A*
This commit is contained in:
Tomasz Adamczyk
parent
56bebed942
commit
9e4c21f600
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21
astar.py
21
astar.py
@ -46,13 +46,15 @@ class Node: #wierzchołek grafu
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def set_y(self, y):
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self.y = y
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def cost(map, node): #funkcja kosztu : ile kosztuje przejechanie przez dane pole
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return map.get_field_cost(int(node.get_x()), int(node.get_y()))
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cost = 0
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while(node.get_parent() != None):
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cost = cost + map.get_field_cost(int(node.get_x()), int(node.get_y())) + 1
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node = node.get_parent()
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return cost
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def heuristic(node, goaltest): #funkcja heurestyki : oszacowuje koszt osiągnięcia stanu końcowego (droga)
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return abs(node.get_x() - goaltest[0]) + abs(node.get_y() - goaltest[1])
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def f(map, node, goaltest): #funkcja zwracająca sumę funkcji kosztu oraz heurestyki
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return cost(map, node) + heuristic(node, goaltest)
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# def optimal_goal_test():
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def goal_test(elem, goaltest): #funkcja sprawdzająca czy położenie traktora równa się położeniu punktu docelowego, jeśli tak zwraca prawdę, w przeciwnym wypadku fałsz
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if elem.get_x() == goaltest[0] and elem.get_y() == goaltest[1]:
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return True
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@ -60,9 +62,9 @@ def goal_test(elem, goaltest): #funkcja sprawdzająca czy położenie traktora r
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return False
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def print_moves(elem): #zwraca listę ruchów jakie należy wykonać by dotrzeć do punktu docelowego
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moves_list = []
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while (elem[0].get_parent() != None):
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moves_list.append(elem[0].get_action())
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elem = elem[0].get_parent()
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while (elem.get_parent() != None):
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moves_list.append(elem.get_action())
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elem = elem.get_parent()
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moves_list.reverse()
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return moves_list
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def succ(elem): #funkcja następnika, przypisuje jakie akcje są możliwe do wykonania na danym polu oraz jaki będzie stan (kierunek, położenie) po wykonaniu tej akcji
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@ -101,18 +103,18 @@ def graphsearch(fringe, explored, istate, succ, goaltest, f, map): #przeszukiwan
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elem = fringe.pop(0) #zdejmujemy wierzchołek z kolejki fringe i rozpatrujemy go
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temp = copy.copy(elem[0])
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if goal_test(elem[0], goaltest) is True: #jeżeli osiągniemy cel w trakcie przeszukiwania grafu wszerz (wjedziemy na pole docelowe) : zwracamy listę ruchów, po których wykonaniu dotrzemy na miejsce
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return print_moves(elem)
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return print_moves(elem[0])
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explored.append(elem) #dodajemy wierzchołek do listy wierzchołków odwiedzonych
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for (action, state) in succ(temp): #iterujemy po wszystkich możliwych akcjach i stanach otrzymanych dla danego wierzchołka grafu
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fringe_tuple = []
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fringe_tuple_prio = []
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explored_tuple = []
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for (x, y) in fringe:
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for (x, y) in fringe:
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fringe_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
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fringe_tuple_prio.append(((x.get_direction(), x.get_x(), x.get_y()), y))
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for (x, y) in explored:
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explored_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
