Breadth-First Search
Strategie przeszukiwania 1
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.10 (pythonProject)" project-jdk-type="Python SDK" />
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<component name="ProjectRootManager" version="2" languageLevel="JDK_19" project-jdk-name="Python 3.9" project-jdk-type="Python SDK" />
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</project>
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BIN
img/tree.png
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img/tree.png
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main.py
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main.py
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import pygame
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pygame.init()
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# Game Constants
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Ucelu = False
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SCREENX = 500
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SCREENY = 500
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# SCREEN = pygame.display.set_mode([600, 600])
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# screen = pygame.display.set_mode((SCREENX, SCREENY))
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SCREEN = pygame.display.set_mode([600,650])
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pygame.display.set_caption('Inteligenty Traktor')
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# COLORS
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WHITE = (255, 255, 255)
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BLACK = (0, 0, 0)
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RED = (255, 0, 0)
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GREEN = (0, 255, 0, 0)
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BLUE = (0, 0, 255)
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GREY = (128, 128, 128)
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CLOCK = pygame.time.Clock()
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FPS = 300
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DELAY = 100
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GRIDX = 10
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GRIDY = 10
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obstacleObjects = {} # Store the obstacle objects (Blocks on the path) from Obstacle class
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gridObjects = {} # Store grid-box objects from Grid Class
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gridObstacle = {} # Store the grid:obstacle pair stuck together
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boxObjects = {}
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boxes = 1
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obstacles = 1
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# BFS Variables
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startNode = 0
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goalNode = 0
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graph = dict()
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pathFound = [] # Store the path in a list box index to draw on later
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class BFS:
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# Finds a suitable path from point A to point B using Breadth-First-Search Algorithm
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def __init__(self, graph, start, goal):
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self.graph = graph
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self.start = start
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self.goal = goal
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def solve(self):
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print('Start\n\n')
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print(self.graph)
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print('\n\n')
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# keep track of explored nodes
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explored = []
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# keep track of all paths to be checked
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queue = [[self.start]]
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# return path if start is goal
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if self.start == self.goal:
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return 'That was easy. Start == Goal'
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# keep looping until all possible paths are explored
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while queue:
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# pop the first path from the queue
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path = queue.pop(0)
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# get the last node from the path
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node = path[-1]
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if node not in explored:
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neighbors = self.graph[node]
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# go through all neighbor nodes
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# push it into the queue
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for neighbor in neighbors:
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new_path = list(path)
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new_path.append(neighbor)
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queue.append(new_path)
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if neighbor == self.goal:
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return new_path
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# mark node as explored
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explored.append(node)
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# in case there is no path
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return "path not accessible"
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class Grid(object):
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def __init__(self, x, y, sx, sy):
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self.x = x
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self.y = y
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self.sx = sx
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self.sy = sy
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self.width = 1
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def draw(self):
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pygame.draw.rect(SCREEN, BLACK, (self.x, self.y, self.sx, self.sy), self.width)
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class Box(object):
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def __init__(self, x, y, sx, sy, color):
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self.x = x
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self.y = y
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self.sx = sx
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self.sy = sy
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self.color = color
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def draw(self):
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pygame.draw.rect(SCREEN, self.color, pygame.Rect(self.x, self.y, self.sx, self.sy))
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class Obstacle(object):
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def __init__(self, mouseObj):
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self.mseX = mouseObj[0]
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self.mseY = mouseObj[1]
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for grid in gridObjects:
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g = getGridBoxes(grid)
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self.x = g.x
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self.y = g.y
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self.sx = g.sx
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self.sy = g.sy
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if self.mseX > self.x and self.mseX < self.x + self.sx:
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if self.mseY > self.y and self.mseY < self.y + self.sy:
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self.posX = self.x
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self.posY = self.y
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self.gridBox = grid
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def draw(self):
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# pygame.draw.rect(SCREEN, GREY, pygame.Rect(self.posX, self.posY, self.sx, self.sy))
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SCREEN.blit(imgTree, (self.posX, self.posY))
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def getGridBoxes(grid_box):
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return gridObjects[grid_box]
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def drawGrid(sizex,sizey):
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spaceX = SCREENX // sizex
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spaceY = SCREENY // sizey
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width = 2
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counter = 1
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for i in range(sizex):
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for j in range(sizey):
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# g = Grid(i*spaceX, j*spaceY, spaceX, spaceY)
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g = Grid(50 + i*50, 50 + j*50, spaceX, spaceY)
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gridObjects[counter] = g
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counter += 1
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def generateGraph(row,col):
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# This function generates a graph based on the gridObjects instantiated!
