string Network::initState()
{
//http://stackoverflow.com/questions/13445688/how-to-generate-a-random-number-in-c
std::mt19937 rng;
rng.seed(std::random_device()());
std::uniform_int_distribution<std::mt19937::result_type> dist01(0,1);
for( map<string,Node*>::iterator it = nodeList.begin(); it != nodeList.end(); ++it )
{
it->second->setVal(dist01(rng));
}
return(stringState(0));
}
template <int N, int N_obj> void GA<N, N_obj>::selection_tournament(int n)
{
for(int i = 0; i < n; i++)
{
int best = floor(options.population_size * dist01(rnd_generator));
for(int j = 1; j < options.tournament_size; j++)
{
int candidate = floor(options.population_size * dist01(rnd_generator));
if(fitness[candidate] > fitness[best])
best = candidate;
}
parents[i] = best;
}
}
template <int N, int N_obj> void GA<N, N_obj>::selection_stochastic_uniform(int n)
{
double *wheel = new double[options.population_size];
wheel[0] = fitness[0];
for(int i = 1; i < options.population_size; ++i)
wheel[i] = wheel[i - 1] + fitness[i];
double step = 1. / (double)n,
position = dist01(rnd_generator) * step;
int j_low = 0;
for(int i = 0; i < n; ++i)
{
for(int j = j_low; j < options.population_size; ++j)
{
if(position < wheel[j])
{
parents[i] = j;
j_low = j;
break;
}
}
position += step;
}
}
template <int N, int N_obj> void GA<N, N_obj>::selection_tournament_multiobjective(int n)
{
for(int i = 0; i < n; i++)
{
int best = floor(options.population_size * dist01(rnd_generator));
best = archive[best];
for(int j = 1; j < options.tournament_size_multiobjective; j++)
{
int candidate = floor(options.population_size * dist01(rnd_generator));
candidate = archive[candidate];
if(rank[candidate] < rank[best])
best = candidate;
else
{
if(rank[candidate] == rank[best] && distance[candidate] > distance[best])
best = candidate;
}
}
parents[i] = best;
}
}
void sample(neo::PredictiveHierarchy& ph, std::mt19937& generator,
char seed, int nSamples, VectorCodec& textcodec, float seedNoise = 0.5, float predNoise = 0.05) {
std::uniform_real_distribution<float> dist01(0.0f, 1.0f);
textcodec.symbol = seed;
textcodec.encode();
for (int j = 0; j < textcodec.N; j++) {
ph.setInput(j, textcodec.vector[j] + dist01(generator)*seedNoise);
}
ph.simStep(generator, false);
std::cout << "seed: " << seed << " i: " << textcodec.symIndex << " sample: \"";
for (size_t i = 1; i < nSamples; i++) {
for (int j = 0; j < textcodec.N; j++) {
textcodec.vector[j] = ph.getPrediction(j);
}
textcodec.decode();
char predChar = textcodec.symbol;
std::cout << predChar;
for (int j = 0; j < textcodec.N; j++) {
ph.setInput(j, ph.getPrediction(j) + dist01(generator)*predNoise);
}
ph.simStep(generator, false);
}
std::cout << "\"" << std::endl;
}
template <int N, int N_obj> void GA<N, N_obj>::crossover_scattered
(const Individual &parent1, const Individual &parent2, Individual &child)
{
for(int i = 0; i < N; ++i)
{
if(dist01(rnd_generator) >= 0.5)
{
child[i] = parent1[i];
}
else
{
child[i] = parent2[i];
}
}
if( !feasible(child) )
crossover_arithmetic(parent1, parent2, child);
}
template <int N, int N_obj> void GA<N, N_obj>::crossover_BLX
(const Individual &parent1, const Individual &parent2, Individual &child)
{
for(int i = 0; i < N; i++)
{
double R = dist01(rnd_generator);
double I = parent2[i] - parent1[i],
low = parent1[i] - I * options.crossover_BLX_alpha,
high = parent2[i] + I * options.crossover_BLX_alpha;
child[i] = R * low + (1. - R) * high;
// modify child to satisfy constraints
//child[i] = std::max(child[i], lower_boundary[i]);
//child[i] = std::min(child[i], upper_boundary[i]);
if(child[i] < lower_boundary[i] || child[i] > upper_boundary[i])
child[i] = (R * parent1[i] + (1. - R) * parent2[i]);
}
}
int main() {
std::mt19937 generator(time(nullptr));
dodgeballPositions.resize(1);
dodgeballVelocities.resize(dodgeballPositions.size());
std::uniform_real_distribution<float> dist01(0.0f, 1.0f);
for (int i = 0; i < dodgeballPositions.size(); i++) {
dodgeballPositions[i] = sf::Vector2f(dist01(generator), dist01(generator));
dodgeballVelocities[i].x = dist01(generator) * 2.0f - 1.0f;
dodgeballVelocities[i].y = dist01(generator) * 2.0f - 1.0f;
dodgeballVelocities[i] = dodgeballVelocities[i] * (ballSpeed / std::sqrt(dodgeballVelocities[i].x * dodgeballVelocities[i].x + dodgeballVelocities[i].y * dodgeballVelocities[i].y));
}
agentPosition = sf::Vector2f(0.5f, 0.5f);
sf::RenderWindow window;
window.create(sf::VideoMode(800, 800), "BIDInet", sf::Style::Default);
window.setFramerateLimit(60);
window.setVerticalSyncEnabled(true);
sf::RenderTexture visionRT;
visionRT.create(16, 16);
deep::CSRL swarm;
std::vector<deep::CSRL::LayerDesc> layerDescs(4);
layerDescs[0]._width = 16;
layerDescs[0]._height = 16;
layerDescs[1]._width = 12;
layerDescs[1]._height = 12;
layerDescs[2]._width = 8;
layerDescs[2]._height = 8;
layerDescs[3]._width = 4;
layerDescs[3]._height = 4;
swarm.createRandom(2, layerDescs, -0.01f, 0.01f, 0.01f, 0.05f, 0.1f, generator);
// ---------------------------- Game Loop -----------------------------
bool quit = false;
sf::Clock clock;
float dt = 0.017f;
float averageReward = 0.0f;
const float averageRewardDecay = 0.003f;
int steps = 0;
do {
clock.restart();
// ----------------------------- Input -----------------------------
sf::Event windowEvent;
while (window.pollEvent(windowEvent))
{
switch (windowEvent.type)
{
case sf::Event::Closed:
quit = true;
break;
}
}
if (sf::Keyboard::isKeyPressed(sf::Keyboard::Escape))
quit = true;
visionRT.clear();
renderScene(visionRT);
visionRT.display();
sf::Image img = visionRT.getTexture().copyToImage();
for (int x = 0; x < img.getSize().x; x++)
for (int y = 0; y < img.getSize().y; y++) {
sf::Color c = img.getPixel(x, y);
float valR = 0.0f;
float valG = 0.0f;
if (c.r > 0)
valR = 1.0f;
if (c.g > 0)
valG = 1.0f;
swarm.setState(x, y, 0, valR);
swarm.setState(x, y, 1, valG);
}
float reward = 0.5f;
for (int i = 0; i < dodgeballPositions.size(); i++) {
sf::Vector2f delta = dodgeballPositions[i] - agentPosition;
float dist = std::sqrt(delta.x * delta.x + delta.y * delta.y);
//if (dist < (ballRadius + agentRadius)) {
reward += -dist;
//}
}
reward *= 10.0f;
averageReward = (1.0f - averageRewardDecay) * averageReward + averageRewardDecay * reward;
swarm.simStep(1, reward, generator);
//agent.simStep(reward, 0.1f, 0.99f, 0.01f, 0.2f, 0.01f, 0.01f, 0.01f, 64, 0.05f, 0.98f, 0.04f, 0.01f, 0.01f, 4.0f, generator);
agentPosition.x += agentSpeed * (swarm.getAction(3, 4, 0) * 2.0f - 1.0f);
agentPosition.y += agentSpeed * (swarm.getAction(3, 8, 0) * 2.0f - 1.0f);
//agentPosition.x += agentSpeed * (agent.getAction(0) * 2.0f - 1.0f);
//agentPosition.y += agentSpeed * (agent.getAction(1) * 2.0f - 1.0f);
agentPosition.x = std::min(0.5f + agentFieldRadius - agentRadius, std::max(0.5f - agentFieldRadius + agentRadius, agentPosition.x));
agentPosition.y = std::min(0.5f + agentFieldRadius - agentRadius, std::max(0.5f - agentFieldRadius + agentRadius, agentPosition.y));
for (int i = 0; i < dodgeballPositions.size(); i++) {
sf::Vector2f delta = agentPosition - dodgeballPositions[i];
float dist = std::sqrt(delta.x * delta.x + delta.y * delta.y);
dodgeballVelocities[i] += -dodgeballVelocities[i] * ballVelocityDecay + delta / dist * attraction;
dodgeballPositions[i] += dodgeballVelocities[i];
if (dodgeballPositions[i].x < 0.5f - agentFieldRadius + ballRadius) {
dodgeballPositions[i].x = 0.5f - agentFieldRadius + ballRadius;
dodgeballVelocities[i].x *= -1.0f;
}
else if (dodgeballPositions[i].x > 0.5f + agentFieldRadius - ballRadius) {
dodgeballPositions[i].x = 0.5f + agentFieldRadius - ballRadius;
dodgeballVelocities[i].x *= -1.0f;
}
if (dodgeballPositions[i].y < 0.5f - agentFieldRadius + ballRadius) {
dodgeballPositions[i].y = 0.5f - agentFieldRadius + ballRadius;
dodgeballVelocities[i].y *= -1.0f;
}
else if (dodgeballPositions[i].y > 0.5f + agentFieldRadius - ballRadius) {
dodgeballPositions[i].y = 0.5f + agentFieldRadius - ballRadius;
dodgeballVelocities[i].y *= -1.0f;
}
}
