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8b609f0259
56
astar.py
Normal file
56
astar.py
Normal file
@ -0,0 +1,56 @@
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import heapq
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def heurystyka(obiekty, a, b):
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heur = abs((b[0] - a[0])) + abs((b[1] - a[1]))
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if obiekty["plansza"][b[0], b[1]].jestDomem is True:
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heur += 2
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if obiekty["plansza"][b[0], b[1]].jestPrzeszkoda is True:
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heur += 100
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return heur
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def astar(obiekty, start, cel):
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sasiedzi = [(0, 1), (0, -1), (1, 0), (-1, 0)]
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close_set = set()
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came_from = {}
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hscore = {start: heurystyka(obiekty, start, cel)}
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gscore = {start: 0}
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fscore = {start: heurystyka(obiekty, start, cel)}
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oheap = []
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dodatkowy_koszt = 0
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heapq.heappush(oheap, (fscore[start], start))
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while oheap:
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current = heapq.heappop(oheap)[1]
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if current == cel:
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obiekty["plansza"][current[0], current[1]].setKolor((255, 0, 0))
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data = []
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while current in came_from:
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data.append(current)
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current = came_from[current]
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return data[::-1]
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close_set.add(current)
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obiekty["plansza"][current[0], current[1]].setKolor((255, 0, 0))
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for i, j in sasiedzi:
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sasiad = current[0] + i, current[1] + j
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if 14 < sasiad[0] or sasiad[0] < 0:
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continue
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elif 14 < sasiad[1] or sasiad[1] < 0:
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continue
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elif 6 <= sasiad[0] <= 7 and 10 <= sasiad[1] <= 11:
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continue
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tentative_h_score = heurystyka(obiekty, sasiad, cel) + heurystyka(obiekty, current, sasiad)
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if sasiad in [i[1] for i in oheap] and tentative_h_score > hscore.get(current, 0):
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continue
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if sasiad not in close_set and sasiad not in [i[1] for i in oheap]:
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came_from[sasiad] = current
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hscore[sasiad] = tentative_h_score
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fscore[sasiad] = tentative_h_score + gscore[current]
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gscore[sasiad] = gscore[current] + heurystyka(obiekty, current, sasiad)
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heapq.heappush(oheap, (fscore[sasiad], sasiad))
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obiekty["plansza"][sasiad[0], sasiad[1]].setKolor((0, 255, 0))
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return False
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32
game.py
32
game.py
@ -4,6 +4,7 @@ import numpy as np
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import random
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import os
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import shutil
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import astar
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pygame.init()
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@ -37,6 +38,7 @@ def game():
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# Petla az uzytkownik zamknie program
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done = False
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clock = pygame.time.Clock()
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temp = True
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start = False
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@ -56,17 +58,25 @@ def game():
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wiersz = pozycja_myszki[1] // (HEIGHT + MARGIN)
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print("Click ", pozycja_myszki,
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"Grid coordinates: ", wiersz, kolumna)
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obiekty["plansza"][kolumna,wiersz].setKolor(BLACK)
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rysowaniePlanszy(obiekty)
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pressed = pygame.key.get_pressed()
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if pressed[pygame.K_q]:
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start = False
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if pressed[pygame.K_s]:
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start = True
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if start:
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obiekty["smieciarka"].rand_move()
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elif event.type == pygame.KEYDOWN:
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if event.key == pygame.K_LEFT:
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obiekty["smieciarka"].w_lewo()
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if event.key == pygame.K_RIGHT:
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obiekty["smieciarka"].w_prawo()
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if event.key == pygame.K_UP:
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obiekty["smieciarka"].w_gore()
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if event.key == pygame.K_DOWN:
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obiekty["smieciarka"].w_dol()
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# obiekty["smieciarka"].rand_move()
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while(temp):
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obiekty["smieciarka"].astar_move(obiekty)
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temp = False
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clock.tick(7)
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#start = obiekty["plansza"][0, 14]
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#koniec = obiekty["plansza"][14, 0]
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#print(astar.astar(obiekty, (0, 14), (14, 0)))
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#print(len(astar.astar(start, koniec)))
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pygame.quit()
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@ -98,7 +108,7 @@ def utworzObiekty():
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plansza[14, 14].setObiekt(smieciarka)
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# punkt docelowy
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plansza[0,0].setKolor(MAGENTA)
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plansza[0, 0].setKolor(MAGENTA)
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# tworzenie wyswietlanego okna
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os.environ['SDL_VIDEO_WINDOW_POS'] = "%d,%d" % (0, 30)
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75
modele.py
75
modele.py
@ -1,6 +1,12 @@
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import astar
