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state_setters.py
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state_setters.py
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from dataclasses import dataclass
from subprocess import NORMAL_PRIORITY_CLASS
from tkinter import CallWrapper
from rlgym.utils.state_setters import StateSetter
from rlgym.utils.state_setters.wrappers import CarWrapper
from rlgym.utils.state_setters import StateWrapper
from rlgym.utils.common_values import BLUE_TEAM, ORANGE_TEAM, CEILING_Z
import numpy as np
import random as rnd
import math
from rlgym.utils.terminal_conditions import TerminalCondition
from rlgym.utils.gamestates import GameState
from scipy.stats import truncnorm
def get_truncated_normal(mean=0.0, sd=1.0, low=0.0, upp=10.0):
return truncnorm(
(low - mean) / sd, (upp - mean) / sd, loc=mean, scale=sd)
class BallTouchedCondition(TerminalCondition):
def __init__(self):
super().__init__()
def reset(self, initial_state: GameState):
pass
def is_terminal(self, current_state: GameState) -> bool:
"""
Return `True` if the last touch does not have the same ID as the last touch from the initial state.
"""
if any(current_state.ball.position[0:1] != [0.0, 0.0]) or any(p.ball_touched for p in current_state.players):
return True
else:
return False
@dataclass
class CarData:
car_x: float
car_y: float
car_z: float
car_yaw: float
car_boost: float
class BackwardsStateSetter(StateSetter):
def reset(self, state_wrapper: StateWrapper):
state_wrapper.ball.position = np.array([0.0, 0.0, 92.75])
car_data = CarData(3457.8198, -1.1, 17.01, 0.0, 100.0)
car = state_wrapper.cars[0]
car.set_pos(car_data.car_x, car_data.car_y, car_data.car_z)
car.set_rot(yaw = car_data.car_yaw)
car.boost = car_data.car_boost
class RandomMirrorSetterOneVOne(StateSetter):
X_RANGE = [1024.0, 3500.0]
Y_RANGE = [-3700.0, -1024.0]
YAW_RANGE = [0, 2 * math.pi]
@staticmethod
def rnd_sign():
return 1 if rnd.random() > 0.5 else -1
def reset(self, state_wrapper: StateWrapper):
state_wrapper.ball.position = np.array([0.0, 0.0, 92.75])
car_boost = 100
#car_location = [3457.8198, -1.1, 17.01]
car_x = rnd.uniform(*self.X_RANGE) * self.rnd_sign()
car_y = rnd.uniform(*self.Y_RANGE)
car_z = 17.01 # At rest height for octane
car_yaw = rnd.uniform(*self.YAW_RANGE)
for car in state_wrapper.cars:
if car.team_num == ORANGE_TEAM:
car_x = -car_x
car_y = -car_y
car_yaw = -car_yaw
car.set_pos(car_x, car_y, car_z)
car.set_rot(yaw = car_yaw)
car.boost = car_boost
class RandomMirrorSetterFlexible(StateSetter):
X_RANGE = [1024.0, 3500.0]
Y_RANGE = [-3700.0, -1024.0]
YAW_RANGE = [0, 2 * math.pi]
DISTANCE = 3500.0
MAX_THETA = math.pi
@staticmethod
def rnd_sign():
return 1 if rnd.random() > 0.5 else -1
@staticmethod
def gen_car_location():
car_x = rnd.uniform(*RandomMirrorSetterFlexible.X_RANGE) * RandomMirrorSetterFlexible.rnd_sign()
car_y = rnd.uniform(*RandomMirrorSetterFlexible.Y_RANGE)
car_z = 17.01
car_boost = 100
car_yaw = rnd.uniform(*RandomMirrorSetterFlexible.YAW_RANGE)
ball_pos = [0.0, 0.0, 92.75]
