Gym-MiniGrid/minigrid/core/grid.py

import math

import numpy as np

from minigrid.core.constants import OBJECT_TO_IDX, TILE_PIXELS
from minigrid.core.world_object import Wall, WorldObj
from minigrid.utils.rendering import (
    downsample,
    fill_coords,
    highlight_img,
    point_in_rect,
    point_in_triangle,
    rotate_fn,
)


class Grid:
    """
    Represent a grid and operations on it
    """

    # Static cache of pre-renderer tiles
    tile_cache = {}

    def __init__(self, width, height):
        assert width >= 3
        assert height >= 3

        self.width = width
        self.height = height

        self.grid = [None] * width * height

    def __contains__(self, key):
        if isinstance(key, WorldObj):
            for e in self.grid:
                if e is key:
                    return True
        elif isinstance(key, tuple):
            for e in self.grid:
                if e is None:
                    continue
                if (e.color, e.type) == key:
                    return True
                if key[0] is None and key[1] == e.type:
                    return True
        return False

    def __eq__(self, other):
        grid1 = self.encode()
        grid2 = other.encode()
        return np.array_equal(grid2, grid1)

    def __ne__(self, other):
        return not self == other

    def copy(self):
        from copy import deepcopy

        return deepcopy(self)

    def set(self, i, j, v):
        assert i >= 0 and i < self.width
        assert j >= 0 and j < self.height
        self.grid[j * self.width + i] = v

    def get(self, i, j):
        assert i >= 0 and i < self.width
        assert j >= 0 and j < self.height
        return self.grid[j * self.width + i]

    def horz_wall(self, x, y, length=None, obj_type=Wall):
        if length is None:
            length = self.width - x
        for i in range(0, length):
            self.set(x + i, y, obj_type())

    def vert_wall(self, x, y, length=None, obj_type=Wall):
        if length is None:
            length = self.height - y
        for j in range(0, length):
            self.set(x, y + j, obj_type())

    def wall_rect(self, x, y, w, h):
        self.horz_wall(x, y, w)
        self.horz_wall(x, y + h - 1, w)
        self.vert_wall(x, y, h)
        self.vert_wall(x + w - 1, y, h)

    def rotate_left(self):
        """
        Rotate the grid to the left (counter-clockwise)
        """

        grid = Grid(self.height, self.width)

        for i in range(self.width):
            for j in range(self.height):
                v = self.get(i, j)
                grid.set(j, grid.height - 1 - i, v)

        return grid

    def slice(self, topX, topY, width, height):
        """
        Get a subset of the grid
        """

        grid = Grid(width, height)

        for j in range(0, height):
            for i in range(0, width):
                x = topX + i
                y = topY + j

                if x >= 0 and x < self.width and y >= 0 and y < self.height:
                    v = self.get(x, y)
                else:
                    v = Wall()

                grid.set(i, j, v)

        return grid

    @classmethod
    def render_tile(
        cls, obj, agent_dir=None, highlight=False, tile_size=TILE_PIXELS, subdivs=3
    ):
        """
        Render a tile and cache the result
        """

        # Hash map lookup key for the cache
        key = (agent_dir, highlight, tile_size)
        key = obj.encode() + key if obj else key

        if key in cls.tile_cache:
            return cls.tile_cache[key]

        img = np.zeros(
            shape=(tile_size * subdivs, tile_size * subdivs, 3), dtype=np.uint8
        )

        # Draw the grid lines (top and left edges)
        fill_coords(img, point_in_rect(0, 0.031, 0, 1), (100, 100, 100))
        fill_coords(img, point_in_rect(0, 1, 0, 0.031), (100, 100, 100))

        if obj is not None:
            obj.render(img)

        # Overlay the agent on top
        if agent_dir is not None:
            tri_fn = point_in_triangle(
                (0.12, 0.19),
                (0.87, 0.50),
                (0.12, 0.81),
            )

            # Rotate the agent based on its direction
            tri_fn = rotate_fn(tri_fn, cx=0.5, cy=0.5, theta=0.5 * math.pi * agent_dir)
            fill_coords(img, tri_fn, (255, 0, 0))

        # Highlight the cell if needed
        if highlight:
            highlight_img(img)

        # Downsample the image to perform supersampling/anti-aliasing
        img = downsample(img, subdivs)

        # Cache the rendered tile
        cls.tile_cache[key] = img

        return img

    def render(self, tile_size, agent_pos, agent_dir=None, highlight_mask=None):
        """
        Render this grid at a given scale
        :param r: target renderer object
        :param tile_size: tile size in pixels
        """

        if highlight_mask is None:
            highlight_mask = np.zeros(shape=(self.width, self.height), dtype=bool)

        # Compute the total grid size
        width_px = self.width * tile_size
        height_px = self.height * tile_size

        img = np.zeros(shape=(height_px, width_px, 3), dtype=np.uint8)

        # Render the grid
        for j in range(0, self.height):
            for i in range(0, self.width):
                cell = self.get(i, j)

                agent_here = np.array_equal(agent_pos, (i, j))
                tile_img = Grid.render_tile(
                    cell,
                    agent_dir=agent_dir if agent_here else None,
                    highlight=highlight_mask[i, j],
                    tile_size=tile_size,
                )

                ymin = j * tile_size
                ymax = (j + 1) * tile_size
                xmin = i * tile_size
                xmax = (i + 1) * tile_size
                img[ymin:ymax, xmin:xmax, :] = tile_img

        return img

    def encode(self, vis_mask=None):
        """
        Produce a compact numpy encoding of the grid
        """

        if vis_mask is None:
            vis_mask = np.ones((self.width, self.height), dtype=bool)

        array = np.zeros((self.width, self.height, 3), dtype="uint8")

        for i in range(self.width):
            for j in range(self.height):
                if vis_mask[i, j]:
                    v = self.get(i, j)

                    if v is None:
                        array[i, j, 0] = OBJECT_TO_IDX["empty"]
                        array[i, j, 1] = 0
                        array[i, j, 2] = 0

                    else:
                        array[i, j, :] = v.encode()

        return array

    @staticmethod
    def decode(array):
        """
        Decode an array grid encoding back into a grid
        """

        width, height, channels = array.shape
        assert channels == 3

        vis_mask = np.ones(shape=(width, height), dtype=bool)

        grid = Grid(width, height)
        for i in range(width):
            for j in range(height):
                type_idx, color_idx, state = array[i, j]
                v = WorldObj.decode(type_idx, color_idx, state)
                grid.set(i, j, v)
                vis_mask[i, j] = type_idx != OBJECT_TO_IDX["unseen"]

        return grid, vis_mask

    def process_vis(self, agent_pos):
        mask = np.zeros(shape=(self.width, self.height), dtype=bool)

        mask[agent_pos[0], agent_pos[1]] = True

        for j in reversed(range(0, self.height)):
            for i in range(0, self.width - 1):
                if not mask[i, j]:
                    continue

                cell = self.get(i, j)
                if cell and not cell.see_behind():
                    continue

                mask[i + 1, j] = True
                if j > 0:
                    mask[i + 1, j - 1] = True
                    mask[i, j - 1] = True

            for i in reversed(range(1, self.width)):
                if not mask[i, j]:
                    continue

                cell = self.get(i, j)
                if cell and not cell.see_behind():
                    continue

                mask[i - 1, j] = True
                if j > 0:
                    mask[i - 1, j - 1] = True
                    mask[i, j - 1] = True

        for j in range(0, self.height):
            for i in range(0, self.width):
                if not mask[i, j]:
                    self.set(i, j, None)

        return mask