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Fixed graph next nodes, fixed type of tractor direction, fully remaked movement function, changed getRoad function

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This commit is contained in:
Yahor Haleznik 2023-05-01 17:49:36 +02:00
parent d68c8a9fb1
commit 859874871c
1 changed files with 33 additions and 37 deletions
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70
field.py
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@ -69,9 +69,6 @@ def draw_interface():
graph1 = Graph(grid)
graph1.initialize_graph(grid)
startpoint = (0, 0)
endpoint = startpoint
fl_running = True
while fl_running:
draw_grid()
@ -100,11 +97,8 @@ def draw_interface():
elif event.type == pygame.MOUSEBUTTONDOWN:
startpoint = (tractor.x, tractor.y, tractor.direction)
endpoint = get_click_mouse_pos()
print(endpoint)
a = graph1.dijkstra(startpoint, endpoint)
b = getRoad(startpoint, endpoint, a)
print(b)
startpoint = endpoint
movement(tractor, grid, b)
# endregion
@ -216,7 +210,6 @@ class Graph:
for direction in Direction:
self.graph[(x, y, direction)] = get_next_nodes(x, y, direction, grid)
def dijkstra(self, start, goal):
# not finished yet https://www.youtube.com/watch?v=abHftC1GU6w
queue = []
@ -231,8 +224,10 @@ class Graph:
break
next_nodes = self.graph[cur_node]
# print()
for next_node in next_nodes:
neigh_cost, neigh_node = next_node
# print(neigh_node)
new_cost = cost_visited[cur_node] + neigh_cost
if neigh_node not in cost_visited or new_cost < cost_visited[neigh_node]:
@ -256,7 +251,8 @@ class Tractor:
def rot_center(self, direc: Direction):
self.image = pygame.transform.rotate(self.image, - int(direc) * 90)
self.direction = ((int(self.direction) + int(direc)) % 4)
self.direction = Direction(((int(self.direction) + int(direc)) % 4))
# print(self.direction)
return
def move(self, grid: Grid):
@ -282,45 +278,34 @@ class Tractor:
def get_next_nodes(x, y, direction: Direction, grid: Grid):
check_next_node = lambda x, y: True if 0 <= x < BOARD_SIZE and 0 <= y < BOARD_SIZE else False
way = [0, -1] if direction == Direction.UP else [1, 0] if direction == Direction.RIGHT else [0, 1] if direction == Direction.DOWN else [-1, 0]
way = [0, -1] if direction == Direction.UP else [1, 0] if direction == Direction.RIGHT else [0,
1] if direction == Direction.DOWN else [
-1, 0]
next_nodes = []
for new_direction in Direction:
if new_direction != direction:
next_nodes.append((1, (x, y, new_direction)))
if (new_direction - direction != 2) and (new_direction - direction != -2):
next_nodes.append((1, (x, y, new_direction)))
else:
if check_next_node(x + way[0], y + way[1]):
next_nodes.append((grid.grid[x + way[0]][y + way[1]].value, (x + way[0], y + way[1], new_direction)))
return next_nodes
def movement(traktor: Tractor, grid: Grid, road):
n = len(road)
for i in range(n - 1):
if road[i][0] != road[i + 1][0]:
if road[i][0] > road[i + 1][0]:
if traktor.direction != 3:
while traktor.direction != 3:
traktor.rot_center(Direction.LEFT)
traktor.move(grid=grid)
print("move left")
elif road[i][0] < road[i + 1][0]:
if traktor.direction != 1:
while traktor.direction != 1:
traktor.rot_center(Direction.LEFT)
traktor.move(grid=grid)
print("move right")
else:
if road[i][1] > road[i + 1][1]:
if traktor.direction != 0:
while traktor.direction != 0:
traktor.rot_center(Direction.LEFT)
traktor.move(grid=grid)
print("move up")
elif road[i][1] < road[i + 1][1]:
if traktor.direction != 2:
while traktor.direction != 2:
traktor.rot_center(Direction.LEFT)
traktor.move(grid=grid)
print("move down")
aA = road[i]
bB = road[i + 1]
if aA[0] != bB[0]:
traktor.move(grid=grid)
if aA[1] != bB[1]:
traktor.move(grid=grid)
if aA[2] != bB[2]:
if (bB[2].value - aA[2].value == 1) or (bB[2].value - aA[2].value == -3):
traktor.rot_center(Direction.RIGHT)
else:
traktor.rot_center(Direction.LEFT)
def getRoad(start, goal, visited):
@ -331,7 +316,18 @@ def getRoad(start, goal, visited):
aFrom = visited[aFrom]
arr.append(start)
brr = arr[::-1]
return brr
try:
if brr[-2][0] == brr[-1][0] and brr[-2][1] == brr[-1][1]:
if brr[-3][0] == brr[-1][0] and brr[-3][1] == brr[-1][1]:
crr = brr[:-2]
else:
crr = brr[:-1]
else:
crr = brr
except:
print("You already at this title")
crr = brr
return crr
# grid = Grid(BOARD_SIZE, BOARD_SIZE, BLOCK_SIZE)
# graph1 = Graph(grid)