if (!sf::Keyboard::isKeyPressed(sf::Keyboard::T)) {
window.clear();
renderScene(window);
sf::Sprite vis;
vis.setTexture(visionRT.getTexture());
vis.setScale(4.0f, 4.0f);
window.draw(vis);
window.display();
}
if (steps % 100 == 0)
std::cout << "Steps: " << steps << " Average Reward: " << averageReward << std::endl;
//dt = clock.getElapsedTime().asSeconds();
steps++;
} while (!quit);
return 0;
}
int main() {
std::mt19937 generator(time(nullptr));
_ballPosition = sf::Vector2f(0.5f, 0.5f);
_ballVelocity = sf::Vector2f(0.44f, 0.55f);
_ballVelocity *= ballSpeed / std::sqrt(_ballVelocity.x * _ballVelocity.x + _ballVelocity.y * _ballVelocity.y);
_paddlePosition = 0.5f;
std::uniform_real_distribution<float> dist01(0.0f, 1.0f);
sf::RenderWindow window;
window.create(sf::VideoMode(800, 800), "BIDInet", sf::Style::Default);
window.setFramerateLimit(60);
window.setVerticalSyncEnabled(true);
sf::RenderTexture visionRT;
visionRT.create(16, 16);
deep::CSRL agent;
std::vector<deep::CSRL::LayerDesc> layerDescs(3);
layerDescs[0]._width = 6;
layerDescs[0]._height = 6;
layerDescs[1]._width = 5;
layerDescs[1]._height = 5;
layerDescs[2]._width = 4;
layerDescs[2]._height = 4;
int inWidth = 16;
int inHeight = 18;
std::vector<deep::CSRL::InputType> inputTypes(inWidth * inHeight, deep::CSRL::_state);
for (int i = 0; i < inWidth; i++) {
inputTypes[i + (inHeight - 2) * inWidth] = deep::CSRL::_action;
inputTypes[i + (inHeight - 1) * inWidth] = deep::CSRL::_q;
}
agent.createRandom(inWidth, inHeight, 8, inputTypes, layerDescs, -0.01f, 0.01f, 0.01f, 0.05f, 0.2f, generator);
// ---------------------------- Game Loop -----------------------------
bool quit = false;
sf::Clock clock;
float dt = 0.017f;
float averageReward = 0.0f;
const float averageRewardDecay = 0.003f;
int steps = 0;
do {
clock.restart();
// ----------------------------- Input -----------------------------
sf::Event windowEvent;
while (window.pollEvent(windowEvent))
{
switch (windowEvent.type)
{
case sf::Event::Closed:
quit = true;
break;
}
}
if (sf::Keyboard::isKeyPressed(sf::Keyboard::Escape))
quit = true;
visionRT.clear();
renderScene(visionRT);
visionRT.display();
sf::Image img = visionRT.getTexture().copyToImage();
for (int x = 0; x < img.getSize().x; x++)
for (int y = 0; y < img.getSize().y; y++) {
sf::Color c = img.getPixel(x, y);
/*float valR = 0.0f;
float valG = 0.0f;
if (c.r > 0)
valR = 1.0f;
if (c.g > 0)
valG = 1.0f;
swarm.setState(x, y, 0, valR);
swarm.setState(x, y, 1, valG);*/
float val = 0.0f;
if (c.r > 0)
val = 0.5f;
if (c.g > 0)
val = 1.0f;
agent.setInput(x, y, val);
}
float reward = 0.0f;
if (_ballPosition.x < 0.0f) {
_ballPosition.x = 0.0f;
_ballVelocity.x *= -1.0f;
}
if (_ballPosition.y < 0.0f) {
_ballPosition.y = 0.0f;
_ballVelocity.y *= -1.0f;
}
if (_ballPosition.x > 1.0f) {
_ballPosition.x = 1.0f;
_ballVelocity.x *= -1.0f;
}
if (_ballPosition.y > 1.0f - bottomRatio) {
_ballPosition.y = 1.0f - bottomRatio;
if (_ballPosition.x > _paddlePosition - paddleWidthRatio && _ballPosition.x < _paddlePosition + paddleWidthRatio) {
reward += 10.0f;
}
else
reward -= 5.0f;
_ballVelocity.y *= -1.0f;
}
_ballPosition += _ballVelocity;
averageReward = (1.0f - averageRewardDecay) * averageReward + averageRewardDecay * reward;
agent.simStep(reward, generator);
float act = 0.0f;
for (int i = 4; i < 5; i++) {
act += agent.getPrediction(i, 16);
}
_paddlePosition = std::min(1.0f, std::max(0.0f, _paddlePosition + 0.1f * std::min(1.0f, std::max(-1.0f, act))));
//std::cout << averageReward << std::endl;
if (!sf::Keyboard::isKeyPressed(sf::Keyboard::T)) {
window.clear();
renderScene(window);
sf::Sprite vis;
vis.setTexture(visionRT.getTexture());
vis.setScale(4.0f, 4.0f);
window.draw(vis);
sf::Image predImg;
predImg.create(16, 17);
for (int x = 0; x < 16; x++)
for (int y = 0; y < 17; y++) {
sf::Color c = sf::Color::White;
c.r = c.g = c.b = 255.0f * std::min(1.0f, std::max(0.0f, agent.getPrediction(x, y)));
predImg.setPixel(x, y, c);
}
sf::Texture t;
t.loadFromImage(predImg);
sf::Sprite s;
s.setTexture(t);
s.setScale(4.0f, 4.0f);
s.setPosition(4.0f * 16.0f, 0.0f);
window.draw(s);
window.display();
}
if (steps % 100 == 0)
std::cout << "Steps: " << steps << " Average Reward: " << averageReward << std::endl;
//dt = clock.getElapsedTime().asSeconds();
steps++;
} while (!quit);
return 0;
}
void Level::create(Game* pGame, int width, int height, int drunkSteps, int maxStepDist,
const std::vector<std::shared_ptr<sf::Texture>> &backgroundTextures,
const std::vector<std::shared_ptr<sf::Texture>> &doorTextures,
const std::vector<std::shared_ptr<sf::Texture>> &roofTextures,
std::mt19937 &generator)
{
_width = width;
_height = height;
_pGame = pGame;
_backgroundTextures = backgroundTextures;
_doorTextures = doorTextures;
_roofTextures = roofTextures;
_cells.resize(_width * _height);
int drunkX = _width / 2;
int drunkY = _height / 2;
_currentCellX = drunkX;
_currentCellY = drunkY;
std::uniform_real_distribution<float> dist01(0.0f, 1.0f);
std::uniform_int_distribution<int> backgroundDist(0, backgroundTextures.size() - 1);
// First room
{
int cIndex = drunkX + drunkY * _width;
Cell &c = _cells[cIndex];
if (c._room == nullptr) {
c._room = std::make_unique<Room>();
c._room->create(this, drunkX, drunkY, backgroundTextures.front()->getSize().x, backgroundTextures.front()->getSize().y, std::vector<int>(1, cIndex), backgroundDist(generator));
}
}
for (int i = 0; i < drunkSteps; i++) {
int dir = static_cast<int>(dist01(generator) * 4.0f) % 4;
for (int l = 0; l < maxStepDist; l++) {
int prevDrunkX = drunkX;
int prevDrunkY = drunkY;
switch (dir) {
case 0:
drunkX++;
break;
case 1:
drunkY++;
break;
case 2:
drunkX--;
break;
case 3:
drunkY--;
break;
}
if (drunkX < 0 || drunkY < 0 || drunkX >= _width || drunkY >= _height) {
prevDrunkX = drunkX;
prevDrunkY = drunkY;
break;
}
int cIndex = drunkX + drunkY * _width;
Cell &c = _cells[cIndex];
if (c._room == nullptr) {
c._room = std::make_unique<Room>();
c._room->create(this, drunkX, drunkY, backgroundTextures.front()->getSize().x, backgroundTextures.front()->getSize().y, std::vector<int>(1, cIndex), backgroundDist(generator));
}
}
}
}
int main() {
std::mt19937 generator(time(nullptr));
sys::ComputeSystem cs;
cs.create(sys::ComputeSystem::_gpu);
sys::ComputeProgram prog;
prog.loadFromFile("resources/neoKernels.cl", cs);
// --------------------------- Create the Sparse Coder ---------------------------
cl::Image2D inputImage = cl::Image2D(cs.getContext(), CL_MEM_READ_WRITE, cl::ImageFormat(CL_R, CL_FLOAT), 64, 64);
std::ifstream fromFile("resources/train-images.idx3-ubyte", std::ios::binary | std::ios::in);
if (!fromFile.is_open()) {
std::cerr << "Could not open train-images.idx3-ubyte!" << std::endl;
return 1;
}
std::vector<neo::PredictiveHierarchy::LayerDesc> layerDescs(4);
layerDescs[0]._size = { 64, 64 };
layerDescs[0]._feedForwardRadius = 8;
layerDescs[1]._size = { 48, 48 };
layerDescs[2]._size = { 32, 32 };
layerDescs[3]._size = { 24, 24 };
neo::PredictiveHierarchy ph;
ph.createRandom(cs, prog, { 64, 64 }, layerDescs, { -0.01f, 0.01f }, { 0.01f, 0.05f }, 0.1f, generator);
float avgError = 1.0f;
float avgErrorDecay = 0.1f;
sf::RenderWindow window;
window.create(sf::VideoMode(1024, 512), "MNIST Video Test");
vis::Plot plot;
plot._curves.push_back(vis::Curve());
plot._curves[0]._name = "Squared Error";
std::uniform_int_distribution<int> digitDist(0, 59999);
std::uniform_real<float> dist01(0.0f, 1.0f);
sf::RenderTexture rt;
rt.create(64, 64);
sf::Image digit0;
sf::Texture digit0Tex;
sf::Image digit1;
sf::Texture digit1Tex;
sf::Image pred;
sf::Texture predTex;
digit0.create(28, 28);
digit1.create(28, 28);
pred.create(rt.getSize().x, rt.getSize().y);
const float boundingSize = (64 - 28) / 2;
const float center = 32;
const float minimum = center - boundingSize;
const float maximum = center + boundingSize;
float avgError2 = 1.0f;
const float avgError2Decay = 0.01f;
std::vector<float> prediction(64 * 64, 0.0f);
for (int iter = 0; iter < 10000; iter++) {
