State4 getState4()
{
State4 s = new State4();
Vector2 left_pos = snake_pos + directions[(snake_dir_index + directions.Length - 1) % directions.Length];
s.is_left_valid = map[(int)left_pos.x, (int)left_pos.y] == 'e' || map[(int)left_pos.x, (int)left_pos.y] == 'a';
Vector2 fwd_pos = snake_pos + directions[snake_dir_index];
try
{
s.is_fwd_valid = map[(int)fwd_pos.x, (int)fwd_pos.y] == 'e' || map[(int)fwd_pos.x, (int)fwd_pos.y] == 'a';
}
catch
{
s.is_fwd_valid = false;
}
Vector2 right_pos = snake_pos + directions[(snake_dir_index + 1) % directions.Length];
s.is_right_valid = map[(int)right_pos.x, (int)right_pos.y] == 'e' || map[(int)right_pos.x, (int)right_pos.y] == 'a';
Vector2 appleVec = (Vector2)apple.transform.position - snake_pos;
s.angle_rounded = (int)(Vector2.Angle(directions[snake_dir_index], appleVec.normalized) / 15);
if (Vector2.Dot(appleVec, directions[(snake_dir_index + directions.Length - 1) % directions.Length]) < 0)
{
s.angle_rounded *= -1;
}
return(s);
}
/// <summary>
/// Initializes a new instance of ObjectBinder class.
/// </summary>
public ObjectBinder()
{
state0 = new State0(this);
state1 = new State1(this);
state2 = new State2(this);
state3 = new State3(this);
state4 = new State4(this);
state5 = new State5(this);
}
int getBestActionQ()
{
State4 s = getState4();
//State2 s = getState2();
List <int> actions = new List <int>();
//all possible actions from this state
actions.Add((snake_dir_index + directions.Length - 1) % directions.Length);
actions.Add(snake_dir_index);
actions.Add((snake_dir_index + 1) % directions.Length);
int best = 0;
float bestQval = float.NegativeInfinity;
foreach (int act in actions)
{
Key k;
k.s = s;
//k.a = act;
float newVal = getQ(k);
if (newVal > bestQval)
{
best = act;
bestQval = newVal;
}
else if (newVal == bestQval)
{
int r = Random.Range(0, 2);
if (r > 0)
{
best = act;
bestQval = newVal;
}
}
}
Key k_prime;
k_prime.s = s;
//k_prime.a = best;
last = k_prime;
if (print_debug)
{
print("best q: " + bestQval);
}
return(best);
}
void update_world()
{
if (snake_dead)
{
last_score = 0;
// DEATH
/*
* Key t_key;
* //t_key.s = getState();
* //t_key.s = getState2();
* t_key.s = getState3();
* //t_key.a = snake_dir_index;
* float n_Q = getQ(t_key);
* float reward = -1;
* if (learn)
* {
* float newQ = (1 - alpha) * oldQ + alpha * (reward + gamma * n_Q);
* setQ(last, newQ);
* }
*/
learn = false;
if (!replay_on_death)
{
return;
}
else
{
// set the board back up, but don't initialize new things
MakeWorld makeWorld = GetComponent <MakeWorld>();
map = makeWorld.createMap(false);
map_w = makeWorld.map_w;
map_h = makeWorld.map_h;
apple = makeWorld.real_apple;
for (int i = 0; i < map_w + 2; ++i)
{
for (int j = 0; j < map_h + 2; ++j)
{
if (map[i, j] == 'h')
{
snake_pos.x = i;
snake_pos.y = j;
}
}
}
snake_dir_index = 1;
// set up tail
Vector2 tail_vec2 = controller.transform.position - (Vector3)directions[snake_dir_index];
tailPos = new List <Vector2>();
tailPos.Add(tail_vec2);
// destroy all old tail objects
foreach (GameObject g in tailObjs)
{
Destroy(g);
}
GameObject tail = Instantiate(tailObj, tail_vec2, Quaternion.identity);
tailObjs = new List <GameObject>();
tailObjs.Add(tail);
map[(int)tailPos[0].x, (int)tailPos[0].y] = 't';
print("score: " + score);
if (numberSessions > 0)
{
numberSessions -= 1;
}
if ((numberSessions < 1) && (firstPause == true))
{
EditorApplication.isPaused = true;
firstPause = false;
numberSessions = 101;
}
//print("num moves: " + num_moves_this_game);
num_moves_this_game = 0;
score = 0;
snake_dead = false;
}
}
if (controll_tye == ControllType.SimpleAI)
{
simple_AI_controlls();
}
else if (controll_tye == ControllType.RandomAI)
{
List <int> actions = new List <int>();
//all possible actions from this state
actions.Add((snake_dir_index + directions.Length - 1) % directions.Length);
actions.Add(snake_dir_index);
