toml config
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GPG key ID:
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4 changed files with 178 additions and 23 deletions
96
simulator/Cargo.lock
generated
96
simulator/Cargo.lock
generated
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@ -395,6 +395,16 @@ dependencies = [
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"png",
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]
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[[package]]
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name = "indexmap"
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version = "2.14.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "cc4e190f5d26ca7051642629da2c52fc03bde85a03197c99408dcd291734c855"
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dependencies = [
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"equivalent",
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"hashbrown 0.17.1",
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]
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[[package]]
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name = "is_terminal_polyfill"
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version = "1.70.2"
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@ -661,6 +671,45 @@ dependencies = [
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"bytemuck",
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]
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[[package]]
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name = "serde"
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version = "1.0.229"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4148590afebada386688f18773da617792bf2ef03ffc1e4cbd2b1d45b023e0ba"
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dependencies = [
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"serde_core",
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"serde_derive",
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]
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[[package]]
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name = "serde_core"
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version = "1.0.229"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "67dca2c9c51e58a4791a4b1ed58308b39c64224d349a935ab5039aa360942a48"
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dependencies = [
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"serde_derive",
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]
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[[package]]
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name = "serde_derive"
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version = "1.0.229"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e7a5d71263a5a7d47b41f6b3f06ba276f10cc18b0931f1799f710578e2309348"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn",
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]
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[[package]]
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name = "serde_spanned"
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version = "1.1.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9c187e0a369471c550af028cba56d4f4fa2a489ad28151ae95a4d340a2a8b782"
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dependencies = [
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"serde_core",
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]
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[[package]]
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name = "simba"
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version = "0.10.2"
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@ -689,6 +738,8 @@ dependencies = [
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"parry2d",
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"rand",
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"rayon",
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"serde",
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"toml",
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]
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[[package]]
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@ -752,6 +803,45 @@ dependencies = [
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"syn",
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]
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[[package]]
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name = "toml"
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version = "1.2.1+spec-1.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d5755c51863cdac711f1956baf8eb9588e060755f7d3c4c979e70ea1e1f32cd7"
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dependencies = [
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"indexmap",
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"serde_core",
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"serde_spanned",
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"toml_datetime",
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"toml_parser",
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"toml_writer",
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"winnow",
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]
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[[package]]
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name = "toml_datetime"
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version = "1.1.3+spec-1.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "173f25c883cd2176a2d8212155638c0a60d484a9d84546d270866f40f56b6e49"
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dependencies = [
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"serde_core",
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]
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[[package]]
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name = "toml_parser"
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version = "1.1.5+spec-1.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "baa693a8032d7e1cada7d0041e96126df243179ff061456783ac7f12bda4744c"
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dependencies = [
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"winnow",
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]
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[[package]]
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name = "toml_writer"
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version = "1.2.0+spec-1.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "009dbb7700f11c55ef83aebbe4c0e9cf1f1ac0844bd8d6f00dc38f302026e13a"
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[[package]]
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name = "ttf-parser"
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version = "0.25.1"
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@ -820,6 +910,12 @@ dependencies = [
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"windows-link",
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]
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[[package]]
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name = "winnow"
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version = "1.0.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8c3b93199df0ab874cdf0c6a94f0a0dc3423fe41f1cafb62b8bd7b1deb277aef"
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[[package]]
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name = "zlib-rs"
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version = "0.6.8"
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@ -10,3 +10,5 @@ macroquad = "0.4.16"
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parry2d = "0.31.1"
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rand_gen = { package = "rand", version = "0.10.3" }
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rayon = "1.12.0"
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serde = { version = "1.0.229", features = ["derive"] }
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toml = "1.2.1"
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19
simulator/conf.toml
Normal file
19
simulator/conf.toml
Normal file
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@ -0,0 +1,19 @@
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food_amount = 120
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red_count = 10
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blu_count = 10
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kill_radius = 140
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kill_self = false
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[red_policy]
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aggressive = true
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food = [1,0]
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kin = [-0.3,0.02]
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nonkin = [0.3,-0.02]
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none= [0.3, 0.01]
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[blu_policy]
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aggressive = false
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food = [1,0]
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kin = [-0.3,0.02]
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nonkin = [0.3,-0.02]
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none= [0.3, 0.01]
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@ -1,6 +1,8 @@
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use std::cmp::min;
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use std::collections::HashMap;
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use std::f32::consts::TAU;
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use std::fs;
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use std::path::PathBuf;
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use std::ptr;
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use std::sync::atomic::AtomicBool;
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use std::sync::atomic::Ordering;
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@ -25,6 +27,8 @@ use rayon::iter::ParallelIterator;
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use clap::Parser;
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use serde::Deserialize;
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const VIEW_DIST: f32 = 180.0;
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const BOT_RADIUS: f32 = 16.0;
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const KILL_RADIUS: f32 = 140.0;
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@ -43,6 +47,7 @@ struct Robot {
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collider: Ball,
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sensor: Sensor,
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team: Color,
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policy: Policy,
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}
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impl Mortal for Robot {
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@ -67,11 +72,12 @@ impl Mortal for Robot {
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}
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impl Robot {
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fn new(pose: Pose, team: Color) -> Self {
