astar niekomletny
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Astar.py
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231
Astar.py
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import pygame
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import heapq
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from config import *
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from queue import PriorityQueue
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class Astar:
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def __init__(self, game):
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self.game = game
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self.open_queue = []
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self.close_queue = []
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self.wall_cells = []
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self.enemy_cells = []
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self.little_rocks_cells = []
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self.grass_cells = []
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def Astar(self):
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start_cell = self.get_cell_number(self.game.agent.x,self.game.agent.y)
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goal_cell = self.get_cell_number(self.game.flower.x,self.game.flower.y)
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f_value = {start_cell: self.heuristic_value(self.game.agent.x, self.game.agent.y, self.game.flower)}
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g_values = {start_cell: 0}
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f2_value = {start_cell: 0}
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parents = {start_cell: None}
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new_child_node = {int, int}
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priority_queue = []
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find_path = False
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open_queue = PriorityQueue()
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open_queue.put((0,start_cell))
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path = []
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processing = True
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while processing:
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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exit()
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if not open_queue.empty() :
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current_node_cell = open_queue.get()
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if(current_node_cell in self.close_queue):
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continue
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if (current_node_cell[1] == goal_cell):
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self.close_queue.append(current_node_cell[1])
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found_goal_cell = current_node_cell[1]
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print("Znaleziono cel, szukanie drogi z odwiedzonych węzłów, kolejka odwiedzonych:", self.close_queue)
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processing = False
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find_path = True
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self.game.clock.tick(2)
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else:
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self.close_queue.append(current_node_cell)
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child_node_cells = self.get_child_nodes(current_node_cell[1])
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for child_node in child_node_cells:
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if child_node not in [item[1] for item in open_queue.queue] and child_node not in [item[1] for item in self.close_queue]:
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x, y = self.get_coordinates(child_node)
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g_values[child_node] = g_values[current_node_cell[1]]
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f_value[child_node] = g_values[child_node] + self.heuristic_value(x,y, self.game.flower) + self.move_cost(current_node_cell[1], child_node)
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open_queue.put((f_value[child_node], child_node))
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parents[child_node] = current_node_cell[1]
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elif child_node in [item[1] for item in open_queue.queue]:
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f2_value[child_node] = g_values[child_node] + self.heuristic_value(x,y, self.game.flower) + self.move_cost(current_node_cell[1], child_node)
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print("CURRENT NODE:", current_node_cell)
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print("CURRENT CHILD:", child_node)
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print("F1:", f_value[child_node])
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print("F2:", f2_value[child_node])
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if f2_value[child_node] < f_value[child_node]:
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parents[child_node] = current_node_cell[1]
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open_queue.put((f2_value[child_node], child_node))
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else:
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print("Brak nowych węzłów, kolejka: ",self. open_queue)
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print("Odwiedzone : ", self.close_queue)
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return self.close_queue
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dead_end_nodes = []
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resultList = [t[1] for t in self.close_queue if isinstance(t, tuple)]
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resultList.append(goal_cell)
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print("F_VALUES:", f_value)
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print("RESULT LIST", resultList)
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print("PARENTS: ", parents)
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while find_path:
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path.append(resultList[0])
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for i in range(len(resultList) -1):
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from_cell = path[-1]
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to_cell = resultList[i+1]
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if to_cell in dead_end_nodes:
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continue
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if self.verify_move(from_cell, to_cell):
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path.append(to_cell)
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if path[-1] == found_goal_cell:
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find_path = False
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else:
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dead_end_nodes.append(path[-1])
