astar na następnikach

.vscode/settings.json

@@ -0,0 +1,6 @@
+{
+    "python.analysis.extraPaths": [
+        "./path_alghoritms",
+        "./path_algorithms"
+    ]
+}

astar.py

@@ -0,0 +1,64 @@
+from config import *
+import heapq
+
+class Astar():
+
+    def __init__(self,game):
+
+        self.g = game
+
+        # Define the movement directions (up, down, left, right)
+        self.directions = [(-1, 0), (1, 0), (0, -1), (0, 1)]
+
+    def heuristic(self,a, b):
+        # Calculate the Manhattan distance between two points
+        return abs(b[0] - a[0]) + abs(b[1] - a[1])
+
+    def get_successors(self,position):
+        # Get the neighboring cells that can be traversed
+        successors = []
+        for direction in self.directions:
+            neighbor = (position[0] + direction[0], position[1] + direction[1])
+            if 0 <= neighbor[0] < TILE_SIZE and 0 <= neighbor[1] < TILE_SIZE and self.g.obstacles[neighbor[0]][neighbor[1]] == False:
+                successors.append(neighbor)
+        return successors
+
+    def print_path(self,came_from, current,path):
+        # Recursively print the path from the start to the current position
+        if current in came_from:
+            path = self.print_path(came_from, came_from[current],path)
+        path.append(self.g.bfs.get_cell_number(current[0]*TILE_SIZE,current[1]*TILE_SIZE))
+        print("Budowanie ścieżki: ",path)
+        return path
+
+    def a_star(self,start, goal,path):
+        open_set = []
+        heapq.heappush(open_set, (0, start))  # Priority queue with the start position
+        came_from = {}
+        g_scores = {start: 0}  # Cost from start to each position
+        f_scores = {start: self.heuristic(start, goal)}  # Total estimated cost from start to goal through each position
+
+        while open_set:
+            _, current = heapq.heappop(open_set)
+
+            if current == goal:
+                # Goal reached, print the path
+                path = self.print_path(came_from, goal,path)
+                return path
+
+            for successor in self.get_successors(current):
+                # Calculate the cost to move from the current position to the successor
+                cost = self.g.cell_costs[successor[0]][successor[1]]
+                tentative_g_score = g_scores[current] + cost
+
+                if successor not in g_scores or tentative_g_score < g_scores[successor]:
+                    # Update the cost and priority if it's a better path
+                    came_from[successor] = current
+                    g_scores[successor] = tentative_g_score
+                    f_scores[successor] = tentative_g_score + self.heuristic(successor, goal)
+                    heapq.heappush(open_set, (f_scores[successor], successor))
+        # No path found
+        print("No path found.")
+    
+
+

bfs.py

@@ -41,7 +41,7 @@ class Bfs():
 
     def get_cell_number(self,x, y): #zamienia koordynaty na numer kratki
         cell_number = None
-        cell_number =(x // TILE_SIZE) + (NUM_ROWS * (( y// TILE_SIZE)))
+        cell_number =(x // TILE_SIZE) + (ROWS * (( y// TILE_SIZE)))
         return cell_number
     
     def get_possible_moves(self,cell_number):
@@ -66,28 +66,28 @@ class Bfs():
     
     
     def get_up_cell(self,cell_number):
-        cell_row_number = cell_number // NUM_ROWS 
+        cell_row_number = cell_number // ROWS 
         if (cell_row_number - 1 < 0):
             return None
         else:
-            return (cell_number - NUM_ROWS)
+            return (cell_number - ROWS)
         
     def get_right_cell(self,cell_number):
-        cell_column_number = cell_number % NUM_ROWS 
-        if (cell_column_number + 1 >= NUM_ROWS): 
+        cell_column_number = cell_number % ROWS 
+        if (cell_column_number + 1 >= ROWS): 
             return None
         else:
             return (cell_number + 1)
         
     def get_down_cell(self,cell_number):
-        cell_row_number = cell_number // NUM_ROWS
-        if (cell_row_number + 1 >= NUM_ROWS): 
+        cell_row_number = cell_number // ROWS
+        if (cell_row_number + 1 >= ROWS): 
             return None
         else:
-            return (cell_number + NUM_ROWS)
+            return (cell_number + ROWS)
         
     def get_left_cell(self,cell_number):
-        cell_column_number = cell_number % NUM_ROWS 
+        cell_column_number = cell_number % ROWS 
         if (cell_column_number - 1 < 0): 
             return None
         else:
@@ -103,17 +103,17 @@ class Bfs():
         if(from_cell - 1 == to_cell):
             return True
     
