def spawn(self):
self.windowSurface.fill((255,255,255)) #white screen
self.draw_map()
self.draw_walls()
self.goal_x,self.goal_y = dispUtils.noCollideSpawn(self.windowSurface,self.blacklist,200)
self.update_blacklist((self.goal_x,self.goal_y))
self.agent.set_goal(self.goal_x,self.goal_y)
self.draw_goals()
self.agent.x,self.agent.y = dispUtils.noCollideSpawn(self.windowSurface,self.blacklist,300)
self.update_blacklist(( self.agent.x,self.agent.y))
self.agent.draw()
if creeps_enabled:
self.creep0.draw()
self.creep1.draw()
self.creep2.draw()
self.creep3.draw()
pygame.display.update()
currentSubgoalIndex = dataUtils.listOfSize(numberOfAgents,-1)
goalsHit = dataUtils.listOfSize(numberOfAgents,0)
last20 = dataUtils.listOfSize(numberOfAgents,dataUtils.listOfSize(20,0))
# Spawn All Agents and Goals
# Agent colours
agentColours = [[255,0,0],[0,255,0],[0,0,255],[255,255,0],[255,0,255]]
pathColours = [[255,128,0],[0,255,128],[128,0,255],[255,255,128],[255,128,255]]
robots = []
goals = []
subgoalIndex = []
for i in range(numberOfAgents):
# create agent
robots.append({'position':[100,100], 'size':25 , 'dir':0, 'linearSpeed': 50, 'angularSpeed': 0.1})
dispUtils.noCollideSpawn(windowSurface,robots[-1],robots[:-1],200)
# spawn goalpoint
blacklist = []
blacklist.extend(robots)
blacklist.extend(goals)
goals.append({'position':[100,100], 'size':100})
dispUtils.noCollideSpawn(windowSurface,goals[-1],blacklist,200)
if dispUtils.corridorOfSight(windowSurface,robots[-1],goals[-1],55,65)==False:
pathdata[i] = planner.planPath(windowSurface,robots[i],goals[i])
subgoalIndex.append(len(pathdata[i][1])-1)
else:
pathdata[i] = 0
subgoalIndex.append(-1)
# PerformanceCheck variables
def reset_goal(self):
self.blacklist = []
self.update_blacklist(( self.agent.x,self.agent.y))
self.goal_x,self.goal_y = dispUtils.noCollideSpawn(self.windowSurface,self.blacklist,200)
self.update_blacklist((self.goal_x,self.goal_y))
self.agent.set_goal(self.goal_x,self.goal_y)
agentY = WINDOWHEIGHT / 2 + math.sin(math.pi - (float(i) * 2 * math.pi) /
float(numberOfAgents)) * 200
robots.append({
'position': [int(agentX), int(agentY)],
'size': 25,
'dir': 0,
'linearSpeed': 50,
'angularSpeed': 0.1
})
# spawn goalpoint
blacklist = []
blacklist.extend(robots)
blacklist.extend(goals)
goals.append({'position': [100, 100], 'size': 100})
dispUtils.noCollideSpawn(goals[-1], blacklist, 200)
done = False
# run the game loop
while (True):
sim.doStep()
#Fill Screen with white background
windowSurface.fill([255, 255, 255])
# check for the QUIT event
for event in pygame.event.get():
if event.type == QUIT:
pygame.quit()