/
nants_6sens.py
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/
nants_6sens.py
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#!/usr/bin/env python3
from math import pi, sin, cos, atan2, radians, degrees
from random import randint
import pygame as pg
import numpy as np
'''
NAnts - Ant pheromone trail simulation. Surfarray version. WIP
Copyright (c) 2021 Nikolaus Stromberg nikorasu85@gmail.com
'''
FLLSCRN = False # True for Fullscreen, or False for Window
ANTS = 42 # Number of Ants to spawn
WIDTH = 1200 # default 1200
HEIGHT = 800 # default 800
FPS = 60 # 48-90
VSYNC = True # limit frame rate to refresh rate
PRATIO = 5 # Pixel Size for Pheromone grid, 5 is best
class Ant(pg.sprite.Sprite):
def __init__(self, drawSurf, nest, pheroLayer):
super().__init__()
#self.antID = antNum
self.drawSurf = drawSurf
self.curW, self.curH = self.drawSurf.get_size()
self.pgSize = (int(self.curW/PRATIO), int(self.curH/PRATIO))
self.isMyTrail = np.full(self.pgSize, False)
self.phero = pheroLayer
self.nest = nest
self.image = pg.Surface((12, 21)).convert()
self.image.set_colorkey(0)
cBrown = (100,42,42)
# Draw Ant
pg.draw.aaline(self.image, cBrown, [0, 5], [11, 15])
pg.draw.aaline(self.image, cBrown, [0, 15], [11, 5]) # legs
pg.draw.aaline(self.image, cBrown, [0, 10], [12, 10])
pg.draw.aaline(self.image, cBrown, [2, 0], [4, 3]) # antena l
pg.draw.aaline(self.image, cBrown, [9, 0], [7, 3]) # antena r
pg.draw.ellipse(self.image, cBrown, [3, 2, 6, 6]) # head
pg.draw.ellipse(self.image, cBrown, [4, 6, 4, 9]) # body
pg.draw.ellipse(self.image, cBrown, [3, 13, 6, 8]) # rear
# save drawing for later
self.orig_img = pg.transform.rotate(self.image.copy(), -90)
self.rect = self.image.get_rect(center=self.nest)
self.ang = randint(0, 360)
self.desireDir = pg.Vector2(cos(radians(self.ang)),sin(radians(self.ang)))
self.pos = pg.Vector2(self.rect.center)
self.vel = pg.Vector2(0,0)
self.last_sdp = (nest[0]/10/2,nest[1]/10/2)
self.mode = 0
def update(self, dt): # behavior
mid_result = left_result = right_result = [0,0,0]
mid_GA_result = left_GA_result = right_GA_result = [0,0,0]
randAng = randint(0,360)
accel = pg.Vector2(0,0)
foodColor = (2,150,2) # color of food to look for
pStrength = 80 # Pheromone strength, evaps slowly
wandrStr = .12 # how random they walk around
maxSpeed = 12 # 10-12 seems ok
steerStr = 3 # 3 or 4, dono
# Converts ant's current screen coordinates, to smaller resolution of pherogrid.
scaledown_pos = (int(self.pos.x/PRATIO), int(self.pos.y/PRATIO))
#scaledown_pos = (int((self.pos.x/self.curW)*self.pgSize[0]), int((self.pos.y/self.curH)*self.pgSize[1]))
# Get locations to check as sensor points, in pairs for better detection.
mid_sensL = Vec2.vint(self.pos + pg.Vector2(21, -3).rotate(self.ang))
mid_sensR = Vec2.vint(self.pos + pg.Vector2(21, 3).rotate(self.ang))
left_sens1 = Vec2.vint(self.pos + pg.Vector2(18, -14).rotate(self.ang))
left_sens2 = Vec2.vint(self.pos + pg.Vector2(16, -21).rotate(self.ang))
right_sens1 = Vec2.vint(self.pos + pg.Vector2(18, 14).rotate(self.ang))
right_sens2 = Vec2.vint(self.pos + pg.Vector2(16, 21).rotate(self.ang))
# May still need to adjust these sensor positions, to improve following.
if self.drawSurf.get_rect().collidepoint(mid_sensL) and self.drawSurf.get_rect().collidepoint(mid_sensR):
mid_result, mid_isID, mid_GA_result = self.sensCheck(mid_sensL, mid_sensR)
if self.drawSurf.get_rect().collidepoint(left_sens1) and self.drawSurf.get_rect().collidepoint(left_sens2):
left_result, left_isID, left_GA_result = self.sensCheck(left_sens1, left_sens2)
if self.drawSurf.get_rect().collidepoint(right_sens1) and self.drawSurf.get_rect().collidepoint(right_sens2):
right_result, right_isID, right_GA_result = self.sensCheck(right_sens1, right_sens2)
if self.mode == 0 and self.pos.distance_to(self.nest) > 21:
self.mode = 1
elif self.mode == 1: # Look for food, or trail to food.
