mirror of
https://github.com/wassname/rl_2d_walker.js.git
synced 2026-09-23 13:40:48 +08:00
351 lines
12 KiB
JavaScript
351 lines
12 KiB
JavaScript
// walker has fixed shapes and structures
|
|
// shape definitions are in the constructor
|
|
|
|
|
|
var Walker = function() {
|
|
this.__constructor.apply(this, arguments);
|
|
}
|
|
|
|
Walker.prototype.__constructor = function(world) {
|
|
this.world = globals.world;
|
|
|
|
this.density = 106.2; // common for all fixtures, no reason to be too specific
|
|
|
|
this.max_distance = -5;
|
|
this.health = config.walker_health;
|
|
this.score = 0;
|
|
this.low_foot_height = 0;
|
|
this.head_height = 0;
|
|
this.steps = 0;
|
|
|
|
this.hue = Math.randf(200,360)
|
|
|
|
this.bd = new b2.BodyDef({positions: {x:10, y:-10}});
|
|
this.bd.position.x += Math.randf(-10, 10)
|
|
this.bd.type = b2.Body.b2_dynamicBody;
|
|
this.bd.linearDamping = 0;
|
|
this.bd.angularDamping = 0.01;
|
|
this.bd.allowSleep = true;
|
|
this.bd.awake = true;
|
|
|
|
this.fd = new b2.FixtureDef();
|
|
this.fd.density = this.density;
|
|
this.fd.restitution = 0.1;
|
|
this.fd.shape = new b2.PolygonShape();
|
|
this.fd.filter.groupIndex = -1;
|
|
|
|
this.torso_def = {
|
|
upper_width: 0.25,
|
|
upper_height: 0.45,
|
|
lower_width: 0.25,
|
|
lower_height: 0.2
|
|
};
|
|
|
|
this.leg_def = {
|
|
femur_width: 0.18,
|
|
femur_length: 0.45,
|
|
tibia_width: 0.13,
|
|
tibia_length: 0.38,
|
|
foot_height: 0.08,
|
|
foot_length: 0.28
|
|
};
|
|
|
|
this.arm_def = {
|
|
arm_width: 0.12,
|
|
arm_length: 0.37,
|
|
forearm_width: 0.1,
|
|
forearm_length: 0.42
|
|
}
|
|
|
|
this.head_def = {
|
|
head_width: 0.22,
|
|
head_height: 0.22,
|
|
neck_width: 0.1,
|
|
neck_height: 0.08
|
|
}
|
|
|
|
this.joints = [];
|
|
|
|
this.torso = this.createTorso();
|
|
this.left_leg = this.createLeg();
|
|
this.right_leg = this.createLeg();
|
|
this.left_arm = this.createArm();
|
|
this.right_arm = this.createArm();
|
|
this.head = this.createHead();
|
|
this.connectParts();
|
|
|
|
this.bodies = this.getBodies();
|
|
}
|
|
|
|
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);
|
|
var upper_torso = this.world.CreateBody(this.bd);
|
|
|
|
this.fd.shape.SetAsBox(this.torso_def.upper_width/2, this.torso_def.upper_height/2);
|
|
upper_torso.CreateFixture(this.fd);
|
|
|
|
// lower 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/2);
|
|
var lower_torso = this.world.CreateBody(this.bd);
|
|
|
|
this.fd.shape.SetAsBox(this.torso_def.lower_width/2, this.torso_def.lower_height/2);
|
|
lower_torso.CreateFixture(this.fd);
|
|
|
|
// torso joint
|
|
var jd = new b2.RevoluteJointDef();
|
|
var position = upper_torso.GetPosition().Clone();
|
|
position.y -= this.torso_def.upper_height/2;
|
|
position.x -= this.torso_def.lower_width/3;
|
|
jd.Initialize(upper_torso, lower_torso, position);
|
|
jd.lowerAngle = -Math.PI/18;
|
|
jd.upperAngle = Math.PI/10;
|
|
jd.enableLimit = true;
|
|
jd.maxMotorTorque = 250;
|
|
jd.motorSpeed = 0;
|
|
jd.enableMotor = true;
|
|
this.joints.push(this.world.CreateJoint(jd));
|
|
|
|
return {upper_torso: upper_torso, lower_torso: lower_torso};
|
|
}
|
|
|
|
Walker.prototype.createLeg = function() {
|
|
// upper leg
|
|
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/2);
|
|
var upper_leg = this.world.CreateBody(this.bd);
|
|
|
|
this.fd.shape.SetAsBox(this.leg_def.femur_width/2, this.leg_def.femur_length/2);
|
|
upper_leg.CreateFixture(this.fd);
|
|
|
|
// lower leg
|
|
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/2);
|
|
var lower_leg = this.world.CreateBody(this.bd);
|
|
|
|
this.fd.shape.SetAsBox(this.leg_def.tibia_width/2, this.leg_def.tibia_length/2);
|
|
lower_leg.CreateFixture(this.fd);
|
|
|
|
// foot
|
|
this.bd.position.Set(0.5, this.leg_def.foot_height/2);
