[Draft] Release 0.2

.github/workflows/ci.yml

@@ -14,9 +14,15 @@ jobs:
         with:
           version: ${{ matrix.julia_version }}
       - uses: julia-actions/cache@v1
-      - uses: julia-actions/julia-runtest@latest
-        with:
-          prefix: xvfb-run
+      #- uses: julia-actions/julia-runtest@latest
+      #  with:
+      #    prefix: xvfb-run
+      - name: Test
+        shell: xvfb-run julia --project=. {0}
+        run: |
+          using Pkg
+          pkg"add TrajectoryGamesBase#release-0.4"
+          Pkg.test(; coverage=true)
       - uses: julia-actions/julia-processcoverage@v1
       - uses: codecov/codecov-action@v3
         with:

Project.toml

@@ -1,7 +1,7 @@
 name = "TrajectoryGamesExamples"
 uuid = "ff3fa34c-8d8f-519c-b5bc-31760c52507a"
 authors = ["David Fridovich-Keil<[email protected]>", "Forrest Laine<[email protected]>", "Lasse Peters<[email protected]>"]
-version = "0.1.10"
+version = "0.2.0"
 
 [deps]
 BlockArrays = "8e7c35d0-a365-5155-bbbb-fb81a777f24e"
@@ -16,5 +16,5 @@ BlockArrays = "0.16"
 Colors = "0.12"
 InfiniteArrays = "0.12, 0.13"
 Makie = "0.17, 0.18, 0.19, 0.20"
-TrajectoryGamesBase = "0.2, 0.3"
+TrajectoryGamesBase = "0.4"
 julia = "1.7"

src/TestUtils.jl

@@ -11,10 +11,6 @@ struct MockStrategy{T<:TrajectoryGame}
     player_index::Int
 end
 
-function TrajectoryGamesBase.visualize!(canvas, γ::Makie.Observable{<:MockStrategy}; kwargs...)
-    nothing
-end
-
 function (strategy::MockStrategy)(x, t)
     zeros(control_dim(strategy.game.dynamics, strategy.player_index))
 end

src/TrajectoryGamesExamples.jl

@@ -9,8 +9,7 @@ using TrajectoryGamesBase:
     TrajectoryGame,
     ZeroSumCostStructure,
     num_players,
-    time_invariant_linear_dynamics,
-    visualize!
+    time_invariant_linear_dynamics
 using LinearAlgebra: norm, norm_sqr
 using BlockArrays: Block, blocks, blocksize
 using InfiniteArrays: ∞
@@ -27,11 +26,7 @@ include("TestUtils.jl")
 
 # visualization
 include("visualize_simulation.jl")
-export animate_sim_steps,
-    create_environment_axis,#
-    visualize_players!,
-    visualize_obstacle_bounds!,
-    visualize_targets!
+export animate_sim_steps, visualize_sim_step, create_environment_axis
 
 # games
 include("two_player_meta_tag.jl")

src/dynamics.jl

@@ -59,7 +59,7 @@ function TrajectoryGamesBase.control_bounds(dynamics::UnicycleDynamics)
     dynamics.control_bounds
 end
 
-function (sys::UnicycleDynamics)(state, control, t)
+function (sys::UnicycleDynamics)(state, control, time, parameters = nothing)
     px, py, v, θ = state
     F, τ = control
     dt = sys.dt
@@ -129,7 +129,7 @@ function TrajectoryGamesBase.control_bounds(dynamics::BicycleDynamics)
     dynamics.control_bounds
 end
 
