├── 16x16-overworld.png ├── NOTES ├── README ├── formosa.tmx ├── gpl-3.0.txt ├── npc ├── __init__.py └── pirate │ ├── __init__.py │ └── actions.py ├── pathfinding ├── __init__.py └── astar.py ├── pygoap ├── README ├── __init__.py ├── actions.py ├── actionstates.py ├── agent.py ├── blackboard.py ├── context.py ├── environment.py ├── environment2d.py ├── goals.py ├── memory.py ├── planning.py ├── precepts.py └── tiledenvironment.py ├── test.py ├── tmxloader.py └── tutorial.py /16x16-overworld.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bitcraft/pygoap/9915458037a080cf95df263f7df4c7562da888fd/16x16-overworld.png -------------------------------------------------------------------------------- /NOTES: -------------------------------------------------------------------------------- 1 | for goap 3 2 | 3 | THIS IS MOSTLY NOTES FOR MYSELF 4 | 5 | 6 | planner 7 | 8 | planner should be able to reasonably predict the cost of repeating actions 9 | 10 | agents: 11 | in an rpg game, the player can expect to talk to NPC's and and to gather 12 | information about quests, items, other npc's, etc. 13 | 14 | i think that goap can become an engine of sorts, dictating every action in the 15 | game. basic play elements can be emulated through goap and would not have to 16 | be explicitly coded into the game. take simple "hello" meet/greet actions with 17 | an npc: 18 | npc will have a insatiable desire to talk to a player 19 | they will have a different thing to say depending on mood/state of player 20 | 21 | a side effect of this will that npc's could possibly become more lifelike as 22 | they can move around the game world to satisfy goals. to moderate and control 23 | the npc's and to make the game more enjoyable, npc's can have goals that are 24 | only relevant at certain times of day or days of the week. 25 | 26 | in the harvest moon series for example, the nps do have certain schedules that 27 | they will loosely follow. this makes the game play predictable once their 28 | simple schedule is learned. imo, giving the npc's too much freedom to act will 29 | make the game world seem more random, and potentially frustrating to play. 30 | 31 | tying the speech system to goap agents could make the gameplay more immersive 32 | by allowing the player to ask unscripted questions. while developing a system 33 | that perfectly synthesizes english is not a viable option, giving the player 34 | the option to ask canned questions, unrelated to the quest or story, with the 35 | ability to choose specific parts of the question is a definite cool thing. 36 | 37 | for example, the player might ask an npc "have you seen gary?". the goap 38 | agent can then search it's memories of gary and give a response to the player. 39 | because this would be based on the agent's memory, and not some canned 40 | response, it will simultaneously make the make more immersive and relieve the 41 | game designers and writers the burden to creating dialog. 42 | 43 | a frustrating aspect of some games is dealing with faction alliances. for 44 | example, in some games, killing or doing some negative action against a member 45 | of a faction will cause all members of that faction to instantly become hostile 46 | toward the player. this is unrealistic in situations where the information 47 | that our your hostility could not have reached the other party. 48 | 49 | simulating the spread of information could also be simulated in goap by 50 | creating goals that one agent wants to tell other agents things that he saw the 51 | player do. for example, they may be neutral npc's that will gossip with other 52 | npc's in distant towns. or, members of one faction may use radio, phones, 53 | letters, messengers, etc to tell other faction members about the player. 54 | 55 | this too could be emulated with goap, and would not have to be explicitly 56 | programmed. 57 | 58 | 59 | -------------------------------------------------------------------------------- /README: -------------------------------------------------------------------------------- 1 | pygoap v.3 2 | requires python 2.x 3 | 4 | PyGoap is a small library for designing AI in python. The basic library is based off of a well-known idea of using graph searches to to create realistic agents in real-time. Behavior is determined in real-time and is extremely open ended and well suited for emergent behaviors. 5 | 6 | Agents, or npcs, can be programmed very simply with an easy to understand api. Check the 'npcs' folder and read through actions.py to get an idea of how it works. 7 | 8 | This library is not complete, but is working as-is. The demo gives you a simple diagram of the game world and the debugging information near the bottom lets you know what is going on 'in the heads' of the agents. Note: the demo requires pygame. 9 | 10 | 11 | 12 | I've build AI Agents around the concept of Actions and ActionBuilders. 13 | 14 | Actions can be subclassed from a few different action types. 15 | ActionBuilders will search a blackboard and return a list of actions that can be performed. 16 | 17 | 18 | 19 | If you are unfamiliar with GOAP, I invite you to do some research online, it may help you to understand this module. 20 | 21 | 22 | 23 | you can watch it work by running "test.py". 24 | 25 | 26 | many thanks to opengameart.org for providing and hosting the tileset used in the project. tiles for the map can be found at: 27 | http://opengameart.org/content/worldmapoverworld-tileset 28 | under the CC-BY 3.0 license. 29 | 30 | have fun. -------------------------------------------------------------------------------- /formosa.tmx: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | eJwTYmBgEBrFwxJnU6CPHL3ZZOrNJlMvur6higEQaSSv 9 | 10 | 11 | 12 | 13 | eJxjYCANfAbiL0D8FUnsOxD/AOKfBPQyMzIwsAAxKyNCjB3I5gBiTkb85ggD5UWAWBRJrziQLQHEkoyo5pAKkM0ZTsCJAn3KQ1SfEB4MUq8ExdjsU8KDyXEfsQAAzu0N1Q== 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /gpl-3.0.txt: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /npc/__init__.py: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /npc/pirate/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bitcraft/pygoap/9915458037a080cf95df263f7df4c7562da888fd/npc/pirate/__init__.py -------------------------------------------------------------------------------- /npc/pirate/actions.py: -------------------------------------------------------------------------------- 1 | """ 2 | This is an example module for programming actions for a pyGOAP agent. 3 | 4 | The module must contain a list called "exported_actions". This list should 5 | contain any classes that you would like to add to the planner. 6 | 7 | To make it convenient, I have chosen to add the class to the list after each 8 | declaration, although you may choose another way. 9 | """ 10 | 11 | from pygoap.actions import * 12 | from pygoap.goals import * 13 | 14 | 15 | def get_position(entity, memory): 16 | """ 17 | Return the position of [entity] according to memory. 18 | """ 19 | for pct in memory.of_class(PositionPrecept): 20 | if pct.entity is entity: 21 | return pct.position 22 | 23 | 24 | class LookAction(CalledOnceContext): 25 | def enter(self): 26 | self.parent.environment.look(self.parent) 27 | 28 | 29 | class MoveAction(ActionContext): 30 | def enter(self): 31 | self.path = self.parent.environment.pathfind(self.startpoint, 32 | self.endpoint) 33 | 34 | # remove the first node, which is the starting node 35 | self.path.pop() 36 | 37 | def update(self, time): 38 | if self.path: 39 | pos = self.path.pop() 40 | self.parent.environment.set_position(self.parent, 41 | (self.parent.environment, pos)) 42 | 43 | if not self.path: 44 | self.finish() 45 | 46 | def setStartpoint(self, pos): 47 | self.startpoint = pos 48 | 49 | def setEndpoint(self, pos): 50 | self.endpoint = pos 51 | 52 | 53 | class PickupAction(CalledOnceContext): 54 | """ 55 | take an object from the environment and place it into your inventory 56 | """ 57 | pass 58 | 59 | 60 | class DrinkRumAction(ActionContext): 61 | def enter(self): 62 | print "drinking!" 63 | self.drunkness = 1 64 | 65 | def update(self, time): 66 | self.drunkness += 1 67 | if self.drunkness >= 3: 68 | self.parent.set_condition('drunk', True) 69 | self.finish() 70 | 71 | exported_actions = [] 72 | 73 | 74 | ### ACTION BUILDERS 75 | ### 76 | 77 | class move_to_entity(ActionBuilder): 78 | """ 79 | return a list of action that this caller is able to move with 80 | """ 81 | 82 | def get_actions(self, caller, memory): 83 | here = get_position(caller, memory) 84 | visited = [] 85 | 86 | for pct in memory.of_class(PositionPrecept): 87 | if pct.entity is caller or pct.position in visited: 88 | continue 89 | 90 | visited.append(pct.position) 91 | 92 | action = MoveAction(caller) 93 | action.setStartpoint(here) 94 | action.setEndpoint(pct.position[1]) 95 | action.effects.append(PositionGoal(caller, pct.position)) 96 | yield action 97 | 98 | exported_actions.append(move_to_entity) 99 | 100 | 101 | class pickup(ActionBuilder): 102 | def get_actions(self, caller, memory): 103 | """ 104 | return list of actions that will pickup an item at caller's position 105 | """ 106 | here = get_position(caller, memory) 107 | 108 | for pct in memory.of_class(PositionPrecept): 109 | if here == pct.position and pct.entity is not caller: 110 | action = PickupAction(caller) 111 | action.effects.append(HasItemGoal(pct.entity)) 112 | yield action 113 | 114 | exported_actions.append(pickup) 115 | 116 | 117 | class drink_rum(ActionBuilder): 118 | """ 119 | drink rum that is in caller's inventory 120 | """ 121 | def get_actions(self, caller, memory): 122 | for pct in memory.of_class(PositionPrecept): 123 | #print "looking for rum", pct 124 | if pct.position[0] == 'self' and pct.entity.name == "rum": 125 | action = DrinkRumAction(caller) 126 | action.effects.append(SimpleGoal(is_drunk=True)) 127 | #action.effects.append(EvalGoal("charisma = charisma + 10")) 128 | yield action 129 | 130 | 131 | exported_actions.append(drink_rum) 132 | 133 | 134 | class look(ActionBuilder): 135 | def get_actions(self, caller, memory): 136 | action = LookAction(caller) 137 | action.effects.append(SimpleGoal(aware=True)) 138 | yield action 139 | 140 | 141 | exported_actions.append(look) 142 | -------------------------------------------------------------------------------- /pathfinding/__init__.py: -------------------------------------------------------------------------------- 1 | from astar import Astar 2 | -------------------------------------------------------------------------------- /pathfinding/astar.py: -------------------------------------------------------------------------------- 1 | from heapq import heappush, heappop, heappushpop, heapify 2 | from collections import defaultdict 3 | 4 | class Astar(object): 5 | pass 6 | 7 | 8 | class Node(object): 9 | __slots__ = ['parent', 'x', 'y', 'g', 'h', 'f', 'is_closed'] 10 | 11 | def __init__(self, pos=(0,0)): 12 | self.x, self.y = pos 13 | self.parent = None 14 | self.g = 0 15 | self.h = 0 16 | self.is_closed = 0 17 | 18 | def __eq__(self, other): 19 | try: 20 | return (self.x == other.x) and (self.y == other.y) 21 | except AttributeError: 22 | return False 23 | 24 | def __repr__(self): 25 | return "".format(self.x, self.y) 26 | 27 | def getSurrounding(node): 28 | return ((node.x-1, node.y-1), (node.x, node.y-1), (node.x+1, node.y-1), \ 29 | (node.x-1, node.y), (node.x+1, node.y), \ 30 | (node.x-1, node.y+1), (node.x, node.y+1), (node.x+1, node.y+1)) 31 | 32 | def dist(start, finish): 33 | return abs(finish.x - start.x) + abs(finish.y - start.y) 34 | 35 | def calcG(node): 36 | score=0 37 | score += node.g 38 | while not node.parent == None: 39 | node = node.parent 40 | score += node.g 41 | return score 42 | 43 | 44 | def calcH(node, finish): 45 | # somehow factor in the cost of other nodes 46 | return abs(finish.x - node.x) + abs(finish.y - node.y) 47 | 48 | 49 | def search(start, finish, factory): 50 | """perform basic a* search on a 2d map. 51 | 52 | Args: 53 | start: tuple that defines the starting position 54 | finish: tuple that defined the finish 55 | factory: function that will return a Node object from a position 56 | 57 | Factory can return None, which means the area is not passable. 