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Code Issues Releases Wiki Activity

working on modular body parts

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This commit is contained in:
Enrico Fasoli 2015-08-09 17:47:39 +02:00
parent 2dcb9e9447
commit 31d92b4cf5
10 changed files with 316 additions and 103 deletions
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2
core/src/com/mygdx/game/Game.java
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@ -9,7 +9,7 @@ import com.badlogic.gdx.graphics.glutils.ShapeRenderer;
import com.badlogic.gdx.math.Vector3;
import java.util.ConcurrentModificationException;
import java.util.Map;
import logic.Creature;
import logic.creatures.Creature;
import logic.Element;
import logic.World;

2
core/src/logic/Vegetable.java
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@ -9,7 +9,7 @@ import com.mygdx.game.Game;
*/
public class Vegetable extends Element {
public static final int default_radius = 5;
public static final float default_radius = 5;
private float decayRate = 0;
public Vegetable(float x, float y) {

15
core/src/logic/World.java
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@ -1,5 +1,6 @@
package logic;
import logic.creatures.Creature;
import com.mygdx.game.Game;
import com.mygdx.game.Listener;
import com.mygdx.game.Log;
@ -12,6 +13,7 @@ import java.util.HashMap;
import java.util.Map;
import java.util.logging.Level;
import java.util.logging.Logger;
import logic.creatures.Torso;
import logic.neural.Brain;
/**
@ -279,12 +281,12 @@ public class World implements Runnable {
multithreading = options.get("enable_multithreading") > 0;
Creature.corpseDecayRate = options.get("corpse_decay_rate");
Creature.leaveCorpses = options.get("enable_corpses") > 0;
Creature.default_radius = Math.round(options.get("creature_radius"));
Creature.max_hp = Math.round(options.get("creature_max_hp"));
Torso.default_radius = Math.round(options.get("creature_radius"));
Torso.max_hp = Math.round(options.get("creature_max_hp"));
Creature.max_speed = options.get("creature_max_speed");
Creature.fov = options.get("creature_fov");
Creature.sightRange = options.get("creature_sight_range");
Creature.hpDecay = options.get("creature_hp_decay");
Torso.hpDecay = options.get("creature_hp_decay");
Creature.hpForAttacking = options.get("creature_hp_for_attacking");
Creature.hpForEatingPlants = options.get("creature_hp_for_eating_plants");
Creature.pointsForAttacking = options.get("creature_points_for_attacking");
@ -307,10 +309,11 @@ public class World implements Runnable {
* @return the spawned element
*/
private Element spawn(boolean isCreature, float[][][] brainMap) {
int x, y, r;
boolean overlaps = false;
int x, y;
float r;
boolean overlaps;
if (isCreature) {
r = Creature.default_radius;
r = Torso.default_radius;
} else {
r = Vegetable.default_radius;
}

54
core/src/logic/creatures/Beak.java Normal file
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@ -0,0 +1,54 @@
/*
* To change this license header, choose License Headers in Project Properties.
* To change this template file, choose Tools | Templates
* and open the template in the editor.
*/
package logic.creatures;
import com.badlogic.gdx.graphics.glutils.ShapeRenderer;
import static logic.creatures.Creature.fov;
import static logic.creatures.Creature.hpForAttacking;
import static logic.creatures.Creature.pointsForAttacking;
/**
*
* @author fazo
*/
public class Beak extends BodyPart {
private float length;
public static float max_length = Torso.default_radius / 4, min_length = max_length / 4;
public Beak(float angle, Creature creature) {
super(1, 1, angle, 1, creature);
length = min_length;
}
@Override
public float[] update() {
return new float[]{};
}
@Override
protected void draw(ShapeRenderer s, float relX, float relY) {
s.set(ShapeRenderer.ShapeType.Line);
// Draw Beak
s.setColor(getLength() / Beak.max_length, 1 - getLength() / Beak.max_length, 0, 1);
s.line((float) (relX + creature.getX()), (float) (relY + creature.getY()), (float) (relX * (1.5f + getLength() / Beak.max_length) + creature.getX()), (float) (relY * (1.5f + getLength() / Beak.max_length) + creature.getY()));
}
@Override
protected void useOutputs(float[] outputs) {
length = outputs[0] * max_length;
if (length > max_length) {
length = max_length;
} else if (length < 0) {
length = 0;
}
}
public float getLength() {
return length;
}
}

