feat: add vision system to beings in the world, and create an initial…

… state they could learn from

src/being.py

@@ -1,5 +1,5 @@
 import numpy as np
-from math import cos, sin
+from math import cos, sin, degrees, atan2, hypot
 import random
 
 # Hyper-parameters
@@ -10,7 +10,8 @@
 WATER_TO_ENERGY = 0.001
 
 # Rotation vectors for movement
-theta = np.deg2rad(45)
+rotation_angle = 45
+theta = np.deg2rad(rotation_angle)
 rot_right = np.array([[cos(theta), -sin(theta)], [sin(theta), cos(theta)]])
 rot_left = np.array([[cos(-theta), -sin(-theta)], [sin(-theta), cos(-theta)]])
 
@@ -32,14 +33,31 @@ def __init__(self, sprite_index):
         self.water = 1.
         self.energy = 1.
 
+        # State
         self.angle = 0.
         self.direction = [1, 0]  # vector from (0,0) (the being) to the direction its facing
         self.speed = 0.
         self.action_space = ['NOOP', 'TURN_LEFT', 'TURN_RIGHT', 'MOVE', 'STOP', 'EAT', 'DRINK']
 
+        # Vision
+        self.vision_angle = 45      # degrees of vision, it can see forward, and vision_angle/2 to each side
+        self.vision_pixels = 5      # resolution of vision, size of the 2-d array it can "see"
+        self.vision_distance = 10   # distance it can see objects at
+
+        # Don't change these
+        self.vision_chunk_size = self.vision_angle // self.vision_pixels
         self.sprite_index = sprite_index
 
-    def choose_action(self):
+    def choose_action(self, vision):
+        """
+        Choose an action based on the current state and the vision
+        :param vision:
+        :return:
+        """
+        state = [self.happiness, self.hunger, self.thirst, self.energy, *vision]
+
+        # TODO: Use the state to learn somehow
+
         action = random.choice(self.action_space)
 
         if action == 'TURN_LEFT' or action == 'TURN_RIGHT':
@@ -49,7 +67,7 @@ def choose_action(self):
 
         return action
 
-    def step(self):
+    def step(self, location, being_locations):
         self.energy = max(0, self.energy - ENERGY_LOSS_GENERAL)
 
         if self.energy < 1:
@@ -64,5 +82,46 @@ def step(self):
         if self.speed > 0:
             self.energy = max(0, self.energy - ENERGY_LOSS_ACTIONS)
 
+        vision = self.vision(location, being_locations)
+
+        return self.choose_action(vision)
+
+    def vision(self, location, locations):
+        """
+        Calculate the vision array
+        :param locations:
+        :return:
+        """
+        direction_angle = degrees(atan2(self.direction[1], self.direction[0]))
+
+        min_angle = direction_angle - self.vision_angle / 2
+        max_angle = direction_angle + self.vision_angle / 2
+
+        min_angle %= 360
+        max_angle %= 360
+
+        vision = [0] * self.vision_pixels
+
+        # calculate beings in its field of view
+        for coords in locations:
+            if coords == location:
+                # skip itself
+                continue
+
+            y = coords[1] - location[1]
+            x = coords[0] - location[0]
+
+            angle = degrees(atan2(y, x))
+            angle %= 360
+
+            if min_angle <= angle <= max_angle:
+                dist = hypot(x, y)
+                if dist <= self.vision_distance:
+                    # visible
+                    vision_chunk = int((angle - min_angle) // self.vision_chunk_size)
+                    vision[vision_chunk] += 1
+
+        return vision
+
     def is_alive(self):
         return self.energy > 0