58 | 59 | """ 60 | 61 | finishNode = factory(finish) 62 | startNode = factory(start) 63 | startNode.h = calcH(startNode, finishNode) 64 | 65 | # used to locate nodes in the heap and modify their f scores 66 | heapIndex = {} 67 | entry = [startNode.g + startNode.h, startNode] 68 | heapIndex[startNode] = entry 69 | 70 | openlist = [entry] 71 | 72 | nodeHash = {} 73 | nodeHash[start] = startNode 74 | 75 | while openlist: 76 | try: 77 | f, keyNode = heappop(openlist) 78 | while keyNode == None: 79 | f, keyNode = heappop(openlist) 80 | except IndexError: 81 | break 82 | else: 83 | del heapIndex[keyNode] 84 | 85 | if keyNode == finishNode: 86 | path = [(keyNode.x, keyNode.y)] 87 | while not keyNode.parent == None: 88 | keyNode = keyNode.parent 89 | path.append((keyNode.x, keyNode.y)) 90 | return path 91 | 92 | keyNode.is_closed = 1 93 | 94 | for neighbor in getSurrounding(keyNode): 95 | try: 96 | node = nodeHash[neighbor] 97 | except KeyError: 98 | node = factory(neighbor) 99 | if node: 100 | nodeHash[neighbor] = node 101 | score = keyNode.g + dist(keyNode, node) 102 | node.parent = keyNode 103 | node.g = score 104 | node.h = calcH(node, finishNode) 105 | entry = [node.g + node.h, node] 106 | heapIndex[node] = entry 107 | heappush(openlist, entry) 108 | else: 109 | if not node.is_closed: 110 | score = keyNode.g + dist(keyNode, node) 111 | if score < node.g: 112 | node.parent = keyNode 113 | node.g = score 114 | entry = heapIndex.pop(node) 115 | entry[1] = None 116 | newentry = [node.g + node.h, node] 117 | heapIndex[node] = newentry 118 | heappush(openlist, newentry) 119 | 120 | return [] 121 | 122 | 123 | def search_test(tests=1000): 124 | area = [[0, 1, 0, 0, 0, 0, 0, 0, 0, 0], 125 | [0, 1, 0, 0, 0, 0, 0, 0, 0, 0], 126 | [0, 1, 0, 0, 0, 0, 0, 0, 0, 0], 127 | [0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 128 | [1, 0, 0, 0, 0, 0, 0, 0, 0, 0], 129 | [0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 130 | [0, 0, 0, 0, 1, 0, 0, 0, 0, 0], 131 | [0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 132 | [0, 0, 0, 0, 0, 0, 0, 0, 0, 0], 133 | [0, 1, 0, 0, 0, 0, 0, 0, 0, 0]] 134 | 135 | def factory((x, y)): 136 | if x < 0 or y < 0: 137 | return None 138 | 139 | try: 140 | if area[y][x] == 0: 141 | node = Node((x, y)) 142 | return node 143 | else: 144 | return None 145 | except IndexError: 146 | return None 147 | 148 | return search((0,0), (5,9), factory) 149 | 150 | 151 | if __name__ == "__main__": 152 | print search_test() 153 | 154 | -------------------------------------------------------------------------------- /pygoap/README: -------------------------------------------------------------------------------- 1 | how to handle ai? multiprocessing to get around the GIL in CPython. 2 | why not threads? because we are CPU restricted, not IO. 3 | 4 | memory managers and blackboards should be related. 5 | this will allow for expectations, since a memory can be simulated in the future 6 | 7 | memory: 8 | should be a heap 9 | memory added will be wrapped with a counter 10 | every time a memory is fetched, the counter will be added 11 | eventually, memories not being used will be removed 12 | and the counters will be reset 13 | 14 | memories should be a tree 15 | if a memory is being added that is similar to an existing memory, 16 | then the existing memory will be updated, rather than replaced. 17 | 18 | since goals and prereqs share a common function, "valid", it makes sene to 19 | make them subclasses of a common class. 20 | 21 | looking at actions.csv, it is easy to see that the behaviour of the agent will 22 | be largely dependent on how well the action map is defined. with the little 23 | pirate demo, it is not difficult to model his behaviour, but with larger, more 24 | complex agents, it could quickly become a huge task to write and verify the 25 | action map. 26 | 27 | with some extra steps, i would like to make it possible that the agent can 28 | infer the prereq's to a goal through clues provided within the objects that the 29 | agent interacts with, rather than defining them within the class. i can foresee 30 | a performance penality for this, but that could be offset by constructing 31 | training environments for the agent and then storing the action map that the 32 | agent creates during training. 33 | 34 | the planner: 35 | GOAP calls for a heuristic to be used to find the optimal solution and to reduce 36 | the number of checks made. in a physical environment where a star is used, 37 | it makes sense to just find a vector from the current searched node to the 38 | goal, but in action planning, there is no spatial dimension where a simple 39 | solution like that can be used. 40 | 41 | without a heuristic, a* is just a tree search. the heuristic will increase the 42 | efficiency of the planner and possibly give more consistent results. it can 43 | also be used to guide an agents behavior by manipulating some values. 44 | 45 | for now, while testing and building the library, the h value will not be used. 46 | when the library is more complete, it would make sense to build a complete 47 | agent, then construct a set of artificial scenarios to train the agent. 48 | based on data from the scenarios, it could be possible to hardcode the h 49 | values. the planner could then be optimized for certain scenarios. 50 | 51 | This module contains the most commonly used parts of the system. Classes that 52 | have many related sibling classes are in other modules. 53 | 54 | 55 | since planning is done on the blackboard and i would like agents to be able to 56 | make guesses, or plans about other agents, then agents will have to somehow be 57 | able to be stored on and manipulated on a blackboard. this may meant that 58 | agents and precepts will be the same thing 59 | 60 | 1/15/12: 61 | overhauled the concepts of goals, prereqs, and effects and rolled them into 62 | one class. with the new system of instanced actions, it makes design sense to 63 | consolidate them, since they all have complimentary functionality. from a 64 | performance standpoint, it may make sense to keep the separate, but this way is 65 | much easier to conceptualize in your mind, and i am not making an system that 66 | is performance sensitive....this is python. 67 | 68 | simplify holding/inventory: 69 | an objects location should always be a tuple of: 70 | ( holding object, position ) 71 | 72 | this will make position very simple to sort. the position in the tuple should 73 | be a value the that holding object can make sense of, for example, an 74 | environment might expect a zone, and (x,y), while an agent would want an index 75 | number in their inventory. 76 | 77 | a side effect will be that location goals and holding goals can be consolidated 78 | into one function. 79 | 80 | new precepts may render a current plan invalid. to account for this, an agent 81 | will re-plan every time it receives a precept. a better way would be to tag a 82 | type of precept and then if a new one that directly relates to the plan arrives 83 | then re-plan. 84 | -------------------------------------------------------------------------------- /pygoap/__init__.py: -------------------------------------------------------------------------------- 1 | from actions import ActionContext 2 | -------------------------------------------------------------------------------- /pygoap/actions.py: -------------------------------------------------------------------------------- 1 | """ 2 | These are the building blocks for creating pyGOAP agents that are able to 3 | interact with their environment in a meaningful way. 4 | 5 | When actions are updated, they can return a precept for the environment to 6 | process. The action can emit a sound, sight, or anything else for other 7 | objects to consume. 8 | 9 | These classes will be known to an agent, and chosen by the planner as a means 10 | to satisfy the current goal. They will be instanced and the agent will 11 | execute the action in some way, one after another. 12 | 13 | Actions need to be split into ActionInstances and ActionBuilders. 14 | 15 | An ActionInstance's job is to work in a planner and to carry out actions. 16 | A ActionBuilder's job is to query the parent and return a list of suitable 17 | actions for the memory. 18 | """ 19 | 20 | from actionstates import * 21 | import sys 22 | 23 | 24 | 25 | test_fail_msg = "some goal is returning None on a test, this is a bug." 26 | 27 | class ActionBuilder(object): 28 | """ 29 | ActionBuilders examine a blackboard and return a list of actions that can 30 | be successfully completed at the time. 31 | 32 | The actions that are returned will be assumed to be valid and will not be 33 | tested. Please make sure that the actions are valid. 34 | """ 35 | 36 | def __call__(self, parent, memory): 37 | return self.get_actions(parent, memory) 38 | 39 | def get_actions(self, parent, memory): 40 | """ 41 | Return a list of actions 42 | """ 43 | raise NotImplementedError 44 | 45 | def __repr__(self): 46 | return "".format(self.__class__.__name__) 47 | 48 | 49 | class ActionContext(object): 50 | """ 51 | Context where actions take place. 