57
core/src/logic/creatures/BodyPart.java Normal file
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@ -0,0 +1,57 @@
package logic.creatures;
import com.badlogic.gdx.graphics.glutils.ShapeRenderer;
import com.mygdx.game.Log;
/**
*
* @author fazo
*/
public abstract class BodyPart {
protected int inputNeuronsUsed, outputNeuronsUsed;
protected float angle, distFromCenter;
protected float outputs[];
protected Creature creature;
public BodyPart(int inputNeuronsUsed, int outputNeuronsUsed, float angle, float distFromCenter, Creature creature) {
this.inputNeuronsUsed = inputNeuronsUsed;
this.angle = angle;
this.distFromCenter = distFromCenter;
this.creature = creature;
outputs = new float[outputNeuronsUsed];
}
public abstract float[] update();
protected abstract void draw(ShapeRenderer s, float relX, float relY);
public void render(ShapeRenderer s) {
double relX = Math.cos(creature.getDirection() + angle) * creature.getTorso().getRadius() * distFromCenter;
double relY = Math.sin(creature.getDirection() + angle) * creature.getTorso().getRadius() * distFromCenter;
draw(s, (float) relX, (float) relY);
}
protected abstract void useOutputs(float outputs[]);
public int getInputNeuronsUsed() {
return inputNeuronsUsed;
}
public int getOutputNeuronsUsed() {
return outputNeuronsUsed;
}
public float getAngle() {
return angle;
}
public float getDistanceFromCreatureCenter() {
return distFromCenter;
}
public Creature getCreature() {
return creature;
}
}