-        if(from_cell - NUM_ROWS == to_cell):
+        if(from_cell - ROWS == to_cell):
             return True
 
-        if(from_cell + NUM_ROWS == to_cell):
+        if(from_cell + ROWS == to_cell):
             return True
     
         return False
 
     def get_coordinates(self,cell_to_move): #zamienia numer kratki na koordynaty
-        cell_row_number = cell_to_move // NUM_ROWS 
-        cell_column_number = cell_to_move % NUM_ROWS 
+        cell_row_number = cell_to_move // ROWS 
+        cell_column_number = cell_to_move % ROWS 
 
         y = cell_row_number * TILE_SIZE
         x = cell_column_number * TILE_SIZE

config.py

@@ -3,7 +3,8 @@ WIDTH, HEIGHT = 832, 832
 TILE_SIZE = 64
 BLACK = ((0,0,0))
 WHITE = ((255,255,255))
-NUM_ROWS = WIDTH//TILE_SIZE
 AGENT_LAYER  = 2
 FLOWER_LAYER = 1
 GRASS_LAYER = 3
+ROWS = HEIGHT // TILE_SIZE
+COLS = WIDTH // TILE_SIZE

main.py

@@ -1,11 +1,13 @@
+
 import pygame
 from config import *
 from agent import *
 from map_add_ons import *
 from mobs import *
 from bfs import *
-from heapq import *
 from nn import *
+from astar import *
+
 
 class Game:
 
@@ -26,6 +28,12 @@ class Game:
 
         self.bfs = Bfs(self)
         self.nn = NeuralN()
+        self.astar = Astar(self)
+
+        self.cell_costs = [[1 for _ in range(TILE_SIZE)] for _ in range(TILE_SIZE)]
+        self.obstacles = [[False for _ in range(TILE_SIZE)] for _ in range(TILE_SIZE)]
+
+
 
 
     def new(self): # tworzy się nowa sesja grania
@@ -42,23 +50,25 @@ class Game:
     
         self.agent = Agent(self,1,1)
         self.archer_ork = Archer_ork(self,10,10)
+        self.obstacles[10][10] = True
         self.bfs.enemy_cells.append(self.bfs.get_cell_number(self.archer_ork.x,self.archer_ork.y))
         self.infantry_ork = Infantry_ork(self,10,4)
+        self.obstacles[10][4] = True
         self.bfs.enemy_cells.append(self.bfs.get_cell_number(self.infantry_ork.x,self.infantry_ork.y))
        
         self.sauron = Sauron(self, 1, 10)
+        self.obstacles[1][10] = True
         self.bfs.enemy_cells.append(self.bfs.get_cell_number(self.sauron.x,self.sauron.y))
         self.flower = Health_flower(self, 8,2)
 
-        self.grass = Grass(self,0,2)
-        self.grass = Grass(self,1,2)
-        self.grass = Grass(self,0,3)
-        self.grass = Grass(self,1,3)
-        self.grass = Grass(self,0,4)
-        self.grass = Grass(self,1,4)
-        cost_cell_1000=[13,26,27,40]
+        for y in range (2,5):
+            for x in range (2):
+                self.grass = Grass(self,x,y)
+                self.cell_costs[x][y] = 5
+
         for y in range(5):
             self.rock = Rocks(self,3,y)
+            self.obstacles[3][y] = True
             self.bfs.wall_cells.append(self.bfs.get_cell_number(self.rock.x,self.rock.y))
   
 
@@ -71,6 +81,15 @@ class Game:
             if event.type == pygame.QUIT:
                 self.running = False
                 pygame.quit()
+            if event.type == pygame.KEYDOWN:
+                if event.key == pygame.K_SPACE:
+                    self.start_pos = (self.agent.x//TILE_SIZE, self.agent.y//TILE_SIZE)
+                    self.goal_pos = (self.flower.x//TILE_SIZE, self.flower.y//TILE_SIZE)
+                    self.path = []
+                    self.move_agent(self.astar.a_star(self.start_pos, self.goal_pos,self.path))
+                   
+
+
             if event.type == pygame.MOUSEBUTTONDOWN:
                 mouse_presses = pygame.mouse.get_pressed()
                 if mouse_presses[0]:
@@ -78,7 +97,7 @@ class Game:
                     x = self.sauron.x
                     y = self.sauron.y
                     mob_image = self.sauron.SAURON_IMG
-                    while True:   #do poprawienia poprawne rozpoznawanie póki co nie będzie działać dobrze
+                    while True:   #do poprawienia poprawne rozpoznawanie póki co nie będzie działać dobrze, program się będzie zawieszać
                         prediction = self.prediction_road(x,y,mob_image)
                         if prediction == "SAURON":
                             x = self.infantry_ork.x
@@ -162,114 +181,9 @@ class Game:
         self.update()
         self.map()
 
