bfs na następnikach
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Weranda
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bf1ac0349d
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5d1bc990ce
134
bfs.py
134
bfs.py
@ -1,83 +1,42 @@
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import pygame
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from config import *
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import queue
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class Bfs():
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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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def heuristic(a,b):
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return abs(a[0]-b[0])+abs(a[1]-b[1])
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def bfs(self,goal_cell):
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print("x: ", self.game.agent.x, "y: ", self.game.agent.y)
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cost_road=0
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self.open_queue.append(self.get_cell_number(self.game.agent.x,self.game.agent.y))
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# tutaj dodaje się cel agenta
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#goal_cell = self.get_cell_number(self.game.flower.x,self.game.flower.y)
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visited = set()
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q = queue.Queue()
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start_position = self.get_cell_number(self.game.agent.x,self.game.agent.y)
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q.put(start_position)
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parent = {}
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path = []
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processing = True
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find_path = False
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while processing: # główna pętla
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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 len(self.open_queue) > 0 :
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current_node_cell = self.open_queue.pop(0)
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while not q.empty(): # główna pętla
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current_pos = q.get()
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visited.add(current_pos)
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if current_pos == goal_cell:
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print("Osiągnięto cel, konstruowanie drogi")
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path = []
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while current_pos != start_position:
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path.append(current_pos)
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current_pos = parent[current_pos]
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path.append(start_position)
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return path[::-1]
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if(current_node_cell in self.close_queue):
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continue
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for successor in self.succesors(current_pos):
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if successor not in visited:
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q.put(successor)
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parent[successor] = current_pos
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print("Aktualna kratka: ", current_node_cell)
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print("Cel znajduje sie na kratce: ", goal_cell)
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if (current_node_cell == goal_cell):
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self.close_queue.append(current_node_cell)
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found_goal_cell = current_node_cell
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print("Znaleziono cel, szukanie drogi z odwiedzonych wezlow, 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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child_node_cells = self.get_child_nodes(current_node_cell)
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self.close_queue.append(current_node_cell)
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print("Sasiedzi: ", child_node_cells)
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for child_node in child_node_cells:
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if child_node not in self.open_queue and child_node not in self.close_queue:
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self.open_queue.append(child_node)
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print("Kolejka: ", self.open_queue, "\n")
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else:
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print("Brak nowych wezlow, 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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while find_path:
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path.append(self.close_queue[0])
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for i in range(len(self.close_queue) -1):
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from_cell = path[-1]
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to_cell = self.close_queue[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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print("Nieznaleziono drogi")
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return None
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def get_cell_number(self,x, y): #zamienia koordynaty na numer kratki
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@ -85,7 +44,7 @@ class Bfs():
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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_child_nodes(self,cell_number):
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def get_possible_moves(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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@ -151,40 +110,6 @@ class Bfs():
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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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print("PATH:::::",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("Polozenie 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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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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@ -193,3 +118,12 @@ class Bfs():
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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 succesors(self,current_pos):
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possible_moves = self.get_possible_moves(current_pos)
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valid_moves = []
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for move in possible_moves:
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if self.verify_move(current_pos,move) == True:
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valid_moves.append(move)
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return valid_moves
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