setAcolor = (0,0,100)
if scaledown_pos != self.last_sdp and scaledown_pos[0] in range(0,self.pgSize[0]) and scaledown_pos[1] in range(0,self.pgSize[1]):
self.phero.img_array[scaledown_pos] += setAcolor
#self.phero.pixelID[scaledown_pos] = self.antID # maybe each ant should have their own ID array
self.isMyTrail[scaledown_pos] = True
self.last_sdp = scaledown_pos
if mid_result[1] > max(left_result[1], right_result[1]): #and (mid_result[0],mid_result[2]) == (0,0):
self.desireDir += pg.Vector2(1,0).rotate(self.ang).normalize()
wandrStr = .1
elif left_result[1] > right_result[1]: #and (left_result[0],left_result[2]) == (0,0):
self.desireDir += pg.Vector2(1,-2).rotate(self.ang).normalize() #left (0,-1)
wandrStr = .1
elif right_result[1] > left_result[1]: #and (right_result[0],right_result[2]) == (0,0):
self.desireDir += pg.Vector2(1,2).rotate(self.ang).normalize() #right (0, 1)
wandrStr = .1
if left_GA_result == foodColor and right_GA_result != foodColor :
self.desireDir += pg.Vector2(0,-1).rotate(self.ang).normalize() #left (0,-1)
wandrStr = .1
elif right_GA_result == foodColor and left_GA_result != foodColor:
self.desireDir += pg.Vector2(0,1).rotate(self.ang).normalize() #right (0, 1)
wandrStr = .1
elif mid_GA_result == foodColor: # if food
self.desireDir = pg.Vector2(-1,0).rotate(self.ang).normalize() #pg.Vector2(self.nest - self.pos).normalize()
#self.lastFood = self.pos + pg.Vector2(21, 0).rotate(self.ang)
maxSpeed = 5
wandrStr = .01
steerStr = 5
self.mode = 2
elif self.mode == 2: # Once found food, either follow own trail back to nest, or head in nest's general direction.
setAcolor = (0,80,0)
if scaledown_pos != self.last_sdp and scaledown_pos[0] in range(0,self.pgSize[0]) and scaledown_pos[1] in range(0,self.pgSize[1]):
self.phero.img_array[scaledown_pos] += setAcolor
self.last_sdp = scaledown_pos
if self.pos.distance_to(self.nest) < 24:
#self.desireDir = pg.Vector2(self.lastFood - self.pos).normalize()
self.desireDir = pg.Vector2(-1,0).rotate(self.ang).normalize()
self.isMyTrail[:] = False #np.full(self.pgSize, False)
maxSpeed = 5
wandrStr = .01
steerStr = 5
self.mode = 1
elif mid_result[2] > max(left_result[2], right_result[2]) and mid_isID: #and mid_result[:2] == (0,0):
self.desireDir += pg.Vector2(1,0).rotate(self.ang).normalize()
wandrStr = .1
elif left_result[2] > right_result[2] and left_isID: #and left_result[:2] == (0,0):
self.desireDir += pg.Vector2(1,-2).rotate(self.ang).normalize() #left (0,-1)
wandrStr = .1
elif right_result[2] > left_result[2] and right_isID: #and right_result[:2] == (0,0):
self.desireDir += pg.Vector2(1,2).rotate(self.ang).normalize() #right (0, 1)
wandrStr = .1
else: # maybe first add ELSE FOLLOW OTHER TRAILS?
