/*
* Javlov - a Java toolkit for reinforcement learning with multi-agent support.
*
* Copyright (c) 2009 Matthijs Snel
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
package net.javlov.world.phys2d;
import java.awt.Shape;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.Iterator;
import java.util.List;
import java.util.Map;
import net.javlov.Action;
import net.javlov.Agent;
import net.javlov.Environment;
import net.javlov.State;
import net.javlov.world.AgentBody;
import net.javlov.world.Body;
import net.javlov.world.CollisionListener;
import net.javlov.world.World;
import net.javlov.world.World.Continuous;
import net.phys2d.math.Vector2f;
import net.phys2d.raw.BroadCollisionStrategy;
import net.phys2d.raw.strategies.QuadSpaceStrategy;
/**
* NOTE: THIS CLASS WAS IMPLEMENTED BASED ON A MODIFIED VERSION OF THE PHYS2D ENGINE, WHICH
* COMES WITH THE JAVLOV SOURCE DISTRIBUTION BUT IS NOT INCLUDED IN SVN. THERE IS NO GUARANTEE
* THAT THIS CLASS WILL WORK PROPERLY WITH THE ORIGINAL PHYS2D SOURCE, ALTHOUGH IT PROBABLY WILL.
*
* @author Matthijs Snel
*
*/
public class Phys2DWorld extends net.phys2d.raw.World implements World.Continuous {
/**
* Maps agents to their bodies. Done this way because an agent is not allowed to have access
* to its own environment/body.
*/
protected Map<Agent, AgentBody> agentBodyMap;
protected List<ConfigRule> configRules;
private double width, height;
protected float timestep;
public Phys2DWorld(int iterations, float timestep) {
this(iterations, new QuadSpaceStrategy(20,5), timestep);
}
public Phys2DWorld(int iterations, BroadCollisionStrategy strategy, float timestep) {
super(new Vector2f(0, 9.81f), iterations, strategy);
agentBodyMap = new HashMap<Agent, AgentBody>();
configRules = new ArrayList<ConfigRule>();
this.timestep = timestep;
}
public boolean addBody(Body b) {
if ( b instanceof net.phys2d.raw.Body ) {
super.add( (net.phys2d.raw.Body) b);
return true;
}
return false;
}
public boolean add(Agent a, AgentBody body) {
if ( addBody(body) ) {
agentBodyMap.put(a, body);
return true;
}
return false;
}
public void addConfigRule(ConfigRule rule) {
configRules.add(rule);
}
//// GETTERS & SETTERS ////
public Body getAgentBody(Agent a) {
return agentBodyMap.get(a);
}
//TODO: get rid of this
public double getTimeStep() {
return timestep;
}
public double getWidth() {
return width;
}
public void setWidth(double width) {
this.width = width;
}
public double getHeight() {
return height;
}
public void setHeight(double height) {
this.height = height;
}
public List<Body> getObjects() {
List<Body> ret = new ArrayList<Body>(bodies.size());
for ( net.phys2d.raw.Body b : bodies )
ret.add( (Phys2DBody) b );
return ret;
}
/**
* Crude; only checks if the shape intersects the bounding area of any object
* @param s
* @return
*/
public List<Body> getIntersectingObjects(Shape s) {
ArrayList<Body> objects = new ArrayList<Body>();
for ( net.phys2d.raw.Body b : bodies ) {
if ( s.intersects(b.getShape().getBounds2D()) )
objects.add((Phys2DBody)b);
}
return objects;
}
/**
* Crude; only checks if the shape intersects the bounding area of any object
* @param s
* @return
*/
public boolean intersectsObject(Shape s) {
for ( net.phys2d.raw.Body b : bodies )
if ( s.intersects(b.getShape().getBounds2D()) )
return true;
return false;
}
public void disableBody(Body b) {
Phys2DBody pb = (Phys2DBody) b;
if ( !pb.disabled() ) {
pb.setEnabled(false);
removeBody(pb);
}
}
public void enableBody(Body b) {
Phys2DBody pb = (Phys2DBody) b;
if ( pb.disabled() ) {
pb.setEnabled(true);
addBody(pb);
}
}
///// ENVIRONMENT INTERFACE METHODS //////
@Override
public double executeAction(Action act, Agent a) {
act.execute(a);
return 0; //TODO: possibility for returning reward
}
@Override
public State<double[]> getObservation(Agent a) {
return agentBodyMap.get(a).getObservation(a);
}
/**
* Removes all bodies with a config rule from the world, then invokes doInit on all the config
* rules and places the bodies back in the world
*/
public void init() {
arbiters.clear();
//these for loops need to stay separate
for ( ConfigRule rule : configRules )
rule.preInit(this);
for ( ConfigRule rule : configRules )
rule.doInit(this);
for ( Environment env : agentBodyMap.values() )
env.init();
}
/**
* Invokes doReset on all config rules
*/
public void reset() {
arbiters.clear();
//these for loops need to stay separate
for ( ConfigRule rule : configRules )
rule.preReset(this);
for ( ConfigRule rule : configRules )
rule.doReset(this);
for ( Environment env : agentBodyMap.values() )
env.reset();
}
@Override
public boolean remove(Agent a) {
return (agentBodyMap.remove(a) == null ? false : true);
}
@Override
public boolean removeBody(Body b) {
if ( !(b instanceof net.phys2d.raw.Body) )
return false;
net.phys2d.raw.Body p2db = (net.phys2d.raw.Body) b;
if ( bodies.contains(p2db) ) {
super.remove(p2db);
return true;
}
return false;
}
@Override
public boolean rotateBody(Body b, double angle) {
((Phys2DBody) b).adjustRotation((float)angle);
return true;
}
@Override
public boolean translateBody(Body b, double dx, double dy) {
((Phys2DBody) b).adjustPosition(new Vector2f((float)dx, (float)dy));
return true;
}
@Override
public int getObservationDim() {
Iterator<Agent> it = agentBodyMap.keySet().iterator();
return getObservation(it.next()).getData().length;
}
}