mirror of
https://github.com/jcreek/Sarpy.git
synced 2026-07-12 18:53:44 +00:00
Josh Creek
79 lines
2.5 KiB
Python
79 lines
2.5 KiB
Python
import math
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import numpy as np
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from typing import Any, List
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from rlgym_compat import common_values
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from rlgym_compat import PlayerData, GameState
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class DefaultObs:
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def __init__(self, pos_coef=1/2300, ang_coef=1/math.pi, lin_vel_coef=1/2300, ang_vel_coef=1/math.pi):
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"""
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:param pos_coef: Position normalization coefficient
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:param ang_coef: Rotation angle normalization coefficient
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:param lin_vel_coef: Linear velocity normalization coefficient
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:param ang_vel_coef: Angular velocity normalization coefficient
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"""
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super().__init__()
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self.POS_COEF = pos_coef
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self.ANG_COEF = ang_coef
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self.LIN_VEL_COEF = lin_vel_coef
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self.ANG_VEL_COEF = ang_vel_coef
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def reset(self, initial_state: GameState):
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pass
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def build_obs(self, player: PlayerData, state: GameState, previous_action: np.ndarray) -> Any:
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if player.team_num == common_values.ORANGE_TEAM:
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inverted = True
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ball = state.inverted_ball
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pads = state.inverted_boost_pads
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else:
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inverted = False
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ball = state.ball
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pads = state.boost_pads
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obs = [ball.position * self.POS_COEF,
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ball.linear_velocity * self.LIN_VEL_COEF,
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ball.angular_velocity * self.ANG_VEL_COEF,
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previous_action,
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pads]
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self._add_player_to_obs(obs, player, inverted)
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allies = []
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enemies = []
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for other in state.players:
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if other.car_id == player.car_id:
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continue
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if other.team_num == player.team_num:
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team_obs = allies
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else:
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team_obs = enemies
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self._add_player_to_obs(team_obs, other, inverted)
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obs.extend(allies)
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obs.extend(enemies)
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return np.concatenate(obs)
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def _add_player_to_obs(self, obs: List, player: PlayerData, inverted: bool):
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if inverted:
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player_car = player.inverted_car_data
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else:
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player_car = player.car_data
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obs.extend([
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player_car.position * self.POS_COEF,
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player_car.forward(),
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player_car.up(),
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player_car.linear_velocity * self.LIN_VEL_COEF,
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player_car.angular_velocity * self.ANG_VEL_COEF,
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[player.boost_amount,
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int(player.on_ground),
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int(player.has_flip),
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int(player.is_demoed)]])
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return player_car
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