self.desireDir += pg.Vector2(self.nest - self.pos).normalize() * .08
wandrStr = .1 #pg.Vector2(self.desireDir + (1,0)).rotate(pg.math.Vector2.as_polar(self.nest - self.pos)[1])
wallColor = (50,50,50) # avoid walls of this color
if left_GA_result == wallColor:
self.desireDir += pg.Vector2(0,1).rotate(self.ang) #.normalize()
wandrStr = .1
steerStr = 5
elif right_GA_result == wallColor:
self.desireDir += pg.Vector2(0,-1).rotate(self.ang) #.normalize()
wandrStr = .1
steerStr = 5
elif mid_GA_result == wallColor:
self.desireDir += pg.Vector2(-2,0).rotate(self.ang) #.normalize()
maxSpeed = 5
wandrStr = .1
steerStr = 5
# Avoid edges
if not self.drawSurf.get_rect().collidepoint(left_sens2) and self.drawSurf.get_rect().collidepoint(right_sens2):
self.desireDir += pg.Vector2(0,1).rotate(self.ang) #.normalize()
wandrStr = .01
steerStr = 5
elif not self.drawSurf.get_rect().collidepoint(right_sens2) and self.drawSurf.get_rect().collidepoint(left_sens2):
self.desireDir += pg.Vector2(0,-1).rotate(self.ang) #.normalize()
wandrStr = .01
steerStr = 5
elif not self.drawSurf.get_rect().collidepoint(Vec2.vint(self.pos + pg.Vector2(21, 0).rotate(self.ang))):
self.desireDir += pg.Vector2(-1,0).rotate(self.ang) #.normalize()
maxSpeed = 5
wandrStr = .01
steerStr = 5
randDir = pg.Vector2(cos(radians(randAng)),sin(radians(randAng)))
self.desireDir = pg.Vector2(self.desireDir + randDir * wandrStr).normalize()
dzVel = self.desireDir * maxSpeed
dzStrFrc = (dzVel - self.vel) * steerStr
accel = dzStrFrc if pg.Vector2(dzStrFrc).magnitude() <= steerStr else pg.Vector2(dzStrFrc.normalize() * steerStr)
velo = self.vel + accel * dt
self.vel = velo if pg.Vector2(velo).magnitude() <= maxSpeed else pg.Vector2(velo.normalize() * maxSpeed)
self.pos += self.vel * dt
self.ang = degrees(atan2(self.vel[1],self.vel[0]))
# adjusts angle of img to match heading
self.image = pg.transform.rotate(self.orig_img, -self.ang)
self.rect = self.image.get_rect(center=self.rect.center) # recentering fix
# actually update position
self.rect.center = self.pos
def sensCheck(self, pos1, pos2): # checks given points in Array, IDs, and pixels on screen.
sdpos1 = (int(pos1[0]/PRATIO),int(pos1[1]/PRATIO))
sdpos2 = (int(pos2[0]/PRATIO),int(pos2[1]/PRATIO))
#sdpos1 = (int((pos1[0]/self.curW)*self.pgSize[0]), int((pos1[1]/self.curH)*self.pgSize[1]))
#sdpos2 = (int((pos2[0]/self.curW)*self.pgSize[0]), int((pos2[1]/self.curH)*self.pgSize[1]))
array_r1 = self.phero.img_array[sdpos1]
array_r2 = self.phero.img_array[sdpos2]
array_result = (max(array_r1[0], array_r2[0]), max(array_r1[1], array_r2[1]), max(array_r1[2], array_r2[2]))
#is1ID = self.phero.pixelID[sdpos1] == self.antID
is1ID = self.isMyTrail[sdpos1]
#is2ID = self.phero.pixelID[sdpos2] == self.antID
is2ID = self.isMyTrail[sdpos2]
isID = is1ID or is2ID
ga_r1 = self.drawSurf.get_at(pos1)[:3]
ga_r2 = self.drawSurf.get_at(pos2)[:3]
ga_result = (max(ga_r1[0], ga_r2[0]), max(ga_r1[1], ga_r2[1]), max(ga_r1[2], ga_r2[2]))
return array_result, isID, ga_result
class PheroGrid():
def __init__(self, bigSize):
self.surfSize = (int(bigSize[0]/PRATIO), int(bigSize[1]/PRATIO))
self.image = pg.Surface(self.surfSize).convert()
self.img_array = np.array(pg.surfarray.array3d(self.image),dtype=float)#.astype(np.float64)
#self.pixelID = np.zeros(self.surfSize)
def update(self, dt):
self.img_array -= .2 * (60/FPS) * ((dt/10) * FPS) #[self.img_array > 0] # dt might not need FPS parts
self.img_array = self.img_array.clip(0,255)
#self.pixelID[ (self.img_array == (0, 0, 0))[:, :, 0] ] = 0 # not sure if works, or worth it
#indices = (img_array == (0, 0, 0))[:, :, 0] # alternative in 2 lines
#pixelID[indices] = 0
#self.img_array[self.img_array < 1] = 0 # ensure no leftover floats <1
#self.img_array[self.img_array > 255] = 255 # ensures nothing over 255, replaced by clip
pg.surfarray.blit_array(self.image, self.img_array)
return self.image
class Food(pg.sprite.Sprite):
def __init__(self, pos):
super().__init__()
self.pos = pos
self.image = pg.Surface((16, 16))
self.image.fill(0)
self.image.set_colorkey(0)
pg.draw.circle(self.image, [2,150,2], [8, 8], 4)
self.rect = self.image.get_rect(center=pos)
def pickup(self):
self.kill()
class Vec2():
def __init__(self, x=0, y=0):
self.x = x
self.y = y
def vint(self):
return (int(self.x), int(self.y))
def main():
pg.init() # prepare window
pg.display.set_caption("NAnts")
try: pg.display.set_icon(pg.img.load("nants.png"))
except: print("FYI: nants.png icon not found, skipping..")