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x = Node(action, state[0], elem, state[1], state[2]) #stworzenie nowego wierzchołka, którego rodzicem jest elem
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x = Node(action, state[0], elem[0], state[1], state[2]) #stworzenie nowego wierzchołka, którego rodzicem jest elem
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p = f(map, x, goaltest) #liczy priorytet
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if state not in fringe_tuple and state not in explored_tuple: #jeżeli stan nie znajduje się na fringe oraz nie znajduje się w liście wierzchołków odwiedzonych
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fringe.append((x, p)) #dodanie wierzchołka na fringe
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@ -123,6 +125,7 @@ def graphsearch(fringe, explored, istate, succ, goaltest, f, map): #przeszukiwan
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if str(state_prio) == str(state):
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if r > p:
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fringe.insert(i, (x, p)) #zamiana state, który należy do fringe z priorytetem r na state z priorytetem p (niższym)
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fringe.pop(i + 1)
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fringe = sorted(fringe, key=itemgetter(1)) #sortowanie fringe'a według priorytetu
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break
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i = i + 1
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@ -2,6 +2,8 @@
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import os
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import pygame
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BLOCK_SIZE = 60
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BEETROOTS_ADULT_COST = 4
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BEETROOTS_GROW_COST = 10
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BEETROOTS_GROW_TIME = 5
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BEETROOTS_MAXIMUM_STATE = BEETROOTS_GROW_TIME * 3 + 1
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BEETROOTS_STAGE_0 = pygame.image.load(os.path.join('resources', 'beetroots_stage_0.png'))
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@ -12,6 +14,8 @@ BEETROOTS_STAGE_2 = pygame.image.load(os.path.join('resources', 'beetroots_stage
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BEETROOTS_STAGE_2 = pygame.transform.scale(BEETROOTS_STAGE_2, (BLOCK_SIZE, BLOCK_SIZE))
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BEETROOTS_STAGE_3 = pygame.image.load(os.path.join('resources', 'beetroots_stage_3.png'))
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BEETROOTS_STAGE_3 = pygame.transform.scale(BEETROOTS_STAGE_3, (BLOCK_SIZE, BLOCK_SIZE))
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CARROTS_ADULT_COST = 4
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CARROTS_GROW_COST = 10
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CARROTS_GROW_TIME = 5
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CARROTS_MAXIMUM_STATE = CARROTS_GROW_TIME * 3 + 1
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CARROTS_STAGE_0 = pygame.image.load(os.path.join('resources', 'carrots_stage_0.png'))
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@ -24,13 +28,18 @@ CARROTS_STAGE_3 = pygame.image.load(os.path.join('resources', 'carrots_stage_3.p
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CARROTS_STAGE_3 = pygame.transform.scale(CARROTS_STAGE_3, (BLOCK_SIZE, BLOCK_SIZE))
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DIRT = pygame.image.load(os.path.join('resources', 'dirt.png'))
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DIRT = pygame.transform.scale(DIRT, (BLOCK_SIZE, BLOCK_SIZE))
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DIRT_COST = 2
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HEIGHT_AMOUNT, WIDTH_AMOUNT = 10, 10
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HEIGHT, WIDTH = BLOCK_SIZE * HEIGHT_AMOUNT, BLOCK_SIZE * WIDTH_AMOUNT
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FARMLAND_DRY = pygame.image.load(os.path.join('resources', 'farmland_dry.png'))
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FARMLAND_DRY = pygame.transform.scale(FARMLAND_DRY, (BLOCK_SIZE, BLOCK_SIZE))
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FARMLAND_DRY_COST = 3
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FARMLAND_WET = pygame.image.load(os.path.join('resources', 'farmland_wet.png'))
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FARMLAND_WET = pygame.transform.scale(FARMLAND_WET, (BLOCK_SIZE, BLOCK_SIZE))
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FPS = 1
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FARMLAND_WET_COST = 1
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FPS = 10
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POTATOES_ADULT_COST = 4
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POTATOES_GROW_COST = 10
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POTATOES_GROW_TIME = 5
