Fix problems with pathfinding to some map locations and add go-to on click
succesor method fixed
This commit is contained in:
Michał Czekański
parent
31d2bf0009
commit
1255ab8e16
@ -1,5 +1,3 @@
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from copy import copy
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from src.entities.Entity import Entity
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from src.entities.Player import Movement, Rotations
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from src.AI.AStarNode import AStarNode
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@ -30,20 +28,26 @@ class AutomaticMovement:
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if self.movesList is not None:
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if len(self.movesList) > 0:
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self.nextMove = self.movesList[0]
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else:
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self.actualTarget = None
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self.nextMove = None
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else:
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self.actualTarget = None
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def updatePlayerCoords(self):
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if self.actualTarget is not None:
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if self.actualTarget is not None and self.nextMove is not None:
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self.player.move(self.nextMove)
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self.movesList.remove(self.nextMove)
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if len(self.movesList) != 0:
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self.nextMove = self.movesList[0]
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else:
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self.movesList = None
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self.nextMove = None
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self.actualTarget = None
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def a_Star(self):
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print("A* in progress ...")
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self.testCount = 0
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fringe = PriorityQueue()
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@ -55,21 +59,18 @@ class AutomaticMovement:
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fringe.put((startingPriority, self.testCount, AStarNode(None, None, startingState)))
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self.testCount += 1
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while True:
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print("DEBUG: A* in progress")
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if fringe.empty():
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# target is unreachable
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self.movesList = None
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self.nextMove = None
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print("PATH NOT FOUND")
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return None
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elem: AStarNode = fringe.get()[2]
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if self.goalTest(elem.state):
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print("PATH FOUND")
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movesList = []
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if isinstance(self.actualTarget, Entity):
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if isinstance(self.actualTarget, Entity) or self.actualTarget in self.map.collidables:
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elem = elem.parent
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while elem.action is not None:
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@ -79,37 +80,46 @@ class AutomaticMovement:
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movesList.reverse()
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return movesList
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# debug
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print("DEBUG")
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print("ACTUAL STATE: {}".format(elem.state))
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print("HOW TO GET HERE:")
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temp = elem
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while temp.action is not None:
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print(temp.action)
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temp = temp.parent
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print("POSSIBLE MOVEMENTS FROM HERE:")
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for el in self.succesor(elem.state):
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print(el)
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print("*" * 20)
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explored.append(elem)
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for (movement, newState) in self.succesor(elem.state):
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# Sprawdzam czy nie jest poza mapa
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coordsWithUiOffset = [newState[0] + self.leftUiWidth, newState[1]]
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newNode = AStarNode(elem, movement, newState)
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newPriority = self.priority(newNode)
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if 0 <= newState[0] <= self.map.width - self.moveOffset and 0 <= newState[
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1] <= self.map.height - self.moveOffset:
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# if self.map.getTileOnCoord(coordsWithUiOffset) is not None:
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newNode = AStarNode(elem, movement, newState)
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newPriority = self.priority(newNode)
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# Check if state is not in fringe queue ... # ... and is not in explored list
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if not any(newNode.state == node[2].state for node in fringe.queue) \
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and not any(newNode.state == node.state for node in explored):
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# there can't be nodes with same priority
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fringe.put((newPriority, self.testCount, newNode))
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self.testCount += 1
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# If state is in fringe queue ...
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elif any(newNode.state == node[2].state for node in fringe.queue):
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node: AStarNode
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for (pr, count, node) in fringe.queue:
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# Compare nodes
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if node.state == newNode.state and node.action == newNode.action:
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# ... and if it has priority > newPriority
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if pr > newPriority:
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# Replace it with new priority
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fringe.queue.remove((pr, count, node))
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fringe.put((newPriority, count, node))
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self.testCount += 1
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break
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# Check if state is not in fringe queue ... # ... and is not in explored list
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if not any(newNode.state == node[2].state for node in fringe.queue) \
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and not any(newNode.state == node.state for node in explored):
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# there can't be nodes with same priority
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fringe.put((newPriority, self.testCount, newNode))
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self.testCount += 1
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# If state is in fringe queue ...