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Self { pose, alive: AtomicBool::new(true), collider: Ball::new(BOT_RADIUS), sensor: Sensor::None, team}
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fn new(pose: Pose, team: Color, policy: Policy) -> Self {
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Self { pose, alive: AtomicBool::new(true), collider: Ball::new(BOT_RADIUS), sensor: Sensor::None, team, policy}
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}
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fn move_step(&mut self, forward: f32, right: f32) {
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fn move_step(&mut self, forward_right: [f32;2]) {
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let [forward, right] = forward_right;
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self.pose.translation += self.ahead() * forward;
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self.pose.rotation *= Rot2::from_angle(right);
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}
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@ -117,13 +123,13 @@ impl Robot {
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pub fn policy(&mut self, sensor: &Sensor) -> bool{
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match sensor {
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Sensor::Food => self.move_step(1.0, 0.0),
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Sensor::Kin => self.move_step(-0.3, 0.02),
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Sensor::NonKin => self.move_step(0.3, -0.02),
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Sensor::None => self.move_step(0.3, 0.01),
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Sensor::Food => self.move_step(self.policy.food),
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Sensor::Kin => self.move_step(self.policy.kin),
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Sensor::NonKin => self.move_step(self.policy.nonkin),
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Sensor::None => self.move_step(self.policy.none),
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}
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return *sensor == Sensor::NonKin;
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return *sensor == Sensor::NonKin && self.policy.aggressive;
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}
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}
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@ -175,6 +181,26 @@ impl Food {
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}
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}
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#[derive(Deserialize, Clone)]
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struct Policy {
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aggressive: bool,
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food: [f32;2],
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kin: [f32;2],
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nonkin: [f32;2],
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none: [f32;2],
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}
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#[derive(Deserialize)]
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struct SimConfig {
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food_amount: usize,
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red_count: usize,
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red_policy: Policy,
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blu_count: usize,
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blu_policy: Policy,
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kill_radius: f32,
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kill_self: bool,
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}
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struct Simulation {
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robots: Vec<Robot>,
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food: Vec<Food>,
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@ -185,7 +211,7 @@ struct Simulation {
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}
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impl Simulation {
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fn new(seed: u64) -> Self {
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fn new(seed: u64, config: &SimConfig) -> Self {
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let mut rng = SmallRng::seed_from_u64(seed);
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let watchdog = 0; // iterations since something interesting
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let mut robots = Vec::new();
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@ -195,20 +221,24 @@ impl Simulation {
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let score = HashMap::new();
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let angle = Uniform::new(0.0, TAU).unwrap();
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// blue robots
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for i in 5..20 {
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let angle = Uniform::new(0.0, TAU).unwrap();
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let rand_angle = angle.sample(&mut rng);
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let pose:Pose = Pose::from_parts(Vec2 { x: 100.0, y: i as f32*50.0 }, Rot2::from_angle(rand_angle));
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robots.push(Robot::new(pose, BLUE));
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robots.push(Robot::new(pose, BLUE, config.blu_policy.clone()));
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}
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//red robots
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for i in 5..20 {
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let rand_angle = angle.sample(&mut rng);
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let pose:Pose = Pose::from_parts(Vec2 { x: 1200.0, y: i as f32*50.0 }, Rot2::from_angle(rand_angle));
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robots.push(Robot::new(pose, RED));
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robots.push(Robot::new(pose, RED, config.red_policy.clone()));
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}
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let mut food = Vec::new();
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for _ in 0..120 {
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for _ in 0..config.food_amount {
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let x = rng.random_range(200.0 .. 1100.0);
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let y = rng.random_range(200.0 .. 900.0);
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food.push(Food::new(Vec2 { x, y }));
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@ -310,12 +340,12 @@ impl Simulation {
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}
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}
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async fn run_simulation(seed: u64) -> (i32, i32) {
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let mut sim = Simulation::new(seed);
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async fn run_simulation(seed: u64, speedup: usize, config: &SimConfig) -> (i32, i32) {
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let mut sim = Simulation::new(seed, &config);
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let mut loo = 1;
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loop {
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let rendered = loo % 20 == 0;
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let rendered = loo % speedup == 0;
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let result = sim.sim_step();
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if rendered {
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@ -330,8 +360,8 @@ async fn run_simulation(seed: u64) -> (i32, i32) {
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}
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}
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fn run_headless_simulation(seed: u64) -> (i32, i32) {
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let mut sim = Simulation::new(seed);
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fn run_headless_simulation(seed: u64, config: &SimConfig) -> (i32, i32) {
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let mut sim = Simulation::new(seed, config);
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loop {
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if let Some(result) = sim.sim_step() {
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@ -352,9 +382,13 @@ struct Cli {
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#[arg(short, long)]
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run_count: Option<u64>,
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///// Sets a custom config file
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//#[arg(short, long, value_name = "FILE")]
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//config: Option<PathBuf>,
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/// how many simulation steps to skip between frames (default 1)
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#[arg(short, long)]
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gui_speedup: Option<usize>,
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/// Sets a custom config file
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#[arg(short, long, value_name = "FILE")]
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config: PathBuf,
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/// Turn debugging information on
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#[arg(short, long, action = clap::ArgAction::Count)]
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@ -365,13 +399,17 @@ struct Cli {
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async fn main() {
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let cli = Cli::parse();
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let iters = cli.run_count.unwrap_or(1);
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let speedup = cli.gui_speedup.unwrap_or(5);
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let config = fs::read_to_string(cli.config).unwrap();
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let config: SimConfig = toml::from_str(&config).unwrap();
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let (red, blu) = if cli.no_gui {
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(0..iters).into_par_iter().map(run_headless_simulation).reduce(|| (0,0), |a,b| (a.0 + b.0, a.1 + b.1))
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(0..iters).into_par_iter().map(|s |run_headless_simulation(s,&config)).reduce(|| (0,0), |a,b| (a.0 + b.0, a.1 + b.1))
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} else {
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let (mut rtot, mut btot) = (0, 0);
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for i in 0..iters {
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let (red, blu) = run_simulation(i).await;
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let (red, blu) = run_simulation(i, speedup, &config).await;
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rtot += red;
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btot += blu;
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