reset with better cleanup

js/agent.js

@@ -1,9 +1,9 @@
 
-function Agent(opt, world) {
-    this.walker = new Walker(world.world)
+function Agent(opt, globals) {
+    this.walker = new Walker(globals.world, globals.floor)
     this.options = opt
 
-    this.world = world
+    this.globals = globals
     this.frequency = 20
     this.loaded = false
 
@@ -15,7 +15,7 @@ function Agent(opt, world) {
     this.timerFrequency = 60 / this.frequency
 
     if (this.options.dynamicallyLoaded !== true) {
-    	this.init(world.brains.actor.newConfiguration(), null)
+    	this.init(globals.brains.actor.newConfiguration(), null)
     }
     
 };
@@ -54,8 +54,8 @@ Agent.prototype.init = function (actor, critic) {
     this.brain.algorithm.critic.optim.regularization.l2 = 0.0001
     this.brain.algorithm.actor.optim.regularization.l2 = 0.0001
 
-    // this.world.brains.shared.add('actor', this.brain.algorithm.actor)
-    this.world.brains.shared.add('critic', this.brain.algorithm.critic)
+    // this.globals.brains.shared.add('actor', this.brain.algorithm.actor)
+    this.globals.brains.shared.add('critic', this.brain.algorithm.critic)
 
     this.actions = actions
 	this.loaded = true

js/floor.js

@@ -1,6 +1,6 @@
-function createFloor() {
+function createFloor(world) {
   var body_def = new b2.BodyDef();
-  var body = globals.world.CreateBody(body_def);
+  var body = world.CreateBody(body_def);
   body.SetUserData('floor')
   var fix_def = new b2.FixtureDef();
   fix_def.friction = 0.8;

js/game.js

@@ -9,7 +9,7 @@ config = {
   max_zoom_factor: 130,
   min_motor_speed: -2,
   max_motor_speed: 2,
-  population_size: 4,
+  population_size: 1,
   walker_health: 100,
   max_floor_tiles: 50,
   round_length: 1000,
@@ -100,7 +100,7 @@ gameInit = function() {
   
   chooseQoute()
   globals.world = new b2.World(new b2.Vec2(0, -10));
-  globals.floor = createFloor();
+  globals.floor = createFloor(globals.world);
   [globals.agents, globals.walkers] = createPopulation();
 
   drawInit();
@@ -118,6 +118,7 @@ gameInit = function() {
 }
 
 loop = function () { 
+  drawFrame()
   simulationStep()
   drawFrame()
   if (globals.running) requestAnimFrame(loop); // start next timer
@@ -127,11 +128,19 @@ loop = function () {
 resetSimulation = function () { 
   // turn training off temporarlity to avoid NaN's
   updateIfLearning(false)
-  console.log('resetting walkers')
-  for(var k = 0; k < config.population_size; k++) {
-    globals.agents[k].walker = globals.walkers[k] = new Walker(globals.world)
+  // globals.running = false
+
+  globals.world.Destroy() // this way we get rid of listeners and body parts and joints
+  globals.world = new b2.World(new b2.Vec2(0, -10));
+  globals.floor = createFloor(globals.world);
+  for (var k = 0; k < config.population_size; k++) {
+    globals.agents[k].walker = globals.walkers[k] = new Walker(globals.world, globals.floor)
   }
-  setTimeout(()=>updateIfLearning(true), 1000)
+
+  // globals.running = true
+  setTimeout(() => updateIfLearning(true), 1000)
+  // setTimeout(() => requestAnimFrame(loop), 1000)
+
 }
 
 simulationStep = function () {
@@ -139,10 +148,10 @@ simulationStep = function () {
 
   // step world
   globals.world.Step(1/config.time_step, config.velocity_iterations, config.position_iterations);
+  populationSimulationStep();
   globals.world.ClearForces();
 
   // step agents (only after step 50 when they are on the ground)
-  populationSimulationStep();
 }
 
 updateCharts = function () { 
@@ -157,24 +166,6 @@ updateCharts = function () {
   }
 }
 