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elif any(newNode.state == node[2].state for node in fringe.queue):
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node: AStarNode
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for (pr, count, node) in fringe.queue:
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# Compare nodes
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if node.state == newNode.state and node.action == newNode.action:
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# ... and if it has priority > newPriority
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if pr > newPriority:
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# Replace it with new priority
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fringe.queue.remove((pr, count, node))
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fringe.put((newPriority, count, node))
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self.testCount += 1
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break
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def succesor(self, elemState):
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'''
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@ -120,31 +130,25 @@ class AutomaticMovement:
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(Movement.ROTATE_L, self.newStateAfterAction(elemState, Movement.ROTATE_L))]
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stateAfterForward = self.newStateAfterAction(elemState, Movement.FORWARD)
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if 0 <= stateAfterForward[0] <= self.map.width - self.moveOffset and 0 <= stateAfterForward[
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1] <= self.map.height - self.moveOffset:
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if 0 <= stateAfterForward[0] <= self.map.width and 0 <= stateAfterForward[1] <= self.map.height:
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coordsWithUiOffset = [stateAfterForward[0] + self.leftUiWidth, stateAfterForward[1]]
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facingEntity = self.map.getEntityOnCoord(coordsWithUiOffset)
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if facingEntity is not None:
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if facingEntity.id == self.actualTarget.id:
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result.append((Movement.FORWARD, stateAfterForward))
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if isinstance(self.actualTarget, Entity):
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if facingEntity.id == self.actualTarget.id:
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result.append((Movement.FORWARD, stateAfterForward))
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elif self.map.collision(coordsWithUiOffset[0], coordsWithUiOffset[1]) and \
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self.targetCoords[0] == stateAfterForward[0] and self.targetCoords[1] == stateAfterForward[1]:
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result.append((Movement.FORWARD, stateAfterForward))
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elif not self.map.collision(coordsWithUiOffset[0], coordsWithUiOffset[1]):
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result.append((Movement.FORWARD, stateAfterForward))
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return result
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def goalTest(self, coords):
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# with left ui width
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coordsWithUiOffset = [coords[0] + self.leftUiWidth, coords[1]]
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entity = self.map.getEntityOnCoord(coordsWithUiOffset)
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'''if entity is not None:
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if entity.id == self.actualTarget.id:
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return True'''
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if coords[0] == self.targetCoords[0] and coords[1] == self.targetCoords[1]:
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return True
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return False
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def approximateDistanceFromTarget(self, tileX, tileY):
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@ -168,7 +172,6 @@ class AutomaticMovement:
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state[1] - y
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state[2] - rotation
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'''
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def newStateAfterAction(self, state, action: Movement):
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newX = state[0]
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@ -38,6 +38,16 @@ class EventManager:
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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self.game.running = False
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if event.type == pygame.MOUSEBUTTONUP:
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pos = pygame.mouse.get_pos()
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# get a list of all sprites that are under the mouse cursor
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clicked_sprites = [s for s in self.game.map.collidables if s.rect.collidepoint(pos)]
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# do something with the clicked sprites...
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if len(clicked_sprites) > 0:
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self.game.movement.gotoToTarget(Random().choice(clicked_sprites))
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self.game.screen.ui.updateBasedOnPygameEvent(event)
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self.keyTimeout += self.keyTimer.tick()
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if self.keyTimeout >= TIMEOUT:
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@ -95,7 +105,7 @@ class EventManager:
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if keys[pygame.K_u]:
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while True:
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try:
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self.game.movement.gotoToTarget(self.game.map.entities[Random().randint(0, len(self.game.map.entities))])
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self.game.movement.gotoToTarget(Random().choice(self.game.map.entities))
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break
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except IndexError:
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pass
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