Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Create flocking bot strategy #1

Open
wants to merge 2 commits into
base: master
Choose a base branch
from
Open

Create flocking bot strategy #1

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
e44f57f
test
mmosleh Nov 5, 2018
6edc1b4
flocking-bots basic design
mmosleh Nov 5, 2018
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
244 changes: 237 additions & 7 deletions acsg.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,84 @@ var gaussian = require('gaussian')
var Rands = require('rands')
var seedrandom = require('seedrandom')
const uuidv4 = require('uuid/v4')
NBots=16
var Mat= new Array(NBots)
for (var i=0;i<NBots;i++){
Mat[i]=new Array(NBots)
}
for (var i=0;i<NBots;i++){
for (var j=0;j<NBots;j++){
Mat[i][j]=0
}
}
Mat[0][1]=1;Mat[0][2]=1;Mat[0][3]=1;Mat[1][0]=1;Mat[1][2]=1;Mat[1][3]=1;
Mat[2][1]=1;Mat[2][0]=1;Mat[2][3]=1;Mat[3][1]=1;Mat[3][2]=1;Mat[3][0]=1;Mat[4][5]=1;Mat[4][6]=1;
Mat[4][7]=1;Mat[5][4]=1;Mat[5][6]=1;Mat[5][7]=1;Mat[6][4]=1;Mat[6][5]=1;Mat[6][7]=1;Mat[7][4]=1;
Mat[7][5]=1;Mat[7][6]=1;Mat[8][9]=1;Mat[8][10]=1;Mat[8][11]=1;Mat[9][8]=1;Mat[9][10]=1;Mat[9][11]=1;
Mat[10][8]=1;Mat[10][9]=1;Mat[10][11]=1;Mat[11][8]=1;Mat[11][9]=1;Mat[11][10]=1;Mat[12][13]=1;Mat[12][14]=1;
Mat[12][15]=1;Mat[13][11]=1;Mat[13][14]=1;Mat[13][15]=1;Mat[14][11]=1;Mat[14][13]=1;Mat[14][15]=1;Mat[15][11]=1;Mat[15][13]=1;Mat[15][14]=1;
Mat1=Mat.slice()

Mat[0][1]=1;Mat[0][8]=1;
Mat[0][9]=1;Mat[1][0]=1;Mat[1][8]=1;Mat[1][9]=1;Mat[8][1]=1;Mat[8][0]=1;Mat[8][9]=1;Mat[9][1]=1;
Mat[9][8]=1;Mat[9][0]=1;Mat[2][3]=1;Mat[2][10]=1;Mat[2][11]=1;Mat[3][2]=1;Mat[3][10]=1;Mat[3][11]=1;
Mat[10][3]=1;Mat[10][2]=1;Mat[10][11]=1;Mat[11][3]=1;Mat[11][10]=1;Mat[11][2]=1;Mat[4][5]=1;Mat[4][12]=1;
Mat[4][13]=1;Mat[5][4]=1;Mat[5][12]=1;Mat[5][13]=1;Mat[12][5]=1;Mat[12][4]=1;Mat[12][13]=1;Mat[13][5]=1;
Mat[13][12]=1;Mat[13][4]=1;Mat[6][7]=1;Mat[6][14]=1;Mat[6][15]=1;Mat[7][6]=1;Mat[7][14]=1;Mat[7][15]=1;
Mat[14][7]=1;Mat[14][6]=1;Mat[14][15]=1;Mat[15][7]=1;Mat[15][14]=1;Mat[15][6]=1;
Mat2=Mat.slice()

function rewire(Matrix){
NBots=16
Team=[]
for (var i=0;i<NBots;i++){
if (i <=8){
Team.push(0)
}
else{
Team.push(1)
}
}
for (var i=0;i<10000;i++){
stateX1=Math.floor(Math.random()*NBots)
stateY1=Math.floor(Math.random()*NBots)
stateX2=Math.floor(Math.random()*NBots)
stateY2=Math.floor(Math.random()*NBots)

while (true){
if (stateX1!=stateY1 && stateX1!=stateY2 && stateX1!=stateX2 && stateY1!=stateX2 && stateY1!=stateY2 && stateX2!=stateY2
&& Matrix[stateX1][stateY1]==1 && Matrix[stateX2][stateY2]==1 && Matrix[stateX1][stateY2]==0
&& Matrix[stateX2][stateY1]==0 && Team[stateY2]==Team[stateY1]){


break
}
stateX1=Math.floor(Math.random()*NBots)
stateY1=Math.floor(Math.random()*NBots)
stateX2=Math.floor(Math.random()*NBots)
stateY2=Math.floor(Math.random()*NBots)

