def _get_sensor_at(self, actors, radians, length, reach):
"""
Compute the strength of an Actor sensor at some location away from the
Agent at radians with distance out length and max sensing reach. Return
tuple (sense, closest actor)
"""
# Compute sensor location
length += self.radius
sensor_x = self.x + math.cos(self.radians + radians) * length
sensor_y = self.y + math.sin(self.radians + radians) * length
pos = (sensor_x, sensor_y)
# Compute sensor value
sense = 0
reach_sqr = reach**2
closest = None
closest_dist = 0
for actor in actors:
if actor is self:
continue
dist_sqr = util.dist_sqr(pos, actor.get_pos())
if dist_sqr > reach_sqr:
continue
dist = math.sqrt(dist_sqr)
if closest is None or dist < closest_dist:
closest = actor
closest_dist = dist
ratio = (reach - dist) / float(reach)
sense += ratio
return (sense, closest)
def _get_sensor_at(self, actors, radians, length, reach): """ Compute the strength of an Actor sensor at some location away from the Agent at radians with distance out length and max sensing reach. Return tuple (sense, closest actor) """ # Compute sensor location length += self.radius sensor_x = self.x + math.cos(self.radians + radians) * length sensor_y = self.y + math.sin(self.radians + radians) * length pos = (sensor_x, sensor_y) # Compute sensor value sense = 0 reach_sqr = reach ** 2 closest = None closest_dist = 0 for actor in actors: if actor is self: continue dist_sqr = util.dist_sqr(pos, actor.get_pos()) if dist_sqr > reach_sqr: continue dist = math.sqrt(dist_sqr) if closest is None or dist < closest_dist: closest = actor closest_dist = dist ratio = (reach - dist) / float(reach) sense += ratio return (sense, closest)
def _update_attack(self, world_agents):
"""
Allow Agents to attack other Agents and store the result of the
interaction
"""
# If we've interacted with an Agent this tick then don't do so again
if self.interact_agent is not None:
return
attack_dist_sqr = (self.radius * 2)**2
for other in world_agents:
# Can we interact with this Agent?
if other is self or other.interact_agent is not None:
continue
dist_sqr = util.dist_sqr(self.get_pos(), other.get_pos())
if dist_sqr > attack_dist_sqr:
continue
# Execute interaction between self and other
self.interact_agent = other
other.interact_agent = self
if other is not self.prev_interact_agent:
self.interact_attacked = self._will_attack()
other.interact_attacked = other._will_attack()
break
if self.interact_agent is None:
self.interact_attacked = False
def _update_attack(self, world_agents): """ Allow Agents to attack other Agents and store the result of the interaction """ # If we've interacted with an Agent this tick then don't do so again if self.interact_agent is not None: return attack_dist_sqr = (self.radius * 2) ** 2 for other in world_agents: # Can we interact with this Agent? if other is self or other.interact_agent is not None: continue dist_sqr = util.dist_sqr(self.get_pos(), other.get_pos()) if dist_sqr > attack_dist_sqr: continue # Execute interaction between self and other self.interact_agent = other other.interact_agent = self if other is not self.prev_interact_agent: self.interact_attacked = self._will_attack() other.interact_attacked = other._will_attack() break if self.interact_agent is None: self.interact_attacked = False