// Select digit indices
int d0 = digitDist(generator);
int d1 = digitDist(generator);
// Load digits
Image img0, img1;
loadMNISTimage(fromFile, d0, img0);
loadMNISTimage(fromFile, d1, img1);
for (int x = 0; x < digit0.getSize().x; x++)
for (int y = 0; y < digit0.getSize().y; y++) {
int index = x + y * digit0.getSize().x;
sf::Color c = sf::Color::White;
c.a = img0._intensities[index];
digit0.setPixel(x, y, c);
}
digit0Tex.loadFromImage(digit0);
for (int x = 0; x < digit1.getSize().x; x++)
for (int y = 0; y < digit1.getSize().y; y++) {
int index = x + y * digit1.getSize().x;
sf::Color c = sf::Color::White;
c.a = img1._intensities[index];
digit1.setPixel(x, y, c);
}
digit1Tex.loadFromImage(digit1);
sf::Vector2f vel0(dist01(generator) * 2.0f - 1.0f, dist01(generator) * 2.0f - 1.0f);
sf::Vector2f vel1(dist01(generator) * 2.0f - 1.0f, dist01(generator) * 2.0f - 1.0f);
sf::Vector2f pos0(dist01(generator) * (maximum - minimum) + minimum, dist01(generator) * (maximum - minimum) + minimum);
sf::Vector2f pos1(dist01(generator) * (maximum - minimum) + minimum, dist01(generator) * (maximum - minimum) + minimum);
float vel0mul = dist01(generator) * 6.0f / std::max(1.0f, std::sqrt(vel0.x * vel0.x + vel0.y + vel0.y));
vel0 *= vel0mul;
float vel1mul = dist01(generator) * 6.0f / std::max(1.0f, std::sqrt(vel1.x * vel1.x + vel1.y + vel1.y));
vel1 *= vel1mul;
// Render video
for (int f = 0; f < 20; f++) {
sf::Event windowEvent;
while (window.pollEvent(windowEvent)) {
switch (windowEvent.type) {
case sf::Event::Closed:
return 0;
}
}
pos0 += vel0;
pos1 += vel1;
if (pos0.x < minimum) {
pos0.x = minimum;
vel0.x *= -1.0f;
}
else if (pos0.x > maximum) {
pos0.x = maximum;
vel0.x *= -1.0f;
}
if (pos0.y < minimum) {
pos0.y = minimum;
vel0.y *= -1.0f;
}
else if (pos0.y > maximum) {
pos0.y = maximum;
vel0.y *= -1.0f;
}
if (pos1.x < minimum) {
pos1.x = minimum;
vel1.x *= -1.0f;
}
else if (pos1.x > maximum) {
pos1.x = maximum;
vel1.x *= -1.0f;
}
if (pos1.y < minimum) {
pos1.y = minimum;
vel1.y *= -1.0f;
}
else if (pos1.y > maximum) {
pos1.y = maximum;
vel1.y *= -1.0f;
}
window.clear();
rt.clear(sf::Color::Black);
sf::Sprite s0;
s0.setTexture(digit0Tex);
s0.setOrigin(28 / 2, 28 / 2);
s0.setPosition(pos0);
rt.draw(s0);
sf::Sprite s1;
s1.setTexture(digit1Tex);
s1.setOrigin(28 / 2, 28 / 2);
s1.setPosition(pos1);
rt.draw(s1);
rt.display();
// Get input image
sf::Image res = rt.getTexture().copyToImage();
// Show RT
const float scale = 4.0f;
sf::Sprite s;
s.setScale(scale, scale);
s.setTexture(rt.getTexture());
window.draw(s);
std::vector<float> input(64 * 64);
// Train
if (sf::Keyboard::isKeyPressed(sf::Keyboard::T)) {
for (int x = 0; x < res.getSize().x; x++)
for (int y = 0; y < res.getSize().y; y++) {
input[x + y * 64] = prediction[x + y * 64];
}
}
else {
const float predictionIncorporateRatio = 0.1f;
for (int x = 0; x < res.getSize().x; x++)
for (int y = 0; y < res.getSize().y; y++) {
input[x + y * 64] = (1.0f - predictionIncorporateRatio) * res.getPixel(x, y).r / 255.0f + predictionIncorporateRatio * prediction[x + y * 64];
}
}
// Error
float error = 0.0f;
for (int x = 0; x < res.getSize().x; x++)
for (int y = 0; y < res.getSize().y; y++) {
error += std::pow(res.getPixel(x, y).r / 255.0f - prediction[x + y * 64], 2);
}
error /= res.getSize().x * res.getSize().y;
avgError2 = (1.0f - avgError2Decay) * avgError2 + avgError2Decay * error;
std::cout << "Squared Error: " << avgError2 << std::endl;
cs.getQueue().enqueueWriteImage(inputImage, CL_TRUE, { 0, 0, 0 }, { 64, 64, 1 }, 0, 0, input.data());
ph.simStep(cs, inputImage);
cs.getQueue().enqueueReadImage(ph.getPrediction(), CL_TRUE, { 0, 0, 0 }, { 64, 64, 1 }, 0, 0, prediction.data());
// Show prediction
for (int x = 0; x < rt.getSize().x; x++)
for (int y = 0; y < rt.getSize().y; y++) {
sf::Color c = sf::Color::White;
c.r = c.b = c.g = std::min(1.0f, std::max(0.0f, prediction[x + y * 64])) * 255.0f;
pred.setPixel(x, y, c);
}
predTex.loadFromImage(pred);
sf::Sprite sp;
sp.setTexture(predTex);
sp.setScale(scale, scale);
sp.setPosition(window.getSize().x - scale * rt.getSize().x, 0);
window.draw(sp);
/*sf::Image sdr;
sdr.create(prsdr.getLayerDescs().front()._width, prsdr.getLayerDescs().front()._height);
for (int x = 0; x < sdr.getSize().x; x++)
for (int y = 0; y < sdr.getSize().y; y++) {
sf::Color c = sf::Color::White;
c.r = c.g = c.b = prsdr.getLayers().front()._sdr.getHiddenState(x, y) * 255.0f;
sdr.setPixel(x, y, c);
}
sf::Texture sdrTex;
sdrTex.loadFromImage(sdr);
sf::Sprite sdrS;
sdrS.setTexture(sdrTex);
sdrS.setPosition(0.0f, window.getSize().y - sdrTex.getSize().y * scale);
sdrS.setScale(scale, scale);
window.draw(sdrS);*/
window.display();
if (sf::Keyboard::isKeyPressed(sf::Keyboard::Escape))
return 0;
}
}
/*sf::RenderTexture rt;
rt.create(1024, 1024);
sf::Texture lineGradientTexture;
lineGradientTexture.loadFromFile("resources/lineGradient.png");
sf::Font tickFont;
tickFont.loadFromFile("resources/arial.ttf");
plot.draw(rt, lineGradientTexture, tickFont, 1.0f, sf::Vector2f(0.0f, step), sf::Vector2f(0.0f, 1.0f), sf::Vector2f(128.0f, 128.0f), sf::Vector2f(500.0f, 0.1f), 2.0f, 3.0f, 1.5f, 3.0f, 20.0f, 6);
rt.display();
rt.getTexture().copyToImage().saveToFile("plot.png");*/
return 0;
}
int main() {
std::mt19937 generator(time(nullptr));
sys::ComputeSystem cs;
cs.create(sys::ComputeSystem::_gpu);
sys::ComputeProgram prog;
prog.loadFromFile("resources/neoKernels.cl", cs);
std::vector<neo::AgentSPG::LayerDesc> layerDescs(3);
layerDescs[0]._size = { 32, 32 };
layerDescs[0]._alpha = { 0.1f, 0.001f };
layerDescs[0]._predictiveRadius = 12;
layerDescs[0]._feedBackRadius = 12;
layerDescs[1]._size = { 24, 24 };
layerDescs[2]._size = { 16, 16 };
neo::AgentSPG agent;
int inWidth = 32;
int inHeight = 32;
int aWidth = 3;
int aHeight = 3;
int frameSkip = 3;
agent.createRandom(cs, prog, { inWidth, inHeight }, { aWidth, aHeight }, 12, layerDescs, { -0.05f, 0.05f }, generator);
cl::Image2D inputImage = cl::Image2D(cs.getContext(), CL_MEM_READ_WRITE, cl::ImageFormat(CL_R, CL_FLOAT), inWidth, inHeight);
cl::Image2D actionImage = cl::Image2D(cs.getContext(), CL_MEM_READ_WRITE, cl::ImageFormat(CL_R, CL_FLOAT), aWidth, aHeight);
sf::VideoMode videoMode(1280, 720);
sf::RenderWindow renderWindow;
renderWindow.create(videoMode, "Reinforcement Learning", sf::Style::Default);
renderWindow.setVerticalSyncEnabled(true);
renderWindow.setFramerateLimit(60);
// --------------------------------- Game Init -----------------------------------
const float slimeRadius = 94.5f;
const float ballRadius = 23.5f;
const float wallRadius = 22.5f;
const float fieldRadius = 640.0f;
const float gravity = 900.0f;
const float slimeBounce = 100.0f;
const float wallBounceDecay = 0.8f;
const float slimeJump = 500.0f;
const float maxSlimeSpeed = 1000.0f;
const float slimeMoveAccel = 5000.0f;
const float slimeMoveDeccel = 8.0f;
std::uniform_real_distribution<float> dist01(0.0f, 1.0f);
sf::Vector2f fieldCenter = sf::Vector2f(renderWindow.getSize().x * 0.5f, renderWindow.getSize().y * 0.5f + 254.0f);
sf::Vector2f wallCenter = fieldCenter + sf::Vector2f(0.0f, -182.0f);
PhyObj blue;
PhyObj red;
PhyObj ball;
blue._position = fieldCenter + sf::Vector2f(-200.0f, 0.0f);
blue._velocity = sf::Vector2f(0.0f, 0.0f);
red._position = fieldCenter + sf::Vector2f(200.0f, 0.0f);
red._velocity = sf::Vector2f(0.0f, 0.0f);
ball._position = fieldCenter + sf::Vector2f(2.0f, -300.0f);
ball._velocity = sf::Vector2f((dist01(generator)) * 600.0f, -(dist01(generator)) * 500.0f);
sf::Texture backgroundTexture;
backgroundTexture.loadFromFile("resources/slimevolleyball/background.png");
sf::Texture blueSlimeTexture;
blueSlimeTexture.loadFromFile("resources/slimevolleyball/slimeBodyBlue.png");
sf::Texture redSlimeTexture;
redSlimeTexture.loadFromFile("resources/slimevolleyball/slimeBodyRed.png");
sf::Texture ballTexture;
ballTexture.loadFromFile("resources/slimevolleyball/ball.png");
sf::Texture eyeTexture;
