-
Notifications
You must be signed in to change notification settings - Fork 1
/
simulator.py
480 lines (420 loc) · 18.1 KB
/
simulator.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
'''
This file implements a soccer simulator based on the robocup soccer simulator,
but without sensory perceptions, networking, and real-time operation.
'''
import numpy as np
from numpy.random import uniform
from numpy.linalg import norm
from util import vector, angle_between, angle_position
from config import MINPOWER, MAXPOWER, KICKABLE, CATCHABLE, INERTIA_MOMENT
from config import PLAYER_CONFIG, BALL_CONFIG, CATCH_PROBABILITY
from config import PITCH_WIDTH, PITCH_LENGTH, GOAL_WIDTH, GOAL_DEPTH
from config import GOAL_AREA_WIDTH, GOAL_AREA_LENGTH
def bound(value, lower, upper):
''' Clips off a value which exceeds the lower or upper bounds. '''
if value < lower:
return lower
elif value > upper:
return upper
else:
return value
def bound_vector(vect, maximum):
''' Bounds a vector between a negative and positive maximum range. '''
xval = bound(vect[0], -maximum, maximum)
yval = bound(vect[1], -maximum, maximum)
return vector(xval, yval)
def angle_difference(angle1, angle2):
''' Computes the real difference between angles. '''
return norm_angle(angle1 - angle2)
def norm_angle(angle):
''' Normalize the angle between -pi and pi. '''
while angle > np.pi:
angle -= 2*np.pi
while angle < -np.pi:
angle += 2*np.pi
return angle
def angle_close(angle1, angle2):
''' Determines whether an angle1 is close to angle2. '''
return abs(angle_difference(angle1, angle2)) < np.pi/8
class Entity:
''' This is a base entity class, representing moving objects. '''
def __init__(self, config):
self.rand = config['RAND']
self.accel_max = config['ACCEL_MAX']
self.speed_max = config['SPEED_MAX']
self.power_rate = config['POWER_RATE']
self.decay = config['DECAY']
self.size = config['SIZE']
self.position = vector(0, 0)
self.velocity = vector(0, 0)
def update(self):
''' Update the position and velocity. '''
self.position += self.velocity
self.velocity *= self.decay
def accelerate(self, power, theta):
''' Applies a power to the entity in direction theta. '''
rrand = uniform(-self.rand, self.rand)
theta = (1 + rrand) * theta
rmax = self.rand*norm(self.velocity)
noise = vector(uniform(-rmax, rmax), uniform(-rmax, rmax))
rate = float(power) * self.power_rate
acceleration = rate * angle_position(theta) + noise
acceleration = bound_vector(acceleration, self.accel_max)
self.velocity += acceleration
self.velocity = bound_vector(self.velocity, self.speed_max)
def decollide(self, other):
''' Shift overlapping entities apart. '''
overlap = (self.size + other.size - self.distance(other))/2
theta1 = angle_between(self.position, other.position)
theta2 = angle_between(other.position, self.position)
self.position += overlap * angle_position(theta2)
other.position += overlap * angle_position(theta1)
self.velocity *= -1
other.velocity *= -1
def colliding(self, other):
''' Check if two entities are overlapping. '''
dist = self.distance(other)
return dist < self.size + other.size
def distance(self, other):
''' Computes the euclidean distance to another entity. '''
return norm(self.position - other.position)
def in_area(self, left, right, bot, top):
''' Checks if the entity is in the area. '''
xval, yval = self.position
in_length = left <= xval <= right
in_width = bot <= yval <= top
return in_length and in_width
class Player(Entity):
''' This represents a player with a position,
velocity and an orientation. '''
def __init__(self, position, orientation):
''' The values for this class are defined by the player constants. '''
Entity.__init__(self, PLAYER_CONFIG)
self.position = position
self.orientation = orientation
def homothetic_centre(self, ball):
''' Computes the homothetic centre between the player and the ball. '''