actions.Add((snake_dir_index + 1) % directions.Length);
int rng_index = Random.Range(0, actions.Count);
snake_dir_index = actions[rng_index];
}
else if (controll_tye == ControllType.Player)
{
if (isTurnLeft())
{
turn_left();
}
else if (isTurnRight())
{
turn_right();
}
}
else if (controll_tye == ControllType.QLearn)
{
Key t_key;
//t_key.s = getState();
t_key.s = getState4();
//t_key.a = getBestActionQ();
float n_Q = getQ(t_key);
float reward = score - last_score;
if (learn)
{
float newQ = (1 - alpha) * oldQ + alpha * (reward + gamma * n_Q);
setQ(last, newQ);
}
else
{
learn = true;
}
Q_learning_controlls();
}
else if (controll_tye == ControllType.QLearnV2)
{
State4 cur_state = qLearnGetState(snake_pos, snake_dir_index);
List <float> action_list;
if (!qLearnV2Dict.ContainsKey(cur_state))
{
action_list = new List <float>();
action_list.Add(0.0f);
action_list.Add(0.0f);
action_list.Add(0.0f);
qLearnV2Dict.Add(cur_state, action_list);
}
else
{
qLearnV2Dict.TryGetValue(cur_state, out action_list);
}
// update previous q value
float best_q = float.MinValue;
int best_index = -1;
for (int i = 0; i < 3; ++i)
{
if (action_list[i] > best_q)
{
best_q = action_list[i];
best_index = i;
}
else if (action_list[i] == best_q)
{
// randomly pick one of the two
if (Random.Range(0.0f, 1.0f) < 0.5f)
{
best_q = action_list[i];
best_index = i;
}
}
}
if (!is_first_turn && qLearn_update_value)
{
//qLearnV2Dict[qLearn_prev_state][qLearn_prev_action_index] = reward + qLearn_gamma * best_q;
qLearnV2Dict[qLearn_prev_state][qLearn_prev_action_index] = reward + qLearn_gamma * best_q + qLearnV2Dict[qLearn_prev_state][qLearn_prev_action_index] / 2.0f;
reward = 0.0f;
}
is_first_turn = false;
// see if we should do something random or do the real thing
if (Random.Range(0.0f, 1.0f) < qLearn_random_change)
{
// do a random action
best_index = Random.Range(0, 3);
}
if (best_index == 0)
{
// turn left
turn_left();
}
else if (best_index == 1)
{
// straight
}
else
{
// turn right
turn_right();
}
qLearn_prev_action_index = best_index;
qLearn_prev_state = cur_state;
}
else if (controll_tye == ControllType.MediumAI)
{
State4 m_state = getState4();
/*
* if(m_state.angle_rounded < -2 && m_state.is_left_valid)
* {
* turn_left();
* } else if(m_state.angle_rounded > 2 && m_state.is_right_valid)
* {
* turn_right();
* } else if(m_state.angle_rounded < 2 && m_state.angle_rounded > -2 && m_state.is_fwd_valid)
* {
* // go forward
* }
* else
* {
* simple_AI_controlls();
* }
*/
if (m_state.angle_rounded < -2 && m_state.is_right_valid)
{
turn_right();
}
else if (m_state.angle_rounded > 2 && m_state.is_left_valid)
{
turn_left();
}
else if (m_state.angle_rounded < 2 && m_state.angle_rounded > -2 && m_state.is_fwd_valid)
{
// go forward
}
else
{
simple_AI_controlls();
}
}
snake_old_pos = snake_pos;
//snake_pos += snake_dir;
snake_pos += directions[snake_dir_index];
check_snake_pos();
// update board
map[(int)snake_pos.x, (int)snake_pos.y] = 'h';
// update tail
map[(int)tailPos[tailPos.Count - 1].x, (int)tailPos[tailPos.Count - 1].y] = 'e';
for (int i = tailPos.Count - 1; i >= 1; --i)
{
tailPos[i] = tailPos[i - 1];
tailObjs[i].transform.position = tailObjs[i - 1].transform.position;
map[(int)tailPos[i].x, (int)tailPos[i].y] = 't';
}
tailPos[0] = snake_old_pos;
tailObjs[0].transform.position = snake_old_pos;
map[(int)tailPos[0].x, (int)tailPos[0].y] = 't';
if (addTailPiece)
{
tailPos.Add(oldAppleLoc);
GameObject tail = Instantiate(tailObj, oldAppleLoc, Quaternion.identity);
tailObjs.Add(tail);
map[(int)oldAppleLoc.x, (int)oldAppleLoc.y] = 't';
}
controller.transform.position = snake_pos;
num_moves_this_game++;
// debug: print all indexes with h
//int count = 0;
//for (int j = 0; j < map_h; ++j)
//{
// for (int i = 0; i < map_w; ++i)
// {
// if (map[i, j] == 't')
// {
// print("t at : " + i + " , " + j);
// count++;
// }
// }
//}
//print("count: " + count);
}