}

Matrix[stateX1][stateY1]=0
Matrix[stateX2][stateY2]=0
Matrix[stateX1][stateY2]=1
Matrix[stateX2][stateY1]=1
}
return(Matrix)
}


function shuffle(a) {
var j, x, i;
for (i = a.length - 1; i > 0; i--) {
j = Math.floor(Math.random() * (i + 1));
x = a[i];
a[i] = a[j];
a[j] = x;
}
return a;
}

function ACSG (g) {
if (!(this instanceof ACSG)) return new ACSG(g)
Expand All @@ -32,14 +110,23 @@ function ACSG (g) {
opts.BOT_MOTION_RATE = opts.BOT_MOTION_RATE || 8
opts.BLOCK_SIZE = opts.BLOCK_SIZE || 15
opts.BLOCK_PADDING = opts.BLOCK_PADDING || 1
opts.MAT_cond=opts.MAT_COND || 0
opts.SEED = opts.SEED || performance.now()
opts.BOT_STRATEGY = opts.BOT_STRATEGY || 'random'
opts.COLOR_COND=opts.COLOR_COND||0
this.UUID = uuidv4()
replay = false
actions = []
actionTimestamps = []
}

if (opts.MAT_cond==0){
Mat=rewire(Mat1)
}
if (opts.MAT_cond==1){
Mat=rewire(Mat2)
}

// Seed event RNG.
Math.seedrandom(opts.SEED)
var r = new Rands()
Expand All @@ -55,11 +142,19 @@ function ACSG (g) {
}

GREEN = [0.51, 0.95, 0.61]
if (opts.COLOR_COND==0){
teamColors = [
[0.50, 0.86, 1.00], // Blue
[1.00, 0.86, 0.50] // Yellow
]
}
if (opts.COLOR_COND==1){
teamColors = [
[1.00, 0.86, 0.50], // Yellow
[0.50, 0.86, 1.00] // Blue
]
}

teamColors = [
[0.50, 0.86, 1.00], // Blue
[1.00, 0.86, 0.50] // Yellow
]

food = []
players = []
Expand Down Expand Up @@ -87,7 +182,7 @@ function ACSG (g) {
this.serialize = function () {
return JSON.stringify({
'id': this.UUID,
'data': {
'daopts.MAT_condta': {
'actions': actions,
'timestamps': actionTimestamps
},
Expand Down Expand Up @@ -136,7 +231,14 @@ function ACSG (g) {
config = config || {}
this.id = config.id || players.length
this.position = config.position || randomPosition()
this.teamIdx = Math.floor(Math.random() * teamColors.length)
this.direction =''
if (this.id<8){
this.teamIdx =0
}else{
this.teamIdx=1
}

//this.teamIdx = Math.floor(Math.random() * teamColors.length)
this.color = config.color || teamColors[this.teamIdx]
this.score = config.score || 0
this.bot = config.bot || false
Expand Down Expand Up @@ -183,6 +285,7 @@ function ACSG (g) {
}
if (!hasPlayer(newPosition)) {
this.position = newPosition
this.direction=direction
}
}

Expand All @@ -205,6 +308,8 @@ function ACSG (g) {
Bot = function (config) {
Player.call(this, config)
this.bot = true
this.target=randomPosition()
// console.log('target: '+this.target)
}

Bot.prototype = Object.create(Player.prototype)
Expand All @@ -213,9 +318,22 @@ function ACSG (g) {
if (opts.BOT_STRATEGY == 'random') {
direction = this.strategy.random()
}
if (opts.BOT_STRATEGY == 'flockingBot') {
if (this.position[0]==this.target[0] && this.position[1]==this.target[1]){
// console.log('target reached! new target is set')
this.target=randomPosition()
// console.log('target: '+this.target)