52 | """ 53 | 54 | def __init__(self, parent, **kwargs): 55 | self.parent = parent 56 | self.state = ACTIONSTATE_NOT_STARTED 57 | self.prereqs = [] 58 | self.effects = [] 59 | self.costs = {} 60 | self.__dict__.update(kwargs) 61 | 62 | def __enter__(self): 63 | """ 64 | Please do not override this method. Use enter instead. 65 | """ 66 | self.state = ACTIONSTATE_RUNNING 67 | self.enter() 68 | return self 69 | 70 | def __exit__(self, *exc): 71 | """ 72 | Please do not override this method. Use exit instead. 73 | """ 74 | if self.state == ACTIONSTATE_RUNNING: 75 | self.state = ACTIONSTATE_FINISHED 76 | if not self.state == ACTIONSTATE_ABORTED: 77 | self.exit() 78 | return False 79 | 80 | def enter(self): 81 | """ 82 | This method will be called after this context becomes active 83 | """ 84 | pass 85 | 86 | def exit(self): 87 | """ 88 | This method will be called after this context become inactive 89 | """ 90 | pass 91 | 92 | def update(self, time): 93 | """ 94 | This method will be called periodically by the environment. 95 | """ 96 | pass 97 | 98 | def finish(self): 99 | """ 100 | Call this method when context is no longer needed or is finished. 101 | Do not override. Handle cleanup in exit instead. 102 | """ 103 | self.state = ACTIONSTATE_FINISHED 104 | 105 | def fail(self): 106 | """ 107 | Call this method if the context is not able to complete 108 | Do not override. Handle cleanup in exit instead. 109 | """ 110 | self.state = ACTIONSTATE_FAILED 111 | 112 | def abort(self): 113 | """ 114 | Call this method to stop this context without cleaning it up 115 | Do not override. Handle cleanup in exit instead. 116 | """ 117 | self.state = ACTIONSTATE_ABORTED 118 | 119 | def test(self, memory=None): 120 | """ 121 | Determine whether or not this context is able to start (begin()) 122 | 123 | return a float from 0-1 that describes how valid this action is. 124 | 125 | validity of an action is a measurement of how effective the action will 126 | be if it is completed successfully. 127 | 128 | if any of the prereqs are not partially valid ( >0 ) then will return 0 129 | 130 | for many actions a simple 0 or 1 will work. for actions which 131 | modify numerical values, it may be useful to return a fractional value. 132 | """ 133 | 134 | if not self.prereqs: return 1.0 135 | 136 | if memory is None: raise Exception 137 | values = ( i.test(memory) for i in self.prereqs ) 138 | 139 | try: 140 | return float(sum(values)) / len(self.prereqs) 141 | except TypeError: 142 | print zip(values, self.prereqs) 143 | print test_fail_msg 144 | sys.exit(1) 145 | 146 | def touch(self, memory=None): 147 | """ 148 | Call after the planning phase is complete. 149 | """ 150 | if memory is None: 151 | memory = self.parent.memory 152 | [ i.touch(memory) for i in self.effects ] 153 | 154 | def __repr__(self): 155 | return ''.format(self.__class__.__name__) 156 | 157 | 158 | class CalledOnceContext(ActionContext): 159 | """ 160 | Is finished immediately when started. 161 | """ 162 | 163 | def __enter__(self): 164 | if self.test() == 1.0: 165 | super(CalledOnceContext, self).__enter__() 166 | super(CalledOnceContext, self).__exit__() 167 | else: 168 | self.fail() 169 | 170 | -------------------------------------------------------------------------------- /pygoap/actionstates.py: -------------------------------------------------------------------------------- 1 | ACTIONSTATE_NOT_STARTED = 0 2 | ACTIONSTATE_FINISHED = 1 3 | ACTIONSTATE_RUNNING = 2 4 | ACTIONSTATE_PAUSED = 3 5 | ACTIONSTATE_ABORTED = 4 6 | ACTIONSTATE_FAILED = 5 7 | -------------------------------------------------------------------------------- /pygoap/agent.py: -------------------------------------------------------------------------------- 1 | from environment import ObjectBase 2 | from planning import plan 3 | from actions import ActionContext 4 | from memory import MemoryManager 5 | from actionstates import * 6 | from precepts import * 7 | import logging 8 | 9 | debug = logging.debug 10 | 11 | 12 | 13 | NullAction = ActionContext(None) 14 | NullAction.__enter__() 15 | NullAction.__exit__() 16 | 17 | # required to reduce memory usage 18 | def time_filter(precept): 19 | return None if isinstance(precept, TimePrecept) else precept 20 | 21 | class GoapAgent(ObjectBase): 22 | """ 23 | AI Agent 24 | 25 | inventories will be implemented using precepts and a list. 26 | currently, only one action running concurrently is supported. 27 | """ 28 | 29 | # this will set this class to listen for this type of precept 30 | # not implemented yet 31 | interested = [] 32 | idle_timeout = 30 33 | 34 | def __init__(self, name=None): 35 | super(GoapAgent, self).__init__(name) 36 | self.memory = MemoryManager() 37 | self.planner = plan 38 | 39 | self.current_goal = None 40 | 41 | self.goals = [] # all goals this instance can use 42 | self.filters = [] # list of methods to use as a filter 43 | self.actions = [] # all actions this npc can perform 44 | self.plan = [] # list of actions to perform 45 | # '-1' will be the action currently used 46 | 47 | # this special filter will prevent time precepts from being stored 48 | self.filters.append(time_filter) 49 | 50 | def add_goal(self, goal): 51 | self.goals.append(goal) 52 | 53 | def remove_goal(self, goal): 54 | self.goals.remove(goal) 55 | 56 | def add_action(self, action): 57 | self.actions.append(action) 58 | 59 | def remove_action(self, action): 60 | self.actions.remove(action) 61 | 62 | def filter_precept(self, precept): 63 | """ 64 | precepts can be put through filters to change them. 65 | this can be used to simulate errors in judgement by the agent. 66 | """ 67 | for f in self.filters: 68 | precept = f(precept) 69 | if precept is None: 70 | break 71 | 72 | return precept 73 | 74 | def process(self, precept): 75 | """ 76 | used by the environment to feed the agent precepts. 77 | agents can respond by sending back an action to take. 78 | """ 79 | precept = self.filter_precept(precept) 80 | 81 | if precept: 82 | debug("[agent] %s recv'd precept %s", self, precept) 83 | self.memory.add(precept) 84 | 85 | if self.next_action is NullAction: 86 | self.replan() 87 | return self.next_action 88 | 89 | 90 | def replan(self): 91 | """ 92 | force agent to re-evaluate goals and to formulate a plan 93 | """ 94 | 95 | # get the relevancy of each goal according to the state of the agent 96 | s = ( (g.get_relevancy(self.memory), g) for g in self.goals ) 97 | s = [ g for g in s if g[0] > 0.0 ] 98 | s.sort(reverse=True) 99 | 100 | debug("[agent] %s has goals %s", self, s) 101 | 102 | start_action = NullAction 103 | 104 | # starting for the most relevant goal, attempt to make a plan 105 | self.plan = [] 106 | for score, goal in s: 107 | tentative_plan = self.planner(self, self.actions, 108 | start_action, self.memory, goal) 109 | 110 | if tentative_plan: 111 | tentative_plan.pop() 112 | pretty = list(reversed(tentative_plan[:])) 113 | debug("[agent] %s has planned to %s", self, goal) 114 | debug("[agent] %s has plan %s", self, pretty) 115 | self.plan = tentative_plan 116 | self.current_goal = goal 117 | break 118 | 119 | 120 | # we only support one concurrent action (i'm lazy) 121 | def running_actions(self): 122 | return self.current_action 123 | 124 | @property 125 | def current_action(self): 126 | """ 127 | get the current action of the current plan 128 | """ 129 | 130 | try: 131 | return self.plan[-1] 132 | except IndexError: 133 | return NullAction 134 | 135 | @property 136 | def next_action(self): 137 | """ 138 | if the current action is finished, return the next 139 | otherwise, return the current action 140 | """ 141 | 142 | # this action is done 143 | if self.current_action.state == ACTIONSTATE_FINISHED: 144 | 145 | # there are more actions in the queue, so just return the next one 146 | if self.plan: 147 | return self.plan.pop() 148 | 149 | # no more actions, so the plan worked! 150 | else: 151 | 152 | # let the goal do its magic to the memory manager 153 | if self.current_goal: 154 | self.current_goal.touch(self.memory) 155 | self.current_goal = None 156 | 157 | return NullAction 158 | 159 | # this action failed somehow 160 | elif self.current_action.state == ACTIONSTATE_FAILED: 161 | raise Exception, "action failed, don't know what to do now!" 162 | 163 | # our action is still running, just run that 164 | elif self.current_action.state == ACTIONSTATE_RUNNING: 165 | return self.current_action 166 | -------------------------------------------------------------------------------- /pygoap/blackboard.py: -------------------------------------------------------------------------------- 1 | """ 2 | Memories are stored precepts. 3 | """ 4 | 5 | 6 | 7 | class MemoryManager(set): 8 | """ 9 | Store and manage precepts. 10 | 11 | Shared blackboards violate reality in that multiple agents share the same 12 | thoughts, to extend the metaphor. But, the advantage of this is that in 13 | a real-time simulation, it gives the player the impression that the agents 14 | are able to collaborate in some meaningful way, without a significant 15 | impact in performance. 16 | 17 | That being said, i have chosen to restrict blackboards to a per-agent 18 | basis. This library is meant for RPGs, where the action isn't real-time 19 | and would require a more realistic simulation of intelligence. 20 | """ 21 | 22 | def of_class(self, klass): 23 | for i in self: 24 | if isinstance(i, klass): 25 | yield i 26 | 27 | -------------------------------------------------------------------------------- /pygoap/context.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright 2010, 2011 Leif Theden 3 | 4 | 5 | This file is part of lib2d. 6 | 7 | lib2d is free software: you can redistribute it and/or modify 8 | it under the terms of the GNU General Public License as published by 9 | the Free Software Foundation, either version 3 of the License, or 10 | (at your option) any later version. 11 | 12 | lib2d is distributed in the hope that it will be useful, 13 | but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | GNU General Public License for more details. 16 | 17 | You should have received a copy of the GNU General Public License 18 | along with lib2d. If not, see . 19 | """ 20 | 21 | import pygame 22 | from pygame.locals import * 23 | 24 | 25 | class Context(object): 26 | """ 27 | Contexts are used anywhere a handler uses a stack to manage information. 28 | Currently are used in: 29 | Context Driver for the game 30 | FSA for controller handling 31 | 32 | The main purpose of the 4 different methods defined here is to manage 33 | memory usage. Please follow the format to make sure your game uses memory 34 | effeciently. 