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sample_graph = {'A':['B','C','E'],
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'B':['A','D','E'],
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'C':['A','F','G'],
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'D':['B'],
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'E':['A','B','D'],
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'F':['C'],
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'G':['C']
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}
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miniG = {}
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for grid in range(len(gridObjects)):
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grid += 1 # Synchronize index
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mod = grid % col # Used to check the Top and Bottom Grid Boxes!
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gN = grid - 1
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gS = grid + 1
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gE = grid + col
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gW = grid - col
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# CHECK THE NEIGHBORS TO THE GRID-BOXES, ACCOUNTING FOR THE EXTREME GRID-BOXES(BORDERS)
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if mod == 0: # 5,10,15,20,25 - You can't go south from here (Bottom Boxes)
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if grid > col: # Away from the Left Border of the Screen
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if grid > (col*row)-col: # You are on the Right Border of the screen - You can't go East
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miniG[grid] = [gN, gW]
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else: # Away from the Right Border of the Screen - You can go East
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miniG[grid] = [gN, gE, gW]
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else: # You are on the Left Edge of the screen - You can't go West
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miniG[grid] = [gN, gE]
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elif mod == 1: # 6,11,16,21 :> You can't go North from here (Top Boxes)
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if grid > col: # Away from the Left Border of the Screen
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if grid > (col*row)-col: # You are on the Right Border of the screen - You can't go East
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miniG[grid] = [gS, gW]
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else: # Away from the Right Border of the Screen - You can go east
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miniG[grid] = [gS, gE, gW]
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else: # You are on the Left Edge of the screen - You can't go West
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miniG[grid] = [gS, gE]
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else: # All the rest (Not Top or Bottom Boxes) - You can go North or South
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if grid > col: # Away from the Left Border of the Screen
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if grid > (col*row)-col: # You are on the Right Border of the screen - You can't go East
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miniG[grid] = [gN, gS, gW]
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else: # Away from the Right Border of the Screen - You can go East
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miniG[grid] = [gN, gS, gE, gW]
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else: # You are on the Left Edge of the screen - You can't go West
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miniG[grid] = [gN, gS, gE]
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# FILTER OUT OBSTACLES FROM THE GRAPH
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miniG2 = {}
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for grid in range(len(gridObjects)):
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grid += 1
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if grid not in gridObstacle:
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# gridObjects.remove(grid) # Dict object has no attribute : 'remove'
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# HACK
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miniG2[grid] = miniG[grid] # Created a new dictionary that stored the values required
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# IN-DEPTH FILTER - Filter out obstacles from the neighbors-list
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for neigbor in miniG2[grid]:
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if neigbor in gridObstacle:
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miniG2[grid].remove(neigbor)
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# Filtering again as the first Filter block didn't clear out everything
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# Filtering through the neighbors
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for grid in miniG2:
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for item in miniG2[grid]:
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if item in gridObstacle:
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miniG2[grid].remove(item)
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return miniG2
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def drawGraph(pathF, Ucelu):
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#Draws the path given the path-list
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print(pathF)
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if Ucelu == False:
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for grid in pathF:
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g = gridObjects[grid] # Get the grid-box object mentioned in the path
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x = g.x
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y = g.y
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sx = g.sx
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sy = g.sy