# setup fullscreen or window mode
if FLLSCRN: #screen = pg.display.set_mode((0,0), pg.FULLSCREEN)
currentRez = (pg.display.Info().current_w, pg.display.Info().current_h)
screen = pg.display.set_mode(currentRez, pg.SCALED | pg.NOFRAME | pg.FULLSCREEN, vsync=VSYNC)
else: screen = pg.display.set_mode((WIDTH, HEIGHT), pg.SCALED, vsync=VSYNC)
cur_w, cur_h = screen.get_size()
screenSize = (cur_w, cur_h)
nest = (cur_w/3, cur_h/2)
#background = pg.img.load("background.png").convert_alpha()
workers = pg.sprite.Group()
pheroLayer = PheroGrid(screenSize)
for n in range(ANTS):
workers.add(Ant(screen, nest, pheroLayer))
foodList = []
foods = pg.sprite.Group()
clock = pg.time.Clock()
fpsChecker = 0
# main loop
while True:
for e in pg.event.get():
if e.type == pg.QUIT or e.type == pg.KEYDOWN and e.key == pg.K_ESCAPE:
return
elif e.type == pg.MOUSEBUTTONDOWN:
mousepos = pg.mouse.get_pos()
if e.button == 1: # and pg.Vector2(mousepos).distance_to(nest) > 242:
foodBits = 200
fRadius = 50
for i in range(0, foodBits): # spawn food bits evenly within a circle
dist = pow(i / (foodBits - 1.0), 0.5) * fRadius
angle = 2 * pi * 0.618033 * i
fx = mousepos[0] + dist * cos(angle)
fy = mousepos[1] + dist * sin(angle)
foods.add(Food((fx,fy)))
foodList.extend(foods.sprites())
if e.button == 3:
for fbit in foodList:
if pg.Vector2(mousepos).distance_to(fbit.rect.center) < fRadius+5:
fbit.pickup()
foodList = foods.sprites()
dt = clock.tick(FPS) / 100
pheroImg = pheroLayer.update(dt)
workers.update(dt)
screen.fill(0) # fill MUST be after sensors update, so previous draw is visible to them
rescaled_img = pg.transform.scale(pheroImg, (cur_w, cur_h))
pg.Surface.blit(screen, rescaled_img, (0,0))
foods.draw(screen)
pg.draw.circle(screen, [40,10,10], (nest[0],nest[1]+6), 6, 3)
pg.draw.circle(screen, [50,20,20], (nest[0],nest[1]+4), 9, 4)
pg.draw.circle(screen, [60,30,30], (nest[0],nest[1]+2), 12, 4)
pg.draw.circle(screen, [70,40,40], nest, 16, 5)
pg.draw.rect(screen, (50,50,50), [900, 100, 50, 400]) # test wall
workers.draw(screen)
pg.display.update()
# Outputs framerate once per second
fpsChecker+=1 #fpsChecker = 0 # must go before main loop
if fpsChecker>=FPS: # quick debug to see fps in terminal
print(round(clock.get_fps(),2)) #print((dt/10)*FPS)
fpsChecker=0
if __name__ == '__main__':
main() # by Nik
pg.quit()