35 | 36 | init: 37 | should be the the minimum amout of data needed, such as filenames and 38 | names of other resources to be loaded when context is endered 39 | 40 | enter: 41 | called when context is the running context 42 | load any sounds, images, data files here that are needed 43 | 44 | exit: 45 | unload any data not directly needed, such as images and sounds and all 46 | other data loaded in enter() 47 | 48 | terminate: 49 | unload any other data that you loaded in init() 50 | 51 | """ 52 | 53 | def __enter__(self): 54 | self.enter() 55 | 56 | def __exit__(self): 57 | self.exit() 58 | 59 | 60 | def init(self, *args, **kwargs): 61 | """ 62 | Called before context is placed in a stack 63 | This will only be called once over the lifetime of a context 64 | """ 65 | 66 | pass 67 | 68 | 69 | def enter(self): 70 | """ 71 | Called after focus is given to the context 72 | This may be called several times over the lifetime of the context 73 | """ 74 | 75 | pass 76 | 77 | 78 | def exit(self): 79 | """ 80 | Called after focus is lost 81 | This may be called several times over the lifetime of the context 82 | """ 83 | 84 | pass 85 | 86 | 87 | def terminate(self): 88 | """ 89 | Called after the context is removed from a stack 90 | This will only be called once 91 | """ 92 | 93 | pass 94 | 95 | 96 | class ContextDriver(object): 97 | """ 98 | ContextDriver will manage a list of different contexts. 99 | 100 | Contexts are stored in a simple FILO queue. 101 | 102 | The current_context attribute will be the context at the top of the stack. 103 | 104 | When a context is added to the ContextDriver, it will have the 'driver' 105 | attribute set to the Driver. Contexts are welcome to remove themselves or 106 | other contexts. 107 | """ 108 | 109 | 110 | def __init__(self): 111 | self._stack = [] 112 | 113 | 114 | def remove(self, context, exit=True, terminate=True): 115 | """ 116 | remove the context from the stack 117 | """ 118 | 119 | old_context = self.current_context 120 | self._stack.remove(context) 121 | if exit: 122 | context.__exit__() 123 | 124 | if context is old_context: 125 | new_context = self.current_context 126 | if new_context: 127 | new_context.__enter__() 128 | 129 | if terminate: 130 | context.terminate() 131 | 132 | 133 | def queue(self, new_context, *args, **kwargs): 134 | """ 135 | queue a context just before the current context 136 | when the current context finishes, the context passed will be run 137 | """ 138 | 139 | new_context.driver = self 140 | new_context.init(*args, **kwargs) 141 | self._stack.insert(-1, new_context) 142 | 143 | 144 | def append(self, new_context, *args, **kwargs): 145 | """ 146 | start a new context and hold the current context. 147 | 148 | idea: the old context could be pickled and stored to disk. 149 | """ 150 | 151 | old_context = self.current_context 152 | 153 | new_context.driver = self 154 | new_context.init(*args, **kwargs) 155 | self._stack.append(new_context) 156 | 157 | if old_context: 158 | old_context.__exit__() 159 | 160 | new_context.__enter__() 161 | 162 | 163 | @property 164 | def current_context(self): 165 | try: 166 | return self._stack[-1] 167 | except IndexError: 168 | return None 169 | 170 | 171 | 172 | -------------------------------------------------------------------------------- /pygoap/environment.py: -------------------------------------------------------------------------------- 1 | """ 2 | Since a pyGOAP agent relies on cues from the environment when planning, having 3 | a stable and efficient virtual environment is paramount. 4 | 5 | When coding your game or simulation, you can think of the environment as the 6 | conduit that connects your actors on screen to their simulated thoughts. This 7 | environment simply provides enough basic information to the agents to work. It 8 | is up to you to make it useful. 9 | 10 | objects should be able to produce actions that would be useful, rather than the 11 | virtual actors knowing eacatly how to use and what to do with other objects. 12 | This concept comes from 'The Sims', where each agent doesn't need to know how 13 | to use every object, but can instead query the object for actions to do with it. 14 | """ 15 | 16 | from precepts import * 17 | from actionstates import * 18 | from itertools import chain 19 | import logging 20 | 21 | debug = logging.debug 22 | 23 | 24 | 25 | class ObjectBase(object): 26 | """ 27 | class for objects that agents can interact with 28 | """ 29 | 30 | def __init__(self, name='noname'): 31 | self.name = name 32 | self._condition = {} 33 | 34 | def get_actions(self, other): 35 | """ 36 | generate a list of actions that could be used with this object 37 | """ 38 | return [] 39 | 40 | def condition(self, name): 41 | try: 42 | return self._condition[name] 43 | except KeyError: 44 | return False 45 | 46 | def set_condition(self, name, value): 47 | self._condition[name] = value 48 | 49 | def __repr__(self): 50 | return "".format(self.name) 51 | 52 | 53 | class Environment(object): 54 | """Abstract class representing an Environment. 'Real' Environment classes 55 | inherit from this. 56 | """ 57 | 58 | def __init__(self, entities=[], agents=[], time=0): 59 | self.time = time 60 | self._agents = [] 61 | self._entities = [] 62 | self._positions = {} 63 | 64 | [ self.add(i) for i in entities ] 65 | [ self.add(i) for i in agents ] 66 | 67 | self.action_que = [] 68 | 69 | @property 70 | def agents(self): 71 | return iter(self._agents) 72 | 73 | @property 74 | def entities(self): 75 | return chain(self._entities, self._agents) 76 | 77 | def get_position(self, entity): 78 | raise NotImplementedError 79 | 80 | 81 | # this is a placeholder hack. proper handling will go through 82 | # model_precept() 83 | def look(self, caller): 84 | for i in chain(self._entities, self._agents): 85 | caller.process(LocationPrecept(i, self._positions[i])) 86 | 87 | 88 | def run(self, steps=1000): 89 | """ 90 | Run the Environment for given number of time steps. 91 | """ 92 | 93 | [ self.update(1) for step in xrange(steps) ] 94 | 95 | def add(self, entity, position=None): 96 | """ 97 | Add an entity to the environment 98 | """ 99 | 100 | from agent import GoapAgent 101 | 102 | debug("[env] adding %s", entity) 103 | 104 | 105 | # hackish way to force agents to re-evaulate their environment 106 | for a in self._agents: 107 | to_remove = [] 108 | 109 | for p in a.memory.of_class(DatumPrecept): 110 | if p.name == 'aware': 111 | to_remove.append(p) 112 | 113 | [ a.memory.remove(p) for p in to_remove] 114 | 115 | # add the agent 116 | if isinstance(entity, GoapAgent): 117 | self._agents.append(entity) 118 | entity.environment = self 119 | self._positions[entity] = (None, (0, 0)) 120 | 121 | # clever hack to let the planner know who the memory belongs to 122 | entity.process(DatumPrecept('self', entity)) 123 | else: 124 | self._entities.append(entity) 125 | 126 | def update(self, time_passed): 127 | """ 128 | * Update our time 129 | * Let agents know time has passed 130 | * Update actions that may be running 131 | * Add new actions to the que 132 | 133 | this could be rewritten. 134 | """ 135 | 136 | # update time in the simulation 137 | self.time += time_passed 138 | 139 | # let all the agents know that time has passed and bypass the modeler 140 | p = TimePrecept(self.time) 141 | [ a.process(p) for a in self.agents ] 142 | 143 | # get all the running actions for the agents 144 | self.action_que = [ a.running_actions() for a in self.agents ] 145 | 146 | # start any actions that are not started 147 | [ action.__enter__() for action in self.action_que 148 | if action.state == ACTIONSTATE_NOT_STARTED ] 149 | 150 | # update all the actions that may be running 151 | precepts = [ a.update(time_passed) for a in self.action_que ] 152 | precepts = [ p for p in precepts if not p == None ] 153 | 154 | 155 | def broadcast_precepts(self, precepts, agents=None): 156 | """ 157 | for efficiency, please use this for sending a list of precepts 158 | """ 159 | if agents == None: 160 | agents = self.agents 161 | 162 | model = self.model_precept 163 | 164 | for p in precepts: 165 | [ a.process(model(p, a)) for a in agents ] 166 | 167 | def model_precept(self, precept, other): 168 | """ 169 | override this to model the way that precept objects move in the 170 | simulation. by default, all precept objects will be distributed 171 | indiscriminately to all agents. 172 | """ 173 | return precept 174 | 175 | -------------------------------------------------------------------------------- /pygoap/environment2d.py: -------------------------------------------------------------------------------- 1 | """ 2 | Since a pyGOAP agent relies on cues from the environment when planning, having 3 | a stable and efficient virtual environment is paramount. This environment is 4 | simply a placeholder and demonstration. 5 | 6 | When coding your game or simulation, you can think of the environment as the 7 | conduit that connects your actors on screen to their simulated thoughts. This 8 | environment simply provides enough basic information to the agents to work. It 9 | is up to you to make it useful. 10 | """ 11 | 12 | from agent import GoapAgent 13 | from environment import Environment 14 | from pathfinding.astar import search, Node 15 | from precepts import * 16 | import random, math 17 | 18 | 19 | 20 | def distance((ax, ay), (bx, by)): 21 | "The distance between two (x, y) points." 22 | return math.hypot((ax - bx), (ay - by)) 23 | 24 | def distance2((ax, ay), (bx, by)): 25 | "The square of the distance between two (x, y) points." 26 | return (ax - bx)**2 + (ay - by)**2 27 | 28 | def clip(vector, lowest, highest): 29 | """Return vector, except if any element is less than the corresponding 30 | value of lowest or more than the corresponding value of highest, clip to 31 | those values. 32 | >>> clip((-1, 10), (0, 0), (9, 9)) 33 | (0, 9) 34 | """ 35 | return type(vector)(map(min, map(max, vector, lowest), highest)) 36 | 37 | 38 | class Pathfinding2D(object): 39 | def get_surrounding(self, position): 40 | """ 41 | Return all positions around this one. 42 | """ 43 | x, y = position 44 | 45 | return ((x-1, y-1), (x-1, y), (x-1, y+1), (x, y-1), (x, y+1), 46 | (x+1, y-1), (x+1, y), (x+1, y+1)) 47 | 48 | def calc_h(self, position1, position2): 49 | return distance(position1, position2) 50 | 51 | def factory(self, position): 52 | 53 | # EPIC HACK 54 | # fix this when position conventions are standardized 55 | try: 56 | if len(position[1]) == 2: 57 | x, y = position[1] 58 | else: 59 | x, y = position 60 | except TypeError: 61 | x, y = position 62 | 63 | return Node((x, y)) 64 | 65 | 66 | class XYEnvironment(Environment, Pathfinding2D): 67 | """ 68 | This class is for environments on a 2D plane. 69 | 70 | This class is featured enough to run a simple simulation. 71 | """ 72 | 73 | def __init__(self, width=10, height=10): 74 | super(XYEnvironment, self).