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# pygame.draw.rect(SCREEN, GREEN, pygame.Rect(x, y, sx, sy))
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player.x = x/50 - 1
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player.y =y/50 - 1
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# -----------------------------
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i = 0
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while i < len(T):
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j = 0
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while j < len(T[i]):
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#color = (255, 255, 255, 0)
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if T[i][j].isWet == 0:
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# a = 1
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color = (160, 80, 40, 0)
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else:
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# a = 1
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color = (50, 25, 0, 0)
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#Covers 'player' on the way
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pygame.draw.rect(SCREEN, color, pygame.Rect(50 + 50 * i, 50 + 50 * j, 50, 50))
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if T[i][j].plantType == 1:
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SCREEN.blit(imgWheat, (50 + 50 * i, 50 + 50 * j))
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if T[i][j].plantType == 2:
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SCREEN.blit(imgCarrot, (50 + 50 * i, 50 + 50 * j))
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if T[i][j].plantType == 3:
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SCREEN.blit(imgCabbage, (50 + 50 * i, 50 + 50 * j))
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if T[i][j].plantType == 4:
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SCREEN.blit(imgTree, (50 + 50 * i, 50 + 50 * j))
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j = j + 1
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i = i + 1
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# Render the trees
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for obs in obstacleObjects:
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obstacleObjects[obs].draw()
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for bx in boxObjects:
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boxObjects[bx].draw()
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i = 0
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while i < len(T)+1:
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pygame.draw.line(SCREEN, (0, 0, 0), (50 + i * 50, 50), (50 + i * 50, 50 + len(T) * 50), 1)
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pygame.draw.line(SCREEN, (0, 0, 0), (50, 50 + i * 50), (50 + len(T) * 50, 50 + i * 50), 1)
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i = i + 1
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tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
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if player.rotation == 180:
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tmpImg = pygame.transform.flip(tmpImg, True, True)
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tmpImg = pygame.transform.flip(tmpImg, True, False)
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#player is seen on the way
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SCREEN.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
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# --------------------------------------
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# tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
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# # if flip:
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# # if flip == True:
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# if player.rotation == 180:
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# tmpImg = pygame.transform.flip(tmpImg, True, True)
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# tmpImg = pygame.transform.flip(tmpImg, True, False)
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#
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# SCREEN.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
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pygame.display.update()
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pygame.time.wait(300)
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#SCREEN.fill((WHITE))
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# pygame.time.wait(50)
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# pygame.draw.rect(SCREEN, WHITE, pygame.Rect(x, y, sx, sy))
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Ucelu = True
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def UIHandler(mouseObj, Ucelu):
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# drawGrid(GRIDX, GRIDY)
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drawGrid(10,10)
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for grid in gridObjects:
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gridObjects[grid].draw()
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for bx in boxObjects:
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boxObjects[bx].draw()
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for obs in obstacleObjects:
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obstacleObjects[obs].draw()
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if pathFound:
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if Ucelu == False:
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drawGraph(pathFound, Ucelu)
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Ucelu = True
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def eventHandler(kbdObj,mouseObj, Ucelu):
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global boxes
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global obstacles
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global startNode
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global goalNode
