def _step_action(self, robot: Robot, action: Action):
# gas, rotate, transverse, rotate cloud terrance, shoot
robot.move_ahead_back(action.v_t)
robot.turn_left_right(action.angular)
robot.move_left_right(action.v_n)
# if int(self.t * FPS) % (60 * FPS) == 0:
# robot.refresh_supply_oppotunity()
# if action.supply > 0.99:
# action.supply = 0.0
# if robot.if_supply_available():
# robot.use_supply_oppotunity()
# if self.__area_supply.if_in_area(robot):
# robot.supply()
if action.shoot > 0.99 and int(self.t * FPS) % (FPS / 5) == 1:
if (robot.if_left_projectile() > 0) and robot.get_health() > 0:
# print("shoot")
# FIXME 下面这行条件只允许红方发射子弹
if robot.robot_id % 2 == ID_R1:
angle, pos = robot.get_gun_angle_pos()
robot.shoot()
self.__projectile.shoot(angle, pos, robot.robot_id)
def _update_blue_robot_state(self, robot: Robot, blue_agent: blueAgent):
blue_agent.pos = robot.get_pos()
blue_agent.health = robot.get_health()
blue_agent.angle = robot.get_angle()
def _update_red_robot_state(self, robot: Robot, red_agent: redAgent):
red_agent.pos = robot.get_pos()
red_agent.health = robot.get_health()
red_agent.angle = robot.get_angle()
def _update_robot_state(self, robot: Robot, state: RobotState):
state.pos = robot.get_pos()
state.health = robot.get_health()
state.angle = robot.get_angle()
state.velocity = robot.get_velocity()
state.angular = robot.get_angular()