__init__() 75 | self._positions = {} 76 | self.width = width 77 | self.height = height 78 | 79 | def add(self, entity): 80 | super(XYEnvironment, self).add(entity) 81 | self.set_position(entity, self.default_position()) 82 | 83 | def set_position(self, entity, position): 84 | self._positions[entity] = position 85 | 86 | def get_position(self, entity): 87 | return self._positions[entity] 88 | 89 | def model_vision(self, precept, origin, terminus): 90 | return precept 91 | 92 | def model_sound(self, precept, origin, terminus): 93 | return precept 94 | 95 | def look(self, parent, direction=None, distance=None): 96 | """ 97 | Simulate vision by sending precepts to the parent. 98 | """ 99 | 100 | model = self.model_precept 101 | 102 | for entity in self.entities: 103 | parent.process( 104 | model( 105 | PositionPrecept( 106 | entity, self.get_position(entity)), 107 | parent 108 | ) 109 | ) 110 | 111 | def objects_at(self, position): 112 | """ 113 | Return all objects exactly at a given position. 114 | """ 115 | 116 | return [ obj for obj in self.entitys if obj.position == position ] 117 | 118 | def objects_near(self, position, radius): 119 | """ 120 | Return all objects within radius of position. 121 | """ 122 | 123 | radius2 = radius * radius 124 | return [ obj for obj in self.entitys 125 | if distance2(position, obj.position) <= radius2 ] 126 | 127 | def default_position(self): 128 | loc = (random.randint(0, self.width), random.randint(0, self.height)) 129 | return (self, loc) 130 | 131 | def model_precept(self, precept, other): 132 | return precept 133 | 134 | def can_move_from(self, agent, dist=100): 135 | """ 136 | return a list of positions that are possible for this agent to be 137 | in if it were to move [dist] spaces or less. 138 | """ 139 | 140 | x, y = agent.environment.get_position(agent)[1] 141 | pos = [] 142 | 143 | for xx in xrange(x - dist, x + dist): 144 | for yy in xrange(y - dist, y + dist): 145 | if distance2((xx, yy), (x, y)) <= dist: 146 | pos.append((self, (xx, yy))) 147 | 148 | return pos 149 | 150 | def pathfind(self, start, finish): 151 | """ 152 | return a path from start to finish 153 | """ 154 | 155 | return search(start, finish, self.factory) 156 | -------------------------------------------------------------------------------- /pygoap/goals.py: -------------------------------------------------------------------------------- 1 | """ 2 | Goals in the context of a pyGOAP agent give the planner some direction when 3 | planning. Goals are known to the agent and are constantly monitored and 4 | evaluated. The agent will attempt to choose the most relevant goal for it's 5 | state (determined by the blackboard) and then the planner will determine a 6 | plan for the agent to follow that will (possibly) satisfy the chosen goal. 7 | 8 | See the modules effects.py and goals.py to see how these are used. 9 | 10 | test() should return a float from 0-1 on how successful the action would be 11 | if carried out with the given state of the memory. 12 | 13 | touch() should modify a memory in some meaningful way as if the action was 14 | finished successfully. 15 | """ 16 | 17 | from memory import MemoryManager 18 | from environment2d import distance 19 | from precepts import * 20 | import sys, logging 21 | 22 | debug = logging.debug 23 | 24 | 25 | 26 | class GoalBase(object): 27 | """ 28 | Goals: 29 | can be tested 30 | can be relevant 31 | 32 | Goals, ActionPrereqs and ActionEffects are now that same class. They share 33 | so much functionality that they have been combined into one class. 34 | 35 | The only difference is how they are used. If a goal is used by the planner 36 | then that will be the final point of the plan. if it is used in 37 | conjunction with an action, then it will function as a prereq. 38 | """ 39 | 40 | def __init__(self, *args, **kwargs): 41 | try: 42 | self.condition = args[0] 43 | except IndexError: 44 | self.condition = None 45 | 46 | self.weight = 1.0 47 | self.args = args 48 | self.kw = kwargs 49 | 50 | def touch(self, memory): 51 | pass 52 | 53 | def test(self, memory): 54 | pass 55 | 56 | def get_relevancy(self, memory): 57 | """ 58 | will return the "relevancy" value for this goal/prereq. 59 | 60 | as a general rule, the return value here should never equal 61 | what is returned from test() 62 | """ 63 | score = 1 - self.test(memory) 64 | return self.weight * score 65 | 66 | def self_test(self): 67 | """ 68 | make sure the goal is sane 69 | """ 70 | memory = MemoryManager() 71 | self.touch(memory) 72 | assert self.test(memory) == 1.0 73 | 74 | def __repr__(self): 75 | return "<{}>".format(self.__class__.__name__) 76 | 77 | 78 | class SimpleGoal(GoalBase): 79 | def test(self, memory): 80 | total = 0.0 81 | for precept in memory: 82 | for item in self.kw.items(): 83 | if precept == item: 84 | total += 1 85 | return total / len(self.kw) 86 | 87 | def touch(self, memory): 88 | for item in self.kw.items(): 89 | memory.add(DatumPrecept(*item)) 90 | 91 | def __repr__(self): 92 | return "<{}=\"{}\">".format(self.__class__.__name__, self.kw) 93 | 94 | 95 | class EvalGoal(GoalBase): 96 | """ 97 | uses what i think is a somewhat safe way of evaluating python statements. 98 | 99 | feel free to contact me if you have a better way 100 | """ 101 | 102 | def test(self, memory): 103 | condition = self.args[0] 104 | 105 | # this only works for simple expressions 106 | cmpop = (">", "<", ">=", "<=", "==") 107 | 108 | i = 0 109 | index = 0 110 | expr = condition.split() 111 | while index == 0: 112 | try: 113 | index = expr.index(cmpop[i]) 114 | except: 115 | i += 1 116 | if i > 5: break 117 | 118 | try: 119 | side0 = float(eval(" ".join(expr[:index]), memory)) 120 | side1 = float(eval(" ".join(expr[index+1:]), memory)) 121 | except NameError: 122 | return 0.0 123 | 124 | cmpop = cmpop[i] 125 | 126 | if (cmpop == ">") or (cmpop == ">="): 127 | if side0 == side1: 128 | return 1.0 129 | elif side0 > side1: 130 | v = side0 / side1 131 | elif side0 < side1: 132 | if side0 == 0: 133 | return 0.0 134 | else: 135 | v = 1 - ((side1 - side0) / side1) 136 | 137 | if v > 1: v = 1.0 138 | if v < 0: v = 0.0 139 | 140 | return v 141 | 142 | def touch(self, memory): 143 | def do_it(expr, d): 144 | try: 145 | exec expr in d 146 | except NameError as detail: 147 | name = detail[0].split()[1].strip('\'') 148 | d[name] = 0 149 | do_it(expr, d) 150 | 151 | return d 152 | 153 | d = {} 154 | d['__builtins__'] = None 155 | 156 | for k, v in d.items(): 157 | if k == '__builtins__': 158 | continue 159 | 160 | memory.add(DatumPrecept(k, v)) 161 | 162 | return True 163 | 164 | 165 | class AlwaysValidGoal(GoalBase): 166 | """ 167 | Will always be valid. 168 | """ 169 | 170 | def test(self, memory): 171 | return 1.0 172 | 173 | 174 | class NeverValidGoal(GoalBase): 175 | """ 176 | Will never be valid. 177 | """ 178 | 179 | def test(self, memory): 180 | return 0.0 181 | 182 | 183 | class PositionGoal(GoalBase): 184 | """ 185 | This validator is for finding the position of objects. 186 | """ 187 | 188 | def test(self, memory): 189 | """ 190 | search memory for last known position of the target 191 | if target is not in agent's memory then return 0.0. 192 | 193 | do pathfinding and determine if the target is accessible 194 | if not return 0.0 195 | 196 | Determine the distance required to travel to the target 197 | return 1.0 if the target is reachable 198 | """ 199 | 200 | target = self.args[0] 201 | target_position = None 202 | 203 | debug("[PositionGoal] testing %s", self.args) 204 | 205 | # find where the target is, according to the memory 206 | for precept in memory.of_class(PositionPrecept): 207 | if precept.entity is target: 208 | target_position = precept.position 209 | break 210 | 211 | if target_position == self.args[1]: 212 | return 1.0 213 | 214 | else: 215 | 216 | d = distance(position, target_position) 217 | if d > self.dist: 218 | return (float(self.dist / d)) * float(self.dist) 219 | elif d <= self.dist: 220 | return 1.0 221 | else: 222 | return 0.0 223 | 224 | def touch(self, memory): 225 | memory.add(PositionPrecept(self.args[0], self.args[1])) 226 | 227 | 228 | class HasItemGoal(GoalBase): 229 | """ 230 | returns true if item is in inventory (according to memory) 231 | 232 | when creating instance, 'owner' must be passed as a keyword. 233 | its value can be any game object that is capable of holding an object 234 | 235 | NOTE: testing can be true to many different objects, 236 | but touching requires a specific object to function 237 | 238 | any other keyword will be evaluated against precepts in the memory passed. 239 | """ 240 | 241 | def test(self, memory): 242 | for precept in memory.of_class(PositionPrecept): 243 | if (precept.position[0] == 'self' and 244 | precept.entity == self.args[0]): 245 | return 1.0 246 | 247 | return 0.0 248 | 249 | def touch(self, memory): 250 | memory.add(PositionPrecept(self.args[0], ('self', 0))) 251 | -------------------------------------------------------------------------------- /pygoap/memory.py: -------------------------------------------------------------------------------- 1 | """ 2 | Memories are stored precepts. 3 | """ 4 | 5 | 6 | 7 | class MemoryManager(set): 8 | """ 9 | Store and manage precepts. 10 | 11 | shared blackboards violate reality in that multiple agents share the same 12 | thoughts, to extend the metaphore. but, the advantage of this is that in 13 | a real-time simulation, it gives the player the impression that the agents 14 | are able to collobroate in some meaningful way, without a significant 15 | impact in performace. 16 | 17 | that being said, i have chosen to restrict blackboards to a per-agent 18 | basis. this library is meant for rpgs, where the action isn't real-time 19 | and would require a more realistic simulation of intelligence. 