|
|
var foot = this.world.CreateBody(this.bd);
|
|
|
|
this.fd.shape.SetAsBox(this.leg_def.foot_length/2, this.leg_def.foot_height/2);
|
|
foot.CreateFixture(this.fd);
|
|
|
|
// leg joints
|
|
var jd = new b2.RevoluteJointDef();
|
|
var position = upper_leg.GetPosition().Clone();
|
|
position.y -= this.leg_def.femur_length/2;
|
|
position.x += this.leg_def.femur_width/4;
|
|
jd.Initialize(upper_leg, lower_leg, position);
|
|
jd.lowerAngle = -1.4;
|
|
jd.upperAngle = 0;
|
|
jd.enableLimit = true;
|
|
jd.maxMotorTorque = 160;
|
|
jd.motorSpeed = 0;
|
|
jd.enableMotor = true;
|
|
this.joints.push(this.world.CreateJoint(jd));
|
|
|
|
// foot joint
|
|
var position = lower_leg.GetPosition().Clone();
|
|
position.y -= this.leg_def.tibia_length/2;
|
|
jd.Initialize(lower_leg, foot, position);
|
|
jd.lowerAngle = -Math.PI/5;
|
|
jd.upperAngle = Math.PI/6;
|
|
jd.enableLimit = true;
|
|
jd.maxMotorTorque = 70;
|
|
jd.motorSpeed = 0;
|
|
jd.enableMotor = true;
|
|
this.joints.push(this.world.CreateJoint(jd));
|
|
|
|
return {upper_leg: upper_leg, lower_leg: lower_leg, foot:foot};
|
|
}
|
|
|
|
Walker.prototype.createArm = function() {
|
|
// upper arm
|
|
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/2);
|
|
var upper_arm = this.world.CreateBody(this.bd);
|
|
|
|
this.fd.shape.SetAsBox(this.arm_def.arm_width/2, this.arm_def.arm_length/2);
|
|
upper_arm.CreateFixture(this.fd);
|
|
|
|
// lower arm
|
|
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/2);
|
|
var lower_arm = this.world.CreateBody(this.bd);
|
|
|
|
this.fd.shape.SetAsBox(this.arm_def.forearm_width/2, this.arm_def.forearm_length/2);
|
|
lower_arm.CreateFixture(this.fd);
|
|
|
|
// arm joint
|
|
var jd = new b2.RevoluteJointDef();
|
|
var position = upper_arm.GetPosition().Clone();
|
|
position.y -= this.arm_def.arm_length/2;
|
|
jd.Initialize(upper_arm, lower_arm, position);
|
|
jd.lowerAngle = 0;
|
|
jd.upperAngle = 1.22;
|
|
jd.enableLimit = true;
|
|
jd.maxMotorTorque = 60;
|
|
jd.motorSpeed = 0;
|
|
jd.enableMotor = true;
|
|
this.joints.push(this.world.CreateJoint(jd));
|
|
|
|
return {upper_arm: upper_arm, lower_arm: lower_arm};
|
|
}
|
|
|
|
Walker.prototype.createHead = function() {
|
|
// neck
|
|
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.head_def.neck_height/2);
|
|
var neck = this.world.CreateBody(this.bd);
|
|
|
|
this.fd.shape.SetAsBox(this.head_def.neck_width/2, this.head_def.neck_height/2);
|
|
neck.CreateFixture(this.fd);
|
|
|
|
// head
|
|
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.head_def.neck_height + this.head_def.head_height/2);
|
|
var head = this.world.CreateBody(this.bd);
|
|
|
|
this.fd.shape.SetAsBox(this.head_def.head_width/2, this.head_def.head_height/2);
|
|
head.CreateFixture(this.fd);
|
|
|
|
// neck joint
|
|
var jd = new b2.RevoluteJointDef();
|
|
var position = neck.GetPosition().Clone();
|
|
position.y += this.head_def.neck_height/2;
|
|
jd.Initialize(head, neck, position);
|
|
jd.lowerAngle = -0.1;
|
|
jd.upperAngle = 0.1;
|
|
jd.enableLimit = true;
|
|
jd.maxMotorTorque = 2;
|
|
jd.motorSpeed = 0;
|
|
jd.enableMotor = true;
|
|
this.joints.push(this.world.CreateJoint(jd));
|
|
|
|
return {head: head, neck: neck};
|
|
}
|
|
|
|
Walker.prototype.connectParts = function() {
|
|
|
|
//neck/torso
|
|
var jd = new b2.WeldJointDef();
|
|
jd.bodyA = this.head.neck;
|
|
jd.bodyB = this.torso.upper_torso;
|
|
jd.localAnchorA = new b2.Vec2(0, -this.head_def.neck_height/2);
|
|
jd.localAnchorB = new b2.Vec2(0, this.torso_def.upper_height/2);
|
|
jd.referenceAngle = 0;
|
|
this.world.CreateJoint(jd);
|
|
|
|
// torso/arms
|
|
var jd = new b2.RevoluteJointDef();
|
|
position = this.torso.upper_torso.GetPosition().Clone();
|
|
position.y += this.torso_def.upper_height/2;
|
|
