeight - y1
self.x2 = x2
self.y2 = y2
self.y2 = displayHeight - y2
self.active = True

self.line = Line(self.x1, self.y1, self.x2, self.y2)
Expand All @@ -256,8 +239,7 @@ def hitCar(self, car):

global vec2
cw = car.width
# since the car sprite isn't perfectly square the hitbox is a little smaller than the width of the car
ch = car.height - 4
ch = car.height
rightVector = vec2(car.direction)
upVector = vec2(car.direction).rotate(-90)
carCorners = []
Expand All @@ -276,10 +258,13 @@ def hitCar(self, car):
return False



class Car:

def __init__(self, walls, rewardGates):
global vec2
self.nbVect = 16
self.angles = np.linspace(-180, 180, self.nbVect)
self.x = 258
self.y = 288
self.vel = 0
Expand All @@ -291,16 +276,16 @@ def __init__(self, walls, rewardGates):
self.turningRate = 5.0 / self.width
self.friction = 0.98
self.maxSpeed = self.width / 4.0
self.maxReverseSpeed = -1 * self.maxSpeed / 2.0
self.maxReverseSpeed = self.maxSpeed / 16.0 #used as a minimum for speed
self.accelerationSpeed = self.width / 160.0
self.dead = False
self.driftMomentum = 0
self.driftFriction = 0.87
self.lineCollisionPoints = []
self.collisionLineDistances = []
self.vectorLength = 300
self.vectorLength = 600

self.carPic = pyglet.image.load('images/car.png')
self.carPic = pyglet.image.load('Car.png')
self.carSprite = pyglet.sprite.Sprite(self.carPic, x=self.x, y=self.y)
self.carSprite.update(rotation=0, scale_x=self.width / self.carSprite.width,
scale_y=self.height / self.carSprite.height)
Expand Down Expand Up @@ -349,6 +334,7 @@ def reset(self):
g.active = True

def show(self):
#print(self.x,self.y)
# first calculate the center of the car in order to allow the
# rotation of the car to be anchored around the center
upVector = self.direction.rotate(90)
Expand All @@ -375,6 +361,7 @@ def getPositionOnCarRelativeToCenter(self, right, up):
return vec2(self.x, self.y) + ((rightVector * right) + (upVector * up))

def updateWithAction(self, actionNo):
#print("action number : " + str(actionNo))
self.turningLeft = False
self.turningRight = False
self.accelerating = False
Expand Down Expand Up @@ -407,11 +394,13 @@ def updateWithAction(self, actionNo):
for i in range(1):
if not self.dead:
self.lifespan+=1
self.move()

self.updateControls()
self.move()

if self.hitAWall():
self.dead = True
#print("dead at x: " + str(self.x) + " y : " + str(displayHeight - self.y) + "u lived for : " + str(self.lifespan) + " reward : " + str(self.score))
# return
self.checkRewardGates()
totalReward += self.reward
Expand Down Expand Up @@ -520,9 +509,10 @@ def updateControls(self):
self.acc = self.accelerationSpeed
elif self.reversing:
if self.vel > 0:
self.acc = -3 * self.accelerationSpeed
self.acc = -2 * self.accelerationSpeed
else:
self.acc = -1 * self.accelerationSpeed
self.acc = 0
self.vel = 0

"""
checks every wall and if the car has hit a wall returns true
Expand Down Expand Up @@ -563,8 +553,7 @@ def getState(self):
self.setVisionVectors()
normalizedVisionVectors = [1 - (max(1.0, line) / self.vectorLength) for line in self.collisionLineDistances]

normalizedForwardVelocity = max(0.0, self.vel / self.maxSpeed)
normalizedReverseVelocity = max(0.0, self.vel / self.maxReverseSpeed)
normalizedForwardVelocity = max(0, (self.vel-self.maxReverseSpeed) / (self.maxSpeed-self.maxReverseSpeed))
if self.driftMomentum > 0:
normalizedPosDrift = self.driftMomentum / 5
normalizedNegDrift = 0
Expand All @@ -578,27 +567,15 @@ def getState(self):

normalizedAngleOfNextGate /= 180

normalizedState = [*normalizedVisionVectors, normalizedForwardVelocity, normalizedReverseVelocity,
normalizedState = [*normalizedVisionVectors, normalizedForwardVelocity,
normalizedPosDrift, normalizedNegDrift, normalizedAngleOfNextGate]
return np.array(normalizedState)

def setVisionVectors(self):
h = self.height - 4
w = self.width
self.collisionLineDistances = []
self.lineCollisionPoints = []
self.setVisionVector(w / 2, 0, 0)
self.setVisionVector(w / 2, -h / 2, -180 / 16)
self.setVisionVector(w / 2, -h / 2, -180 / 4)
self.setVisionVector(w / 2, -h / 2, -4 * 180 / 8)

self.setVisionVector(w / 2, h / 2, 180 / 16)
self.setVisionVector(w / 2, h / 2, 180 / 4)
self.setVisionVector(w / 2, h / 2, 4 * 180 / 8)

self.setVisionVector(-w / 2, -h / 2, -6 * 180 / 8)
self.setVisionVector(-w / 2, h / 2, 6 * 180 / 8)
self.setVisionVector(-w / 2, 0, 180)
for i in self.angles:
self.setVisionVector(0, 0, i)

"""
calculates and stores the distance to the nearest wall given a vector
Expand Down
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