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Fix scale for Car Racing (#2831)

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* Shift relative position of coordinates in render

* Format file
This commit is contained in:
Andrew Tan
2022-05-24 02:42:53 +08:00
committed by GitHub
parent a37b956d57
commit 8f9b62f6a6
2 changed files with 12 additions and 23 deletions
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17
gym/envs/box2d/car_dynamics.py
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@@ -45,9 +45,6 @@ WHEEL_COLOR = (0, 0, 0)
WHEEL_WHITE = (77, 77, 77) WHEEL_WHITE = (77, 77, 77)
MUD_COLOR = (102, 102, 0) MUD_COLOR = (102, 102, 0)
SCALE = 6.0 # Track scale
PLAYFIELD = 2000 / SCALE # Game over boundary
class Car: class Car:
def __init__(self, world, init_angle, init_x, init_y): def __init__(self, world, init_angle, init_x, init_y):
@@ -267,10 +264,7 @@ class Car:
if draw_particles: if draw_particles:
for p in self.particles: for p in self.particles:
poly = [ poly = [pygame.math.Vector2(c).rotate_rad(angle) for c in p.poly]
(coords[0] + PLAYFIELD, coords[1] + PLAYFIELD) for coords in p.poly
]
poly = [pygame.math.Vector2(c).rotate_rad(angle) for c in poly]
poly = [ poly = [
( (
coords[0] * zoom + translation[0], coords[0] * zoom + translation[0],
@@ -286,9 +280,7 @@ class Car:
for f in obj.fixtures: for f in obj.fixtures:
trans = f.body.transform trans = f.body.transform
path = [trans * v for v in f.shape.vertices] path = [trans * v for v in f.shape.vertices]
path = [ path = [(coords[0], coords[1]) for coords in path]
(coords[0] + PLAYFIELD, coords[1] + PLAYFIELD) for coords in path
]
path = [pygame.math.Vector2(c).rotate_rad(angle) for c in path] path = [pygame.math.Vector2(c).rotate_rad(angle) for c in path]
path = [ path = [
( (
@@ -323,10 +315,7 @@ class Car:
] ]
white_poly = [trans * v for v in white_poly] white_poly = [trans * v for v in white_poly]
white_poly = [ white_poly = [(coords[0], coords[1]) for coords in white_poly]
(coords[0] + PLAYFIELD, coords[1] + PLAYFIELD)
for coords in white_poly
]
white_poly = [ white_poly = [
pygame.math.Vector2(c).rotate_rad(angle) for c in white_poly pygame.math.Vector2(c).rotate_rad(angle) for c in white_poly
] ]

18
gym/envs/box2d/car_racing.py
View File

@@ -513,8 +513,8 @@ class CarRacing(gym.Env, EzPickle):
angle = -self.car.hull.angle angle = -self.car.hull.angle
# Animating first second zoom. # Animating first second zoom.
zoom = 0.1 * SCALE * max(1 - self.t, 0) + ZOOM * SCALE * min(self.t, 1) zoom = 0.1 * SCALE * max(1 - self.t, 0) + ZOOM * SCALE * min(self.t, 1)
scroll_x = -(self.car.hull.position[0] + PLAYFIELD) * zoom scroll_x = -(self.car.hull.position[0]) * zoom
scroll_y = -(self.car.hull.position[1] + PLAYFIELD) * zoom scroll_y = -(self.car.hull.position[1]) * zoom
trans = pygame.math.Vector2((scroll_x, scroll_y)).rotate_rad(angle) trans = pygame.math.Vector2((scroll_x, scroll_y)).rotate_rad(angle)
trans = (WINDOW_W / 2 + trans[0], WINDOW_H / 4 + trans[1]) trans = (WINDOW_W / 2 + trans[0], WINDOW_H / 4 + trans[1])
@@ -549,10 +549,10 @@ class CarRacing(gym.Env, EzPickle):
def _render_road(self, zoom, translation, angle): def _render_road(self, zoom, translation, angle):
bounds = PLAYFIELD bounds = PLAYFIELD
field = [ field = [
(2 * bounds, 2 * bounds), (bounds, bounds),
(2 * bounds, 0), (bounds, -bounds),
(0, 0), (-bounds, -bounds),
(0, 2 * bounds), (-bounds, bounds),
] ]
# draw background # draw background
@@ -562,8 +562,8 @@ class CarRacing(gym.Env, EzPickle):
# draw grass patches # draw grass patches
grass = [] grass = []
for x in range(0, 40, 2): for x in range(-20, 20, 2):
for y in range(0, 40, 2): for y in range(-20, 20, 2):
grass.append( grass.append(
[ [
(GRASS_DIM * x + GRASS_DIM, GRASS_DIM * y + 0), (GRASS_DIM * x + GRASS_DIM, GRASS_DIM * y + 0),
@@ -580,7 +580,7 @@ class CarRacing(gym.Env, EzPickle):
# draw road # draw road
for poly, color in self.road_poly: for poly, color in self.road_poly:
# converting to pixel coordinates # converting to pixel coordinates
poly = [(p[0] + PLAYFIELD, p[1] + PLAYFIELD) for p in poly] poly = [(p[0], p[1]) for p in poly]
color = [int(c) for c in color] color = [int(c) for c in color]
self._draw_colored_polygon(self.surf, poly, color, zoom, translation, angle) self._draw_colored_polygon(self.surf, poly, color, zoom, translation, angle)