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Shadow casting

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This commit is contained in:
Steffen Illium
2021-07-27 13:37:56 +02:00
parent de821ebc0c
commit 69f573d9ba
6 changed files with 125 additions and 27 deletions
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50
environments/factory/base/base_factory.py
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@ -8,6 +8,7 @@ from gym import spaces
import yaml
from gym.wrappers import FrameStack
from environments.factory.base.shadow_casting import Map
from environments.helpers import Constants as c, Constants
from environments import helpers as h
from environments.factory.base.objects import Slice, Agent, Tile, Action
@ -26,22 +27,21 @@ class BaseFactory(gym.Env):
@property
def observation_space(self):
if self.combin_agent_slices_in_obs:
n_agent_slices = 1
else: # not self.combin_agent_slices_in_obs:
if self.omit_agent_slice_in_obs:
n_agent_slices = self.n_agents - 1
else: # not self.omit_agent_slice_in_obs:
n_agent_slices = self.n_agents
if self.combin_agent_slices_in_obs and self.omit_agent_slice_in_obs:
if self.n_agents > 1:
slices = self._slices.n - (self._agents.n - 1)
else:
slices = self._slices.n - 1
elif self.combin_agent_slices_in_obs and not self.omit_agent_slice_in_obs:
slices = self._slices.n - (self._agents.n - 1)
elif not self.combin_agent_slices_in_obs and self.omit_agent_slice_in_obs:
slices = self._slices.n - (self._agents.n - 1)
elif not self.combin_agent_slices_in_obs and not self.omit_agent_slice_in_obs:
slices = self._slices.n
if self.pomdp_radius:
shape = (self._slices.n - n_agent_slices, self.pomdp_radius * 2 + 1, self.pomdp_radius * 2 + 1)
space = spaces.Box(low=0, high=1, shape=shape, dtype=np.float32)
return space
else:
shape = [x-n_agent_slices if idx == 0 else x for idx, x in enumerate(self._level_shape)]
space = spaces.Box(low=0, high=1, shape=shape, dtype=np.float32)
return space
level_shape = (self.pomdp_radius * 2 + 1, self.pomdp_radius * 2 + 1) if self.pomdp_radius else self._level_shape
space = spaces.Box(low=0, high=1, shape=(slices, *level_shape), dtype=np.float32)
return space
@property
def pomdp_diameter(self):
@ -90,7 +90,7 @@ class BaseFactory(gym.Env):
def __init__(self, level_name='simple', n_agents=1, max_steps=int(5e2), pomdp_radius: Union[None, int] = 0,
movement_properties: MovementProperties = MovementProperties(), parse_doors=False,
combin_agent_slices_in_obs: bool = False, frames_to_stack=0, record_episodes=False,
omit_agent_slice_in_obs=False, done_at_collision=False, **kwargs):
omit_agent_slice_in_obs=False, done_at_collision=False, cast_shadows=True, **kwargs):
assert frames_to_stack != 1 and frames_to_stack >= 0, "'frames_to_stack' cannot be negative or 1."
# Attribute Assignment
@ -103,6 +103,7 @@ class BaseFactory(gym.Env):
self.pomdp_radius = pomdp_radius
self.combin_agent_slices_in_obs = combin_agent_slices_in_obs
self.omit_agent_slice_in_obs = omit_agent_slice_in_obs
self.cast_shadows = cast_shadows
self.frames_to_stack = frames_to_stack
self.done_at_collision = done_at_collision
@ -123,12 +124,15 @@ class BaseFactory(gym.Env):
# Level
level_filepath = Path(__file__).parent.parent / h.LEVELS_DIR / f'{self.level_name}.txt'
parsed_level = h.parse_level(level_filepath)
level = [Slice(c.LEVEL.name, h.one_hot_level(parsed_level))]
level = [Slice(c.LEVEL.name, h.one_hot_level(parsed_level), is_blocking_light=True)]
self._level_shape = level[0].shape
# Doors
parsed_doors = h.one_hot_level(parsed_level, c.DOOR)
doors = [Slice(c.DOORS.name, parsed_doors)] if parsed_doors.any() and self.parse_doors else []
if parsed_doors.any():
doors = [Slice(c.DOORS.name, parsed_doors, is_blocking_light=True)]
else:
doors = []
# Agents
agents = []
@ -301,9 +305,15 @@ class BaseFactory(gym.Env):
else:
obs = self._obs_cube
if self.cast_shadows:
slices = [l_slice.slice != c.OCCUPIED_CELL.value for l_slice in self._slices if l_slice.is_blocking_light]
light_block_map = Map((np.prod(slices, axis=0) != True).astype(int))
light_block_map = light_block_map.do_fov(*agent.pos, max(self._level_shape))
obs = ((obs * light_block_map)).astype(int)
if self.combin_agent_slices_in_obs and self.n_agents > 1:
agent_obs = np.sum(obs[[key for key, slice in self._slices.items() if c.AGENT.name in slice.name and
(not self.omit_agent_slice_in_obs and slice.name != agent.name)]],
agent_obs = np.sum(obs[[key for key, l_slice in self._slices.items() if c.AGENT.name in l_slice.name and
(not self.omit_agent_slice_in_obs and l_slice.name != agent.name)]],
axis=0, keepdims=True)
obs = np.concatenate((obs[:first_agent_slice], agent_obs, obs[first_agent_slice+self.n_agents:]))
return obs