如何使用Python实现CartPole游戏

pip install pygame

import pygame  
import sys  
import math  
# 初始化pygame  
pygame.init()  
# 设置屏幕大小  
screen_width = 800  
screen_height = 600  
screen = pygame.display.set_mode((screen_width, screen_height))  
pygame.display.set_caption("CartPole Game")  
# 设置颜色  
BLACK = (0, 0, 0)  
WHITE = (255, 255, 255)  
# 设置帧率  
clock = pygame.time.Clock()  
fps = 60  
# CartPole 参数
# 小车宽高  
cart_width = 50  
cart_height = 20  
# 杆宽高
pole_length = 200  
pole_width = 10  
# 力量和重力加速度
force = 10.0  
gravity = 9.8  
# 小车和杆的质量
mass_cart = 1.0  
mass_pole = 0.1  
length = pole_length / 2  # 实际上是一半的pole_length，用于计算  
dt = 1.0 / fps  # 时间步长  
# 游戏状态  
x = screen_width // 2  # cart的x坐标  
x_dot = 0  # cart的速度  
theta = 0  # pole的角度  
theta_dot = 0  # pole的角速度  
# 更新状态  
def update_state(action):  
    global x, x_dot, theta, theta_dot  
    # 计算作用力  
    force_x = force if action == 1 else -force  
    # 计算系统的动力学  
    costheta = math.cos(theta)  
    sintheta = math.sin(theta)  
    temp = (force_x + pole_length * theta_dot**2 * sintheta) / (mass_cart + mass_pole)  
    thetaacc = (gravity * sintheta - costheta * temp) / (length * (4.0/3.0 - mass_pole * costheta**2 / (mass_cart + mass_pole)))  
    xacc = temp - pole_length * thetaacc * costheta / mass_cart  
    # 更新速度和位置  
    x_dot += xacc * dt  
    x += x_dot * dt  
    theta_dot += thetaacc * dt  
    theta += theta_dot * dt  
    # 限制cart的位置在屏幕内  
    x = min(max(x, cart_width // 2), screen_width - cart_width // 2)  
    # 如果pole太倾斜，则重置游戏  
    if abs(theta) > math.pi / 2:  
        x = screen_width // 2  
        x_dot = 0  
        theta = 0  
        theta_dot = 0  
# 绘制小车  
def draw_cart():  
    pygame.draw.rect(screen, BLACK, (x - cart_width // 2, screen_height - cart_height - 20, cart_width, cart_height))  
# 绘制杆  
def draw_pole():  
    pole_end_x = x + pole_length * math.sin(theta)  
    pole_end_y = screen_height - cart_height - 20 - pole_length * math.cos(theta)  
    pygame.draw.line(screen, YELLOW, (x, screen_height - cart_height - 20), (pole_end_x, pole_end_y), pole_width)  
def main_loop():  
    running = True  
    while running:  
        for event in pygame.event.get():  
            if event.type == pygame.QUIT:  
                running = False  
            elif event.type == pygame.KEYDOWN:  
                if event.key == pygame.K_LEFT: #键盘左键响应 
                    update_state(0)  # 向左移动  
                elif event.key == pygame.K_RIGHT:  #键盘右键响应
                    update_state(1)  # 向右移动  
        # 渲染屏幕  
        screen.fill(WHITE)  
        draw_cart()  
        draw_pole()  
        pygame.display.flip()  
        # 控制帧率  
        clock.tick(fps)  
    pygame.quit()  
    sys.exit()  
if __name__ == '__main__':  
    main_loop()

python cartpole_game.py