Algorytm A*, dodanie kałuż, obrót kelnera, drobne poprawki
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@ -2,10 +2,111 @@ import pygame
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import random
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import time
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import queue
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import math
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pygame.init()
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def heuristic(current, goal):
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dx = abs(current[0] - goal[0])
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dy = abs(current[1] - goal[1])
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return math.sqrt(dx * dx + dy * dy)
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class Node():
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def __init__(self, parent = None, position = None):
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self.parent = parent
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self.position = position
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self.g = 0
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self.h = 0
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self.f = 0
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def __eq__(self, other):
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return self.position == other.position
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def aStar(start, end):
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if end in cantwalk:
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print("Wybrano nieodpowiednie pole!")
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return []
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start_node = Node(None, start)
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start_node.g = start_node.h = start_node.f = 0
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end_node = Node(None, end)
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end_node.g = end_node.h = end_node.f = 0
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open_list = []
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closed_list = []
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open_list.append(start_node)
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while len(open_list) > 0:
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current_node = open_list[0]
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current_index = 0
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for index, item in enumerate(open_list):
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if item.f < current_node.f:
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current_node = item
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current_index = index
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open_list.pop(current_index)
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closed_list.append(current_node)
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if current_node == end_node:
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path = []
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current = current_node
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while current is not None:
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path.append(current.position)
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current = current.parent
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return list(map(lambda t: (t[0], t[1]), path[::-1])) #zwraca odwróconą ściezkę
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children = []
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# można dodać (-1, -1), (-1, 1), (1, -1), (1, 1) dla poruszania się po przekątnej
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for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0)]:
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node_position = (current_node.position[0] + new_position[0], current_node.position[1]
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+ new_position[1])
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if node_position[0] >= (rows - 1) or node_position[0] <= 0 or node_position[1] >= (rows - 1) \
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or node_position[1] <= 0: #spr. czy w kracie
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continue
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if node_position in cantwalk: #spr. czy można przejść
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continue
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new_node = Node(current_node, node_position)
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children.append(new_node)
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didBreak = False
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for child in children:
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didBreak = False
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for closed_child in closed_list:
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if child == closed_child:
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didBreak = True
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break
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if didBreak:
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continue
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if child.position in cantwalk:
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child.g = current_node.g + 99999
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elif child.position in puddles:
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child.g = current_node.g + 3
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else:
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child.g = current_node.g + 1
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child.h = heuristic(child.position, end_node.position)
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child.f = child.g + child.h
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for open_node in open_list:
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if child == open_node and child.g > open_node.g:
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didBreak = True
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break
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if didBreak:
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continue
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open_list.append(child)
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class Dish(object):
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def __init__(self, dishName, prepTime, eatTime, price):
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self.dishName = dishName
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@ -47,7 +148,6 @@ class Kitchen(object):
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return None
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def draw(self, surface):
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image1 = pygame.image.load(r'kitchen1.png')
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image1 = pygame.transform.scale(image1, (sizeBetween - 1, sizeBetween - 1))
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surface.blit(image1, (13*sizeBetween+1, 0*sizeBetween+1))
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@ -80,6 +180,7 @@ class Client(object):
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def takeASeat(self, table):
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self.myTable = table
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class Table(object):
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def __init__(self, pos, capacity):
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self.pos = pos
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@ -103,12 +204,13 @@ class Waiter(object):
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def __init__(self, color, pos, direction):
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self.color = color
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self.pos = pos #pozycja agenta, zapisana w formie dwuelementowej listy
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self.posx = pos[0]
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self.posy = pos[1]
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self.dirnx = 0 #zmienne dirnx i dirny używane są do ruchu bota i ustalania, w którą stronę jest zwrócony
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self.dirny = 1
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self.plates = [] #lista niesionych przez agenta talerzy, planowo lista par: (talerz, klient)
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self.direction = direction #kierunek, w ktory jest skierowany bot
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def moveRandomly(self, noWalkable):
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rand = random.randrange(1, 5, 1) #losuje w zakresie 1-4
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#print(rand)
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@ -215,23 +317,42 @@ class Waiter(object):
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client.takePlateAndEat(plate)
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def draw(self, surface):
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if self.direction == 'right':
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image = pygame.image.load(r'waiter_right.png')
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image = pygame.transform.scale(image, (sizeBetween - 1, sizeBetween - 1))
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image = pygame.image.load(r'waiter_right.png')
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image = pygame.transform.scale(image, (sizeBetween - 1, sizeBetween - 1))