179
core/src/logic/Creature.java → core/src/logic/creatures/Creature.java
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@ -1,10 +1,13 @@
package logic;
package logic.creatures;
import com.badlogic.gdx.graphics.glutils.ShapeRenderer;
import com.mygdx.game.Game;
import com.mygdx.game.Log;
import java.util.ArrayList;
import java.util.logging.Level;
import java.util.logging.Logger;
import logic.Element;
import logic.Vegetable;
import logic.neural.Brain;
/**
@ -14,12 +17,15 @@ import logic.neural.Brain;
*/
public class Creature extends Element implements Runnable {
public static int default_radius = 20, max_hp = 100, brain_hidden_layers = 2, brain_hidden_neurons = 10;
public static float max_speed = 3, max_beak = default_radius / 4, fov, sightRange, corpseDecayRate = 0, hpDecay = 0.5f, pointsForEatingPlants = 1f, pointsForAttacking = 2f, hpForAttacking = 1f, hpForEatingPlants = 1f;
public static int brain_hidden_layers = 2, brain_hidden_neurons = 10;
public static float max_speed = 3, fov, sightRange, corpseDecayRate = 0, pointsForEatingPlants = 1f, pointsForAttacking = 2f, hpForAttacking = 1f, hpForEatingPlants = 1f;
public static boolean leaveCorpses = false;
private Brain brain;
private float dir, hp, prevHp, speed, fitness, rotSpeed, beak;
private final Brain brain;
private final Torso torso;
private final Beak beak;
private final ArrayList<BodyPart> bodyParts;
private float dir, speed, fitness, rotSpeed;
private boolean eating = false, killing = false, workerDone = false, killWorker = false;
private Sight[] sights;
private Thread workerThread;
@ -31,13 +37,14 @@ public class Creature extends Element implements Runnable {
* @param y
*/
public Creature(float x, float y) {
super(x, y, default_radius);
super(x, y, Torso.default_radius);
dir = (float) (Math.random() * 2 * Math.PI);
hp = max_hp;
prevHp = hp;
speed = 0;
rotSpeed = 0;
fitness = 0;
bodyParts = new ArrayList<BodyPart>();
bodyParts.add(torso = new Torso(this));
bodyParts.add(beak = new Beak(0, this));
brain = new Brain(9, 5, brain_hidden_layers, brain_hidden_neurons);
sights = new Sight[2];
}
@ -54,16 +61,15 @@ public class Creature extends Element implements Runnable {
update();
workerDone = true;
}
if(killWorker) break;
if (killWorker) {
break;
}
}
}
@Override
public void update() {
// apply hunger
hp -= hpDecay;
prevHp = hp;
if (hp < 0) { // Dead
if (!torso.isAlive()) { // Dead
Game.get().getWorld().getGraveyard().add(this);
if (leaveCorpses) {
Vegetable carcass = new Vegetable(getX(), getY());
@ -85,28 +91,32 @@ public class Creature extends Element implements Runnable {
move(xMul * speed, yMul * speed);
if (getX() < 0) {
setX(Game.get().getWorld().getWidth() + getX());
} else if (getX() > Game.get().getWorld().getWidth()) {
setX(getX() - Game.get().getWorld().getWidth());
}
if (getY() < 0) {
setY(Game.get().getWorld().getHeight() + getY());
}
if (getX() > Game.get().getWorld().getWidth()) {
setX(getX() - Game.get().getWorld().getWidth());
}
if (getY() > Game.get().getWorld().getHeight()) {
} else if (getY() > Game.get().getWorld().getHeight()) {
setY(getY() - Game.get().getWorld().getHeight());
}
dir += rotSpeed;
//fitness -= 0.1;
if (dir > 2 * Math.PI) {
dir -= 2 * Math.PI;
}
if (dir < 0) {
} else if (dir < 0) {
dir += 2 * Math.PI;
}
// read from sensors and interact with world
sights = interactWithWorld();
// feed data to brain
float[] values = new float[brain.getNeurons()[0].length];
int valueCounter = 0;
for (BodyPart b : bodyParts) {
for (float v : b.update()) {
values[valueCounter] = v;
valueCounter++;
}
}
// VIEW: PLANTS
// 0: sight(v): see food?
// 1: sight(v): distance
@ -117,29 +127,29 @@ public class Creature extends Element implements Runnable {
// 5: sight(c): distance
// 6: sight(c): angle
// 8: sight(c): hunger
// 7: sight(c): beak
// 7: sight(c): beak.getLength()
// OTHER:
// 8: food sensor
int viewSensors = 4;
for (int i = 0; i < sights.length; i++) {
int mul = i * viewSensors;
int offset = i * viewSensors + valueCounter;
if (sights[i] == null || sights[i].getElement() == null) {
// See nothing
values[0 + mul] = 0;
values[1 + mul] = 0;
values[2 + mul] = 0;
values[3 + mul] = 0;
values[0 + offset] = 0;
values[1 + offset] = 0;
values[2 + offset] = 0;
values[3 + offset] = 0;
} else {
// See something
values[1 + mul] = sights[i].getDistance() / sightRange;
values[2 + mul] = sights[i].getAngle();
values[1 + offset] = sights[i].getDistance() / sightRange;
values[2 + offset] = sights[i].getAngle();
if (sights[i].getElement() instanceof Vegetable) {