}
direction = this.strategy.flockingBot(this.id,this.position,this.target)
}

botActions.push(direction)
this.history.actions.push(direction)
this.direction=direction
Player.prototype.move.call(this, direction)
//console.log('target: '+this.target)
// console.log('position: '+this.position)
}

Bot.prototype.strategy = {}
Expand All @@ -225,6 +343,108 @@ function ACSG (g) {
return dirs[Math.floor(Math.random() * dirs.length)]
}

Bot.prototype.strategy.flockingBot = function (thisID,position,target) {
var hor=10
var RR=1

// console.log('position ' + position)
// console.log('target ' + target)
dir=''

var food_found=0
var player_found=0
var food_positions=[]
var players_idx=[]

for (var i = 0; i < food.length; i++) {
food_positions.push(food[i].position)
}
shuffle(food_positions)

for (var i = 0; i < food.length; i++) {
console.log()
if (Math.abs(food_positions[i][0]-position[0])<=hor/2 && Math.abs(food_positions[i][1]-position[1])<=hor/2){
// console.log('food found!')

if (position[0]<food_positions[i][0]){
dir='down'
}
if (position[0]>food_positions[i][0]){
dir='up'
}
if (position[1]<food_positions[i][1]){
dir='right'
}
if (position[1]>food_positions[i][1]){
dir='left'
}
food_found=1
break

}

}

if (food_found==0){

for (var i = 0; i < players.length; i++) {
players_idx.push(i)
}

shuffle(players_idx)

// console.log('player pos: '+players[0].position+ ' self pos: '+position)

for (var i = 0; i < players.length; i++) {
// console.log(players[players_idx[i]].position)
if (!(players[players_idx[i]].position[0]==position[0] && players[players_idx[i]].position[1]==position[1]) ){
// console.log('player pos: '+players[players_idx[i]].position+ ' self pos: '+position)



if (Math.abs(players[players_idx[i]].position[0]-position[0])<hor/2 && Math.abs(players[players_idx[i]].position[1]-position[1])<hor/2){
// console.log('player found!')
//console.log(position)
// console.log('player dir: ' +players[players_idx[i]].direction)
if ( !(position[0]<=0 && players[players_idx[i]].direction=='up') && !(position[0]>=opts.COLUMNS-1 && players[players_idx[i]].direction=='down') &&
!(position[1]<=0 && players[players_idx[i]].direction=='left') && !(position[1]>=opts.ROWS-1 && players[players_idx[i]].direction=='right')
){
if (players[players_idx[i]].direction=='up' || players[players_idx[i]].direction=='down' || players[players_idx[i]].direction=='right' ||players[players_idx[i]].direction=='left'){
// console.log('move with player dir')
if (Mat[thisID][players_idx[i]]==1){
dir=players[players_idx[i]].direction
player_found=1
break
}
}
}

}
}

}
}

if (food_found==0 && player_found==0){

// console.log('follow target')
if (position[0]<target[0]){
dir='down'
}
if (position[0]>target[0]){
dir='up'
}
if (position[1]<target[1]){
dir='right'
}
if (position[1]>target[1]){
dir='left'
}
}

return dir
}

// Create the human.
if (opts.INCLUDE_HUMAN) {
players.push(new Player())
Expand Down Expand Up @@ -268,16 +488,26 @@ function ACSG (g) {
botActions = []
whichBotMoves = []
t = 0
var idx =0
humanOffset = opts.INCLUDE_HUMAN ? 1 : 0
// console.log('wait time '+ opts.BOT_MOTION_RATE * this._NUM_BOTS)
while (true) {
waitTime = r.exponential(opts.BOT_MOTION_RATE * this._NUM_BOTS)
// waitTime=.1/this._NUM_BOTS
if (t + waitTime > opts.DURATION) {
break
}
t += waitTime
botActionTimestamps.push(t)
idx = Math.floor(Math.random() * this._NUM_BOTS) + humanOffset
whichBotMoves.push(idx)
whichBotMoves.push(idx)
// whichBotMoves.push(idx+humanOffset)


// idx+=1
// if (idx>=this._NUM_BOTS){
// idx=0
// }
}
lastBotActionIdx = -1
lastHumanActionIdx = -1
Expand Down
15 changes: 8 additions & 7 deletions demo.js
View file
Open in desktop

Some generated files are not rendered by default. Learn more about how customized files appear on GitHub.