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i = self.pos[0]
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j = self.pos[1]
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if self.direction == "right":
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image = pygame.transform.rotate(image, 270)
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elif self.direction == "left":
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image = pygame.transform.rotate(image, 90)
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elif self.direction == "up":
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image = pygame.transform.rotate(image, 180)
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surface.blit(image, (i*sizeBetween+1, j*sizeBetween+1))
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i = self.pos[0]
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j = self.pos[1]
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surface.blit(image, (i * sizeBetween + 1, j * sizeBetween + 1))
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else:
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image = pygame.image.load(r'waiter_left.png')
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image = pygame.transform.scale(image, (sizeBetween - 1, sizeBetween - 1))
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def goByAStar(self, end):
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positionList = aStar(self.pos, end)
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print(positionList)
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lenght = len(positionList) - 1
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for i in range(lenght):
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movex = positionList[i + 1][0] - positionList[i][0]
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movey = positionList[i + 1][1] - positionList[i][1]
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self.posx += movex
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self.posy += movey
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self.pos = (self.posx, self.posy)
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i = self.pos[0]
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j = self.pos[1]
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if movex == -1 and movey == 0:
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self.direction = "left"
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elif movex == 1 and movey == 0:
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self.direction = "right"
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elif movey == -1 and movex == 0:
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self.direction = "down"
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else:
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self.direction = "up"
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surface.blit(image, (i*sizeBetween+1, j*sizeBetween+1))
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redrawWindow(window)
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time.sleep(0.5)
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def drawGrid(width, rows, surface):
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@ -252,6 +373,10 @@ def redrawWindow(surface):
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kitchen.draw(surface)
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for i in range(len(tables)):
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tables[i].draw(surface)
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for i in range(len(puddles)):
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image = pygame.image.load(r'puddle.png')
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image = pygame.transform.scale(image, (sizeBetween - 1, sizeBetween - 1))
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surface.blit(image, (puddles[i][0]* sizeBetween + 1, puddles[i][1]* sizeBetween + 1))
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drawGrid(width, rows, surface)
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pygame.display.update()
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@ -263,7 +388,7 @@ def noWalkable(tables, kitchen):
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return list
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def main():
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global width, rows, bot, beige, white, black, sizeBetween, tables, kitchen
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global width, rows, bot, beige, white, black, sizeBetween, tables, kitchen, cantwalk, puddles, window
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# skróty do kolorów
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beige = (255, 205, 178)
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white = (255, 255, 255)
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@ -273,35 +398,44 @@ def main():
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rows = 15
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sizeBetween = width // rows #wielkość pojedynczej kratki
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window = pygame.display.set_mode((width, width))
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bot = Waiter((255, 0, 0), [12, 8], 'right')
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bot = Waiter((255, 0, 0), (12, 8), "right")
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tables = []
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tables.append(Table([0, 3], 1))
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tables.append(Table([0, 6], 1))
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tables.append(Table([0, 9], 2))
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tables.append(Table([0, 12], 2))
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tables.append(Table([4, 4], 2))
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tables.append(Table([4, 7], 2))
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tables.append(Table([4, 10], 2))
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tables.append(Table([4, 13], 2))
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tables.append(Table([8, 3], 1))
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tables.append(Table([8, 6], 1))
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tables.append(Table([8, 9], 2))
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tables.append(Table([8, 12], 2))
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tables.append(Table((0, 3), 1))
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tables.append(Table((0, 6), 1))
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tables.append(Table((0, 9), 2))
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tables.append(Table((0, 12), 2))
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tables.append(Table((4, 4), 2))
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tables.append(Table((4, 7), 2))
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tables.append(Table((4, 10), 2))
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tables.append(Table((4, 13), 2))
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tables.append(Table((8, 3), 1))
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tables.append(Table((8, 6), 1))
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tables.append(Table((8, 9), 2))
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tables.append(Table((8, 12), 2))
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flag = True
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clock = pygame.time.Clock()
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kitchen = Kitchen([13, 1])
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kitchen = Kitchen((13, 1))
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list = noWalkable(tables, kitchen) # lista pozycji, na ktore bot nie moze wejsc
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cantwalk = noWalkable(tables, kitchen) # lista pozycji, na ktore bot nie moze wejsc
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puddles = []
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puddles.append((7, 10))
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puddles.append((2, 5))
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puddles.append((3, 12))
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puddles.append((10, 3))
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puddles.append((6, 2))
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puddles.append((12, 10))
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puddles.append((1, 4))
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while flag:
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pygame.time.delay(100)
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clock.tick(60)
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for i in range(40): #bot testowo ma wykonać 40 kroków
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bot.moveRandomly(list)
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redrawWindow(window)
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time.sleep(0.5) #opóźnienie każdego kolejnego kroku o pół sekundy
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redrawWindow(window)
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#bot.moveRandomly(list)
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goal = (1,5)
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bot.goByAStar(goal)
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time.sleep(120)
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flag = False
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BIN
Restaurant/puddle.png
Normal file
BIN
Restaurant/puddle.png
Normal file
Binary file not shown.
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