values[0 + mul] = 1f;
values[3 + mul] = sights[i].getElement().getSize() / default_radius;
values[0 + offset] = 1f;
values[3 + offset] = sights[i].getElement().getSize() / torso.getRadius();
} else {
values[0 + mul] = 1f;
values[3 + mul] = max_hp - ((Creature) sights[i].getElement()).getHp() / max_hp;
values[3 + mul] = ((Creature) sights[i].getElement()).getBeak() / max_beak;
values[0 + offset] = 1f;
values[3 + offset] = Torso.max_hp - ((Creature) sights[i].getElement()).getTorso().getHp() / Torso.max_hp;
values[3 + offset] = ((Creature) sights[i].getElement()).getBeak() / Beak.max_length;
}
}
}
@ -152,27 +162,35 @@ public class Creature extends Element implements Runnable {
// Should not happen
Logger.getLogger(Creature.class.getName()).log(Level.SEVERE, null, ex);
}
int i = 0;
// Save brain outputs to body parts
for (BodyPart b : bodyParts) {
int n = 0;
float data[] = new float[b.getOutputNeuronsUsed()];
while (n < b.getOutputNeuronsUsed()) {
data[n] = actions[i];
i++;
n++;
}
b.useOutputs(data);
}
Log.log(Log.DEBUG, "Accel: " + actions[0] + " RotClock: " + actions[1] + " RotAntiClock: " + actions[2] + " Beak: " + actions[3]);
speed = (actions[0] * 2 - actions[4] / 2) * max_speed;
rotSpeed = actions[1] - actions[2];
beak = actions[3] * max_beak;
if (beak > max_beak) {
beak = max_beak;
} else if (beak < 0) {
beak = 0;
}
}
@Override
public void render(ShapeRenderer s) {
// Draw Body
s.setColor(1 - (hp / max_hp), hp / max_hp, 0, 1);
s.circle(getX(), getY(), getSize());
for (BodyPart b : bodyParts) {
b.render(s);
}
// Prepare vision stuff
double relX = Math.cos(dir), relY = Math.sin(dir);
float c = 0;
float eyeX = (float) (relX * getSize() * 0.6f), eyeY = (float) (relY * getSize() * 0.6f);
// Draw Sight Lines
s.set(ShapeRenderer.ShapeType.Line);
if (Game.get().getWorld().getOptions().getOrDefault("draw_sight_lines", 0f) > 0) {
for (Sight sight : sights) {
if (sight != null) {
@ -203,22 +221,6 @@ public class Creature extends Element implements Runnable {
s.setColor(0.3f, 0.3f, 0.3f, 1);
s.arc((float) eyeX + getX(), (float) eyeY + getY(), sightRange, orient, degrees);
}
// Draw damage/heal marks
if (hp < prevHp) {
// Damage mark
s.set(ShapeRenderer.ShapeType.Filled);
s.setColor(1, 0, 0, 1);
s.circle(getX(), getY(), 5);
} else if (killing || eating) {
// Heal mark
s.set(ShapeRenderer.ShapeType.Filled);
s.setColor(0, 1, 0, 1);
s.circle(getX(), getY(), 5);
}
s.set(ShapeRenderer.ShapeType.Line);
// Draw Beak
s.setColor(beak / max_beak, 1 - beak / max_beak, 0, 1);
s.line((float) (relX * getSize() * 0.8f + getX()), (float) (relY * getSize() * 0.8f + getY()), (float) (relX * getSize() * (1.5f + beak / max_beak) + getX()), (float) (relY * getSize() * (1.5f + beak / max_beak) + getY()));
}
/**
@ -258,11 +260,8 @@ public class Creature extends Element implements Runnable {
if (e.getSize() == 0) {
e.setSize(0);
}
hp += hpForEatingPlants;
fitness+=pointsForEatingPlants;
if (hp > max_hp) {
hp = max_hp;
}
torso.heal(hpForEatingPlants);
praise(pointsForEatingPlants);
}
}
if (seen != null) {
@ -292,20 +291,7 @@ public class Creature extends Element implements Runnable {
seen = e;
angle = relAngle - ndir;
dist = tempDist;
// Check if attackable
if (beak > beak / 2 && tempDist < beak * 1.5f && tempAngle < fov / 2) {
// Attacking!
float damage = beak * hpForAttacking / 2;
hp += damage;
fitness += pointsForAttacking;
if (hp > max_hp) {
hp = max_hp;
}
killing = true;
Creature c = (Creature) e;
c.heal(-damage);
//c.praise(-1);
}
}
//Log.log(Log.DEBUG,"RelAngle "+relAngle+" Dir "+ndir);
}
@ -316,13 +302,20 @@ public class Creature extends Element implements Runnable {
return newSights;
}
/**
* Apply a modification to this creature's health. Can be negative.
*
* @param amount how much to heal/damage
*/
private void heal(float amount) {
hp += amount;
public int howManyInputNeurons() {
int n = 0;
for (BodyPart b : bodyParts) {
n += b.getInputNeuronsUsed();
}
return n;
}
public int howManyOutputNeurons() {
int n = 0;
for (BodyPart b : bodyParts) {
n += b.getOutputNeuronsUsed();
}
return n;
}
/**
@ -367,24 +360,24 @@ public class Creature extends Element implements Runnable {
this.dir = dir;
}
public float getDirection() {
return dir;
}
public float getFitness() {
return fitness;
}
public void reset() {
fitness = 0;
hp = max_hp;
}
public float getBeak() {
return beak;
return beak.getLength();
}
public float getHp() {
return hp;
public Torso getTorso() {
return torso;
}
public void setHp(float hp) {
this.hp = hp;
public ArrayList<BodyPart> getBodyParts() {
return bodyParts;
}
}