jd.Initialize(this.torso.upper_torso, this.right_arm.upper_arm, position);
|
|
jd.lowerAngle = -Math.PI/5;
|
|
jd.upperAngle = Math.PI/4;
|
|
jd.enableLimit = true;
|
|
jd.maxMotorTorque = 120;
|
|
jd.motorSpeed = 0;
|
|
jd.enableMotor = true;
|
|
this.joints.push(this.world.CreateJoint(jd));
|
|
|
|
var jd = new b2.RevoluteJointDef();
|
|
jd.Initialize(this.torso.upper_torso, this.left_arm.upper_arm, position);
|
|
jd.lowerAngle = -Math.PI/5;
|
|
jd.upperAngle = Math.PI/4;
|
|
jd.enableLimit = true;
|
|
jd.maxMotorTorque = 120;
|
|
jd.motorSpeed = 0;
|
|
jd.enableMotor = true;
|
|
this.joints.push(this.world.CreateJoint(jd));
|
|
|
|
// torso/legs
|
|
var jd = new b2.RevoluteJointDef();
|
|
position = this.torso.lower_torso.GetPosition().Clone();
|
|
position.y -= this.torso_def.lower_height/2;
|
|
jd.Initialize(this.torso.lower_torso, this.right_leg.upper_leg, position);
|
|
jd.lowerAngle = -Math.PI/8;
|
|
jd.upperAngle = Math.PI/7;
|
|
jd.enableLimit = true;
|
|
jd.maxMotorTorque = 250;
|
|
jd.motorSpeed = 0;
|
|
jd.enableMotor = true;
|
|
this.joints.push(this.world.CreateJoint(jd));
|
|
|
|
var jd = new b2.RevoluteJointDef();
|
|
jd.Initialize(this.torso.lower_torso, this.left_leg.upper_leg, position);
|
|
jd.lowerAngle = -Math.PI/8;
|
|
jd.upperAngle = Math.PI/7;
|
|
jd.enableLimit = true;
|
|
jd.maxMotorTorque = 250;
|
|
jd.motorSpeed = 0;
|
|
jd.enableMotor = true;
|
|
this.joints.push(this.world.CreateJoint(jd));
|
|
}
|
|
|
|
Walker.prototype.getBodies = function() {
|
|
|
|
return [
|
|
this.head.head,
|
|
this.head.neck,
|
|
this.torso.upper_torso,
|
|
this.torso.lower_torso,
|
|
this.left_arm.upper_arm,
|
|
this.left_arm.lower_arm,
|
|
this.right_arm.upper_arm,
|
|
this.right_arm.lower_arm,
|
|
this.left_leg.upper_leg,
|
|
this.left_leg.lower_leg,
|
|
this.left_leg.foot,
|
|
this.right_leg.upper_leg,
|
|
this.right_leg.lower_leg,
|
|
this.right_leg.foot
|
|
];
|
|
}
|
|
|
|
Walker.prototype.getState = function () {
|
|
return this.bodies
|
|
.map(b => b.GetPosition())
|
|
.reduce((o, p) => { o.push(p.x); o.push(p.y); return o }, [])
|
|
}
|
|
|
|
Walker.prototype.simulationStep = function (motorSpeeds) {
|
|
|
|
// act
|
|
for(var k = 0; k < this.joints.length; k++) {
|
|
// var oldSpeed = this.joints[k].GetMotorSpeed()
|
|
// this.joints[k].SetMotorSpeed(oldSpeed + motorSpeeds[k]/10); // action can range from -3 to 3, radians per second
|
|
this.joints[k].SetMotorSpeed(motorSpeeds[k]*90); // action can range from -3 to 3, radians per second
|
|
}
|
|
var oldmax = this.max_distance;
|
|
var distance = this.torso.upper_torso.GetPosition().x;
|
|
this.max_distance = Math.max(this.max_distance, distance);
|
|
|
|
/* score/reward */
|
|
// it's head should be above it's feet
|
|
this.head_height = this.head.head.GetPosition().y;
|
|
this.low_foot_height = Math.min(this.left_leg.foot.GetPosition().y, this.right_leg.foot.GetPosition().y);
|
|
var body_delta = this.head_height-this.low_foot_height;
|
|
var leg_delta = this.right_leg.foot.GetPosition().x - this.left_leg.foot.GetPosition().x;
|
|
|
|
if(body_delta > config.min_body_delta) {
|
|
this.score += body_delta/50;
|
|
if(this.max_distance > oldmax) {
|
|
if(Math.abs(leg_delta) > config.min_leg_delta && this.head.head.m_linearVelocity.y > -2) {
|
|
if(typeof this.leg_delta_sign == 'undefined') {
|
|
this.leg_delta_sign = leg_delta/Math.abs(leg_delta);
|
|
} else if(this.leg_delta_sign * leg_delta < 0) {
|
|
this.leg_delta_sign = leg_delta/Math.abs(leg_delta);
|
|
this.steps++;
|
|
this.score += 100;
|
|
this.score += this.max_distance;
|
|
this.health = config.walker_health;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
this.health = this.score * 800 + 10
|
|
// console.log(body_delta, leg_delta)
|
|
|
|
|
|
|
|
return;
|
|
}
|