return CarData(car_x, car_y, car_z, car_yaw, car_boost)
@staticmethod
def gen_car_loc_fixed_distance(idx = 0, num_cars = 1):
rho = RandomMirrorSetterFlexible.DISTANCE
theta_partition = RandomMirrorSetterFlexible.MAX_THETA / num_cars
theta = rnd.uniform(0, theta_partition) + (idx * theta_partition)
car_x = rho * np.cos(theta)
car_y = -(rho * np.sin(theta))
car_z = 17.01
car_boost = 100
#yaw_theta = 2 * math.pi - theta
car_yaw = rnd.uniform(*RandomMirrorSetterFlexible.YAW_RANGE)
# center the yaw range to the car->ball angle, then normalize to [0, 2pi]
#car_yaw = ((car_yaw + yaw_theta - (3/2 * math.pi)) + 2 * math.pi) % (2 * math.pi)
return CarData(car_x, car_y, car_z, car_yaw, car_boost)
@staticmethod
def gen_cal_loc_fixed_distance_and_yaw(idx = 0, num_cars = 1, relative_yaw = 0.0):
rho = RandomMirrorSetterFlexible.DISTANCE
theta_partition = RandomMirrorSetterFlexible.MAX_THETA / num_cars
theta = rnd.uniform(0, theta_partition) + (idx * theta_partition)
car_x = rho * np.cos(theta)
car_y = -(rho * np.sin(theta))
car_z = 17.01
car_boost = 100
car_ball_angle = 2 * math.pi - theta
car_yaw = car_ball_angle - math.pi + relative_yaw
car_yaw = ((car_yaw + 2*math.pi) % (2*math.pi)) # normalize to [0, 2pi]
return CarData(car_x, car_y, car_z, car_yaw, car_boost)
@staticmethod
def mirror_car_data(car_data: CarData):
return CarData(-car_data.car_x, -car_data.car_y, car_data.car_z, -car_data.car_yaw, car_data.car_boost)
@staticmethod
def mirror_car_data_rel_yaw(car_data: CarData, relative_yaw):
#mirror_yaw = ((2*relative_yaw - car_data.car_yaw) + 2*math.pi) % (2*math.pi) # normalize to [0, 2pi]
mirror_yaw = (car_data.car_yaw + math.pi) % (2*math.pi) # normalize to [0, 2pi]
return CarData(-car_data.car_x, -car_data.car_y, car_data.car_z, mirror_yaw, car_data.car_boost)
@staticmethod
def apply_car_data(car: CarWrapper, car_data: CarData):
car.set_pos(car_data.car_x, car_data.car_y, car_data.car_z)
car.set_rot(yaw = car_data.car_yaw)
car.boost = car_data.car_boost
def reset(self, state_wrapper: StateWrapper):
blue_cars = state_wrapper.blue_cars()
orange_cars = state_wrapper.orange_cars()
num_blue= len(blue_cars)
num_orange = len(orange_cars)
state_wrapper.ball.position = np.array([0.0, 0.0, 92.75])
assert num_blue == num_orange or num_blue == 1 , "Number of blue and orange cars must be equal, or there must be only one blue car"
cars = state_wrapper.cars
# rel_car_yaw = rnd.uniform(*RandomMirrorSetterFlexible.YAW_RANGE)
# generate a random yaw using a normal distribution centered around 180 degrees (facing opposite the ball)
rel_car_yaw = get_truncated_normal(mean = math.pi, sd = math.pi / 6, low = 0.0, upp = 2 * math.pi).rvs()
if len(cars) == 1:
car_data = self.gen_cal_loc_fixed_distance_and_yaw(0, 1, rel_car_yaw)
self.apply_car_data(cars[0], car_data)
else:
for i in range(num_blue):
car_data = self.gen_cal_loc_fixed_distance_and_yaw(i, num_blue, rel_car_yaw)
self.apply_car_data(blue_cars[i], car_data)
self.apply_car_data(orange_cars[i], self.mirror_car_data_rel_yaw(car_data, rel_car_yaw))