def lidar_west_pulse(self):
"""
The lidar beam that travels west within the game.
:return: a point of where the beam either hit a wall or a part of the environment.
"""
pulse_x, pulse_y = self.snakeEnv.snake.head.pos()
west_pulse = Point(pulse_x, pulse_y)
west_wall = Point((-1) * (self.snakeEnv.screen_width / 2), pulse_y)
hit_obstacle = False
hit_apple = False
while True:
if west_pulse.x <= west_wall.x:
hit_obstacle = True
break
if self.snakeEnv.snake.point_is_in_tail(west_pulse)[0]:
hit_obstacle = True
break
if self.snakeEnv.current_food.point_is_in_food(west_pulse)[0]:
hit_apple = True
break
west_pulse.offset(-1, 0)
return (west_pulse, hit_obstacle, hit_apple)
"""
def lidar_north_west_pulse(self):
"""
The lidar beam that travels north west within the game.
:return: a point of where the beam either hit a wall or a part of the environment.
"""
pulse_x, pulse_y = self.snakeEnv.snake.head.pos()
north_west_pulse = Point(pulse_x, pulse_y)
north_wall = Point(pulse_x, self.snakeEnv.screen_height / 2)
west_wall = Point(((-1) * self.snakeEnv.screen_width) / 2, pulse_y)
hit_obstacle = False
hit_apple = False
while True:
if north_west_pulse.y >= north_wall.y or north_west_pulse.x <= west_wall.x:
hit_obstacle = True
break
if self.snakeEnv.snake.point_is_in_tail(north_west_pulse)[0]:
hit_obstacle = True
break
if self.snakeEnv.current_food.point_is_in_food(
north_west_pulse)[0]:
hit_apple = True
break
north_west_pulse.offset(-1, 1)
return (north_west_pulse, hit_obstacle, hit_apple)
"""
def lidar_south_pulse(self):
"""
The lidar beam that travels south within the game.
:return: a point of where the beam either hit a wall or a part of the environment.
"""
pulse_x, pulse_y = self.snakeEnv.snake.head.pos()
south_pulse = Point(pulse_x, pulse_y)
south_wall = Point(pulse_x, (-1) * (self.snakeEnv.screen_height / 2))
hit_obstacle = False
hit_apple = False
while True:
if south_pulse.y <= south_wall.y:
hit_obstacle = True
break
if self.snakeEnv.snake.point_is_in_tail(south_pulse)[0]:
hit_obstacle = True
break
if self.snakeEnv.current_food.point_is_in_food(south_pulse)[0]:
hit_apple = True
break
south_pulse.offset(0, -1)
return (south_pulse, hit_obstacle, hit_apple)
"""