eyeTexture.loadFromFile("resources/slimevolleyball/slimeEye.png");
eyeTexture.setSmooth(true);
sf::Texture arrowTexture;
arrowTexture.loadFromFile("resources/slimevolleyball/arrow.png");
sf::Font scoreFont;
scoreFont.loadFromFile("resources/slimevolleyball/scoreFont.ttf");
int scoreRed = 0;
int scoreBlue = 0;
int prevScoreRed = 0;
int prevScoreBlue = 0;
float prevBallX = fieldCenter.x;
sf::RenderTexture blueRT;
blueRT.create(inWidth, inHeight);
// ------------------------------- Simulation Loop -------------------------------
bool quit = false;
float dt = 0.017f;
int skipFrameCounter = 0;
float blueReward = 0.0f;
float redReward = 0.0f;
std::vector<float> actionTemp(aWidth * aHeight, 0.5f);
std::vector<float> actionTemp2(aWidth * aHeight * 2, 0.5f);
do {
sf::Event event;
while (renderWindow.pollEvent(event)) {
switch (event.type) {
case sf::Event::Closed:
quit = true;
break;
}
}
if (sf::Keyboard::isKeyPressed(sf::Keyboard::Escape))
quit = true;
// ---------------------------------- Physics ----------------------------------
bool blueBounced = false;
bool redBounced = false;
// Ball
{
ball._velocity.y += gravity * dt;
ball._position += ball._velocity * dt;
// To floor (game restart)
if (ball._position.y + ballRadius > fieldCenter.y) {
if (ball._position.x < fieldCenter.x)
scoreRed++;
else
scoreBlue++;
blue._position = fieldCenter + sf::Vector2f(-200.0f, 0.0f);
blue._velocity = sf::Vector2f(0.0f, 0.0f);
red._position = fieldCenter + sf::Vector2f(200.0f, 0.0f);
red._velocity = sf::Vector2f(0.0f, 0.0f);
ball._position = fieldCenter + sf::Vector2f(2.0f, -300.0f);
ball._velocity = sf::Vector2f(((dist01(generator))) * -600.0f, -(dist01(generator)) * 500.0f);
}
// To wall
if (((ball._position.x + ballRadius) > (wallCenter.x - wallRadius) && ball._position.x < wallCenter.x) || ((ball._position.x - ballRadius) < (wallCenter.x + wallRadius) && ball._position.x > wallCenter.x)) {
// If above rounded part
if (ball._position.y < wallCenter.y) {
sf::Vector2f delta = ball._position - wallCenter;
float dist = std::sqrt(delta.x * delta.x + delta.y * delta.y);
if (dist < wallRadius + ballRadius) {
sf::Vector2f normal = delta / dist;
// Reflect velocity
sf::Vector2f reflectedVelocity = ball._velocity - 2.0f * (ball._velocity.x * normal.x + ball._velocity.y * normal.y) * normal;
ball._velocity = reflectedVelocity * wallBounceDecay;
ball._position = wallCenter + normal * (wallRadius + ballRadius);
}
}
else {
// If on left side
if (ball._position.x < wallCenter.x) {
ball._velocity.x = wallBounceDecay * -ball._velocity.x;
ball._position.x = wallCenter.x - wallRadius - ballRadius;
}
else {
ball._velocity.x = wallBounceDecay * -ball._velocity.x;
ball._position.x = wallCenter.x + wallRadius + ballRadius;
}
}
}
// To blue slime
{
sf::Vector2f delta = ball._position - blue._position;
float dist = std::sqrt(delta.x * delta.x + delta.y * delta.y);
if (dist < slimeRadius + ballRadius) {
sf::Vector2f normal = delta / dist;
// Reflect velocity
sf::Vector2f reflectedVelocity = ball._velocity - 2.0f * (ball._velocity.x * normal.x + ball._velocity.y * normal.y) * normal;
float magnitude = std::sqrt(reflectedVelocity.x * reflectedVelocity.x + reflectedVelocity.y * reflectedVelocity.y);
sf::Vector2f normalizedReflected = reflectedVelocity / magnitude;
ball._velocity = blue._velocity + (magnitude > slimeBounce ? reflectedVelocity : normalizedReflected * slimeBounce);
ball._position = blue._position + normal * (wallRadius + slimeRadius);
blueBounced = true;
}
}
// To red slime
{
sf::Vector2f delta = ball._position - red._position;
float dist = std::sqrt(delta.x * delta.x + delta.y * delta.y);
if (dist < slimeRadius + ballRadius) {
sf::Vector2f normal = delta / dist;
// Reflect velocity
sf::Vector2f reflectedVelocity = ball._velocity - 2.0f * (ball._velocity.x * normal.x + ball._velocity.y * normal.y) * normal;
float magnitude = std::sqrt(reflectedVelocity.x * reflectedVelocity.x + reflectedVelocity.y * reflectedVelocity.y);
sf::Vector2f normalizedReflected = reflectedVelocity / magnitude;
ball._velocity = red._velocity + (magnitude > slimeBounce ? reflectedVelocity : normalizedReflected * slimeBounce);
ball._position = red._position + normal * (wallRadius + slimeRadius);
redBounced = true;
}
}
// Out of field, left and right
{
if (ball._position.x - ballRadius < fieldCenter.x - fieldRadius) {
ball._velocity.x = wallBounceDecay * -ball._velocity.x;
ball._position.x = fieldCenter.x - fieldRadius + ballRadius;
}
else if (ball._position.x + ballRadius > fieldCenter.x + fieldRadius) {
ball._velocity.x = wallBounceDecay * -ball._velocity.x;
ball._position.x = fieldCenter.x + fieldRadius - ballRadius;
}
}
}
// Blue slime
{
blue._velocity.y += gravity * dt;
blue._velocity.x += -slimeMoveDeccel * blue._velocity.x * dt;
blue._position += blue._velocity * dt;
bool moveLeft;
bool moveRight;
bool jump;
sf::Image img = blueRT.getTexture().copyToImage();
std::vector<float> greyData(img.getSize().x * img.getSize().y);
for (int x = 0; x < img.getSize().x; x++)
for (int y = 0; y < img.getSize().y; y++) {
sf::Color c = img.getPixel(x, y);
greyData[x + y * img.getSize().x] = 0.333f * (c.r / 255.0f + c.g / 255.0f + c.b / 255.0f);
}
if (skipFrameCounter == 0) {
cs.getQueue().enqueueWriteImage(inputImage, CL_TRUE, { 0, 0, 0 }, { static_cast<cl::size_type>(inWidth), static_cast<cl::size_type>(inHeight), 1 }, 0, 0, greyData.data());
cs.getQueue().enqueueWriteImage(actionImage, CL_TRUE, { 0, 0, 0 }, { static_cast<cl::size_type>(inWidth), static_cast<cl::size_type>(inHeight), 1 }, 0, 0, actionTemp.data());
agent.simStep(cs, blueReward * 0.01f, inputImage, actionImage, generator);
cs.getQueue().enqueueReadImage(agent.getAction(), CL_TRUE, { 0, 0, 0 }, { static_cast<cl::size_type>(aWidth), static_cast<cl::size_type>(aHeight), 1 }, 0, 0, actionTemp2.data());
for (int i = 0; i < actionTemp.size(); i++) {
if (dist01(generator) < 0.1f)
actionTemp[i] = dist01(generator);
else
actionTemp[i] = actionTemp2[i * 2 + 0];
}
actionTemp[2] = actionTemp[0] * 3.0f + 1.0f;
actionTemp[3] = actionTemp[0] * -2.0f + 0.4f;
actionTemp[4] = actionTemp[0] * 2.0f - 0.4f;
actionTemp[5] = actionTemp[0] * -2.0f - 0.4f;
actionTemp[6] = actionTemp[1] * -1.5f + 0.2f;
actionTemp[7] = actionTemp[1] * 2.1f - 0.4f;
actionTemp[8] = actionTemp[1] * -2.0f + 0.4f;
cs.getQueue().finish();
}
moveLeft = actionTemp[0] > 0.75f;
moveRight = actionTemp[0] < 0.25f;
jump = actionTemp[1] > 0.75f;
std::cout << blueReward << " " << actionTemp[0 * 2 + 0] << " " << actionTemp[1 * 2 + 0] << std::endl;
if (moveLeft) {
blue._velocity.x += -slimeMoveAccel * dt;
if (blue._velocity.x < -maxSlimeSpeed)
blue._velocity.x = -maxSlimeSpeed;
}
else if (moveRight) {
blue._velocity.x += slimeMoveAccel * dt;
if (blue._velocity.x > maxSlimeSpeed)
blue._velocity.x = maxSlimeSpeed;
}
if (blue._position.y > fieldCenter.y) {
blue._velocity.y = 0.0f;
blue._position.y = fieldCenter.y;
if (jump)
blue._velocity.y -= slimeJump;
}
if (blue._position.x - slimeRadius < fieldCenter.x - fieldRadius) {
blue._velocity.x = 0.0f;
blue._position.x = fieldCenter.x - fieldRadius + slimeRadius;
}
if (blue._position.x + slimeRadius > wallCenter.x - wallRadius) {
blue._velocity.x = 0.0f;
blue._position.x = wallCenter.x - wallRadius - slimeRadius;
}
}
// Red slime
{
red._velocity.y += gravity * dt;
red._velocity.x += -slimeMoveDeccel * red._velocity.x * dt;
red._position += red._velocity * dt;
bool moveLeft;
bool moveRight;
bool jump;
moveLeft = sf::Keyboard::isKeyPressed(sf::Keyboard::Left);
moveRight = sf::Keyboard::isKeyPressed(sf::Keyboard::Right);
jump = sf::Keyboard::isKeyPressed(sf::Keyboard::Up);
if (moveLeft) {
red._velocity.x += -slimeMoveAccel * dt;
if (red._velocity.x < -maxSlimeSpeed)
red._velocity.x = -maxSlimeSpeed;
}
else if (moveRight) {
red._velocity.x += slimeMoveAccel * dt;
if (red._velocity.x > maxSlimeSpeed)
red._velocity.x = maxSlimeSpeed;
}
if (red._position.y > fieldCenter.y) {
red._velocity.y = 0.0f;
red._position.y = fieldCenter.y;
if (jump)
