cleanup algos + adjusted renderer to support "ray casting"

environments/factory/renderer.py

@@ -3,7 +3,7 @@ import numpy as np
 from pathlib import Path
 from collections import deque
 import pygame
-from typing import NamedTuple
+from typing import NamedTuple, Any
 import time
 
 
@@ -14,6 +14,7 @@ class Entity(NamedTuple):
     value_operation: str = 'none'
     state: str = None
     id: int = 0
+    aux:Any=None
 
 
 class Renderer:
@@ -73,6 +74,20 @@ class Renderer:
         asset = pygame.transform.smoothscale(asset, (s, s))
         return asset
 
+    def visibility_rects(self, bp, view):
+        rects = []
+        for i in range(-self.view_radius, self.view_radius+1):
+            for j in range(-self.view_radius, self.view_radius+1):
+                if bool(view[self.view_radius+j, self.view_radius+i]):
+                    visibility_rect = bp['dest'].copy()
+                    visibility_rect.centerx += i*self.cell_size
+                    visibility_rect.centery += j*self.cell_size
+                    shape_surf = pygame.Surface(visibility_rect.size, pygame.SRCALPHA)
+                    pygame.draw.rect(shape_surf, self.AGENT_VIEW_COLOR, shape_surf.get_rect())
+                    shape_surf.set_alpha(64)
+                    rects.append(dict(source=shape_surf, dest=visibility_rect))
+        return rects
+
     def render(self, entities):
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
@@ -88,13 +103,8 @@ class Renderer:
             blits.append(bp)
             if entity.name.lower() == 'agent':
                 if self.view_radius > 0:
-                    visibility_rect = bp['dest'].inflate(
-                        (self.view_radius*2)*self.cell_size, (self.view_radius*2)*self.cell_size
-                    )
-                    shape_surf = pygame.Surface(visibility_rect.size, pygame.SRCALPHA)
-                    pygame.draw.rect(shape_surf, self.AGENT_VIEW_COLOR, shape_surf.get_rect())
-                    shape_surf.set_alpha(64)
-                    blits.appendleft(dict(source=shape_surf, dest=visibility_rect))
+                    vis_rects = self.visibility_rects(bp, entity.aux)
+                    blits.extendleft(vis_rects)
                 if entity.state != 'blank':
                     agent_state_blits = self.blit_params(
                         Entity(entity.state, (entity.pos[0]+0.12, entity.pos[1]), 0.48, 'scale')

environments/factory/simple_factory.py

@@ -83,7 +83,7 @@ class SimpleFactory(BaseFactory):
         agents = []
         for i, agent in enumerate(self._agents):
             name, state = asset_str(agent)
-            agents.append(Entity(name, agent.pos, 1, 'none', state, i+1))
+            agents.append(Entity(name, agent.pos, 1, 'none', state, i+1, agent.temp_light_map))
         doors = []
         if self.parse_doors:
             for i, door in enumerate(self._doors):
@@ -229,7 +229,7 @@ if __name__ == '__main__':
                                     allow_no_op=False)
     factory = SimpleFactory(movement_properties=move_props, dirt_properties=dirt_props, n_agents=1,
                             combin_agent_slices_in_obs=False, level_name='rooms', parse_doors=True,
-                            pomdp_radius=3, cast_shadows=True)
+                            pomdp_radius=2, cast_shadows=True)
 
     n_actions = factory.action_space.n - 1
     _ = factory.observation_space

environments/policy_adaption/test.py

@@ -4,5 +4,5 @@ from environments.policy_adaption.natural_rl_environment.imgsource import *
 from environments.policy_adaption.natural_rl_environment.natural_env import *
 
 if __name__ == "__main__":
-    env = make('SpaceInvaders-v0', 'color')  # gravitar, breakout, MsPacman, Space Invaders
+    env = make('SpaceInvaders-v0', 'video')  # gravitar, breakout, MsPacman, Space Invaders
     play.play(env, zoom=4)