""" Maze Example --------------- .. note:: Make sure you have Quanser Interactive Labs open before running this example. This example is designed to be run in the Plane or Warehouse environment. """ from qvl.qlabs import QuanserInteractiveLabs from qvl.free_camera import QLabsFreeCamera from qvl.system import QLabsSystem import numpy as np import random import time from qvl.walls import QLabsWalls # Use the ramdom seed if you want the same maze every time (uncomment the following line) #random.seed(12) # Do you want the walls to be able to fall over if hit? (Maze generation will take slightly longer.) dynamic_walls = False # Maze size maze_x = 10 maze_y = 10 # Initialize constants and variables. We'll use a bit mask to efficiently store multiple # pieces of information inside a single value. North = 0b00001 East = 0b00010 South = 0b00100 West = 0b01000 Unexplored = 0b10000 maze_data = np.ones(shape=(maze_x,maze_y), dtype=int) * (North | East | South | West | Unexplored) # Length of a wall segment plus a bit of padding wall_length = 1.05 def generate_maze(): location = [0, 0] # Mark the first cell as explored and remove the North wall as the entrance to the maze maze_data[0,0] = maze_data[0,0] & (~Unexplored) & (~North) # Start digging through the maze recursively remove_maze_wall(location) # Remove one wall on the South side of the maze maze_data[0,maze_y-1] = maze_data[0,maze_y-1] & (~South) def remove_maze_wall(location): # first pick a random direction (N, S, W, E) (The order helps reduce "easy" solutions to the maze) first_direction = random.randint(0,3) # Check all four compass directions for a valid travel path for direction in range(4): # Offset the direction count by the random direction current_direction = (direction + first_direction) % 4 if (current_direction == 0): if ((location[1] > 0) and (maze_data[location[0], location[1]-1] & Unexplored)): # Remove North wall from the current cell and the South wall of the new cell and mark the new cell as explored maze_data[location[0], location[1]-1] = maze_data[location[0], location[1]-1] & (~Unexplored) maze_data[location[0], location[1]-1] = maze_data[location[0], location[1]-1] & (~South) maze_data[location[0], location[1]] = maze_data[location[0], location[1]] & (~North) remove_maze_wall([location[0], location[1]-1]) elif (current_direction == 1): if ((location[1] < (maze_y-1)) and (maze_data[location[0], location[1]+1] & Unexplored)): # Remove South wall from the current cell and the North wall of the new cell and mark the new cell as explored maze_data[location[0], location[1]+1] = maze_data[location[0], location[1]+1] & (~Unexplored) maze_data[location[0], location[1]+1] = maze_data[location[0], location[1]+1] & (~North) maze_data[location[0], location[1]] = maze_data[location[0], location[1]] & (~South) remove_maze_wall([location[0], location[1]+1]) elif (current_direction == 2): if ((location[0] > 0) and (maze_data[location[0]-1, location[1]] & Unexplored)): # Remove West wall from the current cell and the East wall of the new cell and mark the new cell as explored maze_data[location[0]-1, location[1]] = maze_data[location[0]-1, location[1]] & (~Unexplored) maze_data[location[0]-1, location[1]] = maze_data[location[0]-1, location[1]] & (~East) maze_data[location[0], location[1]] = maze_data[location[0], location[1]] & (~West) remove_maze_wall([location[0]-1, location[1]]) else: if ((location[0] < (maze_x-1)) and (maze_data[location[0]+1, location[1]] & Unexplored)): # Remove East wall from the current cell and the West wall of the new cell and mark the new cell as explored maze_data[location[0]+1, location[1]] = maze_data[location[0]+1, location[1]] & (~Unexplored) maze_data[location[0]+1, location[1]] = maze_data[location[0]+1, location[1]] & (~West) maze_data[location[0], location[1]] = maze_data[location[0], location[1]] & (~East) remove_maze_wall([location[0]+1, location[1]]) def draw_maze(qlabs): # Initialize a wall object wall = QLabsWalls(qlabs) # add just the first top row for count_x in range(maze_x): if (maze_data[count_x, 0] & North): place_wall(wall, count_x, 0, North) for count_y in range(maze_y): # left most wall of the maze if (maze_data[0, count_y] & West): place_wall(wall, 0, count_y, West) # all the rest of the walls for count_x in range(maze_x): if (maze_data[count_x, count_y] & South): place_wall(wall, count_x, count_y, South) if (maze_data[count_x, count_y] & East): place_wall(wall, count_x, count_y, East) if (not dynamic_walls): # If we're not waiting for any responses from QLabs, add # a slight delay after each row to ensure we don't overflow # the buffers for really large mazes. time.sleep(0.01) def place_wall(wall, x, y, direction): # You can tweak the global x/y offset of the maze generation here by entering a position in meters. offset = [0, 0] # Walls are static by default so we only need to wait for confirmation if the dynamic_walls flag is set. if direction == North: wall.spawn_degrees(location=[x*wall_length + offset[0], -(y*wall_length) + offset[1], 0.001], rotation=[0, 0, 90], waitForConfirmation=dynamic_walls) elif direction == East: wall.spawn_degrees(location=[x*wall_length + wall_length/2 + offset[0], -(y*wall_length + wall_length/2) + offset[1], 0.001], rotation=[0, 0, 0], waitForConfirmation=dynamic_walls) elif direction == South: wall.spawn_degrees(location=[x*wall_length + offset[0], -(y*wall_length + wall_length) + offset[1], 0.001], rotation=[0, 0, 90], waitForConfirmation=dynamic_walls) else: wall.spawn_degrees(location=[x*wall_length-wall_length/2 + offset[0], -(y*wall_length + wall_length/2) + offset[1], 0.001], rotation=[0, 0, 0], waitForConfirmation=dynamic_walls) if (dynamic_walls): wall.set_enable_dynamics(dynamic_walls) def main(): # Creates a server connection with Quanser Interactive Labs and manages # the communications qlabs = QuanserInteractiveLabs() # Ensure that QLabs is running on your local machine print("Connecting to QLabs...") if (not qlabs.open("localhost")): print("Unable to connect to QLabs") return print("Connected") # Set the window title hSystem = QLabsSystem(qlabs) hSystem.set_title_string('Walls Tutorial') num_destroyed = qlabs.destroy_all_spawned_actors() # Initialize an instance of a camera camera = QLabsFreeCamera(qlabs) # Set the spawn of the camera in a specific location camera.spawn([-0.337, 3.205, 4.895], [-0, 0.59, -1.091], [1, 1, 1], 0, 1) camera.possess() generate_maze() draw_maze(qlabs) # Closing qlabs qlabs.close() print('Done!') if __name__ == "__main__": main()