red._velocity.y -= slimeJump;
}
if (red._position.x + slimeRadius > fieldCenter.x + fieldRadius) {
red._velocity.x = 0.0f;
red._position.x = fieldCenter.x + fieldRadius - slimeRadius;
}
if (red._position.x - slimeRadius < wallCenter.x + wallRadius) {
red._velocity.x = 0.0f;
red._position.x = wallCenter.x + wallRadius + slimeRadius;
}
}
blueReward = scoreBlue - prevScoreBlue - (scoreRed - prevScoreRed);// -0.00005f * std::abs(ball._position.x - blue._position.x) + (blueBounced ? 0.2f : 0.0f);
redReward = scoreRed - prevScoreRed - (scoreBlue - prevScoreBlue);// -0.00005f * std::abs(ball._position.x - red._position.x) + (redBounced ? 0.2f : 0.0f);
prevScoreRed = scoreRed;
prevScoreBlue = scoreBlue;
prevBallX = ball._position.x;
// --------------------------------- Rendering ---------------------------------
if (!sf::Keyboard::isKeyPressed(sf::Keyboard::T)) {
{
renderWindow.clear();
{
sf::Sprite s;
s.setTexture(backgroundTexture);
s.setOrigin(backgroundTexture.getSize().x * 0.5f, backgroundTexture.getSize().y * 0.5f);
s.setPosition(renderWindow.getSize().x * 0.5f, renderWindow.getSize().y * 0.5f);
renderWindow.draw(s);
}
{
sf::Sprite s;
s.setTexture(blueSlimeTexture);
s.setOrigin(blueSlimeTexture.getSize().x * 0.5f, blueSlimeTexture.getSize().y);
s.setPosition(blue._position);
renderWindow.draw(s);
}
{
sf::Sprite s;
s.setTexture(eyeTexture);
s.setOrigin(eyeTexture.getSize().x * 0.5f, eyeTexture.getSize().y * 0.5f);
s.setPosition(blue._position + sf::Vector2f(50.0f, -28.0f));
sf::Vector2f delta = ball._position - s.getPosition();
float angle = std::atan2(delta.y, delta.x);
s.setRotation(angle * 180.0f / 3.141596f);
renderWindow.draw(s);
}
{
sf::Sprite s;
s.setTexture(redSlimeTexture);
s.setOrigin(redSlimeTexture.getSize().x * 0.5f, redSlimeTexture.getSize().y);
s.setPosition(red._position);
renderWindow.draw(s);
}
{
sf::Sprite s;
s.setTexture(eyeTexture);
s.setOrigin(eyeTexture.getSize().x * 0.5f, eyeTexture.getSize().y * 0.5f);
s.setPosition(red._position + sf::Vector2f(-50.0f, -28.0f));
sf::Vector2f delta = ball._position - s.getPosition();
float angle = std::atan2(delta.y, delta.x);
s.setRotation(angle * 180.0f / 3.141596f);
renderWindow.draw(s);
}
{
sf::Sprite s;
s.setTexture(ballTexture);
s.setOrigin(ballTexture.getSize().x * 0.5f, ballTexture.getSize().y * 0.5f);
s.setPosition(ball._position);
renderWindow.draw(s);
}
if (ball._position.y + ballRadius < 0.0f) {
sf::Sprite s;
s.setTexture(arrowTexture);
s.setOrigin(arrowTexture.getSize().x * 0.5f, 0.0f);
s.setPosition(ball._position.x, 0.0f);
renderWindow.draw(s);
}
{
sf::Text scoreText;
scoreText.setFont(scoreFont);
scoreText.setString(std::to_string(scoreBlue));
scoreText.setCharacterSize(100);
float width = scoreText.getLocalBounds().width;
scoreText.setPosition(fieldCenter.x - width * 0.5f - 100.0f, 10.0f);
scoreText.setColor(sf::Color(100, 133, 255));
renderWindow.draw(scoreText);
}
{
sf::Text scoreText;
scoreText.setFont(scoreFont);
scoreText.setString(std::to_string(scoreRed));
scoreText.setCharacterSize(100);
float width = scoreText.getLocalBounds().width;
scoreText.setPosition(fieldCenter.x - width * 0.5f + 100.0f, 10.0f);
scoreText.setColor(sf::Color(255, 100, 100));
renderWindow.draw(scoreText);
}
{
sf::Sprite visionSprite;
visionSprite.setTexture(blueRT.getTexture());
visionSprite.scale(4.0f, 4.0f);
renderWindow.draw(visionSprite);
}
}
renderWindow.display();
}
blueRT.setView(renderWindow.getView());
{
blueRT.clear();
{
sf::Sprite s;
s.setTexture(backgroundTexture);
s.setOrigin(backgroundTexture.getSize().x * 0.5f, backgroundTexture.getSize().y * 0.5f);
s.setPosition(renderWindow.getSize().x * 0.5f, renderWindow.getSize().y * 0.5f);
blueRT.draw(s);
}
{
sf::Sprite s;
s.setTexture(blueSlimeTexture);
s.setOrigin(blueSlimeTexture.getSize().x * 0.5f, blueSlimeTexture.getSize().y);
s.setPosition(blue._position);
blueRT.draw(s);
}
{
sf::Sprite s;
s.setTexture(eyeTexture);
s.setOrigin(eyeTexture.getSize().x * 0.5f, eyeTexture.getSize().y * 0.5f);
s.setPosition(blue._position + sf::Vector2f(50.0f, -28.0f));
sf::Vector2f delta = ball._position - s.getPosition();
float angle = std::atan2(delta.y, delta.x);
s.setRotation(angle * 180.0f / 3.141596f);
blueRT.draw(s);
}
{
sf::Sprite s;
s.setTexture(redSlimeTexture);
s.setOrigin(redSlimeTexture.getSize().x * 0.5f, redSlimeTexture.getSize().y);
s.setPosition(red._position);
blueRT.draw(s);
}
{
sf::Sprite s;
s.setTexture(eyeTexture);
s.setOrigin(eyeTexture.getSize().x * 0.5f, eyeTexture.getSize().y * 0.5f);
s.setPosition(red._position + sf::Vector2f(-50.0f, -28.0f));
sf::Vector2f delta = ball._position - s.getPosition();
float angle = std::atan2(delta.y, delta.x);
s.setRotation(angle * 180.0f / 3.141596f);
blueRT.draw(s);
}
{
sf::Sprite s;
s.setTexture(ballTexture);
s.setOrigin(ballTexture.getSize().x * 0.5f, ballTexture.getSize().y * 0.5f);
s.setPosition(ball._position);
blueRT.draw(s);
}
if (ball._position.y + ballRadius < 0.0f) {
sf::Sprite s;
s.setTexture(arrowTexture);
s.setOrigin(arrowTexture.getSize().x * 0.5f, 0.0f);
s.setPosition(ball._position.x, 0.0f);
blueRT.draw(s);
}
{
sf::Text scoreText;
scoreText.setFont(scoreFont);
scoreText.setString(std::to_string(scoreBlue));
scoreText.setCharacterSize(100);
float width = scoreText.getLocalBounds().width;
scoreText.setPosition(fieldCenter.x - width * 0.5f - 100.0f, 10.0f);
scoreText.setColor(sf::Color(100, 133, 255));
blueRT.draw(scoreText);
}
{
sf::Text scoreText;
scoreText.setFont(scoreFont);
scoreText.setString(std::to_string(scoreRed));
scoreText.setCharacterSize(100);
float width = scoreText.getLocalBounds().width;
scoreText.setPosition(fieldCenter.x - width * 0.5f + 100.0f, 10.0f);
scoreText.setColor(sf::Color(255, 100, 100));
blueRT.draw(scoreText);
}
blueRT.display();
}
skipFrameCounter = (skipFrameCounter + 1) % frameSkip;
} while (!quit);
return 0;
}
int main(int argc, const char** argv) {
// Load the command line config
ArgumentParser parser;
parser.addArgument("-e", "--epochs", 1);
parser.addArgument("-s", "--seed", 1);
parser.addArgument("-l", "--layers", 1);
parser.addArgument("-S", "--samples", 1);
parser.addArgument("-c", "--corpus", 1);
parser.addArgument("--nlayers", 1);
parser.addArgument("--ifbradius", 1);
parser.addArgument("--lw", 1);
parser.addArgument("--lh", 1);
parser.addArgument("--ssize", 1);
parser.addArgument("--sseednoise", 1);
parser.addArgument("--sprednoise", 1);
parser.parse(argc, argv);
// RNG
unsigned int seed = std::atoi(parser.retrieve("seed", std::to_string(time(nullptr))).c_str());
std::mt19937 generator(seed);
std::uniform_real_distribution<float> dist01(0.0f, 1.0f);
// ---------------------------------- Load the Corpus ----------------------------------
std::string corpusPath = parser.retrieve("corpus", "corpus.txt");
std::ifstream fromFile(corpusPath);
fromFile.seekg(0, std::ios::end);
size_t size = fromFile.tellg();
std::string test(size, ' ');
fromFile.seekg(0);
fromFile.read(&test[0], size);
// ---------------------------------- Find Character Set ----------------------------------
VectorCodec textcodec(test);
int numInputs = textcodec.N;
int inputsRoot = std::ceil(std::sqrt(static_cast<float>(numInputs)));
// ---------------------------------- Create Hierarchy ----------------------------------
// Fill out layer descriptions
int nLayers = std::atoi(parser.retrieve("nlayers", "3").c_str());
int layerW = std::atoi(parser.retrieve("lw", "16").c_str());
int layerH = std::atoi(parser.retrieve("lh", "16").c_str());
int inFeedBackRadius = std::atoi(parser.retrieve("ifbradius", "16").c_str());
std::vector<neo::PredictiveHierarchy::LayerDesc> layerDescs(nLayers);
for (int i = 0; i < nLayers; i++) {
layerDescs[i]._width = layerW;
layerDescs[i]._height = layerH;
}
neo::PredictiveHierarchy ph;
ph.createRandom(inputsRoot, inputsRoot, inFeedBackRadius, layerDescs, -0.01f, 0.01f, 0.01f, 0.05f, 0.1f, generator);
// ---------------------------------- Iterate Over Corpus ----------------------------------
