testbed: room world engine + headless raycaster renderer (bridge skeleton)
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opencode
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"""Room world: the environment owned by the testbed bridge.
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Single source of truth for all world state. Nothing here is reachable by an
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agent except through the sensor tools in ``testbed.bridge``.
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"""
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from __future__ import annotations
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import math
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from dataclasses import dataclass, field
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ROOM_SIZE = 16.0
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ROOM_HEIGHT = 3.0
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@dataclass
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class Box:
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"""Axis-aligned box obstacle."""
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id: str
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cx: float
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cz: float
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half_w: float
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half_d: float
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height: float
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color: tuple[int, int, int]
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def x_min(self) -> float:
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return self.cx - self.half_w
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def x_max(self) -> float:
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return self.cx + self.half_w
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def z_min(self) -> float:
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return self.cz - self.half_d
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def z_max(self) -> float:
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return self.cz + self.half_d
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@dataclass
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class Beacon:
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"""The single interactable object: a glowing pillar."""
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id: str = "beacon"
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x: float = 12.5
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z: float = 12.5
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height: float = 1.6
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radius: float = 0.35
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active: bool = False
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activated_tick: int = -1
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reach: float = 1.6
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@dataclass
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class Capsule:
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"""The agent's body: position, heading (yaw), camera pitch, velocity."""
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x: float = 1.5
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z: float = 1.5
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yaw_deg: float = 45.0
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pitch_deg: float = 0.0
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radius: float = 0.35
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eye_height: float = 0.55
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health: float = 100.0
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speed: float = 0.0
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def forward(self) -> tuple[float, float]:
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"""Unit vector in XZ plane along the current heading."""
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rad = math.radians(self.yaw_deg)
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return math.sin(rad), math.cos(rad)
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@dataclass
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class Hit:
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"""A collision: what was hit, where, and with what force."""
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other: str
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normal_x: float
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normal_z: float
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impulse: float
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class Room:
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"""A 16x16 room: floor, walls, a few boxes, one glowing beacon.
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Tick semantics: ``tick_mode`` is ``event`` — the world advances only when
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a tool is called. Every tool call bumps ``tick`` by one, so observations
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and events share a monotonic clock (protocol §8).
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"""
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def __init__(self) -> None:
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self.tick = 0
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self.capsule = Capsule()
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self.beacon = Beacon()
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self.boxes: list[Box] = [
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Box(
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id="crate_red",
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cx=6.0,
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cz=6.0,
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half_w=1.0,
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half_d=1.0,
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height=1.4,
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color=(178, 64, 54),
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),
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Box(
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id="crate_blue",
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cx=11.0,
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cz=3.5,
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half_w=0.9,
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half_d=0.9,
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height=1.6,
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color=(64, 96, 178),
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),
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Box(
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id="crate_olive",
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cx=4.0,
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cz=11.0,
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half_w=0.7,
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half_d=0.7,
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height=1.2,
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color=(128, 128, 60),
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),
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]
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# Pending audio events, drained by the hear sensor.
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self._audio: list[dict] = []
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# ---------- ticks ----------
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def advance_tick(self) -> int:
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"""Bump the world clock; returns the new tick."""
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self.tick += 1
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return self.tick
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# ---------- audio ----------
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def queue_audio(self, kind: str, direction_deg: float, intensity: float) -> None:
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self._audio.append(
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{
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"kind": kind,
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"direction_deg": round(direction_deg % 360.0, 1),
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"intensity": round(intensity, 3),
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}
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)
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def drain_audio(self) -> list[dict]:
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sounds = self._audio
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self._audio = []
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return sounds
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def hear_now(self) -> list[dict]:
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"""The hear sensor: queued events plus the beacon hum if in range."""
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sounds = self.drain_audio()
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dx = self.beacon.x - self.capsule.x
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dz = self.beacon.z - self.capsule.z
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dist = math.hypot(dx, dz)
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if dist <= 6.0:
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bearing = math.degrees(math.atan2(dx, dz)) - self.capsule.yaw_deg
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intensity = max(0.0, 1.0 - dist / 6.0)
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if self.beacon.active:
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intensity = min(1.0, intensity + 0.25)
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sounds.append(
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{
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"kind": "beacon_hum",
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"direction_deg": round(bearing % 360.0, 1),
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"intensity": round(intensity, 3),
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}
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)
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return sounds
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# ---------- movement ----------
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def move_forward(self, distance: float) -> tuple[float, Hit | None]:
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"""Push the capsule forward along its heading, resolving collisions.
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Moves in 0.1 m substeps. Returns (distance actually moved, hit or None).
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"""
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moved = 0.0
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hit: Hit | None = None
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remaining = max(0.0, distance)
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if remaining <= 0.0:
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return 0.0, None
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fx, fz = self.capsule.forward()
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while remaining > 0.0 and hit is None:
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step = min(0.1, remaining)
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ok, h = self._try_displace(fx * step, fz * step)
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if not ok and h is not None:
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h.impulse = remaining
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hit = h
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break
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moved += step
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remaining -= step
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self.capsule.speed = moved / 0.1 if moved > 0 else 0.0
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return moved, hit
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def _try_displace(self, dx: float, dz: float) -> tuple[bool, Hit | None]:
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"""Move by (dx, dz) with circle-vs-AABB resolution. Returns (moved, hit)."""
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cap = self.capsule
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nx = cap.x + dx
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nz = cap.z + dz
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# Room walls: clamp to bounds (the capsule cannot leave the room).