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global pathFound
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# If Key_f is pressed, set goal node
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if kbdObj[pygame.K_f]:
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gBox = getGridBoxes(int(len(gridObjects)))
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# gBox = getGridBoxes()
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x = mouseObj[0]
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y = mouseObj[1]
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# x = gBox.x
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# y = gBox.y
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sx = gBox.sx
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sy = gBox.sy
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# ----------------------------------------
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mseX = mouseObj[0]
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mseY = mouseObj[1]
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for grid in gridObjects:
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g = getGridBoxes(grid)
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x = g.x
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y = g.y
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sx = g.sx
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sy = g.sy
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if mseX > x and mseX < x + sx:
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if mseY > y and mseY < y + sy:
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posX = x
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posY = y
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gridBox = grid
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# SCREEN.blit(imgTree, (posX, posY))
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# ---------------------------------------
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bo = Box(posX, posY, sx, sy, BLUE)
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boxObjects[boxes] = bo
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# boxes += 1
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boxes = 1
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# goalNode = GRIDX*GRIDX
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# goalNode = (10 * (x + 1) + (y + 1) - 10)
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goalNode = (10 * (posX/50 ) + (posY/50) - 10)
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# goalNode = (x/sx) * (y/sy)
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# Delay to avoid multiple spawning of objects
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pygame.time.wait(DELAY)
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# If Key_x is pressed, spawn tree
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if kbdObj[pygame.K_x]:
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obs = Obstacle(mouseObj)
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obstacleObjects[obstacles] = obs
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# print(obs.gridBox)
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obstacles += 1
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# print(obstacleObjects)
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gridObstacle[obs.gridBox] = obstacles
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# Delay to avoid multiple spawning of objects
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pygame.time.wait(DELAY)
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# if Key_SPACE is pressed, start the magic
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if kbdObj[pygame.K_SPACE]:
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gBox = getGridBoxes(1)
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x = gBox.x
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y = gBox.y
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sx = gBox.sx
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sy = gBox.sy
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x = (player.x +1) * 50
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y = (player.y +1) * 50
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# tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
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# SCREEN.blit(tmpImg, (50 + 50 * player.x, 50 + 50 * player.y))
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# pygame.display.update()
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#when on it keeps flashing - among others
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#bo = Box(x, y, sx, sy, RED)
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#boxObjects[boxes] = bo
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# boxes += 1
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boxes = 1
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startNode = (10 * (player.x + 1) + (player.y + 1) - 10)
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# startNode = (((player.x + 1)*10 - 9) * (player.y + 1) )
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# startNode = 2
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# tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
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# SCREEN.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
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# pygame.display.update()
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# Delay to avoid multiple spawning of objects
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#pygame.time.wait(DELAY)
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graph = generateGraph(GRIDY,GRIDX)
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bfs = BFS(graph, startNode, goalNode)
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# print(bfs.solve())
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pathFound = bfs.solve()
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# Delay to avoid multiple spawning of objects
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pygame.time.wait(DELAY)
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#With it it keeps going, if without it turns off