int numEpochs = std::atoi(parser.retrieve("epochs", "10").c_str());
int numSamples = std::atoi(parser.retrieve("samples", "10").c_str());
int sampleSize = std::atoi(parser.retrieve("ssize", std::to_string(test.length())).c_str());
float sampleSeedNoise = std::atof(parser.retrieve("sseednoise", "0.5").c_str());
float samplePredNoise = std::atof(parser.retrieve("sprednoise", "0.05").c_str());
std::cout << "NeoRL text prediction experiment" << std::endl;
std::cout << "Corpus: " << corpusPath << " size: " << test.length() << " alphabet size: " << textcodec.nSymbols << std::endl;
std::cout << "Model: nLayers: " << nLayers << " layerW: " << layerW << " layerH: " << layerH << " inFeedbackRadius: " << inFeedBackRadius
<< " input: " << inputsRoot << "x" << inputsRoot << std::endl;
std::cout << "Training: epochs: " << numEpochs << std::endl;
std::cout << "Sampling: samples: " << numSamples << " size: " << sampleSize << " seed noise: " << sampleSeedNoise << " pred noise " << samplePredNoise << std::endl;
std::cout << "--[ Start training ]--" << std::endl;
train(ph, generator, test, numEpochs, textcodec);
std::cout << "--[ Start sampling ]--" << std::endl;
for (int i = 0; i < numSamples; i++) {
sample(ph, generator, textcodec.getRandomSymbol(generator), sampleSize, textcodec, sampleSeedNoise, samplePredNoise);
}
return 0;
}
template <int N, int N_obj> void GA<N, N_obj>::mutation_adaptive
(const Individual &parent, Individual &child)
{
double tol = 1.e-8; // tolerance, pure magic
// set step size
if(generation <= 1)
{
ma_step_size = 1.;
}
else
{
if(!ma_step_changed)
{
ma_step_changed = true;
if(N_obj == 1)
{
if(best_score[generation] < best_score[generation - 1])
ma_step_size = std::min(1., ma_step_size * 4.);
else
ma_step_size = std::max(tol, ma_step_size / 4.);
}
else
{
if(spread[generation] > spread[generation - 1])
ma_step_size = std::min(1., ma_step_size * 4.);
else
ma_step_size = std::max(tol, ma_step_size / 4.);
}
}
}
// set logarithmic scale
Individual scale;
for(int i = 0; i < N; i++)
{
double exponent = 0.;
if( fabs(lower_boundary[i]) > tol )
exponent += 0.5 * log(fabs(lower_boundary[i])) / log(2.);
if( fabs(upper_boundary[i]) > tol )
exponent += 0.5 * log(fabs(upper_boundary[i])) / log(2.);
scale[i] = pow(2., exponent);
}
Individual raw_basis[N],
basis[N],
tangent_cone[N],
dir[2 * N];
double dir_sign[4 * N];
int n_tangent = 0,
n_basis = N,
index_vector[4 * N],
order_vector[4 * N];
// calculate mutation direction set
// tangent components
for(int i = 0; i < N; i++)
{
if( fabs(parent[i] - lower_boundary[i]) < tol || fabs(parent[i] - upper_boundary[i]) < tol )
{
tangent_cone[n_tangent] = 0.;
tangent_cone[n_tangent][i] = 1.;
n_tangent++;
}
}
// raw basis vectors
double poll_param = 1. / sqrt(ma_step_size);
for(int i = 0; i < n_basis; i++)
{
raw_basis[i] = 0.;
raw_basis[i][i] = poll_param * (dist01(rnd_generator) >= 0.5 ? 1. : -1.);
for(int j = i + 1; j < n_basis; j++)
{
raw_basis[i][j] = round( (poll_param + 1.) * dist01(rnd_generator) - 0.5);
}
}
// basis as random permutation of raw basis
for(int j = 0; j < n_basis; j++)
order_vector[j] = j;
std::random_shuffle(order_vector, order_vector + n_basis);
for(int i = 0; i < n_basis; i++)
for(int j = 0; j < n_basis; j++)
basis[i][j] = raw_basis[order_vector[i]][order_vector[j]];
// prerare random direction mutation
int n_dir = n_tangent + n_basis;
for(int i = 0; i < n_basis; i++)
dir[i] = basis[i];
for(int i = 0; i < n_tangent; i++)
dir[n_basis + i] = tangent_cone[i];
for(int i = 0; i < n_basis; i++)
{
index_vector[i] = i;
dir_sign[i] = 1.;
}
int i_base = n_basis;
for(int i = i_base; i < i_base + n_basis; i++)
{
index_vector[i] = i - i_base;
dir_sign[i] = -1.;
}
i_base += n_basis;
for(int i = i_base; i < i_base + n_tangent; i++)
{
index_vector[i] = i - i_base;
dir_sign[i] = 1.;
}
i_base += n_tangent;
for(int i = i_base; i < i_base + n_tangent; i++)
{
index_vector[i] = i - i_base;
dir_sign[i] = -1.;
}
int n_dir_total = 2 * n_dir;
for(int i = 0; i < n_dir_total; i++)
order_vector[i] = i;
std::random_shuffle(order_vector, order_vector + n_dir_total);
// finally, mutate
double success = false;
for(int i = 0; i < n_dir_total; i++)
{
int k = index_vector[order_vector[i]];
Individual direction = dir_sign[k] * dir[k];
child = parent + ma_step_size * scale * direction;
if(feasible(child))
{
success = true;
break;
}
}
if( !success )
{
child = parent;
if(options.verbose && N < 5)
std::cout << "mutation failed at x = " << parent << "\n";
}
}
template <int N, int N_obj> void GA<N, N_obj>::crossover_arithmetic
(const Individual &parent1, const Individual &parent2, Individual &child)
{
double R = dist01(rnd_generator);
child = R * parent1 + (1. - R) * parent2;
}
int main() {
std::mt19937 generator(time(nullptr));
sf::RenderWindow renderWindow;
renderWindow.create(sf::VideoMode(1280, 720), "Reinforcement Learning", sf::Style::Default);
renderWindow.setVerticalSyncEnabled(true);
renderWindow.setFramerateLimit(60);
// ---------------------------------- RL Init ------------------------------------
/*sc::HTSLPVLV agentBlue;
sc::HTSLPVLV agentRed;
std::vector<sc::HTSLPVLV::InputType> inputTypes(20);
for (int i = 0; i < 12; i++)
inputTypes[i] = sc::HTSLPVLV::_state;
for (int i = 12; i < 14; i++)
inputTypes[i] = sc::HTSLPVLV::_action;
for (int i = 14; i < 16; i++)
inputTypes[i] = sc::HTSLPVLV::_pv;
for (int i = 16; i < 18; i++)
inputTypes[i] = sc::HTSLPVLV::_lve;
for (int i = 18; i < 20; i++)
inputTypes[i] = sc::HTSLPVLV::_lvi;
std::vector<sc::HTSL::LayerDesc> layerDescs(2);
layerDescs[0]._width = 20;
layerDescs[0]._height = 20;
layerDescs[1]._width = 12;
layerDescs[1]._height = 12;
//layerDescs[2]._width = 8;
//layerDescs[2]._height = 8;
agentBlue.createRandom(5, 4, 8, inputTypes, layerDescs, generator);
agentRed.createRandom(5, 4, 8, inputTypes, layerDescs, generator);*/
float rewardTimer = 0.0f;
float rewardTime = 0.25f;
float lastReward = 0.5f;
//sc::HTSLSARSA agentBlue;
sc::HTSLSARSA agentRed;
std::vector<sc::HTSLSARSA::InputType> inputTypes(16);
for (int i = 0; i < 12; i++)
inputTypes[i] = sc::HTSLSARSA::_state;
for (int i = 12; i < 14; i++)
inputTypes[i] = sc::HTSLSARSA::_action;
for (int i = 14; i < 16; i++)
inputTypes[i] = sc::HTSLSARSA::_q;
std::vector<sc::HTSL::LayerDesc> layerDescs(3);
layerDescs[0]._width = 28;
layerDescs[0]._height = 28;
layerDescs[1]._width = 18;
layerDescs[1]._height = 18;
layerDescs[2]._width = 12;
layerDescs[2]._height = 12;
//agentBlue.createRandom(4, 4, 8, inputTypes, layerDescs, generator);
agentRed.createRandom(4, 4, 8, inputTypes, layerDescs, generator);
//deep::FERL agentBlue;
//agentBlue.createRandom(12, 2, 32, 0.01f, generator);
//deep::FERL agentRed;
//agentRed.createRandom(12, 2, 32, 0.01f, generator);
// --------------------------------- Game Init -----------------------------------
const float slimeRadius = 94.5f;
const float ballRadius = 23.5f;
const float wallRadius = 22.5f;
const float fieldRadius = 640.0f;
const float gravity = 900.0f;
const float slimeBounce = 100.0f;
const float wallBounceDecay = 0.8f;
const float slimeJump = 500.0f;
const float maxSlimeSpeed = 1000.0f;
const float slimeMoveAccel = 5000.0f;
const float slimeMoveDeccel = 8.0f;
std::uniform_real_distribution<float> dist01(0.0f, 1.0f);
sf::Vector2f fieldCenter = sf::Vector2f(renderWindow.getSize().x * 0.5f, renderWindow.getSize().y * 0.5f + 254.0f);
sf::Vector2f wallCenter = fieldCenter + sf::Vector2f(0.0f, -182.0f);
PhyObj blue;
PhyObj red;
PhyObj ball;
blue._position = fieldCenter + sf::Vector2f(-200.0f, 0.0f);
blue._velocity = sf::Vector2f(0.0f, 0.0f);
red._position = fieldCenter + sf::Vector2f(200.0f, 0.0f);
red._velocity = sf::Vector2f(0.0f, 0.0f);
ball._position = fieldCenter + sf::Vector2f(2.0f, -300.0f);
ball._velocity = sf::Vector2f((dist01(generator)) * 600.0f, -(dist01(generator)) * 500.0f);
sf::Texture backgroundTexture;
backgroundTexture.loadFromFile("resources/slimevolleyball/background.png");
sf::Texture blueSlimeTexture;
