dodanie bfs bez ruszenia agentem

agent.py

@@ -84,13 +84,13 @@ class Agent(pygame.sprite.Sprite):
             
         if keys[pygame.K_UP]:
             if self.direction==0 and self.rect.x < 832 - 64:
-                self.x_change += TILE_SIZE/2
+                self.x_change += TILE_SIZE
             if self.direction==1 and self.rect.y < 768 - 64:
-                self.y_change += TILE_SIZE/2
+                self.y_change += TILE_SIZE
             if self.direction==2 and self.rect.x > 0:
-                self.x_change -= TILE_SIZE/2
+                self.x_change -= TILE_SIZE
             if self.direction==3 and self.rect.y > 0:
-                self.y_change -= TILE_SIZE/2
+                self.y_change -= TILE_SIZE
     """
         if keys[pygame.K_LEFT] and self.rect.x > 0:
             self.x_change -= TILE_SIZE

config.py

@@ -3,4 +3,5 @@ WIDTH, HEIGHT = 832, 832
 TILE_SIZE = 64
 BLACK = ((0,0,0))
 WHITE = ((255,255,255))
-#PLAYER_SPEED = 3
+#PLAYER_SPEED = 3
+NUM_ROWS = WIDTH//TILE_SIZE

main.py

@@ -37,13 +37,18 @@ class Game:
         #self.unknown_mobs = pygame.sprite.LayeredUpdates() #unknown mob
         self.agent = Agent(self,1,1)
         self.archer_ork = Archer_ork(self,10,10)
+        self.enemy_cells.append(self.get_cell_number(self.archer_ork.x,self.archer_ork.y))
         self.infantry_ork = Infantry_ork(self,10,4)
+        self.enemy_cells.append(self.get_cell_number(self.infantry_ork.x,self.infantry_ork.y))
         self.infantry_ork2 = Infantry_ork2(self,6,3)
+        self.enemy_cells.append(self.get_cell_number(self.infantry_ork2.x,self.infantry_ork2.y))
         self.sauron = Sauron(self, 1, 10)
+        self.enemy_cells.append(self.get_cell_number(self.sauron.x,self.sauron.y))
         self.flower = Health_flower(self, 8,2)
         #self.unknown_mob = Unknown_mob(self,8,8)  #unknown mob
         for y in range(5):
             self.rock = Rocks(self,3,y)
+            self.wall_cells.append(self.get_cell_number(self.rock.x,self.rock.y))
 
     
     def update(self):
@@ -55,6 +60,10 @@ class Game:
             if event.type == pygame.QUIT:
                 self.running = False
                 pygame.quit()
+            if event.type == pygame.MOUSEBUTTONDOWN:
+                mouse_presses = pygame.mouse.get_pressed()
+                if mouse_presses[0]:
+                    self.search_in_breadth_first_approach()
 