20 | """ 21 | 22 | def add(self, other): 23 | if len(self) > 20: 24 | self.pop() 25 | super(MemoryManager, self).add(other) 26 | 27 | def of_class(self, klass): 28 | for i in self: 29 | if isinstance(i, klass): 30 | yield i 31 | 32 | -------------------------------------------------------------------------------- /pygoap/planning.py: -------------------------------------------------------------------------------- 1 | from memory import MemoryManager 2 | from actionstates import * 3 | from actions import * 4 | 5 | from heapq import heappop, heappush, heappushpop 6 | from itertools import permutations, chain 7 | import logging 8 | import sys 9 | 10 | debug = logging.debug 11 | 12 | 13 | 14 | def get_children(parent0, parent, builders): 15 | def get_used_class(node): 16 | while node.parent is not None: 17 | yield node.builder 18 | node = node.parent 19 | 20 | used_class = set(get_used_class(parent)) 21 | 22 | for builder in builders: 23 | if builder in used_class: 24 | continue 25 | 26 | for action in builder(parent0, parent.memory): 27 | node = PlanningNode(parent, builder, action) 28 | yield node 29 | 30 | 31 | def calcG(node): 32 | cost = node.cost 33 | while not node.parent == None: 34 | node = node.parent 35 | cost += node.cost 36 | return cost 37 | 38 | 39 | class PlanningNode(object): 40 | """ 41 | """ 42 | 43 | def __init__(self, parent, builder, action, memory=None): 44 | self.parent = parent 45 | self.builder = builder 46 | self.action = action 47 | self.memory = MemoryManager() 48 | self.delta = MemoryManager() 49 | #self.cost = action.calc_cost() 50 | self.cost = 1 51 | self.g = calcG(self) 52 | self.h = 1 53 | 54 | if parent: 55 | self.memory.update(parent.memory) 56 | 57 | elif memory: 58 | self.memory.update(memory) 59 | 60 | action.touch(self.memory) 61 | action.touch(self.delta) 62 | 63 | def __eq__(self, other): 64 | if isinstance(other, PlanningNode): 65 | return self.delta == other.delta 66 | else: 67 | return False 68 | 69 | def __repr__(self): 70 | if self.parent: 71 | return "" % \ 72 | (self.action.__class__.__name__, 73 | self.cost, 74 | self.parent.action.__class__.__name__) 75 | 76 | else: 77 | return "" % \ 78 | (self.action.__class__.__name__, 79 | self.cost) 80 | 81 | 82 | def plan(parent, builders, start_action, start_memory, goal): 83 | """ 84 | Return a list of builders that could be called to satisfy the goal. 85 | Cannot duplicate builders in the plan 86 | """ 87 | 88 | # the pushback is used to limit node access in the heap 89 | pushback = None 90 | keyNode = PlanningNode(None, None, start_action, start_memory) 91 | openlist = [(0, keyNode)] 92 | closedlist = [] 93 | 94 | debug("[plan] solve %s starting from %s", goal, start_action) 95 | debug("[plan] memory supplied is %s", start_memory) 96 | 97 | success = False 98 | while openlist or pushback: 99 | 100 | # get the best node and remove it from the openlist 101 | if pushback is None: 102 | keyNode = heappop(openlist)[1] 103 | else: 104 | keyNode = heappushpop(openlist, 105 | (pushback.g + pushback.h, pushback))[1] 106 | pushback = None 107 | 108 | # if our goal is satisfied, then stop 109 | if goal.test(keyNode.memory): 110 | success = True 111 | debug("[plan] successful %s", keyNode.action) 112 | break 113 | 114 | for child in get_children(parent, keyNode, builders): 115 | if child in openlist: 116 | possG = keyNode.g + child.cost 117 | if (possG < child.g): 118 | child.parent = keyNode 119 | child.g = calcG(child) 120 | # TODO: update the h score 121 | else: 122 | # add node to our openlist, using pushpack if needed 123 | if pushback is None: 124 | heappush(openlist, (child.g + child.h, child)) 125 | else: 126 | heappush(openlist, (pushback.g + pushback.h, pushback)) 127 | pushback = child 128 | 129 | if success: 130 | path = [keyNode.action] 131 | while keyNode.parent is not None: 132 | keyNode = keyNode.parent 133 | path.append(keyNode.action) 134 | 135 | return path 136 | 137 | else: 138 | return [] 139 | 140 | 141 | -------------------------------------------------------------------------------- /pygoap/precepts.py: -------------------------------------------------------------------------------- 1 | """ 2 | Contains a set of useful precept types for use with an environment. 3 | """ 4 | 5 | from collections import namedtuple as nt 6 | 7 | 8 | # used to remember where entities are 9 | PositionPrecept = nt('PositionPrecept', 'entity, position') 10 | 11 | # used to remember what the time is 12 | TimePrecept = nt('TimePrecept', 'time') 13 | 14 | # used to remember a single piece of data 15 | DatumPrecept = nt('DatumPrecept', 'name, value') 16 | -------------------------------------------------------------------------------- /pygoap/tiledenvironment.py: -------------------------------------------------------------------------------- 1 | from environment2d import XYEnvironment 2 | import tmxloader 3 | from pygame import Surface 4 | 5 | 6 | 7 | class TiledEnvironment(XYEnvironment): 8 | """ 9 | Environment that can use Tiled Maps 10 | """ 11 | 12 | def __init__(self, filename): 13 | self.filename = filename 14 | self.tiledmap = tmxloader.load_pygame(self.filename) 15 | 16 | super(TiledEnvironment, self).__init__() 17 | 18 | def render(self, surface): 19 | # not going for effeciency here 20 | 21 | for l in xrange(0, len(self.tiledmap.layers)): 22 | for y in xrange(0, self.tiledmap.height): 23 | for x in xrange(0, self.tiledmap.width): 24 | tile = self.tiledmap.getTileImage(x, y, l) 25 | xx = x * self.tiledmap.tilewidth 26 | yy = y * self.tiledmap.tileheight 27 | if not tile == 0: 28 | surface.blit(tile, (xx, yy)) 29 | 30 | for t in self.entities: 31 | env, (x, y) = self.get_position(t) 32 | x *= self.tiledmap.tilewidth 33 | y *= self.tiledmap.tileheight 34 | 35 | s = Surface((self.tiledmap.tilewidth, self.tiledmap.tileheight)) 36 | s.fill((128,0,0)) 37 | 38 | surface.blit(s, (x, y)) 39 | 40 | def __repr__(self): 41 | return "T-Env" 42 | 43 | -------------------------------------------------------------------------------- /test.py: -------------------------------------------------------------------------------- 1 | """ 2 | lets make a drunk pirate. 3 | 4 | scenerio: 5 | the pirate begins by idling 6 | soon....he spies rum... 7 | 8 | he should attempt to get drunk... 9 | ...any way he knows how. 10 | """ 11 | 12 | __version__ = ".013" 13 | 14 | from pygoap.agent import GoapAgent 15 | from pygoap.environment import ObjectBase 16 | from pygoap.tiledenvironment import TiledEnvironment 17 | from pygoap.goals import * 18 | import os, imp, sys 19 | 20 | from pygame.locals import * 21 | 22 | import logging 23 | logging.basicConfig(level=00) 24 | 25 | 26 | 27 | stdout = sys.stdout 28 | global_actions = {} 29 | 30 | 31 | # somewhat hackish way to load actions (they are in the npcs/pirate folder) 32 | def load_commands(agent, path): 33 | mod = imp.load_source("actions", os.path.join(path, "actions.py")) 34 | global_actions = dict([ (c.__name__, c()) for c in mod.exported_actions ]) 35 | 36 | for k, v in global_actions.items(): 37 | print "testing action {}...".format(v) 38 | 39 | [ agent.add_action(a) for a in global_actions.values() ] 40 | 41 | 42 | # precept filter for the pirate to search for females 43 | def is_female(precept): 44 | try: 45 | thing = precept.thing 46 | except AttributeError: 47 | return False 48 | else: 49 | if isinstance(thing, Human): 50 | return thing.gender == "Female" 51 | 52 | # subclass the basic GoapAgent class to give them gender and names 53 | class Human(GoapAgent): 54 | def __init__(self, gender, name="welp"): 55 | super(Human, self).__init__() 56 | self.gender = gender 57 | self.name = name 58 | 59 | def __repr__(self): 60 | return "" % self.gender 61 | 62 | 63 | def run_once(): 64 | import pygame 65 | 66 | pygame.init() 67 | screen = pygame.display.set_mode((480, 480)) 68 | pygame.display.set_caption('Pirate Island') 69 | 70 | screen_buf = pygame.Surface((240, 240)) 71 | 72 | # make our little cove is a Tiled TMX map 73 | formosa = TiledEnvironment("formosa.tmx") 74 | 75 | time = 0 76 | interactive = 1 77 | 78 | run = True 79 | while run: 80 | stdout.write("=============== STEP {} ===============\n".format(time)) 81 | 82 | formosa.run(1) 83 | 84 | 85 | # for the demo, we add items at different timesteps to debug and monitor 86 | # changes in the planner 87 | 88 | # add the pirate 89 | if time == 1: 90 | pirate = Human("Male", "jack") 91 | load_commands(pirate, os.path.join("npc", "pirate")) 92 | 93 | # give the pirate a goal that makes him want to get drunk 94 | pirate.add_goal(SimpleGoal(is_drunk=True)) 95 | 96 | # this goal forces the agent to scan the environment if something 97 | # changes. think of it as 'desire to be aware of the surroundings' 98 | pirate.add_goal(SimpleGoal(aware=True)) 99 | 100 | formosa.add(pirate) 101 | 102 | # positions are a tuple: (container, (x, y)) 103 | # this allows for objects to hold other objects 104 | formosa.set_position(pirate, (formosa, (0,0))) 105 | 106 | elif time == 3: 107 | 108 | # create rum and add it 109 | rum = ObjectBase("rum") 110 | formosa.add(rum) 111 | formosa.set_position(rum, (formosa, (2,5))) 112 | 113 | elif time == 6: 114 | 115 | # create a woman and add her 116 | wench = Human("Female", "wench") 117 | formosa.add(wench) 118 | 119 | if time >= 1: 120 | if pirate.condition('drunk'): 121 | print "YAY! A drunk pirate is a happy pirate!" 122 | print "Test concluded" 123 | 124 | # clear the screen and paint the map 125 | screen_buf.fill((0,128,255)) 126 | formosa.render(screen_buf) 127 | pygame.transform.scale2x(screen_buf, screen) 128 | pygame.display.flip() 129 | 130 | stdout.write("\nPRESS ANY KEY TO CONTINUE".format(time)) 131 | stdout.flush() 132 | 133 | # wait for a keypress 134 | try: 135 | if interactive: 136 | event = pygame.event.wait() 137 | else: 138 | event = pygame.event.poll() 139 | while event: 140 | if event.type == QUIT: 141 | run = False 142 | break 143 | 144 | if event.type == KEYDOWN: 145 | if event.key == K_ESCAPE: 146 | run = False 147 | break 148 | 149 | if not interactive: break 150 | 151 | if event.type == KEYUP: break 152 | 153 | if interactive: 154 | event = pygame.event.wait() 155 | else: 156 | event = pygame.event.poll() 157 | 158 | except KeyboardInterrupt: 159 | run = False 160 | 161 | stdout.write("\n\n"); 162 | time += 1 163 | 164 | if time == 32: run = False 165 | 166 | 167 | if __name__ == "__main__": 168 | import cProfile 169 | import pstats 170 | 171 | try: 172 | cProfile.run('run_once()', "pirate.prof") 173 | except KeyboardInterrupt: 174 | pass 175 | 176 | p = pstats.Stats("pirate.prof") 177 | p.strip_dirs() 178 | p.sort_stats('time').print_stats(20, "^((?!pygame).)*$") 179 | p.sort_stats('time').print_stats(20) 180 | -------------------------------------------------------------------------------- /tmxloader.py: -------------------------------------------------------------------------------- 1 | """ 2 | Map loader for TMX Files 3 | bitcraft (leif dot theden at gmail.com) 4 | v.13 - for python 2.7 5 | 6 | If you have any problems or suggestions, please contact me via email. 7 | Tested with Tiled 0.8.0 for Mac. 8 | 9 | released under the GPL v3 10 | 11 | =============================================================================== 12 | 13 | This map loader can be used to load maps created in the Tiled map editor. It 14 | provides a simple way to get tiles and associated metadata so that you can draw 15 | a map onto the screen. 16 | 17 | This is *not* a rendering engine. It will load the data that is necessary to 18 | render a map onto the screen. All tiles will be loaded into in memory and 19 | available to blit onto the screen. 