Fixed bugs with A*. Added new class Rubbish.
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HelQ
parent
7daf17c19b
commit
ac3397fd42
57
main.py
57
main.py
@ -3,6 +3,7 @@ from queue import PriorityQueue
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from path_algorithms.a_star import a_star
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# from path_algorithms.bfs import bfs
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from rubbish import *
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from truck import Truck
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from surface import *
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@ -10,55 +11,60 @@ RESOLUTION = 900
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SIZE = 60
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# matrix for display
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matrix = [[1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
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[1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
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[1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
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[1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1],
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[1, 1, 3, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1],
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[1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1],
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[3, 3, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1],
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[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
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[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
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[1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1],
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[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
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[1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
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[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
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[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
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[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
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matrix = [[0, 1, 1, 2, 2, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0],
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[0, 0, 0, 3, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
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[0, 0, 0, 3, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0],
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[0, 0, 3, 0, 0, 1, 2, 3, 0, 0, 0, 0, 0, 0, 0],
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[0, 0, 3, 0, 2, 1, 5, 3, 0, 0, 0, 0, 0, 0, 0],
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[0, 0, 0, 5, 0, 0, 0, 3, 0, 0, 0, 0, 0, 0, 0],
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[3, 3, 3, 0, 0, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0],
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[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
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[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
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[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
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[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
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[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
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[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
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[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
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[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
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]
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pygame.init()
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screen = pygame.display.set_mode([RESOLUTION, RESOLUTION])
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truck = Truck(screen)
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surface_list = []
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rubbish_list = []
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# x and y are swapped on display in pygame
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for i in range(15):
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for j in range(15):
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if matrix[i][j] == 1:
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if matrix[i][j] == 0:
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surface_list.append(Grass(screen, j * 60, i * 60))
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if matrix[i][j] == 1:
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surface_list.append(Sand(screen, j * 60, i * 60))
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if matrix[i][j] == 2:
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surface_list.append(Rock(screen, j * 60, i * 60))
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if matrix[i][j] == 3:
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surface_list.append(Water(screen, j * 60, i * 60))
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if matrix[i][j] == 5:
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surface_list.append(Grass(screen, j * 60, i * 60))
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rubbish_list.append(Rubbish(screen, j * 60, i * 60))
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run = 1
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path = []
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start = truck.state
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direction = truck.direction
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while True:
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pygame.time.delay(500)
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for i in surface_list:
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i.draw_surface()
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for i in rubbish_list:
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i.draw_rubbish()
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truck.draw_truck()
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if run == 1:
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start = truck.state
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if rubbish_list and not path:
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start = (truck.y / 60, truck.x / 60)
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direction = truck.direction
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endpoint = (0, 5)
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currentRubbish = rubbish_list[0]
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endpoint = (currentRubbish.y / 60, currentRubbish.x / 60)
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# path = bfs(surface_list, endpoint).tree_search(deque(), start, direction)
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path = a_star(surface_list, endpoint).tree_search(PriorityQueue(), start, direction)
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print(path)
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run = 0
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if path:
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action = path.pop(0)
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@ -66,6 +72,9 @@ while True:
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truck.move()
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else:
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truck.change_direction(action)
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if not path:
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if rubbish_list:
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print(rubbish_list.pop(0).x)
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pygame.display.flip()
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@ -17,7 +17,7 @@ class a_star:
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# checking borders and impassable surface
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def limitation_check(self, x, y):
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for surface in self.surface_list:
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if (surface.y / 60 == x) and (surface.x / 60 == y) and (surface.weight != 3):
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if (surface.y / 60 == x) and (surface.x / 60 == y) and (surface.weight != -1):
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return True
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return False
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@ -35,7 +35,7 @@ class a_star:
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# cost relative to surface weight
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def g(self, cond):
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if cond.action == 'L' or cond.action == 'R':
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cond.weight = cond.parent.weight
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cond.weight = cond.parent.weight + 1
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else:
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cond.weight = cond.parent.weight + self.current_surface(cond.state[0], cond.state[1]).weight
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return cond.weight
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13
surface.py
13
surface.py
@ -4,7 +4,6 @@ import pygame
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class Surface:
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def __init__(self, screen, x, y):
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self.state = (x, y)
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self.x = x
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self.y = y
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self.weight = 0
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@ -29,13 +28,21 @@ class Rock(Surface):
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def __init__(self, screen, x, y):
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super().__init__(screen, x, y)
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self.weight = 50
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self.weight = 9
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self.image = pygame.image.load('images/rock.png')
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class Sand(Surface):
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def __init__(self, screen, x, y):
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super().__init__(screen, x, y)
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self.weight = 3
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self.image = pygame.image.load('images/sand.png')
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class Water(Surface):
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def __init__(self, screen, x, y):
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super().__init__(screen, x, y)
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self.weight = 3
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self.weight = -1
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self.image = pygame.image.load('images/water.png')
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