astar #4
232
board
232
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@ -1,78 +1,226 @@
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import sys
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from queue import PriorityQueue
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import pygame
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screen = []
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objectArray = []
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collisionsMap = []
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class Agent:
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def __init__(self, name, xPos, yPos):
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class Position:
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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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def get_moved(self, delta_x, delta_y):
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return Position(self.x + delta_x, self.y + delta_y)
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class Object:
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def __init__(self, name, pos):
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self.name = name
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self.xPos = xPos
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self.yPos = yPos
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self.pos = pos
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def draw(self, square):
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leftTopX, leftTopY = 50 + self.pos.x * square, 10 + self.pos.y * square
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pygame.draw.rect(screen, (0, 0, 0), (leftTopX, leftTopY, square, square))
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def detect_collision(newPos):
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return collisionsMap[newPos.x][newPos.y]
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def position_in_grid(pos, gridLength):
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return 0 <= pos.x < gridLength and 0 <= pos.y < gridLength
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def movement_allowed(newPos, gridLength):
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return position_in_grid(newPos, gridLength) and not detect_collision(newPos)
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class Agent(Object):
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def __init__(self, name, pos):
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super().__init__(name, pos)
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def draw(self, square):
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## RYSUJEMY AGENTA
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circleX = 52 + self.pos.x * square
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circleY = 12 + self.pos.y * square
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truck = pygame.image.load("car.png").convert_alpha() # tu ścieżka do zdjęcia w tle
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truck = pygame.transform.scale(truck, (square, square))
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screen.blit(truck, (circleX, circleY))
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def move(self, event, gridLength):
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if event.key == pygame.K_LEFT:
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newPos = self.pos.get_moved(-1, 0)
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self.move_if_possible(newPos, gridLength)
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if event.key == pygame.K_RIGHT:
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newPos = self.pos.get_moved(1, 0)
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self.move_if_possible(newPos, gridLength)
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if event.key == pygame.K_UP:
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newPos = self.pos.get_moved(0, -1)
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self.move_if_possible(newPos, gridLength)
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if event.key == pygame.K_DOWN:
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newPos = self.pos.get_moved(0, 1)
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self.move_if_possible(newPos, gridLength)
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def move_if_possible(self, newPos, gridLength):
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if movement_allowed(newPos, gridLength):
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self.pos = newPos
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class House(Object):
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def __init__(self, name, pos):
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super().__init__(name, pos)
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self.trash_cans = {
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"paper": False,
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"glass": False,
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"plastic": False,
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"bio": False
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}
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def draw(self, square):
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x = 52 + self.pos.x * square
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y = 12 + self.pos.y * square
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house = pygame.image.load("house.png").convert_alpha() # tu ścieżka do zdjęcia w tle
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house = pygame.transform.scale(house, (square, square))
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screen.blit(house, (x, y))
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class Junkyard(Object):
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def __init__(self, name, pos):
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super().__init__(name, pos)
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self.heaps = {
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"paper": True,
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"glass": True,
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"plastic": True,
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"bio": True
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}
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def draw(self, square):
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x = 52 + self.pos.x * square
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y = 12 + self.pos.y * square
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junkyard = pygame.image.load("junkyard.png").convert_alpha() # tu ścieżka do zdjęcia w tle
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junkyard = pygame.transform.scale(junkyard, (square, square))
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screen.blit(junkyard, (x, y))
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class Hole(Object):
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def __init__(self, name, pos):
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super().__init__(name, pos)
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def draw(self, square):
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x = 52 + self.pos.x * square
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y = 12 + self.pos.y * square
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hole = pygame.image.load("hole.png").convert_alpha() # tu ścieżka do zdjęcia w tle
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hole = pygame.transform.scale(hole, (square, square))
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screen.blit(hole, (x, y))
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def draw(square_num, objectArr):
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#następne dwie linijki do odkomentowania, jak będzie wgrane zdjęcie do tła
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#background = pygame.image.load("ścieżka do pliku").convert() #tu ścieżka do zdjęcia w tle
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#screen.blit(background, (0, 0))
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grid_color = (0, 0, 0) #kolor czarny
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# następne dwie linijki do odkomentowania, jak będzie wgrane zdjęcie do tła
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# background = pygame.image.load("ścieżka do pliku").convert() #tu ścieżka do zdjęcia w tle
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# screen.blit(background, (0, 0))
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grid_color = (0, 0, 0) # kolor czarny
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grid_size = 500 #rozmiar kraty
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square = grid_size/square_num #rozmiar pojedyńczego kwadracika
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grid_size = 510 # rozmiar kraty
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square = grid_size // square_num # rozmiar pojedyńczego kwadracika
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a = 50
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b = 10 #odległości kraty od krawędzi okna
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b = 10 # odległości kraty od krawędzi okna
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for o in objectArr:
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o.draw(square)
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for i in range(square_num):
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pygame.draw.line(screen, grid_color, (a + i*square, b), (a + i*square, b + grid_size), 2)
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pygame.draw.line(screen, grid_color, (a + i * square, b), (a + i * square, b + grid_size), 2)
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pygame.draw.line(screen, grid_color, (a, b + i*square), (a + grid_size, b + i*square), 2)
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pygame.draw.line(screen, grid_color, (a, b + i * square), (a + grid_size, b + i * square), 2)
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pygame.draw.line(screen, grid_color, (a, b + grid_size), (a + grid_size,
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b + grid_size), 2)
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b + grid_size), 2)
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pygame.draw.line(screen, grid_color, (a + grid_size, b),
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(a + grid_size, b + grid_size), 2)
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## tutaj rysujemy agenta i inne obiekty juz na gotowej mapie
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## RYSUJEMY AGENTA
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#agent_color = (255, 0, 0)
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circleX = objectArr[0].xPos * square + square + square/ 2 #dodane jedno +square, by śmieciara nie wychodziła poza kratę
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circleY = objectArr[0].yPos * square - square / 2
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#radius = 10
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#pygame.draw.circle(screen, agent_color, (a + circleX, b + circleY), radius)
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truck = pygame.image.load("car.png").convert_alpha() #tu ścieżka do zdjęcia w tle
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truck = pygame.transform.scale(truck, (square, square))
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screen.blit(truck, (circleX, circleY))
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def kb_listen(objectArray, gridLength):
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agent = objectArray[0]
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for event in pygame.event.get():
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if event.type == pygame.KEYDOWN:
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if event.key == pygame.K_LEFT and objectArray[0].xPos > 0:
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objectArray[0].xPos = objectArray[0].xPos - 1
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if event.key == pygame.K_RIGHT and objectArray[0].xPos < gridLength - 1:
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objectArray[0].xPos = objectArray[0].xPos + 1
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if event.key == pygame.K_UP and objectArray[0].yPos > 1:
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objectArray[0].yPos = objectArray[0].yPos - 1
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if event.key == pygame.K_DOWN and objectArray[0].yPos < gridLength:
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objectArray[0].yPos = objectArray[0].yPos + 1
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agent.move(event, gridLength)
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if event.type == pygame.QUIT:
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sys.exit()
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#moje
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def manhattan(field1, field2):#nasze punktyNOWE
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tuple1 = zip(field1, field2)#łączymy xpos1 z xpos2 i ypos1 z ypos2
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for i, j in tuple1:
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distance = sum(abs(i - j))#dodajemy wartości bezwzględne różnic x i y
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return distance
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class Node: #prawie jak Field w bfs
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def __init__(self, state, parent, action):
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self.state = state #position - (x, y, direction)
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self.parent = parent
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self.action = action
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def algorithm():
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opened = PriorityQueue()#może być też lista
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closed = []#już odwiedzone, odrzucone wierzchołki
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first_state = (0, 0, "Right")#x, y, kierunek
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final_state = (14, 14, "Right")
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starting_point = Node(first_state, False, False)
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ending_point = Node(final_state, False, False)
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pos1 = (starting_point.state[0], starting_point.state[1])
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pos2 = (ending_point.state[0], ending_point.state[1])
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opened.put((1, starting_point))
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a = final_state[0]
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b = final_state[1]
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hole = Hole("astar", Position(a, b))#narysowana dziura w miejscu mety(celu), by sprawdzić, czy działa
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objectArray.append(hole)
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if __name__ == '__main__':
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pygame.init() #inicjalizacja modułów, na razie niepotrzebna
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pygame.init() # inicjalizacja modułów, na razie niepotrzebna
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gridSize = 15
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astar()
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#Tworzymy nowego playera, czy tam agenta
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agent = Agent("smieciarka", 5, 7)
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# Tworzymy nowego playera, czy tam agenta
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agent = Agent("smieciarka", Position(0, 0))
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junkyard = Junkyard("wysypisko", Position(10, 10))
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houses = [House(f'dom-{i}', pos) for i, pos in enumerate([Position(x, y) for x, y in [
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(7, 4), (3, 10), (8, 10), (4, 5), (1, 2), (10, 4), (13, 14), (6, 9)
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]])]
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holes = [Hole(f'dziura-{i}', pos) for i, pos in enumerate([Position(x, y) for x, y in [
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(4, 9), (5, 11), (11, 7), (13, 8)
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]])]
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objectArray.append(agent)
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objectArray.append(junkyard)
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objectArray += houses
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objectArray += holes
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width = 600
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collisionsMap = [[False] * gridSize for _ in range(gridSize)]
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for object in objectArray[1:]:
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collisionsMap[object.pos.x][object.pos.y] = True
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width = 610
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height = 530
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screen = pygame.display.set_mode((width, height)) #ustalanie rozmiarów okna
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screen = pygame.display.set_mode((width, height)) # ustalanie rozmiarów okna
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while 1:
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c = (255, 255, 255) #tymczasowy kolor tła - do usunięcia, jak już będzie zdjęcie
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c = (255, 255, 255) # tymczasowy kolor tła - do usunięcia, jak już będzie zdjęcie
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screen.fill(c)
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draw(15, objectArray)
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kb_listen(objectArray, 15)
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pygame.display.update() #by krata pojawiła się w okienku - update powierzchni
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draw(gridSize, objectArray)
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kb_listen(objectArray, gridSize)
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pygame.display.update() # by krata pojawiła się w okienku - update powierzc
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