20 | 21 | 22 | Design Goals: 23 | Simple api 24 | Memory efficient and fast 25 | 26 | Features: 27 | Loads data and "properties" metadata from Tile's TMX format 28 | "Properties" for: maps, tilesets, layers, objectgroups, objects, and tiles 29 | Automatic flipping and rotation of tiles 30 | Supports base64, csv, gzip, zlib and uncompressed TMX 31 | Image loading with pygame 32 | 33 | Missing: 34 | Polyline (new in 0.8.0) 35 | Polygon (new in 0.8.0) 36 | 37 | 38 | New in .13: 39 | loader: Removed duplicates returned from getTilePropertiesByLayer 40 | loader: Modified confusing messages for GID errors 41 | loader: Fixed bug where transformed tile properties are not available 42 | loader: No longer loads metadata for tiles that are not used 43 | loader: Reduced tile cache to 256 unique tiles 44 | loader: Removed 'visible' from list of reserved words 45 | loader: Added 'buildDistributionRects' and maputils module 46 | loader: Added some misc. functions for retrieving properties 47 | pygame: Smarter tile management made tile loading cache useless; removed it 48 | pygame: pygame.RLEACCEL flag added when appropriate 49 | 50 | New in .12: 51 | loader: Fixed bug where tile properties could contain reserved words 52 | loader: Reduced size of image index by only allocating space for used tiles 53 | 54 | New in .11: 55 | loader: Added support for tileset properties 56 | loader: Now checks for property names that are reserved for internal use 57 | loader: Added support for rotated tiles 58 | pygame: Only the tiles that are used in the map will be loaded into memory 59 | pygame: Added support for rotated tiles 60 | pygame: Added option to force a bitsize (depth) for surfaces 61 | pygame: Added option to convert alpha transparency to colorkey transparency 62 | pygame: Tilesets no longer load with per-pixel alphas by default 63 | pygame: Colorkey transparency should be correctly handled now 64 | 65 | 66 | NOTES: 67 | 68 | * The Tiled "properties" have reserved names. 69 | 70 | If you use "properties" for any of the following object types, you cannot use 71 | any of theese words as a name for your property. A ValueError will be raised 72 | if there are any conflicts. 73 | 74 | As of 0.8.0, these values are: 75 | 76 | map: version, orientation, width, height, tilewidth, tileheight 77 | properties, tileset, layer, objectgroup 78 | 79 | tileset: firstgid, source, name, tilewidth, tileheight, spacing, margin, 80 | image, tile, properties 81 | 82 | tile: id, image, properties 83 | 84 | layer: name, x, y, width, height, opacity, properties, data 85 | 86 | objectgroup: name, color, x, y, width, height, opacity, object, properties 87 | 88 | object: name, type, x, y, width, height, gid, properties, polygon, 89 | polyline, image 90 | 91 | 92 | 93 | I have been intentionally not including a rendering utility since rendering a 94 | map will not be the same in every situation. However, I can appreciate that 95 | some poeple won't understand how it works unless they see it, so I am including 96 | a sample map and viewer. 97 | 98 | I've included a copy of this loader that may work with python 3.x. I 99 | personally do not think that python 3.x should be used with pygame, yet (and I 100 | am not the only person). You can try it if you insist on using pygame with 101 | python 3.x, but I don't update that often. 102 | 103 | =============================================================================== 104 | 105 | Basic usage sample: 106 | 107 | >>> import tmxloader 108 | >>> tmxdata = tmxloader.load_pygame("map.tmx") 109 | 110 | 111 | When you want to draw tiles, you simply call "get_tile_image": 112 | 113 | >>> image = tmxdata.get_tile_image(x, y, layer) 114 | >>> screen.blit(position, image) 115 | 116 | 117 | Maps, tilesets, layers, objectgroups, and objects all have a simple way to 118 | access metadata that was set inside tiled: they all become object attributes. 119 | 120 | >>> layer = tmxdata.layers[0] 121 | >>> print layer.tilewidth 122 | 32 123 | >>> print layer.weather 124 | 'sunny' 125 | 126 | 127 | Tiles properties are the exception here, and must be accessed through 128 | "getTileProperties". The data is a regular Python dictionary: 129 | 130 | >>> tile = tmxdata.getTileProperties(x, y, layer) 131 | >>> tile["name"] 132 | 'CobbleStone' 133 | 134 | """ 135 | 136 | from itertools import chain, product 137 | 138 | 139 | # internal flags 140 | TRANS_FLIPX = 1 141 | TRANS_FLIPY = 2 142 | TRANS_ROT = 4 143 | 144 | 145 | # Tiled gid flags 146 | GID_TRANS_FLIPX = 1<<31 147 | GID_TRANS_FLIPY = 1<<30 148 | GID_TRANS_ROT = 1<<29 149 | 150 | 151 | class TiledElement(object): 152 | pass 153 | 154 | class TiledMap(TiledElement): 155 | """ 156 | not really useful unless "loaded" ie: don't instance directly. 157 | see the pygame loader for inspiration 158 | 159 | In the interest of memory consumption, this loader ignores any tiles that 160 | are never actually displayed on the map. As a consequence, the GID's that 161 | are stored in Tiled and the TMX format will not be the same in most cases. 162 | """ 163 | 164 | reserved = "version orientation width height tilewidth tileheight properties tileset layer objectgroup".split() 165 | 166 | 167 | def __init__(self): 168 | from collections import defaultdict 169 | 170 | TiledElement.__init__(self) 171 | self.layers = [] # list of all layers 172 | self.tilesets = [] # list of TiledTileset objects 173 | self.tilelayers = [] # list of TiledLayer objects 174 | self.objectgroups = [] # list of TiledObjectGroup objects 175 | self.tile_properties = {} # dict of tiles that have metadata 176 | self.gidmap = {} # mapping between gid that are loaded 177 | self.filename = None 178 | 179 | self.visibleTileLayers = [] # list of tile layers that should be drawn 180 | 181 | # should be filled in by a loader function 182 | self.images = [] 183 | 184 | # defaults from the TMX specification 185 | self.version = 0.0 186 | self.orientation = None 187 | self.width = 0 188 | self.height = 0 189 | self.tilewidth = 0 190 | self.tileheight = 0 191 | 192 | self.transgids = defaultdict(list) # keep record of tiles to modify 193 | self.imagemap = {} # mapping of gid and trans flags to real gids 194 | self.loadgids = [] # gids that should be loaded for display 195 | self.maxgid = 1 196 | 197 | 198 | def getTileImage(self, x, y, layer): 199 | """ 200 | return the tile image for this location 201 | x and y must be integers and are in tile coordinates, not pixel 202 | 203 | return value will be 0 if there is no tile with that location. 204 | """ 205 | 206 | try: 207 | gid = self.tilelayers[int(layer)].data[int(y)][int(x)] 208 | except (IndexError, ValueError): 209 | msg = "Coords: ({0},{1}) in layer {2} is invalid." 210 | raise Exception, msg.format(x, y, layer) 211 | except TypeError: 212 | msg = "Tiles must be specified in integers." 213 | raise TypeError, msg 214 | 215 | else: 216 | try: 217 | return self.images[gid] 218 | except (IndexError, ValueError): 219 | msg = "Coords: ({0},{1}) in layer {2} has invaid GID: {3}" 220 | raise Exception, msg.format(x, y, layer, gid) 221 | 222 | 223 | def getTileGID(self, x, y, layer): 224 | """ 225 | return GID of a tile in this location 226 | x and y must be integers and are in tile coordinates, not pixel 227 | """ 228 | 229 | try: 230 | return self.tilelayers[int(layer)].data[int(y)][int(x)] 231 | except (IndexError, ValueError): 232 | msg = "Coords: ({0},{1}) in layer {2} is invalid" 233 | raise Exception, msg.format(x, y, layer) 234 | 235 | 236 | def getDrawOrder(self): 237 | """ 238 | return a list of objects in the order that they should be drawn 239 | this will also exclude any layers that are not set to visible 240 | 241 | may be useful if you have objects and want to control rendering 242 | from tiled 243 | """ 244 | 245 | raise NotImplementedError 246 | 247 | 248 | def getTileImages(self, r, layer): 249 | """ 250 | return a group of tiles in an area 251 | expects a pygame rect or rect-like list/tuple 252 | 253 | usefull if you don't want to repeatedly call get_tile_image 254 | """ 255 | 256 | raise NotImplementedError 257 | 258 | 259 | def getObjects(self): 260 | """ 261 | Return iterator of all the objects associated with this map 262 | """ 263 | 264 | return chain(*[ i.objects for i in self.objectgroups ]) 265 | 266 | 267 | def getTileProperties(self, (x, y, layer)): 268 | """ 269 | return the properties for the tile, if any 270 | x and y must be integers and are in tile coordinates, not pixel 271 | 272 | returns a dict of there are properties, otherwise will be None 273 | """ 274 | 275 | try: 276 | gid = self.tilelayers[int(layer)].data[int(y)][int(x)] 277 | except (IndexError, ValueError): 278 | msg = "Coords: ({0},{1}) in layer {2} is invalid." 279 | raise Exception, msg.format(x, y, layer) 280 | 281 | else: 282 | try: 283 | return self.tile_properties[gid] 284 | except (IndexError, ValueError): 285 | msg = "Coords: ({0},{1}) in layer {2} has invaid GID: {3}" 286 | raise Exception, msg.format(x, y, layer, gid) 287 | except KeyError: 288 | return None 289 | 290 | 291 | def getLayerData(self, layer): 292 | """ 293 | Return the data for a layer. 294 | 295 | Data is an array of arrays. 296 | 297 | pos = data[y][x] 298 | """ 299 | 300 | try: 301 | return self.tilelayers[layer].data 302 | except IndexError: 303 | msg = "Layer {} does not exist." 304 | raise ValueError, msg.format(layer) 305 | 306 | 307 | def getTileLocation(self, gid): 308 | # experimental way to find locations of a tile by the GID 309 | 310 | p = product(xrange(self.width), 311 | xrange(self.height), 312 | xrange(len(self.tilelayers))) 313 | 314 | return [ (x,y,l) for (x,y,l) in p 315 | if self.tilelayers[l].data[y][x] == gid ] 316 | 317 | 318 | def getTilePropertiesByGID(self, gid): 319 | try: 320 | return self.tile_properties[gid] 321 | except KeyError: 322 | return None 323 | 324 | 325 | def getTilePropertiesByLayer(self, layer): 326 | """ 327 | Return a list of tile properties (dict) in use in this tile layer. 328 | """ 329 | 330 | try: 331 | layer = int(layer) 332 | except: 333 | msg = "Layer must be an integer" 334 | raise ValueError, msg 335 | 336 | p = product(range(self.width),range(self.height)) 337 | layergids = set( self.tilelayers[layer].data[y][x] for x, y in p ) 338 | 339 | props = [] 340 | for gid in layergids: 341 | try: 342 | props.append((gid, self.tile_properties[gid])) 343 | except: 344 | continue 345 | 346 | return props 347 | 348 | 349 | def loadTileImages(self, filename): 350 | raise NotImplementedError 351 | 352 | 353 | # the following classes get their attributes filled in with the loader 354 | 355 | class TiledTileset(TiledElement): 356 | reserved = "firstgid source name tilewidth tileheight spacing margin image tile properties".split() 357 | 358 | def __init__(self): 359 | TiledElement.