     def map(self): # tworzenie mapy
         self.clock.tick(FRAMERATE)
@@ -72,6 +81,194 @@ class Game:
         self.events()
         self.update()
         self.map()
+
+    open_queue = []
+    close_queue = []
+    wall_cells = []
+    enemy_cells = []
+
+    def search_in_breadth_first_approach(self):
+        print("x is: ", self.agent.x, "y is: ", self.agent.y)
+    
+        self.open_queue.append(self.get_cell_number(self.agent.x,self.agent.y))
+        goal_cell = self.get_cell_number(self.flower.x,self.flower.y)
+
+        path = []
+        processing = True
+        find_path = False
+        while processing: # main loop
+            for event in pygame.event.get():
+                if event.type == pygame.QUIT:
+                    exit()
+    
+            if len(self.open_queue) > 0 :
+                current_node_cell = self.open_queue.pop(0) # remove and get first element of open_queue
+            
+                # check if this cell allready processed
+                if(current_node_cell in self.close_queue):
+                    continue
+
+                print("current cell number is: ", current_node_cell)
+                print("goal cell/s is/are at: ", goal_cell)
+
+                # cheking for goal
+                if (current_node_cell == goal_cell):
+                    # add the goal cell to close queue too, this is helpfull to find the path
+                    self.close_queue.append(current_node_cell)
+                    found_goal_cell = current_node_cell
+                    print("goal found, now find the path from close_queue, close_queue is:", self.close_queue)
+                    processing = False
+                    find_path = True
+                    self.clock.tick(2) # stay some time here without closing the windoew
+                else:
+                    # goal not found, continue processing
+                    child_node_cells = self.get_child_nodes(current_node_cell) # find possible child cells nodes to process
+                    self.close_queue.append(current_node_cell) # putting the processed node to closed queue
+
+                    # add child nodes to open queue only if they are already not in both open_queue and close_queue
+                    print("childe nodes: ", child_node_cells)
+                    for child_node in child_node_cells:
+                        if child_node not in self.open_queue and child_node not in self.close_queue:
+                            self.open_queue.append(child_node) # add children to END OF THE OPEN QUEUE (BFS)
+                    print("open queue: ", self.open_queue, "open_queue length: ", len(self.open_queue), "\n")            
+            else:
+                print("no nodes to processe, open_queue length: ", len(self.open_queue), ", open queue: ",self. open_queue)
+                print("closed queue (processed nodes) : ", self.close_queue)
+                return self.close_queue
+    
+        dead_end_nodes = []
+        while find_path:
+            path.append(self.close_queue[0]) # put the agent starting cell to path.
+
+            for i in range(len(self.close_queue) -1):
+                from_cell = path[-1]
+                to_cell = self.close_queue[i+1]
+
+                if to_cell in dead_end_nodes:
+                    continue
+
+                if self.verify_to_cell_is_navigatable_from_from_cell(from_cell, to_cell):
+                    path.append(to_cell)
+        
+            if path[-1] == found_goal_cell:
+                find_path = False
+            else:
+                # a dead end has occured, start finding path avoiding this dead end cell
+                dead_end_nodes.append(path[-1])
+                path = [] # to start again
+
+        print("path: ", path)
+        self.move_agent(path)
+
+
+
+    def get_cell_number(self,x, y):
+        cell_number = None
+        cell_number =(x // TILE_SIZE) + (NUM_ROWS * (( y// TILE_SIZE)))
+        return cell_number
+    
+    def get_child_nodes(self,cell_number):
+        children = []
+        up = self.get_up_cell(cell_number)
+        if up is not None and up not in self.wall_cells and up not in self.enemy_cells:
+            children.append(up)
+
+        right = self.get_right_cell(cell_number)
+        if right is not None and right not in self.wall_cells and up not in self.enemy_cells:
+            children.append(right)
+
+        down = self.get_down_cell(cell_number)
+        if down is not None and down not in self.wall_cells and up not in self.enemy_cells:
+            children.append(down)
+
+        left = self.get_left_cell(cell_number)
+        if left is not None and left not in self.wall_cells and up not in self.enemy_cells:
+            children.append(left)
+    
+        return children
+    
+    def get_up_cell(self,cell_number):
+        cell_row_number = cell_number // NUM_ROWS # current row number of agent
+        if (cell_row_number - 1 < 0):  # above /up row number of agent
+            return None
+        else:
+            return (cell_number - NUM_ROWS)
+        
+    def get_right_cell(self,cell_number):
+        cell_column_number = cell_number % NUM_ROWS # current column number of agent
+        if (cell_column_number + 1 >= NUM_ROWS): 
+            # current cell is at the right edge, so no rigth child / right cell available
+            return None
+        else:
+            return (cell_number + 1) # else return next cell number
+        
+    def get_down_cell(self,cell_number):
+        cell_row_number = cell_number // NUM_ROWS # current row number of agent
+        if (cell_row_number + 1 >= NUM_ROWS):  # down / next row number of agent
+            return None
+        else:
+            return (cell_number + NUM_ROWS)
+        
+    def get_left_cell(self,cell_number):
+        cell_column_number = cell_number % NUM_ROWS # current column number of agent
+        if (cell_column_number - 1 < 0): 
+            # current cell is at the left edge, so no left child / right cell available
+            return None
+        else:
+            return (cell_number - 1) # else return previous cell number
+        
+    def verify_to_cell_is_navigatable_from_from_cell(self,from_cell, to_cell):
+        if (to_cell in self.wall_cells or to_cell in self.enemy_cells): # if to_cell is a wall cell, return False
+            return False
+
+        if(from_cell + 1 == to_cell): # check to_cell is the right cell
+            return True
+
+        if(from_cell - 1 == to_cell): # check to_cell is the left cell
+            return True
+    
+        if(from_cell - NUM_ROWS == to_cell): # check to_cell is the top / up cell
+            return True
+
+        if(from_cell + NUM_ROWS == to_cell): # check to_cell is the down / bottom cell
+            return True
+    
+        return False # Else not navigatable, return False
+
+
+    # trzeba poprawić poruszanie się agenta, sam bfs działa dobrze raczej    
+    def move_agent(self,path):
+        for cell_to_move in path:
+            x, y = self.get_top_left_cordinates_given_cell_number(cell_to_move)
+            print("moving to cell : ", cell_to_move, " of cordinates x: ", x, ", y: ", y, ",  line_width: ", TILE_SIZE)
+            if x > self.agent.x and y == self.agent.y:
+                self.agent.direction = 0
+            if x == self.agent.x and y > self.agent.y:
+                self.agent.direction = 1
+            if x < self.agent.x and y == self.agent.y:
+                self.agent.direction = 2
+            if x == self.agent.x and y < self.agent.y:
+                self.agent.direction = 3
+            if self.agent.direction==0:
+                self.agent.x += TILE_SIZE
+            if self.agent.direction==1:
+                self.agent.y += TILE_SIZE
+            if self.agent.direction==2:
+                self.agent.x -= TILE_SIZE
+            if self.agent.direction==3:
+                self.agent.y -= TILE_SIZE
+
+            print("moved agent attributes: agent.x: ", self.agent.x, ", agent.y: ", self.agent.y)
+            self.clock.tick(2)
+
+    def get_top_left_cordinates_given_cell_number(self,cell_to_move):
+        cell_row_number = cell_to_move // NUM_ROWS # cell row number
+        cell_column_number = cell_to_move % NUM_ROWS # cell column number
+
+        y = cell_row_number * TILE_SIZE
+        x = cell_column_number * TILE_SIZE
+        return x, y
+
         
 g = Game()
 g.new()