def step_move(self):
# set line of sight of movers
agent = self.agent
for guard in self.guards:
if (self.libvis.can_see(agent.get_coord(),guard.get_coord()) and
coord_math.distc(agent.get_coord(),guard.get_coord()) < self.env_values.agent_linesight):
agent.on_guard_sight(guard.get_coord())
if self.agent.NEEDS_EXPLORING_DATA:
agent_coord = self.agent.get_coord()
for ray in coord_math.get_rays(agent_coord,57,self.env_values.agent_linesight):
if not self.libvis.can_see(agent_coord,ray):
self.agent.on_object_sight(find_block_intersect(self.libvis,agent_coord,ray),True)
else:
self.agent.on_object_sight(ray,False)
# move movers
for mover in self.movers:
move_dir = mover.move()
while True:
move_dist = coord_math.distc((0,0),move_dir)
if move_dist > 1.0:
move_dir = coord_math.scalar_mul(move_dir,1.0/move_dist)
#print(move_dir)
src_coord = mover.get_coord()
dest_coord = coord_math.add(src_coord,move_dir)
if not self.libvis.can_see(src_coord,dest_coord):
print("mover at {} tried to move though wall!".format(src_coord))
#move_dir = (random.random()*2,random.random()*2)
#exit(0)
break
else:
break
mover.moved(move_dir)
# check if agent is found by guard
agent_loc = self.agent.get_coord()
for guard in self.guards:
guard_loc = guard.get_coord()
if (coord_math.distc(agent_loc,guard_loc) < self.env_values.guard_linesight and
self.libvis.can_see(agent_loc,guard_loc)):
self.agent_found = True
#print(agent_loc)
#print(guard_loc)
#print(coord_math.distc(agent_loc,guard_loc))
# check if agent has collected reward, and execute collection
new_reward_list = []
for rew_point in self.rewards:
if self.libvis.can_see(agent_loc,rew_point):
if coord_math.distc(agent_loc,rew_point) < self.env_values.agent_linesight:
self.agent.on_reward_sight(rew_point)
if coord_math.distc(agent_loc,rew_point) < self.env_values.reward_collect_radius:
self.reward_collected += 1
self.agent.on_reward_collected(rew_point)
else:
new_reward_list.append(rew_point)
else:
new_reward_list.append(rew_point)
self.rewards = new_reward_list
def negative_circle(cen,map_info,radius):
poly = []
poly.append((map_info.width-1,0))
for point in coord_math.get_rays(cen,29,radius):
poly.append(point)
poly.append(coord_math.add((radius,0),cen))
poly.append((map_info.width-1,0))
poly.append((map_info.width-1,map_info.height-1))
poly.append((0,map_info.height-1))
poly.append((0,0))
return poly
def get_sight_locs(rad, cen, static_map):
num_rays = int(rad * 3)
ax, ay = cen
sight_locs = set()
for rx, ry in coord_math.get_rays(cen, num_rays, rad):
sight_coords = coord_math.raytrace2dgrid(ax, ay, rx, ry)
for sx, sy in sight_coords:
if static_map[(sx, sy)] != STATIC_OPEN:
break
sight_locs.add((sx, sy))
return (sight_locs)
def communicate_line_sight(self,agent):
NUM_RAYS = self.agent_linesight*8
NUM_CHECK_ON_RAY = self.agent_linesight*2
ray_results = []
for tx,ty in coord_math.get_rays(self.agent.pos(),NUM_RAYS,self.agent_linesight):
obj,coord = self.find_first_el_blocked(agent.x,agent.y,tx,ty,NUM_CHECK_ON_RAY)
#print(obj)
ray_results.append((obj,(coord)))
ray_results += self.agent_sees_objects()
recentered = [(obj,self.agent.recenter_coord(coord)) for obj,coord in ray_results]
return recentered