-function (sys::BicycleDynamics)(state, control, t)
+function (sys::BicycleDynamics)(state, control, time, parameters = nothing)
     px, py, v, θ = state
     a, ϕ = control
     dt = sys.dt

src/two_player_meta_tag.jl

@@ -10,7 +10,7 @@ function two_player_meta_tag(;
     distance_metric = norm,
 )
     cost = let
-        function stage_cost(x, u, t, context_state)
+        function stage_cost(x, u, t, parameters)
             x1, x2 = blocks(x)
             u1, u2 = blocks(u)
             c =
@@ -26,6 +26,6 @@ function two_player_meta_tag(;
         TimeSeparableTrajectoryGameCost(stage_cost, reducer, ZeroSumCostStructure(), 1.0)
     end
     dynamics = ProductDynamics([dynamics for _ in 1:2] |> Tuple)
-    env = PolygonEnvironment(n_environment_sides, environment_radius)
-    TrajectoryGame(dynamics, cost, env, coupling_constraints)
+    environment = PolygonEnvironment(n_environment_sides, environment_radius)
+    TrajectoryGame(dynamics, cost, environment, coupling_constraints)
 end

src/visualize_simulation.jl

@@ -30,7 +30,7 @@ function create_environment_axis(
     x_limits = x_limits .+ limit_margins
     y_limits = y_limits .+ limit_margins
 
-    aspect = x_limits[2] / y_limits[2]
+    aspect = DataAspect()
     limits = (x_limits, y_limits)
     environment_axis = Makie.Axis(
         figure;
@@ -43,54 +43,10 @@ function create_environment_axis(
         axis_kwargs...,
     )
 
-    visualize!(environment_axis, environment; viz_kwargs...)
+    Makie.plot!(environment_axis, environment; viz_kwargs...)
     environment_axis
 end
 
-function visualize_players!(
-    axis,
-    players;
-    player_colors = range(colorant"red", colorant"blue", length = blocksize(players[], 1)),
-)
-    for player_i in 1:blocksize(players[], 1)
-        player_color = player_colors[player_i]
-        position = Makie.@lift Makie.Point2f($players[Block(player_i)][1:2])
-        Makie.scatter!(axis, position; color = player_color)
-    end
-end
-
-function visualize_obstacle_bounds!(
-    axis,
-    players;
-    player_colors = range(colorant"red", colorant"blue", length = blocksize(players[], 1)),
-    obstacle_radius = 1.0,
-)
-    for player_i in 1:blocksize(players[], 1)
-        player_color = player_colors[player_i]
-        position = Makie.@lift Makie.Point2f($players[Block(player_i)][1:2])
-        Makie.scatter!(
-            axis,
-            position;
-            color = (player_color, 0.4),
-            markersize = 2 * obstacle_radius,
-            markerspace = :data,
-        )
-    end
-end
-
-function visualize_targets!(
-    axis,
-    targets;
-    player_colors = range(colorant"red", colorant"blue", length = blocksize(targets[], 1)),
-    marker = "+",
-)
-    for player_i in 1:blocksize(targets[], 1)
-        color = player_colors[player_i]
-        target = Makie.@lift Makie.Point2f($targets[Block(player_i)])
-        Makie.scatter!(axis, target; color, marker)
-    end
-end
-
 function visualize_sim_step(
     game,
     step;
@@ -100,7 +56,7 @@ function visualize_sim_step(
     ylims = (-5, 5),
     aspect = 1,
     player_colors = range(colorant"red", colorant"blue", length = num_players(game)),
-    player_names = ["Pursuer", "Evader"],
+    player_names = ["P$ii" for ii in 1:num_players(game)],
     weight_offset = 0.0,
     heading = "",
     show_legend = false,
@@ -126,7 +82,7 @@ function visualize_sim_step(
         ax_kwargs...,
     )
 
-    visualize!(ax, game.env)
+    Makie.plot!(ax, game.environment)
 
     plots = []
 
@@ -135,7 +91,7 @@ function visualize_sim_step(
         γ = Makie.@lift $s.strategy.substrategies[ii]
         pos = Makie.@lift Makie.Point2f($s.state[Block(ii)][1:2])
         scatter = Makie.scatter!(ax, pos; color)
-        visualize!(ax, γ; weight_offset, color)
+        Makie.plot!(ax, γ; weight_offset, color)
         push!(plots, [scatter])
     end