151 lines
5.3 KiB
Python
151 lines
5.3 KiB
Python
from enum import Enum
|
|
from queue import PriorityQueue
|
|
from typing import Tuple, List
|
|
|
|
from survival.components.direction_component import DirectionChangeComponent
|
|
from survival.components.moving_component import MovingComponent
|
|
from survival.components.position_component import PositionComponent
|
|
from survival.components.resource_component import ResourceComponent
|
|
from survival.game.enums import Direction
|
|
from survival.esper import World
|
|
|
|
|
|
class Action(Enum):
|
|
ROTATE_LEFT = 0
|
|
ROTATE_RIGHT = 1
|
|
MOVE = 2
|
|
|
|
@staticmethod
|
|
def from_array(action):
|
|
if action[0] == 1:
|
|
return Action.MOVE
|
|
if action[1] == 1:
|
|
return Action.ROTATE_LEFT
|
|
if action[2] == 1:
|
|
return Action.ROTATE_RIGHT
|
|
raise Exception("Unknown action.")
|
|
|
|
@staticmethod
|
|
def perform(world, entity, action):
|
|
if world.has_component(entity, MovingComponent):
|
|
raise Exception(f"Entity was already moving. Could not perform action: {action}")
|
|
if world.has_component(entity, DirectionChangeComponent):
|
|
raise Exception(f"Entity was already rotating. Could not perform action: {action}")
|
|
|
|
if action == Action.ROTATE_LEFT:
|
|
world.add_component(entity, DirectionChangeComponent(
|
|
Direction.rotate_left(world.component_for_entity(entity, PositionComponent).direction)))
|
|
elif action == Action.ROTATE_RIGHT:
|
|
world.add_component(entity, DirectionChangeComponent(
|
|
Direction.rotate_right(world.component_for_entity(entity, PositionComponent).direction)))
|
|
else:
|
|
world.add_component(entity, MovingComponent())
|
|
return action
|
|
|
|
|
|
class State:
|
|
def __init__(self, position: Tuple[int, int], direction: Direction):
|
|
self.position = position
|
|
self.direction = direction
|
|
|
|
|
|
class Node:
|
|
def __init__(self, state: State, parent=None, action=None, cost=None):
|
|
self.state = state
|
|
self.parent = parent
|
|
self.action = action
|
|
self.cost = cost
|
|
|
|
def __lt__(self, other):
|
|
return self.cost < other.cost
|
|
|
|
def __eq__(self, other):
|
|
return self.cost == other.cost
|
|
|
|
|
|
def get_moved_position(position: Tuple[int, int], direction: Direction):
|
|
vector = Direction.get_vector(direction)
|
|
return position[0] + vector[0], position[1] + vector[1]
|
|
|
|
|
|
def get_states(state: State, game_map, world: World) -> List[Tuple[Action, State, int]]:
|
|
states = list()
|
|
|
|
states.append((Action.ROTATE_LEFT, State(state.position, state.direction.rotate_left(state.direction)), 1))
|
|
states.append((Action.ROTATE_RIGHT, State(state.position, state.direction.rotate_right(state.direction)), 1))
|
|
|
|
target_position = get_moved_position(state.position, state.direction)
|
|
if not game_map.is_colliding(target_position):
|
|
states.append((Action.MOVE, State(target_position, state.direction), game_map.get_cost(target_position)))
|
|
elif game_map.get_entity(target_position) is not None:
|
|
ent = game_map.get_entity(target_position)
|
|
if world.has_component(ent, ResourceComponent):
|
|
states.append((Action.MOVE, State(target_position, state.direction), 3))
|
|
|
|
return states
|
|
|
|
|
|
def build_path(node: Node):
|
|
cost = 0
|
|
actions = [node.action]
|
|
parent = node.parent
|
|
|
|
while parent is not None:
|
|
if parent.action is not None:
|
|
actions.append(parent.action)
|
|
cost += parent.cost
|
|
parent = parent.parent
|
|
|
|
actions.reverse()
|
|
return actions, cost
|
|
|
|
|
|
def heuristic(new_node: Node, goal: Tuple[int, int]):
|
|
return abs(new_node.state.position[0] - goal[0]) + abs(new_node.state.position[1] - goal[1])
|
|
|
|
|
|
def graph_search(game_map, start: PositionComponent, goal: tuple, world: World):
|
|
fringe = PriorityQueue()
|
|
explored = list()
|
|
|
|
explored_states = set()
|
|
fringe_states = set() # Stores positions and directions of states
|
|
|
|
start = State(start.grid_position, start.direction)
|
|
fringe.put((0, Node(start, cost=0)))
|
|
fringe_states.add((tuple(start.position), start.direction))
|
|
|
|
while True:
|
|
# No solutions found
|
|
if fringe.empty():
|
|
return [], 0
|
|
|
|
node = fringe.get()
|
|
node_priority = node[0]
|
|
node = node[1]
|
|
fringe_states.remove((tuple(node.state.position), node.state.direction))
|
|
|
|
# Check goal
|
|
if node.state.position == goal:
|
|
return build_path(node)
|
|
|
|
explored.append(node)
|
|
explored_states.add((tuple(node.state.position), node.state.direction))
|
|
|
|
# Get all possible states
|
|
for state in get_states(node.state, game_map, world):
|
|
sub_state = (tuple(state[1].position), state[1].direction)
|
|
new_node = Node(state=state[1],
|
|
parent=node,
|
|
action=state[0],
|
|
cost=(state[2] + node.cost))
|
|
|
|
priority = new_node.cost + heuristic(new_node, goal)
|
|
if sub_state not in fringe_states and sub_state not in explored_states:
|
|
fringe.put((priority, new_node))
|
|
fringe_states.add((tuple(new_node.state.position), new_node.state.direction))
|
|
elif sub_state in fringe_states and node.cost > new_node.cost:
|
|
fringe.get(node)
|
|
fringe.put((priority, new_node))
|
|
fringe_states.add((tuple(new_node.state.position), new_node.state.direction))
|