ratio = 1. / (self.size + ball.size)
position = (ball.position*self.size + self.position*ball.size)
return ratio * position
def tangent_points(self, htc):
''' Finds the tangent points on the player wrt to homothetic centre. '''
diff = htc - self.position
square = sum(diff**2)
if square <= self.size**2:
delta = 0.0
else:
delta = np.sqrt(square - self.size**2)
xt1 = (diff[0]*self.size**2 + self.size*diff[1]*delta) / square
xt2 = (diff[0]*self.size**2 - self.size*diff[1]*delta) / square
yt1 = (diff[1]*self.size**2 + self.size*diff[0]*delta) / square
yt2 = (diff[1]*self.size**2 - self.size*diff[0]*delta) / square
tangent1 = vector(xt1, yt1) + self.position
tangent2 = vector(xt1, yt2) + self.position
tangent3 = vector(xt2, yt1) + self.position
tangent4 = vector(xt2, yt2) + self.position
if norm(tangent1 - self.position) == self.size:
return tangent1, tangent4
else:
return tangent2, tangent3
def ball_angles(self, ball, angle):
''' Determines which angle to kick the ball along. '''
htc = self.homothetic_centre(ball)
tangent1, tangent2 = self.tangent_points(htc)
target = self.position + self.size*angle_position(angle)
if norm(tangent1 - target) < norm(tangent2 - target):
return angle_between(htc, tangent1)
else:
return angle_between(htc, tangent2)
def kick_power(self, ball):
''' Determines the kick power weighting given ball position. '''
angle = angle_between(self.position, ball.position)
dir_diff = abs(angle_difference(angle, self.orientation))
dist = self.distance(ball)
return (1 - 0.25*dir_diff/np.pi - 0.25*dist/KICKABLE)
def facing_ball(self, ball):
''' Determines whether the player is facing the ball. '''
angle = angle_between(self.position, ball.position)
return self.facing_angle(angle)
def facing_angle(self, angle):
''' Determines whether the player is facing an angle. '''
return angle_close(self.orientation, angle)
def turn(self, angle):
''' Turns the player. '''
moment = norm_angle(angle)
speed = norm(self.velocity)
angle = moment / (1 + INERTIA_MOMENT * speed)
self.orientation = self.orientation + angle
def dash(self, power):
''' Dash forward. '''
power = bound(power, MINPOWER, MAXPOWER)
self.accelerate(power, self.orientation)
def can_kick(self, ball):
''' Determines whether the player can kick the ball. '''
return self.distance(ball) <= KICKABLE
def kick_ball(self, ball, power, direction):
''' Kicks the ball. '''
if self.can_kick(ball):
power = bound(power, MINPOWER, MAXPOWER)
power *= self.kick_power(ball)
ball.accelerate(power, self.orientation + direction)
def kick_towards(self, ball, power, direction):
''' Kick the ball directly to a direction. '''
self.kick_ball(ball, power, direction - self.orientation)
def shoot_goal(self, ball, ypos):
''' Shoot the goal at a targeted position on the goal line. '''
ypos = bound(ypos, -GOAL_WIDTH/2, GOAL_WIDTH/2)
target = vector(PITCH_LENGTH/2 + ball.size, ypos)
self.kick_to(ball, target)
def face_ball(self, ball):
''' Turn the player towards the ball. '''
theta = angle_between(self.position, ball.position)
self.face_angle(theta)
def face_angle(self, angle):
''' Turn the player towards and angle. '''
self.turn(angle - self.orientation)
def to_ball(self, ball):
''' Move towards the ball. '''
if not self.facing_ball(ball):
self.face_ball(ball)
elif not self.can_kick(ball):
self.dash(10)
def kick_to(self, ball, target):
''' Kick the ball to a target position. '''
if not self.can_kick(ball):
self.to_ball(ball)
else:
accel = (1 - ball.decay) * (target - self.position) - ball.velocity
power = norm(accel) / (self.kick_power(ball) * ball.power_rate)
theta = np.arctan2(accel[1], accel[0])
self.kick_towards(ball, power, theta)
def turn_ball(self, ball, angle):
''' Turn the ball around the player. '''
if not self.can_kick(ball):
self.to_ball(ball)
elif not self.facing_angle(angle):
