hashir-Ali/Reinforcement_Learning
03
1�
2 2� hG � 3 � � d dl Z d dlZd dlZd dlZd\ ZZdZdZdZ d\ Z4Z dZ dZ
d Zd Zd5� eed z � � D � � Z ej ee� � ej d e ee� � � � e� � Z G d � d � � ZdS )
� N)i iX )�� r r )r r r )� �E � )�( �P g������ɿ皙�����?�2 c �H � g | ] }t t j d d� � z �� S )� � )�terrain_height�random�randint)�.0�_s �-d:\ML!\Tasks\Rocket Simulation\MyPRoj\Main.py�6<listcomp>r s) � �U�U�U�Q�.�6�>�!�R�#8�#8�8�U�U�U� c �, � e Zd Zd� Zd� Zd� Zd� Zd� ZdS )�RocketLandingGamec � � t j � � t j � t t7 f� � | _ t j � d� � t j � � � | _8 d| _ d| _ d| _
d| _ t dz | _ t9 dz | _ d| _ d| _ d| _ d S )NzRocket Landing SimulationTFr � )�pygame�init�display�set_mode�WIDTH�HEIGHT�screen� set_caption�time�Clock�clock�running� game_over�win�angular_velocity�rocket_x�rocket_y� rocket_angle�rocket_velocity_x�rocket_velocity_y)�selfs r �__init__zRocketLandingGame.__init__ s� � �� �
�
�
� �n�-�-�u�f�o�>�>�� ���"�"�#>�?�?�?��[�&�&�(�(��10��� � ������ !�� � ��11��
� �!� ��
� ���!"�� �!"�� � � r c � � t j t t ft j � � }t j � |t t dz dfdt dz12 ft t dz13 fg� � t j � |dt dz t dz14 t dz df� � |rZt j � |dt dz t dz15 ft dz t fdt z dz t dz16 fg� � |rBt j � |ddt dz17 fd t dz18 fdt d19z20 fg� � |rTt j � |dt t dz21 ft d22z t dz23 ft t d24z25 fg� � t j �26 ||� � }|� |t |z27 f� � � } | j
� || j � � d S )
z Draw the rocket on the screen.r r � �r r r � )r � r � � i�����28 )�centerN)r �Surface� rocket_width�
rocket_height�SRCALPHA�draw�polygon�RED�rect� transform�rotate�get_rectr r �blit�topleft)29r. �x�y�angle� thrusting�left_thrusting�right_thrusting�rocket_surface�rotated_rocketr@ s30 r � draw_rocketz RocketLandingGame.draw_rocket( s � � � � �}�(E�v��W�W��� ���N�C�
�Q�
�� "�
�
��"� #�
�=�2�-� .�231� � � �32 � ��� ��\�Q�5F�
�XZ�HZ�\h�lm�\m�oq�4r�s�s�s� � � �K� � ��
� ��"�M�B�$6�7� ��"�M�2��\�!�Q�&�
��(:�;�@�
�
�
�33 � � �K� � ��
��M�B�&�'��m�b�(�)��M�B�&�'�@�
�
�
�34 � � �K� � ��
� �}�r� 1�2� ��"�M�B�$6�7� �}�r� 1�2�@�
�
�
� �)�0�0� ��G�G�� �&�&�q�&�1�*�o�&�>�>�� � ��� �� �6�6�6�6�6r c � � t t t � � dz35 � � D ]_}t j � | j t |t t | z36 f|dz t t |dz z37 fd� � �`dS )z-Draw the terrain at the bottom of the screen.� r5 N) �range�len�terrainr r= �liner �BROWNr )r. �is r � draw_terrainz RocketLandingGame.draw_terrainJ s� � ��s�7�|�|�a�'�(�(� p� p�A� �K� � �T�[�%�!�V�g�a�j�5H�1I�A�PQ�E�SY�\c�de�hi�di�\j�Sj�Kk�mn� o� o� o� o� p� pr c � � t j � dd� � }|� d| j d��dd� � }| j � |d� � dS ) z+Display the angular velocity on the screen.�Arial� zAngular Velocity: z.2fTr2 )r7 r7 N)r �font�SysFont�renderr( r rD )r. r[ �texts r �draw_angular_velocityz'RocketLandingGame.draw_angular_velocityO s\ � ��{�"�"�7�B�/�/���{�{�K��0E�K�K�K�T�S\�]�]�� � ����x�(�(�(�(�(r c � � d}d}d}|dk rn~|dk rGd}| xj dt z t j t j | j � � � � z z
c_ n1|dk r| xj dz
c_ d}n|dk r| xj dz c_ d}| xj | j z
c_ | xj t z
c_ | xj | j z
c_ | xj38 | j z
c_39 | j40 t dz z41 }dt | j � � cxk r t k r"n n t t | j � � nt d � � }||k ru|t dz z | _42 t! | j � � d43k rAt! | j � � dk r)t! | j � � d k rd| _ d| _ d}n d| _ d }nd}|| j | j fS )
z:Perform one step in the game (update physics, game state).Fr rP Tr3 r r r5 �infg @r
�����)r- � thrust_power�math�cos�radiansr+ r( �gravityr) r, r* r; �intr rS �float�absr& r' )r. �actionrI rJ rK �rocket_bottom_y�terrain_y_at_x�rewards r � game_stepzRocketLandingGame.game_stepU s� � � � � �� �� �Q�;�;� �
�q�[�[� �I� � "� "�a�,�&6���$�,�t�O`�Ba�Ba�9b�9b�&b� b� "� "� "�
�q�[�[� � !� !�S� (� !� !� !�N�N�
�q�[�[� � !� !�S� (� !� !� "�O�
���T� 2�2��� � � �'�)� � � �
�
��/�/�
�
� �
�
��/�/�
�
� �-�-�1�*<�<��89�S�� �=O�=O�8W�8W�8W�8W�RW�8W�8W�8W�8W�8W���T�]�!3�!3�4�4�]b�ch�]i�]i�� �n� ,� ,� *�]�a�-?� ?�D�M��4�)�*�*�c�1�1�c�$�:P�6Q�6Q�UV�6V�6V�[^�_c�_p�[q�[q�uw�[w�[w�!%��� ������!%�������F��t�~�t�x�/�/r N)�__name__�44__module__� __qualname__r/ rN rW r_ ro � r r r r sc � � � � � �#� #� #� 7� 7� 7�Dp� p� p�45)� )� )� *0� *0� *0� *0� *0r r )r rd r �numpy�npr r �WHITEr? rU r: r; rg rc r( r rQ �terrain_points�interp�linspacerR rS r rs r r �<module>rz s� ��
�
�
�
� � � � �
�
�
�
� � � � � �
��v������� %� � �m�46��� �� � ��U�U�%�%��QS� �BT�BT�U�U�U��47�"�)�E�E�%�L�L�+�"�+�a����N�8K�8K�"L�"L�n�48]�49]��h0� h0� h0� h0� h0� h0� h0� h0� h0� h0r