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path = []
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print("Droga: ", path)
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self.move_agent(path)
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def heuristic_value(self, x,y, goal_cell):
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return abs(x - goal_cell.x) + abs(y - goal_cell.y)
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def move_cost(self, node1, node2):
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if node2 in self.little_rocks_cells:
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return 50
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if node2 in self.grass_cells:
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return 5
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return 1
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def get_cell_number(self,x, y): #zamienia koordynaty na numer kratki
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cell_number = None
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cell_number =(x // TILE_SIZE) + (NUM_ROWS * (( y// TILE_SIZE)))
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return cell_number
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def get_coordinates(self,cell_to_move): #zamienia numer kratki na koordynaty
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cell_row_number = cell_to_move // NUM_ROWS
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cell_column_number = cell_to_move % NUM_ROWS
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y = cell_row_number * TILE_SIZE
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x = cell_column_number * TILE_SIZE
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return x, y
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def get_child_nodes(self,cell_number):
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children = []
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up = self.get_up_cell(cell_number)
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if up is not None and up not in self.wall_cells and up not in self.enemy_cells:
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children.append(up)
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right = self.get_right_cell(cell_number)
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if right is not None and right not in self.wall_cells and up not in self.enemy_cells:
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children.append(right)
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down = self.get_down_cell(cell_number)
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if down is not None and down not in self.wall_cells and up not in self.enemy_cells:
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children.append(down)
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left = self.get_left_cell(cell_number)
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if left is not None and left not in self.wall_cells and up not in self.enemy_cells:
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children.append(left)
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return children
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def get_up_cell(self,cell_number):
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cell_row_number = cell_number // NUM_ROWS
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if (cell_row_number - 1 < 0):
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return None
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else:
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return (cell_number - NUM_ROWS)
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def get_right_cell(self,cell_number):
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cell_column_number = cell_number % NUM_ROWS
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if (cell_column_number + 1 >= NUM_ROWS):
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return None
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else:
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return (cell_number + 1)
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def get_down_cell(self,cell_number):
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cell_row_number = cell_number // NUM_ROWS
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if (cell_row_number + 1 >= NUM_ROWS):
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return None
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else:
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return (cell_number + NUM_ROWS)
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def get_left_cell(self,cell_number):
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cell_column_number = cell_number % NUM_ROWS
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if (cell_column_number - 1 < 0):
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return None
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else:
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return (cell_number - 1)
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def verify_move(self,from_cell, to_cell): #sprawdzenie czy ruch jest poprawny czyt. czy następna kratka to przeszkoda lub mob
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if (to_cell in self.wall_cells or to_cell in self.enemy_cells):
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return False
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if(from_cell + 1 == to_cell):
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return True
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if(from_cell - 1 == to_cell):
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return True
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if(from_cell - NUM_ROWS == to_cell):
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return True
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if(from_cell + NUM_ROWS == to_cell):
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return True
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return False
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def move_agent(self,path):
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for cell_to_move in path:
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x, y = self.get_coordinates(cell_to_move)
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print("Ruch do kratki : ", cell_to_move, " z x: ", x, ", y: ", y, ", agent.x: ", self.game.agent.rect.x, ", agent.y: ", self.game.agent.rect.y)
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if(self.get_cell_number(self.game.agent.x,self.game.agent.y)!=cell_to_move):
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if x > self.game.agent.rect.x:
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self.game.agent.direction = 0
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elif y > self.game.agent.rect.y:
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self.game.agent.direction = 1
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elif x < self.game.agent.rect.x:
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self.game.agent.direction = 2
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elif y < self.game.agent.rect.y:
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self.game.agent.direction = 3
