Env: Artillery

pufferlib/ocean/artillery/artillery.c

@@ -0,0 +1,78 @@
+#include "artillery.h"
+#include "puffernet.h"
+
+void allocate(Artillery* env) {
+    init(env);
+    int obs_size = 11;
+    env->observations = (float*)calloc(obs_size, sizeof(float));
+    env->actions = (int*)calloc(2, sizeof(int));
+    env->rewards = (float*)calloc(1, sizeof(float));
+    env->terminals = (unsigned char*)calloc(1, sizeof(unsigned char));
+}
+
+void free_allocated(Artillery* env) {
+    free(env->actions);
+    free(env->observations);
+    free(env->terminals);
+    free(env->rewards);
+    c_close(env);
+}
+
+void demo() {
+    Artillery env = {
+        .adj = 0.014364991132735087,
+        .dist_fade = 0.11107816724558334,
+        .frameskip = 1,
+        .miss_penalty = -0.05521742600140713,
+        .max_reward_dist = 44.700659812685586,
+        .max_dist0 = 104.59870905085756,
+        .out_bounds_penalty = -0.1,
+        .turn_penalty = -0.1,
+        .turn_penalty_delay = 98,
+        .render = 1,
+    };
+    allocate(&env);
+
+    env.client = make_client(&env);
+
+    Weights* weights = load_weights("resources/artillery/puffer_artillery_weights.bin", 135051);
+    int logit_sizes[2] = {5, 5};
+    int obs_size = 11;
+    LinearLSTM* net = make_linearlstm(weights, 1, obs_size, logit_sizes, 2);
+
+    c_reset(&env);
+    SetTargetFPS(30);
+    while (!WindowShouldClose()) {
+        if (IsKeyDown(KEY_LEFT_SHIFT)) {
+            env.actions[0] = 4.0f;
+            env.actions[1] = 4.0f;
+
+            if (IsKeyDown(KEY_SPACE)) env.actions[0] = 0;
+            if (IsKeyDown(KEY_W)) env.actions[0] = 1;
+            if (IsKeyDown(KEY_S)) env.actions[0] = 2;
+            if (IsKeyDown(KEY_A)) env.actions[0] = 3;
+            if (IsKeyDown(KEY_D)) env.actions[0] = 4;
+
+            if (IsKeyDown(KEY_ENTER)) env.actions[1] = 0;
+            if (IsKeyDown(KEY_UP)) env.actions[1] = 1;
+            if (IsKeyDown(KEY_DOWN)) env.actions[1] = 2;
+            if (IsKeyDown(KEY_LEFT)) env.actions[1] = 3;
+            if (IsKeyDown(KEY_RIGHT)) env.actions[1] = 4;
+        } else {
+            int discrete_actions[2];
+            forward_linearlstm(net, env.observations, discrete_actions);
+            env.actions[0] = discrete_actions[0];
+            env.actions[1] = discrete_actions[1];
+        }
+        c_step(&env);
+        c_render(&env);
+    }
+    free_linearlstm(net);
+    free(weights);
+    free_allocated(&env);
+    close_client(env.client);
+}
+
+int main() {
+    demo();
+}