130 lines
4.1 KiB
Python
130 lines
4.1 KiB
Python
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.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.rect.x, "y: ", self.game.agent.rect.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.rect.x,self.game.agent.rect.y)
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q.put(start_position)
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parent = {}
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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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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("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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cell_number = None
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cell_number =(x // TILE_SIZE) + (ROWS * (( y// TILE_SIZE)))
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return 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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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 // 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 - ROWS)
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def get_right_cell(self,cell_number):
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cell_column_number = cell_number % ROWS
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if (cell_column_number + 1 >= 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 // ROWS
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if (cell_row_number + 1 >= ROWS):
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return None
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else:
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return (cell_number + ROWS)
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def get_left_cell(self,cell_number):
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cell_column_number = cell_number % 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 - ROWS == to_cell):
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return True
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if(from_cell + ROWS == to_cell):
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return True
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return False
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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 // ROWS
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cell_column_number = cell_to_move % 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 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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