blueSlimeTexture.loadFromFile("resources/slimevolleyball/slimeBodyBlue.png");
sf::Texture redSlimeTexture;
redSlimeTexture.loadFromFile("resources/slimevolleyball/slimeBodyRed.png");
sf::Texture ballTexture;
ballTexture.loadFromFile("resources/slimevolleyball/ball.png");
sf::Texture eyeTexture;
eyeTexture.loadFromFile("resources/slimevolleyball/slimeEye.png");
eyeTexture.setSmooth(true);
sf::Texture arrowTexture;
arrowTexture.loadFromFile("resources/slimevolleyball/arrow.png");
sf::Font scoreFont;
scoreFont.loadFromFile("resources/slimevolleyball/scoreFont.ttf");
int scoreRed = 0;
int scoreBlue = 0;
int prevScoreRed = 0;
int prevScoreBlue = 0;
float prevBallX = fieldCenter.x;
// ------------------------------- Simulation Loop -------------------------------
bool noRender = false;
bool prevPressK = false;
bool quit = false;
float dt = 0.017f;
do {
sf::Event event;
while (renderWindow.pollEvent(event)) {
switch (event.type) {
case sf::Event::Closed:
quit = true;
break;
}
}
if (sf::Keyboard::isKeyPressed(sf::Keyboard::Escape))
quit = true;
// ---------------------------------- Physics ----------------------------------
bool blueBounced = false;
bool redBounced = false;
// Ball
{
ball._velocity.y += gravity * dt;
ball._position += ball._velocity * dt;
// To floor (game restart)
if (ball._position.y + ballRadius > fieldCenter.y) {
if (ball._position.x < fieldCenter.x)
scoreRed++;
else
scoreBlue++;
blue._position = fieldCenter + sf::Vector2f(-200.0f, 0.0f);
blue._velocity = sf::Vector2f(0.0f, 0.0f);
red._position = fieldCenter + sf::Vector2f(200.0f, 0.0f);
red._velocity = sf::Vector2f(0.0f, 0.0f);
ball._position = fieldCenter + sf::Vector2f(2.0f, -300.0f);
ball._velocity = sf::Vector2f((dist01(generator)) * 600.0f, -(dist01(generator)) * 500.0f);
}
// To wall
if (((ball._position.x + ballRadius) > (wallCenter.x - wallRadius) && ball._position.x < wallCenter.x) || ((ball._position.x - ballRadius) < (wallCenter.x + wallRadius) && ball._position.x > wallCenter.x)) {
// If above rounded part
if (ball._position.y < wallCenter.y) {
sf::Vector2f delta = ball._position - wallCenter;
float dist = std::sqrt(delta.x * delta.x + delta.y * delta.y);
if (dist < wallRadius + ballRadius) {
sf::Vector2f normal = delta / dist;
// Reflect velocity
sf::Vector2f reflectedVelocity = ball._velocity - 2.0f * (ball._velocity.x * normal.x + ball._velocity.y * normal.y) * normal;
ball._velocity = reflectedVelocity * wallBounceDecay;
ball._position = wallCenter + normal * (wallRadius + ballRadius);
}
}
else {
// If on left side
if (ball._position.x < wallCenter.x) {
ball._velocity.x = wallBounceDecay * -ball._velocity.x;
ball._position.x = wallCenter.x - wallRadius - ballRadius;
}
else {
ball._velocity.x = wallBounceDecay * -ball._velocity.x;
ball._position.x = wallCenter.x + wallRadius + ballRadius;
}
}
}
// To blue slime
{
sf::Vector2f delta = ball._position - blue._position;
float dist = std::sqrt(delta.x * delta.x + delta.y * delta.y);
if (dist < slimeRadius + ballRadius) {
sf::Vector2f normal = delta / dist;
// Reflect velocity
sf::Vector2f reflectedVelocity = ball._velocity - 2.0f * (ball._velocity.x * normal.x + ball._velocity.y * normal.y) * normal;
float magnitude = std::sqrt(reflectedVelocity.x * reflectedVelocity.x + reflectedVelocity.y * reflectedVelocity.y);
sf::Vector2f normalizedReflected = reflectedVelocity / magnitude;
ball._velocity = blue._velocity + (magnitude > slimeBounce ? reflectedVelocity : normalizedReflected * slimeBounce);
ball._position = blue._position + normal * (wallRadius + slimeRadius);
blueBounced = true;
}
}
// To red slime
{
sf::Vector2f delta = ball._position - red._position;
float dist = std::sqrt(delta.x * delta.x + delta.y * delta.y);
if (dist < slimeRadius + ballRadius) {
sf::Vector2f normal = delta / dist;
// Reflect velocity
sf::Vector2f reflectedVelocity = ball._velocity - 2.0f * (ball._velocity.x * normal.x + ball._velocity.y * normal.y) * normal;
float magnitude = std::sqrt(reflectedVelocity.x * reflectedVelocity.x + reflectedVelocity.y * reflectedVelocity.y);
sf::Vector2f normalizedReflected = reflectedVelocity / magnitude;
ball._velocity = red._velocity + (magnitude > slimeBounce ? reflectedVelocity : normalizedReflected * slimeBounce);
ball._position = red._position + normal * (wallRadius + slimeRadius);
redBounced = true;
}
}
// Out of field, left and right
{
if (ball._position.x - ballRadius < fieldCenter.x - fieldRadius) {
ball._velocity.x = wallBounceDecay * -ball._velocity.x;
ball._position.x = fieldCenter.x - fieldRadius + ballRadius;
}
else if (ball._position.x + ballRadius > fieldCenter.x + fieldRadius) {
ball._velocity.x = wallBounceDecay * -ball._velocity.x;
ball._position.x = fieldCenter.x + fieldRadius - ballRadius;
}
}
}
// Blue slime
{
blue._velocity.y += gravity * dt;
blue._velocity.x += -slimeMoveDeccel * blue._velocity.x * dt;
blue._position += blue._velocity * dt;
if (sf::Keyboard::isKeyPressed(sf::Keyboard::A)) {
blue._velocity.x += -slimeMoveAccel * dt;
if (blue._velocity.x < -maxSlimeSpeed)
blue._velocity.x = -maxSlimeSpeed;
}
else if (sf::Keyboard::isKeyPressed(sf::Keyboard::D)) {
blue._velocity.x += slimeMoveAccel * dt;
if (blue._velocity.x > maxSlimeSpeed)
blue._velocity.x = maxSlimeSpeed;
}
if (blue._position.y > fieldCenter.y) {
blue._velocity.y = 0.0f;
blue._position.y = fieldCenter.y;
if (sf::Keyboard::isKeyPressed(sf::Keyboard::W))
blue._velocity.y -= slimeJump;
}
if (blue._position.x - slimeRadius < fieldCenter.x - fieldRadius) {
blue._velocity.x = 0.0f;
blue._position.x = fieldCenter.x - fieldRadius + slimeRadius;
}
if (blue._position.x + slimeRadius > wallCenter.x - wallRadius) {
blue._velocity.x = 0.0f;
blue._position.x = wallCenter.x - wallRadius - slimeRadius;
}
}
// Blue slime
/*{
const float scalar = 0.001f;
// Percepts
std::vector<float> inputs(12);
int index = 0;
inputs[index++] = (ball._position.x - blue._position.x) * scalar;
inputs[index++] = (ball._position.y - blue._position.y) * scalar;
inputs[index++] = ball._velocity.x * scalar;
inputs[index++] = ball._velocity.y * scalar;
inputs[index++] = (red._position.x - blue._position.x) * scalar;
inputs[index++] = (red._position.y - blue._position.y) * scalar;
inputs[index++] = red._velocity.x * scalar;
inputs[index++] = red._velocity.y * scalar;
inputs[index++] = blue._position.x * scalar;
inputs[index++] = blue._position.y * scalar;
inputs[index++] = blue._velocity.x * scalar;
inputs[index++] = blue._velocity.y * scalar;
std::vector<float> outputs(2);
// Actions
for (int i = 0; i < 12; i++)
agentBlue.setState(i, inputs[i]);
float reward = (ball._position.x > fieldCenter.x && prevBallX < fieldCenter.x ? 1.0f : 0.5f) * 0.5f + (scoreRed > prevScoreRed ? 0.0f : 0.5f) * 0.5f;
if (reward != 0.5f) {
lastReward = reward = reward > 0.5f ? 1.0f : 0.0f;
rewardTimer = 0.0f;
}
else if (rewardTimer < rewardTime) {
reward = lastReward;
rewardTimer += dt;
}
if (blueBounced)
reward = std::max(reward, 0.55f);
reward = (reward * 2.0f - 1.0f) * 0.01f - std::abs(ball._position.x - blue._position.x) * 0.001f;
//reward = (scoreBlue - prevScoreBlue) - (scoreRed - prevScoreRed) - std::abs(ball._position.x - blue._position.x) * 0.001f;
agentBlue.update(reward, generator);
float move = agentBlue.getActionFromNodeIndex(0) * 2.0f - 1.0f;
bool jump = agentBlue.getActionFromNodeIndex(1) > 0.5f;
//std::vector<float> action(2);
//agentBlue.step(inputs, action, reward, 0.01f, 0.995f, 0.99f, 10.0f, 64, 3, 0.02f, 0.04f, 0.04f, 800, 200, 0.003f, 0.0f, generator);
//float move = action[0];
//bool jump = action[1] > 0.0f;
blue._velocity.y += gravity * dt;
blue._velocity.x += -slimeMoveDeccel * blue._velocity.x * dt;
blue._position += blue._velocity * dt;
{
blue._velocity.x += move * slimeMoveAccel * dt;
if (blue._velocity.x < -maxSlimeSpeed)
blue._velocity.x = -maxSlimeSpeed;
else if (blue._velocity.x > maxSlimeSpeed)
blue._velocity.x = maxSlimeSpeed;
}
if (blue._position.y > fieldCenter.y) {
blue._velocity.y = 0.0f;
