def move(self, car_state, action, *args, **kwargs):
"""
Moves object to the next point according to object's state. If object crosses the wall, move is rejected and
object's position remains unchanged.
:param car_state: state of car, of class CarState
:param action: car action, of class Action
:return: tuple(CarState with object's next position, boolean indication whether the collision happened)
"""
position = car_state.position
velocity = car_state.velocity
acceleration = rotate(car_state.heading,
action.steering * pi / 2) * action.acceleration
new_position = position + velocity * self.timedelta + acceleration * (
self.timedelta**2) / 2
collision = self.is_out_of_map(new_position)
if collision:
return CarState(position, -0.5 * velocity,
-car_state.heading), collision
else:
new_velocity = velocity + acceleration * self.timedelta
heading = new_position - position
if abs(heading) > 1e-5:
heading /= abs(heading)
else:
heading = car_state.heading
return CarState(new_position, new_velocity, heading), collision
def set_agents(self, agents=1, agent_class=None):
"""
Поместить в мир агентов
:param agents: int или список Agent, если int -- то обязателен параметр agent_class, так как в мир присвоятся
agents агентов класса agent_class; если список, то в мир попадут все агенты из списка
:param agent_class: класс создаваемых агентов, если agents - это int
"""
pos = (self.map[0][0] + self.map[0][1]) / 2
vel = 0
heading = rect(-0.3, 1)
if type(agents) is int:
self.agents = [agent_class() for _ in range(agents)]
elif type(agents) is list:
self.agents = agents
else:
raise ValueError(
"Parameter agent should be int or list of agents instead of %s"
% type(agents))
self.agent_states = {
a: CarState(pos, vel, heading)
for a in self.agents
}
self.circles = {a: 0 for a in self.agents}
self._agent_surfaces = []
self._agent_images = []
def reset_agents(self):
pos = (self.map[0][0] + self.map[0][1]) / 2
vel = 0
heading = rect(-0.3, 1)
self.agent_states = {a: CarState(pos, vel, heading) for a in self.agents}
self.circles = {a: 0 for a in self.agents}