-// setSimulationFps = function(fps) {
-//   config.simulation_fps = fps;
-//   clearInterval(globals.simulation_interval);
-//   if(fps > 0) {
-//     globals.simulation_interval = setInterval(simulationStep, Math.round(1000/config.simulation_fps));
-//     if(globals.paused) {
-//       globals.paused = false;
-//       if(config.draw_fps > 0) {
-//         globals.draw_interval = setInterval(drawFrame, Math.round(1000/config.draw_fps));
-//       }
-//     }
-//   } else {
-//     // pause the drawing as well
-//     clearInterval(globals.draw_interval);
-//     globals.paused = true;
-//   }
-// }
-
 createPopulation = function(genomes) {
   var walkers = [];
   var agents = []

js/walker.js

@@ -13,8 +13,9 @@ var Walker = function() {
 }
 
 
-Walker.prototype.__constructor = function(world) {
-  this.world = globals.world;
+Walker.prototype.__constructor = function(world, floor) {
+  this.world = world;
+  this.floor = floor
 
   this.density = 106.2; // common for all fixtures, no reason to be too specific
 
@@ -77,6 +78,8 @@ Walker.prototype.__constructor = function(world) {
   }
 
   this.joints = [];
+  this.otherJoints = []
+  this.otherBodies = []
   this.grips = [false, false, false, false]
   // this.frictionJoints = []
 
@@ -144,10 +147,17 @@ Walker.prototype.__constructor = function(world) {
       }
      }
   }
-  globals.world.SetContactListener(this.contactListener)
+  this.world.SetContactListener(this.contactListener)
 
 }
 
+// Walker.prototype.destroy = function () { 
+//   this.bodies.map(body=>body.DestroyFixture(body.GetFixtureList()))
+//   this.bodies.map(body=>this.world.DestroyBody(body))  
+//   this.joints.map(joint => this.world.DestroyJoint(joint))
+//   this.otherJoints.map(joint => this.world.DestroyJoint(joint))
+// }
+
 Walker.prototype.createTorso = function() {
   // upper torso
   this.bd.position.Set(0.5 - this.leg_def.foot_length/2 + this.leg_def.tibia_width/2, this.leg_def.foot_height/2 + this.leg_def.foot_height/2 + this.leg_def.tibia_length + this.leg_def.femur_length + this.torso_def.lower_height + this.torso_def.upper_height/2);
@@ -213,12 +223,13 @@ Walker.prototype.createLeg = function(label) {
 
   var fjd = new b2.FrictionJointDef();
   var position = new b2.Vec2(0,0)
-  fjd.Initialize(foot, globals.floor, position)
+  fjd.Initialize(foot, this.floor, position)
   fjd.maxForce = 0; //This the most force the joint will apply to your object. The faster its moving the more force applied
   fjd.maxTorque = 0; //Set to 0 to prevent rotation
   fjd.userData = label+'foot_friction_joint'
   fjd.collideConnected = true
   var frictionJoint = this.world.CreateJoint(fjd)
+  this.otherJoints.push(frictionJoint)
 
   // leg joints
   var jd = new b2.RevoluteJointDef();
@@ -273,7 +284,6 @@ Walker.prototype.createArm = function(label) {
 
   // hand
   this.bd.position.Set(0.5 - this.leg_def.foot_length/2 + this.leg_def.tibia_width/2, this.leg_def.foot_height/2 + this.leg_def.foot_height/2 + this.leg_def.tibia_length + this.leg_def.femur_length + this.torso_def.lower_height + this.torso_def.upper_height - this.arm_def.arm_length - this.arm_def.forearm_length - this.arm_def.hand_length/2);
-  // this.bd.position.Set(0.5, this.arm_def.hand_height/2);
   var hand = this.world.CreateBody(this.bd);
 
   this.fd.shape.SetAsBox(this.arm_def.hand_height/2, this.arm_def.hand_length/2);
@@ -283,12 +293,13 @@ Walker.prototype.createArm = function(label) {
 
   var fjd = new b2.FrictionJointDef();
   var position = new b2.Vec2(0,0)
-  fjd.Initialize(hand, globals.floor, position)
+  fjd.Initialize(hand, this.floor, position)
   fjd.maxForce = 0; //This the most force the joint will apply to your object. The faster its moving the more force applied
   fjd.maxTorque = 0; //Set to 0 to prevent rotation
   fjd.userData = label+'hand_friction_joint'
   fjd.collideConnected = true
   var frictionJoint = this.world.CreateJoint(fjd)
+  this.otherJoints.push(frictionJoint)
 
 
   // arm join
@@ -550,7 +561,7 @@ Walker.prototype.simulationStep = function (motorSpeeds) {
   // listener.PostSolve = function (contact, impulse) {
   //     if (contact) console.log(contact)
   //   }
-  //   globals.world.SetContactListener(listener)
+  //   this.world.SetContactListener(listener)
   // }
   var contacts = this.bodies.map(b => b.GetContactList()).filter(b => b).length
   quad_contact_cost = -Math.min(contacts - 4, 10)/2