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Ucelu = False
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class Field:
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def __init__(self, fieldType, plantType, isWet, wetTime, isFertilized, fertilizedTime):
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@ -39,18 +458,25 @@ T = [[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0
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[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
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[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)]]
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pygame.init()
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#pygame.init()
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player = Player()
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screen = pygame.display.set_mode([600, 600])
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# player.x = 2
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# player.y = 2
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#screen = pygame.display.set_mode([600, 600])
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running = True
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clock = pygame.time.Clock()
|
||||
# clock = pygame.time.Clock()
|
||||
|
||||
|
||||
SCREEN.fill((WHITE))
|
||||
while running:
|
||||
for event in pygame.event.get():
|
||||
if event.type == pygame.QUIT:
|
||||
running = False
|
||||
|
||||
if event.type == pygame.KEYDOWN:
|
||||
if event.key == pygame.K_LEFT:
|
||||
if player.x > 0:
|
||||
@ -65,42 +491,118 @@ while running:
|
||||
if player.y < 9:
|
||||
player.y = player.y + 1
|
||||
|
||||
screen.fill((175, 255, 50))
|
||||
# Aga start lewo prawo, naprzód
|
||||
if event.key == pygame.K_a:
|
||||
player.rotation = (player.rotation + 90) % 360
|
||||
|
||||
if event.key == pygame.K_d:
|
||||
player.rotation = (player.rotation - 90) % 360
|
||||
|
||||
if event.key == pygame.K_w:
|
||||
if player.rotation == 0:
|
||||
if player.x < 9:
|
||||
player.x = player.x + 1
|
||||
|
||||
if player.rotation == 180:
|
||||
if player.x > 0:
|
||||
player.x = player.x - 1
|
||||
|
||||
if player.rotation == 270:
|
||||
if player.y < 9:
|
||||
player.y = player.y + 1
|
||||
|
||||
if player.rotation == 90:
|
||||
if player.y > 0:
|
||||
player.y = player.y - 1
|
||||
# left, right, forward
|
||||
|
||||
# if it's not here, it leaves a trail WELL NOT ANYMORE
|
||||
#SCREEN.fill((WHITE))
|
||||
kbd = pygame.key.get_pressed()
|
||||
# kbd = event.key()
|
||||
mse = pygame.mouse.get_pos()
|
||||
|
||||
# SCREEN.fill((WHITE))
|
||||
Ucelu = False
|
||||
UIHandler(mse, Ucelu)
|
||||
eventHandler(kbd, mse, Ucelu)
|
||||
pygame.display.update()
|
||||
# CLOCK.tick(FPS)
|
||||
|
||||
#screen.fill((175, 255, 50, 0))
|
||||
#screen.fill((WHITE))
|
||||
imgWheat = pygame.image.load('img/wheat.png')
|
||||
imgCarrot = pygame.image.load('img/carrot.png')
|
||||
imgCabbage = pygame.image.load('img/cabbage.png')
|
||||
imgPlayer = pygame.image.load('img/player.png')
|
||||
imgTree = pygame.image.load('img/tree.png')
|
||||
|
||||
i = 0
|
||||
while i < len(T):
|
||||
j = 0
|
||||
while j < len(T[i]):
|
||||
color = (0, 0, 0)
|
||||
# color = (255, 255, 255, 0)
|
||||
if T[i][j].isWet == 0:
|
||||
color = (160, 80, 40)
|
||||
# a = 1
|
||||
color = (160, 80, 40, 0)
|
||||
else:
|
||||
color = (50, 25, 0)
|
||||
pygame.draw.rect(screen, color, pygame.Rect(50 + 50 * i, 50 + 50 * j, 50, 50))
|
||||
# a = 1
|
||||
color = (50, 25, 0, 0)
|
||||
#colour from the beginning
|
||||
pygame.draw.rect(SCREEN, color, pygame.Rect(50 + 50 * i, 50 + 50 * j, 50, 50))
|
||||
if T[i][j].plantType == 1:
|
||||
screen.blit(imgWheat, (50 + 50 * i, 50 + 50 * j))
|
||||
SCREEN.blit(imgWheat, (50 + 50 * i, 50 + 50 * j))
|
||||
if T[i][j].plantType == 2:
|
||||
screen.blit(imgCarrot, (50 + 50 * i, 50 + 50 * j))
|
||||
SCREEN.blit(imgCarrot, (50 + 50 * i, 50 + 50 * j))
|
||||
if T[i][j].plantType == 3:
|
||||
screen.blit(imgCabbage, (50 + 50 * i, 50 + 50 * j))
|
||||
SCREEN.blit(imgCabbage, (50 + 50 * i, 50 + 50 * j))
|
||||
if T[i][j].plantType == 4:
|
||||
SCREEN.blit(imgTree, (50 + 50 * i, 50 + 50 * j))
|
||||
|
||||
|
||||
j = j + 1
|
||||
i = i + 1
|
||||
|
||||
i = 0
|
||||
while i < len(T)+1:
|
||||
pygame.draw.line(screen, (0, 0, 0), (50 + i * 50, 50), (50 + i * 50, 50 + len(T) * 50), 5)
|
||||
pygame.draw.line(screen, (0, 0, 0), (50, 50 + i * 50), (50 + len(T) * 50, 50 + i * 50), 5)
|
||||
pygame.draw.line(SCREEN, (0, 0, 0), (50 + i * 50, 50), (50 + i * 50, 50 + len(T) * 50), 1)
|
||||
pygame.draw.line(SCREEN, (0, 0, 0), (50, 50 + i * 50), (50 + len(T) * 50, 50 + i * 50), 1)
|
||||
i = i + 1
|
||||
|
||||
tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
|
||||
screen.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
|
||||
pygame.display.flip()
|
||||
# clock.tick(30)
|
||||
if player.rotation == 180:
|
||||
tmpImg = pygame.transform.flip(tmpImg, True, True)
|
||||
tmpImg = pygame.transform.flip(tmpImg, True, False)
|
||||
|
||||
#player seen at the beginning
|
||||
SCREEN.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
|
||||
|
||||
# set Start Node where the Player is located
|
||||
# gBox = getGridBoxes(1)
|
||||
# x = gBox.x
|
||||
# y = gBox.y
|
||||
# sx = gBox.sx
|
||||
# sy = gBox.sy
|
||||
# bo = Box(x, y, sx, sy, RED)
|
||||
# boxObjects[boxes] = bo
|
||||
# boxes += 1
|
||||
# startNode = 1
|
||||
# # Delay to avoid multiple spawning of objects
|
||||
# pygame.time.wait(DELAY)
|
||||
|
||||
font = pygame.font.SysFont('comicsans', 18)
|
||||
label = font.render('f- punkt końcowy, x- drzewa, spacja- uruchomienie', 1, (0, 0, 0))
|
||||
label1 = font.render('strzałki-ręczne poruszanie traktorem,', 1, (0, 0, 0))
|
||||
label2 = font.render('a- obrót w lewo, d- w prawo, w-ruch naprzód', 1, (0, 0, 0))
|
||||
SCREEN.blit(label, (10, 570))
|
||||
SCREEN.blit(label1, (10, 590))
|
||||
SCREEN.blit(label2, (10, 610))
|
||||
|
||||
# pygame.display.flip()
|
||||
|
||||
pygame.display.update()
|
||||
CLOCK.tick(FPS)
|
||||
|
||||
# Done! Time to quit.
|
||||
|
||||
pygame.quit()
|
||||
pygame.quit()
|
||||
Loading…
Reference in New Issue
Block a user