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import shutil
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import os
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import pygame
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import game
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import random
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<< << << < HEAD
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== == == =
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>>>>>> > 7cb3aa904cd3d316c84df69942bbfdf66561a2e9
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# wysokosc i szerokosc kazdej kratki
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WIDTH = 60
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@ -22,6 +28,7 @@ class Smieciarka(pygame.sprite.Sprite):
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def __init__(self, x, y):
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self.x = x
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self.y = y
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self.pozycja = (self.x, self.y)
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self.image = pygame.image.load('resources/plansza/smieciarka.png')
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self.obraz = None
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self.ruch = 1
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@ -45,6 +52,21 @@ class Smieciarka(pygame.sprite.Sprite):
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elif rand_int == 3:
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self.w_dol()
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def astar_move(self, obiekty):
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sciezka = astar.astar(obiekty, self.pozycja,
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(random.randrange(15), random.randrange(15)))
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print(sciezka)
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for koord in sciezka:
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if koord[0] == self.x - 1 and koord[1] == self.y:
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self.w_lewo()
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elif koord[0] == self.x + 1 and koord[1] == self.y:
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self.w_prawo()
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elif koord[0] == self.x and koord[1] + 1 == self.y:
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self.w_gore()
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elif koord[0] == self.x and koord[1] - 1 == self.y:
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self.w_dol()
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print("skonczylem")
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def w_lewo(self):
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if self.x > 0:
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if self.ruch == 2:
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@ -83,6 +105,13 @@ class Smieciarka(pygame.sprite.Sprite):
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def w_dol(self):
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if self.y < 14:
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if self.plansza[self.x, self.y + 1].jestPrzeszkoda is not True:
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if self.plansza[self.x, self.y + 1].jestDomem is True:
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if [self.x, self.y + 1] not in self.wspolrzedne_odwiedzonych_domow:
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self.wspolrzedne_odwiedzonych_domow.append(
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[self.x, self.y + 1])
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self.zwiekszIloscOdwiedzonychDomow()
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self.plansza[self.x, self.y + 1].setKolor(BLUE)
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for i in range((WIDTH + MARGIN) // 5):
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self.rect.y += 5
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@ -90,6 +119,24 @@ class Smieciarka(pygame.sprite.Sprite):
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game.rysowaniePlanszy(self.obiekty)
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self.y += 1
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def dodajPlastik(self, smiec):
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self.plastik.append(smiec)
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def dodajSzklo(self, smiec):
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self.szklo.append(smiec)
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def dodajPapier(self, smiec):
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self.papier.append(smiec)
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def dodajMetal(self, smiec):
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self.metal.append(smiec)
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def zwiekszIloscOdwiedzonychDomow(self):
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self.odwiedzone_domy += 1
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def getOdwiedzoneDomy(self):
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return self.odwiedzone_domy
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def setPlansza(self, plansza):
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self.plansza = plansza
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@ -101,17 +148,45 @@ class Kratka(pygame.sprite.Sprite):
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def __init__(self, poz_x, poz_y):
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self.pozX = poz_x
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self.pozY = poz_y
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<< << << < HEAD
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== == == =
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self.pozycja = (self.pozX, self.pozY)
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self.rodzic = None
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self.jestDomem = False
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self.jestKontenerem = False
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self.jestWysypiskiem = False
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self.jestPrzeszkoda = False
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>>>>>> > 7cb3aa904cd3d316c84df69942bbfdf66561a2e9
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self.kolor = GREY
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self.obiekt = None
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self.g = 0 # Distance to start node
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self.h = 0 # Distance to goal node
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self.f = 0 # Total cost
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pygame.sprite.Sprite.__init__(self)
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self.image = pygame.image.__class__
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self.rect = pygame.Rect(self.pozX * WIDTH + MARGIN * self.pozX + MARGIN,
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self.pozY * HEIGHT + MARGIN * self.pozY + MARGIN,
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WIDTH, HEIGHT)
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# Sort nodes
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def __lt__(self, other):
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return self.f < other.f
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def __repr__(self):
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return ('{0}'.format(self.pozycja))
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# Compare nodes
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def __eq__(self, other):
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return True if self.pozycja == other.pozycja else False
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def setImage(self, image):
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self.image = image
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def setRodzic(self, rodzic):
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self.rodzic = rodzic
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def setObiekt(self, obiekt):
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self.obiekt = obiekt
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