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if self.game.agent.direction==0:
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print("DIRECTION: "+self.game.agent.AGENT_IMAGES[self.game.agent.direction])
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self.game.agent.x_change += TILE_SIZE
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elif self.game.agent.direction==1:
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print("DIRECTION: "+self.game.agent.AGENT_IMAGES[self.game.agent.direction])
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self.game.agent.y_change += TILE_SIZE
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elif self.game.agent.direction==2:
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print("DIRECTION: "+self.game.agent.AGENT_IMAGES[self.game.agent.direction])
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self.game.agent.x_change -= TILE_SIZE
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elif self.game.agent.direction==3:
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print("DIRECTION: "+self.game.agent.AGENT_IMAGES[self.game.agent.direction])
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self.game.agent.y_change -= TILE_SIZE
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self.game.agent.rotate()
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self.game.update()
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self.game.map()
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print("Położenie agenta: agent.x: ", self.game.agent.rect.x, ", agent.y: ", self.game.agent.rect.y)
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self.game.clock.tick(2)
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BIN
__pycache__/Astar.cpython-39.pyc
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BIN
__pycache__/Astar.cpython-39.pyc
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24
main.py
24
main.py
@ -5,7 +5,8 @@ from map_add_ons import *
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from mobs import *
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#from unknown_mob import * #unknown mob
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import random
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from bfs import *
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from Astar import *
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from Astar import *
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class Game:
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@ -24,7 +25,8 @@ class Game:
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pygame.display.set_caption('Gra-SI')
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self.bfs = Bfs(self)
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#self.Astar = Astar(self)
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self.Astar = Astar(self)
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def new(self): # tworzy się nowa sesja grania
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self.all_sprites = pygame.sprite.LayeredUpdates()
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#self.unknown_mobs = pygame.sprite.LayeredUpdates() #unknown mob
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self.agent = Agent(self,1,1)
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self.archer_ork = Archer_ork(self,10,10)
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self.bfs.enemy_cells.append(self.bfs.get_cell_number(self.archer_ork.x,self.archer_ork.y))
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self.Astar.enemy_cells.append(self.Astar.get_cell_number(self.archer_ork.x,self.archer_ork.y))
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self.infantry_ork = Infantry_ork(self,10,4)
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self.bfs.enemy_cells.append(self.bfs.get_cell_number(self.infantry_ork.x,self.infantry_ork.y))
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self.Astar.enemy_cells.append(self.Astar.get_cell_number(self.infantry_ork.x,self.infantry_ork.y))
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self.infantry_ork2 = Infantry_ork2(self,6,3)
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self.bfs.enemy_cells.append(self.bfs.get_cell_number(self.infantry_ork2.x,self.infantry_ork2.y))
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self.Astar.enemy_cells.append(self.Astar.get_cell_number(self.infantry_ork2.x,self.infantry_ork2.y))
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self.sauron = Sauron(self, 1, 10)
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self.bfs.enemy_cells.append(self.bfs.get_cell_number(self.sauron.x,self.sauron.y))
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self.Astar.enemy_cells.append(self.Astar.get_cell_number(self.sauron.x,self.sauron.y))
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self.flower = Health_flower(self, 8,2)
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#self.unknown_mob = Unknown_mob(self,8,8) #unknown mob
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for y in range(5):
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self.rock = Rocks(self,3,y)
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self.bfs.wall_cells.append(self.bfs.get_cell_number(self.rock.x,self.rock.y))
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self.Astar.wall_cells.append(self.Astar.get_cell_number(self.rock.x,self.rock.y))
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for i in range(10):
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x = random.randint(0,12)
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y = random.randint(0,11)
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self.grass = Grass(self,x,y)
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self.grass_cells.append(self.bfs.get_cell_number(self.grass.x,self.grass.y))
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self.grass_cells.append(self.Astar.get_cell_number(self.grass.x,self.grass.y))
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for y in range(5,8):
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self.little_rocks = Little_Rocks(self,4,y)
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self.Astar.little_rocks_cells.append(self.Astar.get_cell_number(self.little_rocks.x, self.little_rocks.y))
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@ -75,7 +78,8 @@ class Game:
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if event.type == pygame.MOUSEBUTTONDOWN:
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mouse_presses = pygame.mouse.get_pressed()
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if mouse_presses[0]:
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self.bfs.bfs()
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#self.bfs.bfs()
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self.Astar.Astar()
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def map(self): # tworzenie mapy
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self.clock.tick(FRAMERATE)
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@ -112,7 +116,7 @@ class Game:
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# BFS ALGORITHM
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# Astar ALGORITHM
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g = Game()
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g.new()
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