From b433b588f5527eb05a563dfe0fc8364a90891a6a Mon Sep 17 00:00:00 2001 From: Mateusz Date: Mon, 27 Apr 2020 14:06:23 +0200 Subject: [PATCH] route-planning.md change screenshots to code mark delete screenshots files --- data/images/screenshots/aStarLoop1.png | Bin 8286 -> 0 bytes data/images/screenshots/aStarLoop2.png | Bin 30574 -> 0 bytes data/images/screenshots/aStarLoop3.png | Bin 79716 -> 0 bytes data/images/screenshots/aStarSuccesor.png | Bin 95337 -> 0 bytes data/images/screenshots/approximate.png | Bin 9208 -> 0 bytes route-planning.md | 31 ++++++++++++++++++++-- 6 files changed, 29 insertions(+), 2 deletions(-) delete mode 100644 data/images/screenshots/aStarLoop1.png delete mode 100644 data/images/screenshots/aStarLoop2.png delete mode 100644 data/images/screenshots/aStarLoop3.png delete mode 100644 data/images/screenshots/aStarSuccesor.png delete mode 100644 data/images/screenshots/approximate.png diff --git a/data/images/screenshots/aStarLoop1.png 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MiE0s39dYef%Kr&yY^?VQ8#~vj`*k}Ubev|zP0YvPZpZ!M+M%a{I!&f0OquXUDm`&)9e5Y{#F?ksPYzE7V9bc9f3VX<~PUU z%%|fb&fHH+t7G1c^l{(bd}9iwMTH?j@}<{U5dBZ-z-r zu*C%DzX>G~r_cW%;`kpkPW~pLh*Pa<{soV}{&Af16iNTbNG=KfB@yu!MD;M065ael zOPg7QcQ=ILTSE}_hF`f`dVQ{lm{A_~Bgu8z`5v VSks35DO(31FRda~DPb1$e*pCD&cpx! diff --git a/route-planning.md b/route-planning.md index c6e4ecc..d727468 100644 --- a/route-planning.md +++ b/route-planning.md @@ -77,11 +77,38 @@ to usuwamy z kolejki *node* i dodajemy *newNode* * Sprawdzamy czy przed nami jest jakaś kolizja, jeśli jest to weryfikujemy czy to nie jest nasz cel * Jeśli to jest nasz cel to dodajemy ruch do przodu do wyniku funkcji następnika, jeśli nie to zwracamy jedynie listę z obrotami -![screenshot4](https://git.wmi.amu.edu.pl/s444409/DSZI_Survival/raw/master/data/images/screenshots/aStarSuccesor.png) +``` + def succesor(self, elemState): + ''' + :param elemState: [x, y, Rotation] + :return: list of (Movement, NewState) + ''' + result = [(Movement.ROTATE_R, self.newStateAfterAction(elemState, Movement.ROTATE_R)), + (Movement.ROTATE_L, self.newStateAfterAction(elemState, Movement.ROTATE_L))] + stateAfterForward = self.newStateAfterAction(elemState, Movement.FORWARD) + if 0 <= stateAfterForward[0] <= self.map.width and 0 <= stateAfterForward[1] <= self.map.height: + coordsWithUiOffset = [stateAfterForward[0] + self.leftUiWidth, stateAfterForward[1]] + facingEntity = self.map.getEntityOnCoord(coordsWithUiOffset) + + if facingEntity is not None: + if isinstance(self.actualTarget, Entity): + if facingEntity.id == self.actualTarget.id: + result.append((Movement.FORWARD, stateAfterForward)) + elif self.map.collision(coordsWithUiOffset[0], coordsWithUiOffset[1]) and \ + self.targetCoords[0] == stateAfterForward[0] and self.targetCoords[1] == stateAfterForward[1]: + result.append((Movement.FORWARD, stateAfterForward)) + elif not self.map.collision(coordsWithUiOffset[0], coordsWithUiOffset[1]): + result.append((Movement.FORWARD, stateAfterForward)) + + return result +``` ## Heurystyka **Metoda *approximateDistanceFromTarget(self, tileX, tileY)* w [AutomaticMovement.py](https://git.wmi.amu.edu.pl/s444409/DSZI_Survival/src/master/src/AI/AutomaticMovement.py)** * Oszacowuje koszt dotarcia do celu końcowego z aktualnej pozycji gracza. * Od tileX i tileY (aktualna pozycja gracza) odejmowana jest pozycja docelowa, zwracana jest wartość zaniżonego kosztu osiągnięcia celu. -![screenshot7](https://git.wmi.amu.edu.pl/s444409/DSZI_Survival/raw/master/data/images/screenshots/approximate.png) \ No newline at end of file +``` + def approximateDistanceFromTarget(self, tileX, tileY): + return abs(tileX - self.targetCoords[0]) + abs(tileY - self.targetCoords[1]) +``` \ No newline at end of file