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r = cap.radius
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if nx < r or nx > ROOM_SIZE - r or nz < r or nz > ROOM_SIZE - r:
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hit = self._wall_hit(nx, nz)
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return False, hit
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blocked: Hit | None = None
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for _ in range(8):
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contact = self._box_contact(nx, nz, r)
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if contact is None:
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break
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nx, nz, normal_x, normal_z, other = contact
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blocked = Hit(
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other=other, normal_x=normal_x, normal_z=normal_z, impulse=0.0
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)
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if blocked is not None:
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return False, blocked
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cap.x = nx
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cap.z = nz
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return True, None
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def _wall_hit(self, nx: float, nz: float) -> Hit:
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r = self.capsule.radius
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if nx < r:
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return Hit(other="wall_west", normal_x=1.0, normal_z=0.0, impulse=0.0)
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if nx > ROOM_SIZE - r:
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return Hit(other="wall_east", normal_x=-1.0, normal_z=0.0, impulse=0.0)
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if nz < r:
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return Hit(other="wall_north", normal_x=0.0, normal_z=1.0, impulse=0.0)
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return Hit(other="wall_south", normal_x=0.0, normal_z=-1.0, impulse=0.0)
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def _box_contact(
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self, cx: float, cz: float, r: float
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) -> tuple[float, float, float, float, str] | None:
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"""If the circle at (cx, cz) overlaps a box, push it out and report contact."""
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for box in self.boxes:
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min_x, max_x = box.x_min(), box.x_max()
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min_z, max_z = box.z_min(), box.z_max()
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near_x = min(max(cx, min_x), max_x)
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near_z = min(max(cz, min_z), max_z)
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dx = cx - near_x
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dz = cz - near_z
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d2 = dx * dx + dz * dz
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if d2 >= r * r:
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continue
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if d2 > 1e-12:
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d = math.sqrt(d2)
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push = (r - d) / d
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return (
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cx + dx * push,
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cz + dz * push,
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dx / d,
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dz / d,
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box.id,
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)
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# Center inside the box: push along the axis of least penetration.
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ox = min(cx - min_x + r, max_x - cx + r)
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oz = min(cz - min_z + r, max_z - cz + r)
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if ox < oz:
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nx = cx + ox if cx < box.cx else cx - ox
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return (nx, cz, 1.0 if cx < box.cx else -1.0, 0.0, box.id)
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nz = cz + oz if cz < box.cz else cz - oz
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return (cx, nz, 0.0, 1.0 if cz < box.cz else -1.0, box.id)
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return None
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def turn(self, yaw_delta: float = 0.0, pitch_delta: float = 0.0) -> None:
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cap = self.capsule
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cap.yaw_deg = (cap.yaw_deg + yaw_delta) % 360.0
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cap.pitch_deg = min(85.0, max(-85.0, cap.pitch_deg + pitch_delta))
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def face(self, yaw_deg: float, pitch_deg: float) -> None:
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self.capsule.yaw_deg = yaw_deg % 360.0
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self.capsule.pitch_deg = min(85.0, max(-85.0, pitch_deg))
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def look_at_beacon(self) -> tuple[float, float]:
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"""Orient camera toward the beacon. Returns (yaw_deg, pitch_deg)."""
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cap = self.capsule
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dx = self.beacon.x - cap.x
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dz = self.beacon.z - cap.z
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dist = math.hypot(dx, dz) or 1.0
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yaw = math.degrees(math.atan2(dx, dz))
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pitch = math.degrees(math.atan2(self.beacon.height - cap.eye_height, dist))
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self.face(yaw, pitch)
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return yaw, pitch
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def distance_to_beacon(self) -> float:
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return math.hypot(
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self.beacon.x - self.capsule.x, self.beacon.z - self.capsule.z
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)
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def interact_beacon(self) -> tuple[bool, str]:
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"""Try to activate the beacon. Returns (success, message)."""
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dist = self.distance_to_beacon()
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if dist > self.beacon.reach:
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return (
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False,
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f"too far: {dist:.1f} m from the beacon (need <= {self.beacon.reach} m)",
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)
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if self.beacon.active:
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return True, "the beacon is already active and glowing warm yellow"
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self.beacon.active = True
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self.beacon.activated_tick = self.tick
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return True, "the beacon lights up: a warm yellow glow floods the room"
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# ---------- introspection helpers ----------
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def surface_distances(self, x: float, z: float) -> dict[str, float]:
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"""Distances to the nearest wall on each side (used by demo steering)."""
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return {
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"west": x,
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"east": ROOM_SIZE - x,
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"north": z,
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"south": ROOM_SIZE - z,
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}
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def describe(self) -> dict:
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return {
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"room": {
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"name": "testbed_room_01",
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"width": ROOM_SIZE,
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"depth": ROOM_SIZE,
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"height": ROOM_HEIGHT,
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},
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"obstacles": [
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{
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"id": b.id,
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"x": round(b.cx, 2),
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"z": round(b.cz, 2),
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"width": round(b.half_w * 2, 2),
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"depth": round(b.half_d * 2, 2),
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"height": round(b.height, 2),
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}
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for b in self.boxes
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],
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"beacon": {
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"id": self.beacon.id,
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"x": round(self.beacon.x, 2),
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"z": round(self.beacon.z, 2),
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"height": round(self.beacon.height, 2),
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},
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}
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