-    grass_cells = []
-
-
-cols, rows = 13,12 
-def get_circle(x,y):
-    return (x * TILE_SIZE + TILE_SIZE//2, y* TILE_SIZE + TILE_SIZE//2), TILE_SIZE//4
-def get_rect(x,y):
-    return x*TILE_SIZE +1, y* TILE_SIZE +1, TILE_SIZE -2, TILE_SIZE -2
-'''
-def get_next_nodes(x,y):
-    check_next_node = lambda x, y:True if 0<= x < cols and 0<=y < rows else False
-    ways =[-1,0],[0,-1],[1,0],[0,1]
-    return [(grid[y + dy][x + dx], (x + dx, y + dy)) for dx, dy in ways if check_next_node(x + dx, y + dy)]
-'''
-def get_neighbours(x, y):
-    check_neighbour = lambda x, y: True if 0 <= x < cols and 0 <= y < rows else False
-    ways = [-1, 0], [0, -1], [1, 0], [0, 1]
-    return [(grid[y + dy][x + dx], (x + dx, y + dy)) for dx, dy in ways if check_neighbour(x + dx, y + dy)]
-def heuristic(a, b):
-   return abs(a[0] - b[0]) + abs(a[1] - b[1])
-def dijkstra(start, goal, graph):
-    queue = []
-    heappush(queue, (0, start))
-    cost_visited = {start: 0}
-    visited = {start: None}
-
-    while queue:
-        cur_cost, cur_node = heappop(queue)
-        if cur_node == goal:
-            break
-
-        neighbours = graph[cur_node]
-        for neighbour in neighbours:
-            neigh_cost, neigh_node = neighbour
-            new_cost = cost_visited[cur_node] + neigh_cost
-
-            if neigh_node not in cost_visited or new_cost < cost_visited[neigh_node]:
-                priority = new_cost + heuristic(neigh_node, goal)
-                heappush(queue, (priority, neigh_node))
-                cost_visited[neigh_node] = new_cost
-                visited[neigh_node] = cur_node
-    return visited
-grid =['2229222222222',
-        '2229222222222',
-        '9929222222222',
-        '9929222222222',
-        '9929222222222',
-        '2222222222222',                                                                                                                                                                                                                                                               
-        '2222222222222',
-        '2222222222222',
-        '2222222222222',
-        '2222222222222',
-        '2222222222222',
-        '2222222222222'
-        ]
-grid = [[int(char) for char in string ] for string in grid]
-
-
-graph ={}
-for y, row in enumerate(grid):
-    for x, col in enumerate(row):
-        graph[(x, y)] = graph.get((x, y), []) + get_neighbours(x, y)
-#print("graph 2 0",graph[(2,0)])
-
-start = (1,1)
-goal =(0,5)
-queue =[]
-heappush(queue, (0,start))
-cost_visited = {start:0}
-visited = {start: None}
-goall=1
-while goall==1:
-    if queue:
-        visited=dijkstra(start,goal,graph)
-        goall=0
-
-path=[]   
-path_head, path_segment = goal, goal
-while path_segment:
-   # print("path_segment: ",path_segment)
-    
-    path_segment =visited[path_segment]
-    path.append(path_segment)  
-#print("path_head",path_head)
-path.pop(len(path)-1)
-path.reverse()
-path_true=[]
-bfss =Bfs(Game)
-
-
-for i in path:
-    z=str(i)
-    #print("Z:",z)
-    x=z[1]
-    y=z[4]
-    x=int(x)*64
-    y=int(y)*64
-    a=bfss.get_cell_number(x,y)
-    path_true.append(a)
-#print("path:",path)
-#print("path_true:",path_true)
-#bfss.move_agent(path_true)
-
-
-
-
 
 g = Game()
 g.new()
+
 while g.running:
     g.main()

map_add_ons.py

@@ -50,8 +50,6 @@ class Grass(pygame.sprite.Sprite):
         self.rect.x = self.x
         self.rect.y = self.y
 
-        self.cost = 10
-
         self._layer = GRASS_LAYER
 
 class Health_flower(pygame.sprite.Sprite):