__init__(self) 360 | self.lastgid = 0 361 | 362 | # defaults from the specification 363 | self.firstgid = 0 364 | self.source = None 365 | self.name = None 366 | self.tilewidth = 0 367 | self.tileheight = 0 368 | self.spacing = 0 369 | self.margin = 0 370 | 371 | class TiledLayer(TiledElement): 372 | reserved = "name x y width height opacity properties data".split() 373 | 374 | def __init__(self): 375 | TiledElement.__init__(self) 376 | self.data = None 377 | 378 | # defaults from the specification 379 | self.name = None 380 | self.opacity = 1.0 381 | self.visible = True 382 | 383 | class TiledObjectGroup(TiledElement): 384 | reserved = "name color x y width height opacity object properties".split() 385 | 386 | def __init__(self): 387 | TiledElement.__init__(self) 388 | self.objects = [] 389 | 390 | # defaults from the specification 391 | self.name = None 392 | 393 | class TiledObject(TiledElement): 394 | __slots__ = "reserved name type x y width height gid".split() 395 | reserved = "name type x y width height gid properties polygon polyline image".split() 396 | 397 | def __init__(self): 398 | TiledElement.__init__(self) 399 | 400 | # defaults from the specification 401 | self.name = None 402 | self.type = None 403 | self.x = 0 404 | self.y = 0 405 | self.width = 0 406 | self.height = 0 407 | self.gid = 0 408 | 409 | 410 | def load_tmx(filename, *args, **kwargs): 411 | """ 412 | Utility function to parse a Tiled TMX and return a usable object. 413 | Images will not be loaded, so probably not useful to call this directly 414 | (unless you just want the data). 415 | 416 | See the load_pygame func for an idea of what to do if you want to extend 417 | this further to load images. 418 | """ 419 | 420 | from xml.dom.minidom import parse 421 | from itertools import tee, islice, izip, chain, imap 422 | from collections import defaultdict 423 | from struct import unpack 424 | import array, os 425 | 426 | 427 | def handle_bool(text): 428 | # properly convert strings to a bool 429 | try: 430 | return bool(int(text)) 431 | except: 432 | pass 433 | 434 | try: 435 | text = str(text).lower() 436 | if text == "true": return True 437 | if text == "yes": return True 438 | if text == "no": return False 439 | if text == "false": return False 440 | except: 441 | pass 442 | 443 | raise ValueError 444 | 445 | # used to change the unicode string returned from minidom to 446 | # proper python variable types. 447 | types = defaultdict(lambda: str) 448 | types.update({ 449 | "version": float, 450 | "orientation": str, 451 | "width": int, 452 | "height": int, 453 | "tilewidth": int, 454 | "tileheight": int, 455 | "firstgid": int, 456 | "source": str, 457 | "name": str, 458 | "spacing": int, 459 | "margin": int, 460 | "source": str, 461 | "trans": str, 462 | "id": int, 463 | "opacity": float, 464 | "visible": handle_bool, 465 | "encoding": str, 466 | "compression": str, 467 | "gid": int, 468 | "type": str, 469 | "x": int, 470 | "y": int, 471 | "value": str, 472 | }) 473 | 474 | def pairwise(iterable): 475 | # return a list as a sequence of pairs 476 | a, b = tee(iterable) 477 | next(b, None) 478 | return izip(a, b) 479 | 480 | def group(l, n): 481 | # return a list as a sequence of n tuples 482 | return izip(*[islice(l, i, None, n) for i in xrange(n)]) 483 | 484 | def parse_properties(node): 485 | """ 486 | parse a node and return a dict that represents a tiled "property" 487 | """ 488 | 489 | d = {} 490 | 491 | for child in node.childNodes: 492 | if child.nodeName == "properties": 493 | for subnode in child.getElementsByTagName("property"): 494 | # the "properties" from tiled's tmx have an annoying 495 | # quality that "name" and "value" is included. 496 | # here we mangle it to get that stuff out. 497 | d.update(dict(pairwise( 498 | [str(i.value) for i in subnode.attributes.values()]))) 499 | 500 | return d 501 | 502 | def get_properties(node, reserved=[]): 503 | """ 504 | parses a node and returns a dict that contains the data from the node's 505 | attributes and any data from "property" elements as well. Names will 506 | be checked to make sure that they do not conflict with reserved names. 507 | """ 508 | 509 | d = {} 510 | 511 | # set the attributes that are set by tiled 512 | d.update(get_attributes(node)) 513 | 514 | # set the attributes that are derived from tiled 'properties' 515 | for k,v in parse_properties(node).items(): 516 | if k in reserved: 517 | msg = "The name \"{}\" is reserved cannot be used.\nPlease change the name in Tiled and try again." 518 | raise ValueError, msg.format(k) 519 | 520 | d[k] = v 521 | 522 | return d 523 | 524 | def set_properties(obj, node): 525 | """ 526 | read the xml attributes and tiled "properties" from a xml node and fill 527 | in the values into the object's dictionary. Names will be checked to 528 | make sure that they do not conflict with reserved names. 529 | """ 530 | 531 | # set the attributes from reserved for tiled 532 | [ setattr(obj, k, types[str(k)](v)) 533 | for k,v in get_attributes(node).items() ] 534 | 535 | # set the attributes that are derived from tiled 'properties' 536 | for k,v in parse_properties(node).items(): 537 | if k in obj.reserved: 538 | msg = "{} has a property called \"{}\".\nThis name is reserved for {} objects and can cannot be used.\nPlease change the name in Tiled and try again." 539 | raise ValueError, msg.format(obj.name, k, obj.__class__.__name__) 540 | setattr(obj, k, types[str(k)](v)) 541 | 542 | 543 | def get_attributes(node): 544 | """ 545 | get the attributes from a node and fix them to the correct type 546 | """ 547 | 548 | return dict([ (str(k), types[str(k)](v)) 549 | for (k,v) in node.attributes.items() ]) 550 | 551 | 552 | def decode_gid(raw_gid): 553 | # gid's are encoded with extra information 554 | # as of 0.7.0 it determines if the tile should be flipped when rendered 555 | # as of 0.8.0 bit 30 determines if tip is rotated 556 | 557 | flags = 0 558 | if raw_gid & GID_TRANS_FLIPX == GID_TRANS_FLIPX: flags += TRANS_FLIPX 559 | if raw_gid & GID_TRANS_FLIPY == GID_TRANS_FLIPY: flags += TRANS_FLIPY 560 | if raw_gid & GID_TRANS_ROT == GID_TRANS_ROT: flags += TRANS_ROT 561 | gid = raw_gid & ~(GID_TRANS_FLIPX | GID_TRANS_FLIPY | GID_TRANS_ROT) 562 | 563 | return gid, flags 564 | 565 | 566 | def parse_tileset(node, firstgid=None, mapping=None): 567 | """ 568 | parse a tileset element and return a tileset object and properties for 569 | tiles as a dict 570 | 571 | if mapping is specified, the gid of tiles found will be used as a key, 572 | and will be changed to the value of the key. gids not found in the 573 | dict will not be loaded 574 | """ 575 | 576 | tileset = TiledTileset() 577 | set_properties(tileset, node) 578 | tiles = {} 579 | 580 | if firstgid != None: 581 | tileset.firstgid = firstgid 582 | 583 | # since tile objects [probably] don't have a lot of metadata, 584 | # we store it seperately from the class itself 585 | for child in node.childNodes: 586 | if child.nodeName == "tile": 587 | p = get_properties(child) 588 | gid = p["id"] + tileset.firstgid 589 | if mapping == None: 590 | del p["id"] 591 | tiles[gid] = p 592 | elif isinstance(mapping, dict): 593 | try: 594 | tiles[mapping[gid]] = p 595 | del p["id"] 596 | except KeyError: 597 | pass 598 | else: 599 | msg = "mapping supplied to parse_tileset must be a dict" 600 | raise TypeError, msg 601 | 602 | # check for tiled "external tilesets" 603 | if tileset.source: 604 | if tileset.source[-4:].lower() == ".tsx": 605 | # we need to mangle the path - tiled stores relative paths 606 | dirname = os.path.dirname(filename) 607 | path = os.path.abspath(os.path.join(dirname, tileset.source)) 608 | try: 609 | tsx = parse(path) 610 | except IOError: 611 | msg = "Cannot load external tileset: {}" 612 | raise Exception, msg.format(path) 613 | 614 | tileset_node = tsx.getElementsByTagName("tileset")[0] 615 | tileset, tiles = parse_tileset(tileset_node, \ 616 | tileset.firstgid, mapping) 617 | else: 618 | msg = "Found external tileset, but cannot handle type: {}" 619 | raise Exception, msg.format(tileset.source) 620 | 621 | # if we have an "image" tag, process it here 622 | try: 623 | image_node = node.getElementsByTagName("image")[0] 624 | except IndexError: 625 | pass 626 | else: 627 | attr = get_attributes(image_node) 628 | tileset.source = attr["source"] 629 | tileset.trans = attr.get("trans", None) 630 | 631 | # calculate the number of tiles in this tileset 632 | x, r = divmod(attr["width"], tileset.tilewidth) 633 | y, r = divmod(attr["height"], tileset.tileheight) 634 | 635 | tileset.lastgid = tileset.firstgid + x + y 636 | 637 | return tileset, tiles 638 | 639 | 640 | def parse_layer(tmxdata, node): 641 | """ 642 | parse a layer element 643 | returns a layer object and the gids that are used in it 644 | """ 645 | 646 | layer = TiledLayer() 647 | layer.data = [] 648 | set_properties(layer, node) 649 | 650 | data = None 651 | next_gid = None 652 | 653 | data_node = node.getElementsByTagName("data")[0] 654 | attr = get_attributes(data_node) 655 | 656 | if attr["encoding"] == "base64": 657 | from base64 import decodestring 658 | data = decodestring(data_node.lastChild.nodeValue) 659 | 660 | elif attr["encoding"] == "csv": 661 | next_gid = imap(int, "".join( 662 | [ line.strip() for line in data_node.lastChild.nodeValue ] 663 | ).split(",")) 664 | 665 | elif not attr["encoding"] == None: 666 | msg = "TMX encoding type: {} is not supported." 667 | raise Exception, msg.format(str(attr["encoding"])) 668 | 669 | if attr["compression"] == "gzip": 670 | from StringIO import StringIO 671 | import gzip 672 | with gzip.GzipFile(fileobj=StringIO(data)) as fh: 673 | data = fh.read() 674 | 675 | elif attr["compression"] == "zlib": 676 | try: 677 | import zlib 678 | except: 679 | msg = "Cannot import zlib. Make sure it is installed." 680 | raise Exception, msg 681 | 682 | data = zlib.decompress(data) 683 | 684 | elif not attr["compression"] == None: 685 | msg = "TMX compression type: {} is not supported." 686 | raise Exception, msg.format(str(attr["compression"])) 687 | 688 | # if data is None, then it was not decoded or decompressed, so 689 | # we assume here that it is going to be a bunch of tile elements 690 | # TODO: this will probably raise an exception if there are no tiles 691 | if attr["encoding"] == next_gid == None: 692 | def get_children(parent): 693 | for child in parent.getElementsByTagName("tile"): 694 | yield int(child.getAttribute("gid")) 695 | 696 | next_gid = get_children(data_node) 697 | 698 | elif not data == None: 699 | # data is a list of gid's. cast as 32-bit ints to format properly 700 | next_gid=imap(lambda i:unpack("