self.face_angle(angle)
elif self.size < self.distance(ball):
theta = self.ball_angles(ball, angle)
power = 0.1 / self.kick_power(ball)
self.kick_towards(ball, power, theta)
def dribble(self, ball, target):
''' Dribble the ball to a position. '''
angle = angle_between(self.position, ball.position)
theta = angle_between(self.position, target)
if not self.can_kick(ball):
self.to_ball(ball)
elif ball.close_to(target):
pass
elif not angle_close(angle, theta):
self.turn_ball(ball, theta)
elif not self.facing_angle(theta):
self.face_angle(theta)
elif self.distance(ball) < (KICKABLE + self.size + ball.size)/2:
self.kick_towards(ball, 1.5, theta)
else:
self.dash(10)
def keeper_line(ball):
''' Finds the line the keeper wants to stay to. '''
grad = -ball[1]/(PITCH_LENGTH/2 - ball[0])
yint = ball[1] - grad * ball[0]
return grad, yint
def keeper_target(ball):
''' Target the keeper wants to move towards. '''
grad, yint = keeper_line(ball)
if ball[0] < PITCH_LENGTH/2 - GOAL_AREA_LENGTH:
xval = ball[0]
else:
if ball[1] < -GOAL_AREA_WIDTH/2:
xval = (-GOAL_AREA_WIDTH/2 - yint)/grad
else:
xval = (GOAL_AREA_WIDTH/2 - yint)/grad
xval = bound(xval, PITCH_LENGTH/2 - GOAL_AREA_LENGTH, PITCH_LENGTH/2)
yval = bound(grad * xval + yint, -GOAL_AREA_WIDTH/2, GOAL_AREA_WIDTH/2)
return vector(xval, yval)
class Goalie(Player):
''' This class defines a special goalie player. '''
def move(self, ball, player):
''' This moves the goalie. '''
ball_end = ball.position + ball.velocity / (1 - ball.decay)
diff = ball_end - ball.position
grad = diff[1] / diff[0]
yint = ball.position[1] - grad * ball.position[0]
goal_y = grad * PITCH_LENGTH/2 + yint
if ball_end[0] > PITCH_LENGTH/2 and -GOAL_WIDTH/2 - CATCHABLE <= goal_y <= GOAL_WIDTH/2 + CATCHABLE and grad != 0:
grad2 = -1/grad
yint2 = self.position[1] - grad2 * self.position[0]
ballx = (yint2 - yint) / (grad - grad2)
bally = grad * ballx + yint
target = vector(ballx, bally)
self.move_towards(20, target)
self.orientation = angle_between(self.position, target)
else:
self.orientation = angle_between(self.position, ball_end)
self.move_towards(8, ball_end)
def move_towards(self, power, target):
''' Move towards target position. '''
theta = angle_between(self.position, target)
self.accelerate(power, theta)
def can_catch(self, ball):
''' Determines whether the goalie can catch the ball. '''
can_catch = self.distance(ball) < CATCHABLE
return np.random.random() <= CATCH_PROBABILITY and can_catch
class Ball(Entity):
''' This class represents the ball, which has no orientation. '''
def __init__(self, position):
''' The values for this class are defined by the ball constants. '''
Entity.__init__(self, BALL_CONFIG)
self.position = position
def close_to(self, position):
''' Determines whether the ball is close to a postion. '''
return norm(self.position - position) <= 1.5
def goal_distance(self):
''' Returns the distance from the goal box. '''
if self.position[0] < PITCH_LENGTH/2:
if self.position[1] < -GOAL_WIDTH/2:
bot_corner = vector(PITCH_LENGTH/2, -GOAL_WIDTH/2)
return norm(self.position - bot_corner)
elif self.position[1] > GOAL_WIDTH/2:
top_corner = vector(PITCH_LENGTH/2, GOAL_WIDTH/2)
return norm(self.position - top_corner)
else:
return PITCH_LENGTH/2 - self.position[0]
else:
if self.position[1] < -GOAL_WIDTH/2:
return GOAL_WIDTH/2 - self.position[1]
elif self.position[1] > GOAL_WIDTH/2:
return self.position[1] - GOAL_WIDTH/2
else:
return 0
def in_field(self):
''' Checks if the ball has left the field. '''
return self.in_area(0, PITCH_LENGTH/2, -PITCH_WIDTH/2, PITCH_WIDTH/2)
def in_net(self):
''' Checks if the ball is in the net. '''
return self.in_area(PITCH_LENGTH/2, PITCH_LENGTH/2 + GOAL_DEPTH, -GOAL_WIDTH/2, GOAL_WIDTH/2)
def in_goalbox(self):
''' Checks if the ball is in the goal box. '''
