170 lines
6.0 KiB
Python
170 lines
6.0 KiB
Python
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import pygame
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from pygame.math import Vector2
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import math as m
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class Tractor(object):
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def __init__(self, game):
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self.game = game
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size = self.game.screen.get_size()
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self.pos = Vector2(22, 22)
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self.oy = True
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self.oz = False
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# A*
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self.g_score = []
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self.f_score = []
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self.h_score = []
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self.came_from = []
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self.neighbours()
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self.score()
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#ruszanie się
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self.road = self.algo(0, 24)
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# obecne pole
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def tick(self):
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# input
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# pressed = pygame.key.get_pressed()
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# if pressed[pygame.K_d]:
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# self.add_force(Vector2(self.speed,0))
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# if pressed[pygame.K_s]:
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# self.add_force(Vector2(0,self.speed))
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# if pressed[pygame.K_a]:
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# self.add_force(Vector2(-self.speed,0))
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# if pressed[pygame.K_w]:
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# self.add_force(Vector2(0,-self.speed))
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if pygame.key.get_pressed()[pygame.K_SPACE]:
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self.pole = self.pos.y // 144 * 5 + self.pos.x // 144
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if self.road[0] == self.pole + 1:
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self.pos.x = self.pos.x + 144
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elif self.road[0] == self.pole - 1:
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self.pos.x = self.pos.x - 144
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elif self.road[0] == self.pole + 5:
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self.pos.y = self.pos.y + 144
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elif self.road[0] == self.pole - 5:
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self.pos.y = self.pos.y - 144
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self.road.pop(0)
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#
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# if (self.pos.x >= 576) and (self.pos.y >= 576) and (self.oz == False):
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# self.oz = True
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# elif (self.pos.x < 576) and (self.oy == True) and (self.oz == False):
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# self.pos.x = self.pos.x + 144
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# elif (self.pos.x >= 576) and (self.oy == True) and (self.oz == False):
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# self.pos.y = self.pos.y + 144
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# self.oy = False
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# elif (self.pos.x > 144) and (self.oy == False) and (self.oz == False):
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# self.pos.x = self.pos.x - 144
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# elif (self.pos.x <= 144) and (self.oy == False) and (self.oz == False):
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# self.pos.y = self.pos.y + 144
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# self.oy = True
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# elif (self.pos.x <= 144) and (self.pos.y <= 144) and (self.oz == True):
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# self.oz = False
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# elif (self.pos.x < 576) and (self.oy == False) and (self.oz == True):
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# self.pos.x = self.pos.x + 144
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# elif (self.pos.x >= 576) and (self.oy == False) and (self.oz == True):
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# self.pos.y = self.pos.y - 144
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# self.oy = True
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# elif (self.pos.x > 144) and (self.oy == True) and (self.oz == True):
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# self.pos.x = self.pos.x - 144
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# elif (self.pos.x <= 144) and (self.oy == True) and (self.oz == True):
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# self.pos.y = self.pos.y - 144
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# self.oy = False
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def draw(self):
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# drawing
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rect = pygame.Rect(self.pos.x, self.pos.y, 100, 100)
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pygame.draw.rect(self.game.screen, (255, 255, 0), rect)
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# Sąsiedztwo poszczególnych pól
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def neighbours(self):
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self.neighbours = list(range(25))
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self.neighbours[0] = [1, 5]
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self.neighbours[4] = [3, 9]
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self.neighbours[20] = [15, 21]
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self.neighbours[24] = [19, 23]
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for x in range(1, 4):
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self.neighbours[x] = [x - 1, x + 5, x + 1]
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for x in range(5, 16, 5):
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self.neighbours[x] = [x - 5, x + 1, x + 5]
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for x in range(9, 20, 5):
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self.neighbours[x] = [x - 5, x - 1, x + 5]
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for x in range(21, 24):
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self.neighbours[x] = [x - 1, x - 5, x + 1]
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for x in [6, 7, 8, 11, 12, 13, 16, 17, 18]:
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self.neighbours[x] = [x - 5, x - 1, x + 1, x + 5]
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# Tworzenie list dla g, h, f oraz came_from
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def score(self):
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for x in range(25):
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self.g_score.append(0)
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self.f_score.append(0)
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self.h_score.append(0)
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self.came_from.append(0)
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# Obliczanie h (założenie - odległość pomiędzy sąsiednimi polami wynosi 2, tak jak koszt wjazdu na puste pole)
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# s to pole na którym jesteśmy
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# f to pole końcowe
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def hscore(self, s, f):
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if f >= s:
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a_h = (f - s) // 5
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else:
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a_h = (s - f) // 5
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if f % 5 >= s % 5:
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b_h = f % 5 - s % 5
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else:
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b_h = s % 5 - f % 5 + 1
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return 2 * m.sqrt(a_h ** 2 + b_h ** 2)
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# A*
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def algo(self, start, koniec):
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# definiowanie setów
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closed_set = []
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open_set = [start]
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while open_set:
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# Szukanie pola w open_set z najniższym f
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temp1 = max(self.f_score) + 1
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x = 0
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for i in range(len(open_set)):
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if self.f_score[open_set[i]] <= temp1:
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x = open_set[i]
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temp1 = self.f_score[open_set[i]]
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if x == koniec:
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return self.reconstruct_path(self.came_from, koniec)
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open_set.remove(x)
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closed_set.append(x)
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for y in self.neighbours[x]:
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if y in closed_set:
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continue
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tentative_g_score = self.g_score[x] + self.game.fields[y][3]
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if y not in open_set:
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open_set.append(y)
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tentative_is_better = True
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elif tentative_g_score < self.g_score[y]:
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tentative_is_better = True
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if tentative_is_better == True:
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self.came_from[y] = x
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self.g_score[y] = tentative_g_score
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self.f_score[y] = self.g_score[y] + self.hscore(y, koniec)
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print("failure")
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def reconstruct_path(self, came_from, current):
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total_path = [current]
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while came_from[current] != 0:
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current = came_from[current]
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total_path.insert(0, current)
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return total_path
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