def move_random(self, percent):
me = self.gameEngine.ghosts[self.ghostname]
if GE.dist(me, self.old_wp) < me['radius'] + GE.THRESHOLD:
if random.random() <= percent and not self.old_wp['id'] == self.home:
self.old_wp = random.choice(self.gameEngine.points)
else:
self.old_wp = self.gameEngine.points[self.gameEngine.findClosestWP(self.gameEngine.pacman)]
my_wp = self.gameEngine.findClosestMapPoint(me)
path = self.gameEngine.find_shortest_path(my_wp, self.old_wp)
if len(path) == 1:
return path[0]['id'], path[len(path)-1]['id']
index = 1
while index < len(path)-1 and GE.dist(path[index], me) < me['radius'] + GE.THRESHOLD :
index += 1;
while index < len(path)-1 and GE.dist(path[index], self.gameEngine.ghosts[self.ghostname]) < 2 * self.gameEngine.ghosts[self.ghostname]['radius'] + 2.0 * GE.THRESHOLD and self.gameEngine.positionBlocked(path[index], self.gameEngine.ghosts[self.ghostname]):
index +=1;
return path[index]['id'], path[len(path)-1]['id']
def update(self):
if not self.gameEngine.initialized or not self.ghostname in self.gameEngine.ghosts or self.state == GE.State.SETUP:
return
me = self.gameEngine.ghosts[self.ghostname]
if self.state == GE.State.RUNNING and self.startTime + self.sleepTime > rospy.get_time():
return
if (self.state == GE.State.STOPPED or self.state == GE.State.PAUSED):
self.move_base_client.cancel_all_goals()
self.current_wp = None
self.headingToWp = False
#self.old_wp = self.gameEngin.points[self.home]
return
if (self.state in [GE.State.INIT, GE.State.GAME_OVER] or self.dead):
new_wp,end = self.return_home();
self.headingToWp = False
elif (self.state == GE.State.FLEEING):
if GE.dist(self.gameEngine.pacman, me) < self.gameEngine.pacman['radius'] + me['radius'] + 1.5*GE.THRESHOLD:
self.dead = True
new_wp,end = self.return_home();
self.headingToWp = False
else:
new_wp,end = self.newBehavior()
elif self.headingToWp and GE.dist(me, self.gameEngine.points[self.current_wp]) < me['radius'] + GE.THRESHOLD:
self.headingToWp = False
return
elif self.headingToWp:
return
else:
new_wp,end = self.newBehavior()
if not (new_wp == self.current_wp):
self.current_wp = new_wp
self.move_base_client.cancel_all_goals()
self.send_goal(self.current_wp)
else:
nearestWP = self.gameEngine.findClosestWP(me)
if self.state in [GE.State.RUNNING, GE.State.FLEEING] and nearestWP == self.current_wp and self.current_wp == end and GE.dist(me, self.gameEngine.points[self.current_wp]) < me['radius']:
self.headingToWp = True
pm_wp = self.gameEngine.findClosestWP(self.gameEngine.pacman)
if (end == pm_wp):
pm_mp = self.gameEngine.findClosestMapPoint(self.gameEngine.pacman)
if pm_mp['neighbors'][0] == pm_wp:
self.current_wp = pm_mp['neighbors'][1]
else:
self.current_wp = pm_mp['neighbors'][0]
else:
while self.current_wp == end:
print self.ghostname + str(self.current_wp)
self.current_wp = random.choice(self.gameEngine.points[nearestWP]['neighbors'])
self.move_base_client.cancel_all_goals()
self.send_goal(self.current_wp)
def return_home(self):
if GE.dist(self.gameEngine.points[self.home], self.gameEngine.pacman) < self.gameEngine.pacman['radius'] + GE.THRESHOLD:
self.dead = False
my_position = self.gameEngine.pacman
my_wp = self.gameEngine.findClosestMapPoint(my_position)
path = self.gameEngine.find_shortest_path(my_wp,self.gameEngine.points[self.home])
index = 1
while index < len(path)-1 and GE.dist(path[index], self.gameEngine.pacman) < self.gameEngine.pacman['radius'] + 1.5 * GE.THRESHOLD :
index += 1;
return path[index]['id']
def return_home(self):