return self.in_area(PITCH_LENGTH/2 - GOAL_AREA_LENGTH, PITCH_LENGTH/2, -GOAL_AREA_WIDTH/2, GOAL_AREA_WIDTH)
class Simulator:
''' This class represents the environment. '''
def __init__(self):
''' The entities are set up and added to a space. '''
initial_player = vector(0, uniform(-PITCH_WIDTH/2, PITCH_WIDTH/2))
angle = angle_between(initial_player, vector(PITCH_LENGTH/2, 0))
self.player = Player(initial_player, angle)
initial_ball = initial_player + KICKABLE * angle_position(angle)
self.ball = Ball(initial_ball)
initial_goalie = keeper_target(initial_ball)
angle2 = angle_between(initial_goalie, initial_ball)
self.goalie = Goalie(initial_goalie, angle2)
self.entities = [self.player, self.goalie, self.ball]
self.states = []
self.time = 0
def get_state(self):
''' Returns the representation of the current state. '''
state = np.concatenate((
self.player.position,
self.player.velocity,
[self.player.orientation],
self.goalie.position,
self.goalie.velocity,
[self.goalie.orientation],
self.ball.position,
self.ball.velocity))
return state
def perform_action(self, action, agent):
''' Applies for selected action for the given agent. '''
if action:
act, parameters = action
if act == 'kick':
agent.kick_ball(self.ball, parameters[0], parameters[1])
elif act == 'dash':
agent.dash(parameters[0])
elif act == 'turn':
agent.turn(parameters[0])
elif act == 'toball':
agent.to_ball(self.ball)
elif act == 'shootgoal':
agent.shoot_goal(self.ball, parameters[0])
elif act == 'turnball':
agent.turn_ball(self.ball, parameters[0])
elif act == "dribble":
agent.dribble(self.ball, parameters)
elif act == "kickto":
agent.kick_to(self.ball, parameters[0])
def resolve_collisions(self):
''' Shift apart all colliding entities with one pass. '''
for index, entity1 in enumerate(self.entities):
for entity2 in self.entities[index+1:]:
if entity1.colliding(entity2):
entity1.decollide(entity2)
def terminal_check(self):
''' Determines if the episode is ended, and the reward. '''
if self.ball.in_net():
end_episode = True
reward = 50
elif self.goalie.can_catch(self.ball) or not self.ball.in_field():
end_episode = True
reward = -self.ball.goal_distance()
else:
end_episode = False
reward = 0
if end_episode:
self.states.append([
self.player.position.copy(),
self.player.orientation,
self.goalie.position.copy(),
self.goalie.orientation,
self.ball.position.copy()])
return reward, end_episode
def update(self, action):
''' Performs a single transition with the given action,
then returns the new state and a reward. '''
self.states.append([
self.player.position.copy(),
self.player.orientation,
self.goalie.position.copy(),
self.goalie.orientation,
self.ball.position.copy()])
self.perform_action(action, self.player)
self.goalie.move(self.ball, self.player)
for entity in self.entities:
entity.update()
self.resolve_collisions()
return self.terminal_check()
def is_stable(self):
''' Determines whether objects have stopped moving. '''
speeds = [norm(entity.velocity) for entity in self.entities]
return max(speeds) < 0.1
def take_action(self, action):
''' Take a full, stabilised update. '''
steps = 0
self.time += 1
if self.time == 100:
reward = - self.ball.goal_distance()
end_episode = True
state = self.get_state()
return state, reward, end_episode, steps
end_episode = False
run = True
while run:
steps += 1
reward, end_episode = self.update(action)
run = not end_episode
if action and run:
act, params = action
run = not self.player.can_kick(self.ball)
if act == "dribble":
run = not self.ball.close_to(params) or run
elif act == "kickto":
run = norm(self.ball.velocity) > 0.1 or run
elif act == "turnball":
theta = angle_between(self.player.position, self.ball.position)
run = not angle_close(theta, params[0]) or run
elif act == "shootgoal":
run = not end_episode
else:
run = False
state = self.get_state()
return state, reward, end_episode, steps