def connect_intersections(self, a: 'Intersection', b: 'Intersection',
intersections: Set['Intersection']):
a_b_separation = mag(a - b)
self[a][b].dist = self[b][a].dist = a_b_separation
self[a][b].next_step = b
self[b][a].next_step = a
# Partition all other intersections based on distances to a and b
a_set = set()
b_set = set()
for inter in intersections:
if self[inter][a].dist < self[inter][b].dist:
a_set.add(inter)
else:
b_set.add(inter)
for a_inter in a_set - {b}:
for b_inter in b_set:
newly_offered_separation = self[a_inter][
a].dist + a_b_separation + self[b][b_inter].dist
if newly_offered_separation < self[a_inter][b_inter].dist:
self[a_inter][b_inter].dist = self[b_inter][
a_inter].dist = newly_offered_separation
self[a_inter][b_inter].next_step = self[a_inter][
a].next_step if a_inter != a else b
self[b_inter][a_inter].next_step = self[b_inter][
b].next_step if b_inter != b else a
def step(self, actions):
super().step(actions)
for agent_state, action in zip(self.agent_states, actions):
agent_state.action_update(action, self)
if self.steps == self.tiles_shape[0] + self.tiles_shape[1]:
self.done = True
return None, None, self.done, self.agent_debugs
if self.goal.verb.type == Goal.Verb.Type.REACH:
rews = [(mag(state.initial_pos - state.goal.noun.adjective) -
mag(state.pos - state.goal.noun.adjective)) /
self.cache.normalized_diagonal
for state in self.agent_states]
for state, rew in zip(self.agent_states, rews):
state.health = rew
return self.agent_states, rews, self.done, self.agent_debugs
else:
raise AssertionError('Unknown goal verb type: ' +
self.goal.verb.type)
def display_hotspot(self, hotspot: Hotspot):
hp = hotspot.pos
center = self.window_point(hp)
speed = int(255 * min(mag(hotspot.vel), 10) / 10)
cv2.circle(self.img, center, int(self.scale * np.sqrt(hotspot.mass)),
(255 - speed, 0, speed), -1)
cv2.line(self.img, center, self.window_point(hp + 10 * hotspot.force),
(0, 255, 0))
ci = hotspot.closest_intersection.obj
# cv2.putText(self.img, str(hotspot.closest_intersection.separation), self.window_point((hp + ci) / 2),
# cv2.FONT_HERSHEY_PLAIN, 1, (0, 0, 0))
self.display_edge(Edge(hp, ci), (255, 0, 255))
def update(self, window_width, tiles_shape):
self.diagonal = mag(tiles_shape)
self.cell_size = window_width / tiles_shape[0]
self.corner_offset = np.array([1 / tiles_shape[0], 1 / tiles_shape[1]])