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POTATOES_MAXIMUM_STATE = POTATOES_GROW_TIME * 3 + 1
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POTATOES_STAGE_0 = pygame.image.load(os.path.join('resources', 'potatoes_stage_0.png'))
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@ -45,6 +54,7 @@ SPONGE = pygame.image.load(os.path.join('resources', 'sponge.png'))
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SPONGE = pygame.transform.scale(SPONGE, (BLOCK_SIZE, BLOCK_SIZE))
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STATION = pygame.image.load(os.path.join('resources', 'rail_normal.png'))
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STATION = pygame.transform.scale(STATION, (BLOCK_SIZE, BLOCK_SIZE))
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STATION_COST = 5
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TRACTOR_DIRECTION_EAST_TEXTURE = pygame.image.load(os.path.join('resources', 'minecart_command_block_east.png'))
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TRACTOR_DIRECTION_EAST_TEXTURE = pygame.transform.scale(TRACTOR_DIRECTION_EAST_TEXTURE, (BLOCK_SIZE, BLOCK_SIZE))
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TRACTOR_DIRECTION_NORTH_TEXTURE = pygame.image.load(os.path.join('resources', 'minecart_command_block_north.png'))
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@ -58,10 +68,12 @@ TRACTOR_DIRECTION_NORTH = 1
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TRACTOR_DIRECTION_SOUTH = 3
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TRACTOR_DIRECTION_WEST = 4
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TRACTOR_FERTILIZER = 2
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TRACTOR_FUEL = 200
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TRACTOR_FUEL = 99999999999999
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TRACTOR_AMOUNT_OF_SEEDS_EACH_TYPE = 20
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TRACTOR_MAXIMUM_COLLECTED_PLANTS = 80
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TRACTOR_WATER_LEVEL = 40
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WHEAT_ADULT_COST = 4
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WHEAT_GROW_COST = 10
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WHEAT_GROW_TIME = 5
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WHEAT_MAXIMUM_STATE = WHEAT_GROW_TIME * 7 + 1
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WHEAT_STAGE_0 = pygame.image.load(os.path.join('resources', 'wheat_stage_0.png'))
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52
map.py
52
map.py
@ -23,32 +23,6 @@ class Map:
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temp_field = field.Field(temp_plant, temp_rect, temp_soil)
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temp_map_field.append(temp_field)
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self.fields.append(temp_map_field)
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def get_field_cost(self, x, y): #zwraca koszt danego pola
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field = self.fields[x][y]
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if field.get_plant().get_name() == "station" and field.get_plant().get_state() == -1:
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return 5
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elif field.get_plant().get_name() == "beetroot" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 3 * definitions.BEETROOTS_GROW_TIME:
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return 10
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elif field.get_plant().get_name() == "beetroot" and field.get_plant().get_state() == definitions.BEETROOTS_MAXIMUM_STATE:
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return 4
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elif field.get_plant().get_name() == "carrot" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 3 * definitions.CARROTS_GROW_TIME:
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return 10
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elif field.get_plant().get_name() == "carrot" and field.get_plant().get_state() == definitions.CARROTS_MAXIMUM_STATE:
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return 4
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elif field.get_plant().get_name() == "potato" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 3 * definitions.POTATOES_GROW_TIME:
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return 10
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elif field.get_plant().get_name() == "potato" and field.get_plant().get_state() == definitions.POTATOES_MAXIMUM_STATE:
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return 4
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elif field.get_plant().get_name() == "wheat" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 7 * definitions.WHEAT_GROW_TIME:
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return 10
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elif field.get_plant().get_name() == "wheat" and field.get_plant().get_state() == definitions.WHEAT_MAXIMUM_STATE:
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return 4
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elif field.get_soil().get_state() is False:
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return 2
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elif field.get_soil().get_state() is True and field.get_soil().get_water_level() is False:
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return 3
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elif field.get_soil().get_state() is True and field.get_soil().get_water_level() is True:
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return 1
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def fill_map(self): #wypełnia mapę teksturami na podstawie logicznego stanu pól
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for i in range(definitions.WIDTH_AMOUNT):
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for j in range(definitions.HEIGHT_AMOUNT):
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@ -107,6 +81,32 @@ class Map:
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elif block != definitions.DIRT or block != definitions.FARMLAND_DRY or block != definitions.FARMLAND_WET:
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definitions.WINDOW.blit(definitions.FARMLAND_WET, (rect.x, rect.y))
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definitions.WINDOW.blit(block, (rect.x, rect.y))
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def get_field_cost(self, x, y): #zwraca koszt danego pola
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field = self.fields[x][y]
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if field.get_plant().get_name() == "station" and field.get_plant().get_state() == -1:
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return definitions.STATION_COST
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elif field.get_plant().get_name() == "beetroot" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 3 * definitions.BEETROOTS_GROW_TIME:
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return definitions.BEETROOTS_GROW_COST
|
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elif field.get_plant().get_name() == "beetroot" and field.get_plant().get_state() == definitions.BEETROOTS_MAXIMUM_STATE:
|
||||
return definitions.BEETROOTS_ADULT_COST
|
||||
elif field.get_plant().get_name() == "carrot" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 3 * definitions.CARROTS_GROW_TIME:
|
||||
return definitions.CARROTS_GROW_COST
|
||||
elif field.get_plant().get_name() == "carrot" and field.get_plant().get_state() == definitions.CARROTS_MAXIMUM_STATE:
|
||||
return definitions.CARROTS_ADULT_COST
|
||||
elif field.get_plant().get_name() == "potato" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 3 * definitions.POTATOES_GROW_TIME:
|
||||
return definitions.POTATOES_GROW_COST
|
||||
elif field.get_plant().get_name() == "potato" and field.get_plant().get_state() == definitions.POTATOES_MAXIMUM_STATE:
|
||||
return definitions.POTATOES_ADULT_COST
|
||||
elif field.get_plant().get_name() == "wheat" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 7 * definitions.WHEAT_GROW_TIME:
|
||||
return definitions.WHEAT_GROW_COST
|
||||
elif field.get_plant().get_name() == "wheat" and field.get_plant().get_state() == definitions.WHEAT_MAXIMUM_STATE:
|
||||
return definitions.WHEAT_ADULT_COST
|
||||
elif field.get_soil().get_state() is False:
|
||||
return definitions.DIRT_COST
|
||||
elif field.get_soil().get_state() is True and field.get_soil().get_water_level() is False:
|
||||
return definitions.FARMLAND_DRY_COST
|
||||
elif field.get_soil().get_state() is True and field.get_soil().get_water_level() is True:
|
||||
return definitions.FARMLAND_WET_COST
|
||||
def draw_window(self, tractor1, tractor1_rect): #rysuje mapę
|
||||
self.fill_map()
|
||||
if tractor1.get_direction() == definitions.TRACTOR_DIRECTION_EAST:
|
||||
|
||||
2
py.py
2
py.py
@ -29,7 +29,7 @@ def main():
|
||||
if not move_list and plant.Plant.if_any_mature_plant(map1) is True: #jeżeli są jakieś ruchy do wykonania w move_list oraz istnieje jakaś dojrzała roślina
|
||||
istate = graph.Istate(tractor1.get_direction(), tractor1.get_x() / definitions.BLOCK_SIZE, tractor1.get_y() / definitions.BLOCK_SIZE) #stan początkowy traktora (jego orientacja oraz jego aktualne współrzędne)
|
||||
#move_list = (graph.graphsearch([], [], istate, graph.succ, plant.Plant.get_closest_mature_plant(map1, tractor1))) #lista z ruchami, które należy po kolei wykonać, graph
|
||||
move_list = (astar.graphsearch([], [], istate, graph.succ, plant.Plant.get_closest_mature_plant(map1, tractor1), astar.f, map1)) #lista z ruchami, które należy po kolei wykonać, astar
|
||||
move_list = (astar.graphsearch([], [], istate, graph.succ, plant.Plant.get_closest_mature_plant(map1, istate), astar.f, map1)) #lista z ruchami, które należy po kolei wykonać, astar
|
||||
elif move_list: #jeżeli move_list nie jest pusta
|
||||
tractor1.handle_movement(move_list.pop(0), tractor1_rect) #wykonaj kolejny ruch oraz zdejmij ten ruch z początku listy
|
||||
else:
|
||||
|
||||
Loading…
Reference in New Issue
Block a user