14
core/src/logic/creatures/Eye.java Normal file
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@ -0,0 +1,14 @@
/*
* To change this license header, choose License Headers in Project Properties.
* To change this template file, choose Tools | Templates
* and open the template in the editor.
*/
package logic.creatures;
/**
*
* @author fazo
*/
public class Eye {
}

4
core/src/logic/Sight.java → core/src/logic/creatures/Sight.java
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@ -1,4 +1,6 @@
package logic;
package logic.creatures;
import logic.Element;
/**
* Stores a sight of an element, as seen from a creature's eye

90
core/src/logic/creatures/Torso.java Normal file
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@ -0,0 +1,90 @@
package logic.creatures;
import com.badlogic.gdx.graphics.glutils.ShapeRenderer;
/**
*
* @author fazo
*/
public class Torso extends BodyPart {
private float hp, prevHp, radius;
public static float default_radius = 20, max_hp = 100, hpDecay = 0.5f;
public Torso(Creature c) {
super(2, 0, 0, 0, c);
radius = default_radius;
hp = max_hp;
prevHp = hp;
}
@Override
public void draw(ShapeRenderer s, float x, float y) {
s.setColor(1 - (hp / max_hp), hp / max_hp, 0, 1);
s.circle(x+creature.getX(), y+creature.getY(), radius);
// Draw damage/heal marks
s.set(ShapeRenderer.ShapeType.Filled);
if (getReceivedDamage() > 0) {
// Damage mark
s.setColor(1, 0, 0, 1);
} else if (getReceivedDamage() < 0) {
// Heal mark
s.setColor(0, 1, 0, 1);
}
if (getReceivedDamage() != 0) {
s.circle(x, y, 5);
}
}
@Override
protected void useOutputs(float[] outputs) {
}
@Override
public float[] update() {
// apply hunger
hp -= hpDecay;
prevHp = hp;
return new float[]{};
}
public boolean isAlive() {
return hp > 0;
}
/**
* Apply a modification to this creature's health. Can be negative.
*
* @param amount how much to heal/damage
*/
public void heal(float amount) {
hp += amount;
if (hp < 0) {
hp = 0;
}
if (hp > max_hp) {
hp = max_hp;
}
}
public float getReceivedDamage() {
return prevHp - hp;
}
public float getRadius() {
return radius;
}
public void setRadius(float radius) {
this.radius = radius;
}
public float getHp() {
return hp;
}
public void setHp(float hp) {
this.hp = hp;
}
}

2
desktop/src/gui/GUI.java
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@ -33,7 +33,7 @@ import javax.swing.event.TableModelEvent;
import javax.swing.event.TableModelListener;
import javax.swing.table.DefaultTableModel;
import javax.swing.table.TableModel;
import logic.Creature;
import logic.creatures.Creature;
import logic.World;
/**