if GE.dist(self.gameEngine.points[self.home], self.gameEngine.pacman) < self.gameEngine.pacman['radius'] + GE.THRESHOLD:
self.move_base_client.cancel_all_goals()
my_position = self.gameEngine.pacman
my_wp = self.gameEngine.findClosestMapPoint(my_position)
path = self.gameEngine.find_shortest_path(my_wp,self.gameEngine.points[self.home])
index = 1
while index < len(path)-1 and GE.dist(path[index], self.gameEngine.pacman) < self.gameEngine.pacman['radius'] + 1.5 * GE.THRESHOLD :
index += 1;
if index < len(path)-1 and GE.dist(path[index], self.gameEngine.pacman) < 2 * self.gameEngine.pacman['radius'] + 2.0 * GE.THRESHOLD and self.gameEngine.positionBlocked(path[index], self.gameEngine.pacman):
index +=1;
return path[index]['id']
def return_home(self):
if GE.dist(self.gameEngine.points[self.home], self.gameEngine.pacman
) < self.gameEngine.pacman['radius'] + GE.THRESHOLD:
self.dead = False
my_position = self.gameEngine.pacman
my_wp = self.gameEngine.findClosestMapPoint(my_position)
path = self.gameEngine.find_shortest_path(
my_wp, self.gameEngine.points[self.home])
index = 1
while index < len(path) - 1 and GE.dist(
path[index], self.gameEngine.pacman
) < self.gameEngine.pacman['radius'] + 1.5 * GE.THRESHOLD:
index += 1
return path[index]['id']
def return_home(self):
if GE.dist(self.gameEngine.points[self.home], self.gameEngine.ghosts[self.ghostname]) < self.gameEngine.ghosts[self.ghostname]['radius'] + GE.THRESHOLD:
self.dead = False
my_position = self.gameEngine.ghosts[self.ghostname]
my_wp = self.gameEngine.findClosestMapPoint(my_position)
path = self.gameEngine.find_shortest_path(my_wp,self.gameEngine.points[self.home])
if len(path) == 1:
return path[0]['id'], path[len(path)-1]['id']
index = 1
while index < len(path)-1 and GE.dist(path[index], self.gameEngine.ghosts[self.ghostname]) < self.gameEngine.ghosts[self.ghostname]['radius'] + 1.5 * GE.THRESHOLD :
index += 1;
while index < len(path)-1 and GE.dist(path[index], self.gameEngine.ghosts[self.ghostname]) < 2 * self.gameEngine.ghosts[self.ghostname]['radius'] + 2.0 * GE.THRESHOLD and self.gameEngine.positionBlocked(path[index], self.gameEngine.ghosts[self.ghostname]):
index +=1;
return path[index]['id'], path[len(path)-1]['id']
def return_home(self):
if GE.dist(self.gameEngine.points[self.home], self.gameEngine.pacman
) < self.gameEngine.pacman['radius'] + GE.THRESHOLD:
self.move_base_client.cancel_all_goals()
my_position = self.gameEngine.pacman
my_wp = self.gameEngine.findClosestMapPoint(my_position)
path = self.gameEngine.find_shortest_path(
my_wp, self.gameEngine.points[self.home])
index = 1
while index < len(path) - 1 and GE.dist(
path[index], self.gameEngine.pacman
) < self.gameEngine.pacman['radius'] + 1.5 * GE.THRESHOLD:
index += 1
if index < len(path) - 1 and GE.dist(
path[index], self.gameEngine.pacman
) < 2 * self.gameEngine.pacman[
'radius'] + 2.0 * GE.THRESHOLD and self.gameEngine.positionBlocked(
path[index], self.gameEngine.pacman):
index += 1
return path[index]['id']
def chase_pacman(self):
my_position = self.gameEngine.ghosts[self.ghostname]
pm_position = self.gameEngine.pacman
my_wp = self.gameEngine.findClosestMapPoint(my_position)
pm_wp = self.gameEngine.findClosestWP(pm_position)
path = self.gameEngine.find_shortest_path(my_wp, self.gameEngine.points[pm_wp])
if len(path) == 1:
return path[0]['id'], path[len(path)-1]['id']
index = 1
while index < len(path)-1 and GE.dist(path[index], self.gameEngine.ghosts[self.ghostname]) < self.gameEngine.ghosts[self.ghostname]['radius'] + GE.THRESHOLD :
index += 1;
return path[index]['id'], path[len(path)-1]['id']