blue._position.y = fieldCenter.y;
if (jump)
blue._velocity.y -= slimeJump;
}
if (blue._position.x - slimeRadius < fieldCenter.x - fieldRadius) {
blue._velocity.x = 0.0f;
blue._position.x = fieldCenter.x - fieldRadius + slimeRadius;
}
if (blue._position.x + slimeRadius > wallCenter.x - wallRadius) {
blue._velocity.x = 0.0f;
blue._position.x = wallCenter.x - wallRadius - slimeRadius;
}
}*/
// Red slime
{
const float scalar = 0.001f;
// Percepts
std::vector<float> inputs(12);
int index = 0;
inputs[index++] = (ball._position.x - red._position.x) * scalar;
inputs[index++] = (ball._position.y - red._position.y) * scalar;
inputs[index++] = ball._velocity.x * scalar;
inputs[index++] = ball._velocity.y * scalar;
inputs[index++] = (blue._position.x - red._position.x) * scalar;
inputs[index++] = (blue._position.y - red._position.y) * scalar;
inputs[index++] = red._velocity.x * scalar;
inputs[index++] = red._velocity.y * scalar;
inputs[index++] = blue._position.x * scalar;
inputs[index++] = blue._position.y * scalar;
inputs[index++] = blue._velocity.x * scalar;
inputs[index++] = blue._velocity.y * scalar;
//std::vector<float> outputs(2);
// Actions
for (int i = 0; i < 12; i++)
agentRed.setState(i, inputs[i]);
float reward = (ball._position.x < fieldCenter.x && prevBallX >= fieldCenter.x ? 1.0f : 0.5f);
if (reward != 0.5f) {
lastReward = reward = reward > 0.5f ? 1.0f : 0.0f;
rewardTimer = 0.0f;
}
else if (rewardTimer < rewardTime) {
reward = lastReward;
rewardTimer += dt;
}
if (redBounced)
reward = std::max(reward, 0.55f);
reward = (reward * 2.0f - 1.0f) * 0.1f - std::abs(ball._position.x - red._position.x) * 0.008f;
//reward *= 0.05f;
//reward = (scoreRed - prevScoreRed) - (scoreBlue - prevScoreBlue) - std::abs(ball._position.x - red._position.x) * 0.001f;
//std::cout << "Reward: " << reward << std::endl;
//agentRed.update(reward, generator);
agentRed.update(reward, generator);
//std::vector<float> action(2);
//agentRed.step(inputs, action, reward, 0.01f, 0.995f, 0.99f, 10.0f, 32, 6, 0.05f, 0.04f, 0.04f, 800, 200, 0.003f, 0.0f, generator);
//float move = action[0];
//bool jump = action[1] > 0.0f;
float move = agentRed.getActionFromNodeIndex(0) * 2.0f - 1.0f;
bool jump = agentRed.getActionFromNodeIndex(1) > 0.5f;
red._velocity.y += gravity * dt;
red._velocity.x += -slimeMoveDeccel * red._velocity.x * dt;
red._position += red._velocity * dt;
{
red._velocity.x += move * slimeMoveAccel * dt;
if (red._velocity.x < -maxSlimeSpeed)
red._velocity.x = -maxSlimeSpeed;
else if (red._velocity.x > maxSlimeSpeed)
red._velocity.x = maxSlimeSpeed;
}
if (red._position.y > fieldCenter.y) {
red._velocity.y = 0.0f;
red._position.y = fieldCenter.y;
if (jump)
red._velocity.y -= slimeJump;
}
if (red._position.x + slimeRadius > fieldCenter.x + fieldRadius) {
red._velocity.x = 0.0f;
red._position.x = fieldCenter.x + fieldRadius - slimeRadius;
}
if (red._position.x - slimeRadius < wallCenter.x + wallRadius) {
red._velocity.x = 0.0f;
red._position.x = wallCenter.x + wallRadius + slimeRadius;
}
}
prevScoreRed = scoreRed;
prevScoreBlue = scoreBlue;
prevBallX = ball._position.x;
if (sf::Keyboard::isKeyPressed(sf::Keyboard::K) && !prevPressK) {
noRender = !noRender;
}
prevPressK = sf::Keyboard::isKeyPressed(sf::Keyboard::K);
if (noRender)
continue;
// --------------------------------- Rendering ---------------------------------
renderWindow.clear();
{
sf::Sprite s;
s.setTexture(backgroundTexture);
s.setOrigin(backgroundTexture.getSize().x * 0.5f, backgroundTexture.getSize().y * 0.5f);
s.setPosition(renderWindow.getSize().x * 0.5f, renderWindow.getSize().y * 0.5f);
renderWindow.draw(s);
}
{
sf::Sprite s;
s.setTexture(blueSlimeTexture);
s.setOrigin(blueSlimeTexture.getSize().x * 0.5f, blueSlimeTexture.getSize().y);
s.setPosition(blue._position);
renderWindow.draw(s);
}
{
sf::Sprite s;
s.setTexture(eyeTexture);
s.setOrigin(eyeTexture.getSize().x * 0.5f, eyeTexture.getSize().y * 0.5f);
s.setPosition(blue._position + sf::Vector2f(50.0f, -28.0f));
sf::Vector2f delta = ball._position - s.getPosition();
float angle = std::atan2(delta.y, delta.x);
s.setRotation(angle * 180.0f / 3.141596f);
renderWindow.draw(s);
}
{
sf::Sprite s;
s.setTexture(redSlimeTexture);
s.setOrigin(redSlimeTexture.getSize().x * 0.5f, redSlimeTexture.getSize().y);
s.setPosition(red._position);
renderWindow.draw(s);
}
{
sf::Sprite s;
s.setTexture(eyeTexture);
s.setOrigin(eyeTexture.getSize().x * 0.5f, eyeTexture.getSize().y * 0.5f);
s.setPosition(red._position + sf::Vector2f(-50.0f, -28.0f));
sf::Vector2f delta = ball._position - s.getPosition();
float angle = std::atan2(delta.y, delta.x);
s.setRotation(angle * 180.0f / 3.141596f);
renderWindow.draw(s);
}
{
sf::Sprite s;
s.setTexture(ballTexture);
s.setOrigin(ballTexture.getSize().x * 0.5f, ballTexture.getSize().y * 0.5f);
s.setPosition(ball._position);
renderWindow.draw(s);
}
if (ball._position.y + ballRadius < 0.0f) {
sf::Sprite s;
s.setTexture(arrowTexture);
s.setOrigin(arrowTexture.getSize().x * 0.5f, 0.0f);
s.setPosition(ball._position.x, 0.0f);
renderWindow.draw(s);
}
{
sf::Text scoreText;
scoreText.setFont(scoreFont);
scoreText.setString(std::to_string(scoreBlue));
scoreText.setCharacterSize(100);
float width = scoreText.getLocalBounds().width;
scoreText.setPosition(fieldCenter.x - width * 0.5f - 100.0f, 10.0f);
scoreText.setColor(sf::Color(100, 133, 255));
renderWindow.draw(scoreText);
}
{
sf::Text scoreText;
scoreText.setFont(scoreFont);
scoreText.setString(std::to_string(scoreRed));
scoreText.setCharacterSize(100);
float width = scoreText.getLocalBounds().width;
scoreText.setPosition(fieldCenter.x - width * 0.5f + 100.0f, 10.0f);
scoreText.setColor(sf::Color(255, 100, 100));
renderWindow.draw(scoreText);
}
if (sf::Keyboard::isKeyPressed(sf::Keyboard::P)) {
float scale = 4.0f;
float alignment = 0.0f;
/*for (int l = 0; l < agentBlue.getHTSL().getLayers().size(); l++) {
sf::Image sdr;
sdr.create(agentBlue.getHTSL().getLayerDescs()[l]._width, agentBlue.getHTSL().getLayerDescs()[l]._height);
for (int x = 0; x < agentBlue.getHTSL().getLayerDescs()[l]._width; x++)
for (int y = 0; y < agentBlue.getHTSL().getLayerDescs()[l]._height; y++) {
sf::Color c;
c.r = c.g = c.b = agentBlue.getHTSL().getLayers()[l]._rsc.getHiddenState(x, y) * 255.0f;
sdr.setPixel(x, y, c);
}
sf::Texture sdrt;
sdrt.loadFromImage(sdr);
sf::Sprite sdrs;
sdrs.setTexture(sdrt);
sdrs.setPosition(alignment, renderWindow.getSize().y - sdr.getSize().y * scale);
sdrs.setScale(scale, scale);
renderWindow.draw(sdrs);
alignment += scale * sdr.getSize().x;
}*/
alignment = 0.0f;
for (int l = 0; l < agentRed.getHTSL().getLayers().size(); l++) {
sf::Image sdr;
sdr.create(agentRed.getHTSL().getLayerDescs()[l]._width, agentRed.getHTSL().getLayerDescs()[l]._height);
for (int x = 0; x < agentRed.getHTSL().getLayerDescs()[l]._width; x++)
for (int y = 0; y < agentRed.getHTSL().getLayerDescs()[l]._height; y++) {
sf::Color c;
c.r = c.g = c.b = agentRed.getHTSL().getLayers()[l]._rsc.getHiddenState(x, y) * 255.0f;
sdr.setPixel(x, y, c);
}
sf::Texture sdrt;
sdrt.loadFromImage(sdr);
alignment += scale * sdr.getSize().x;
sf::Sprite sdrs;
sdrs.setTexture(sdrt);
sdrs.setPosition(renderWindow.getSize().x - alignment, renderWindow.getSize().y - sdr.getSize().y * scale);
sdrs.setScale(scale, scale);
renderWindow.draw(sdrs);
}
}
if (sf::Keyboard::isKeyPressed(sf::Keyboard::T)) {
sf::Vector2f position;
const float scalar = 1.0f / 0.001f;
position.x = red._position.x + scalar * agentRed.getHTSL().getPrediction(0);
position.y = red._position.y + scalar * agentRed.getHTSL().getPrediction(1);
sf::Sprite s;
s.setTexture(ballTexture);
s.setOrigin(ballTexture.getSize().x * 0.5f, ballTexture.getSize().y * 0.5f);
s.setPosition(position);
renderWindow.draw(s);
}
if (sf::Keyboard::isKeyPressed(sf::Keyboard::F)) {
for (int i = 0; i < 16; i++)
std::cout << agentRed.getHTSL().getPrediction(i) << std::endl;
std::cout << std::endl;
}
renderWindow.display();
} while (!quit);
return 0;
}