druga bramka dla zwiekszenia mozliwosci, niezalezny koszt obrotu
This commit is contained in:
parent
7f74fcf2fa
commit
088956ccb8
61
enclosure.py
61
enclosure.py
@ -1,14 +1,16 @@
|
||||
import pygame
|
||||
|
||||
|
||||
class Enclosure:
|
||||
def __init__(self, x1, y1, x2, y2, gate, type, imageH, imageV, imageGate):
|
||||
def __init__(self, x1, y1, x2, y2, gate1, gate2, type, imageH, imageV, imageGate):
|
||||
self.x1 = x1 - 1
|
||||
self.y1 = y1 - 1
|
||||
#(x1,y1) - wierzchołek przekątnej
|
||||
# (x1,y1) - wierzchołek przekątnej
|
||||
self.x2 = x2 - 1
|
||||
self.y2 = y2 - 1
|
||||
#(x2,y2) - 2 wierzchołek przekątnej
|
||||
self.gate = gate
|
||||
# (x2,y2) - 2 wierzchołek przekątnej
|
||||
self.gate1 = gate1
|
||||
self.gate2 = gate2
|
||||
self.type = type
|
||||
self.imageH = imageH
|
||||
self.imageV = imageV
|
||||
@ -16,41 +18,50 @@ class Enclosure:
|
||||
|
||||
def gatebuild(self, screen, grid_size):
|
||||
self.imageGate = pygame.transform.scale(self.imageGate, (grid_size, grid_size))
|
||||
gate_x, gate_y = self.gate
|
||||
gate_x -= 1
|
||||
gate_y -= 1
|
||||
rect = pygame.Rect(gate_x * grid_size, gate_y * grid_size, grid_size, grid_size)
|
||||
screen.blit(self.imageGate, (gate_x * grid_size, gate_y * grid_size))
|
||||
gate_x1, gate_y1 = self.gate1
|
||||
gate_x2, gate_y2 = self.gate2
|
||||
gate_x1 -= 1
|
||||
gate_y1 -= 1
|
||||
gate_x2 -= 1
|
||||
gate_y2 -= 1
|
||||
rect1 = pygame.Rect(gate_x1 * grid_size, gate_y1 * grid_size, grid_size, grid_size)
|
||||
rect2 = pygame.Rect(gate_x2 * grid_size, gate_y2 * grid_size, grid_size, grid_size)
|
||||
screen.blit(self.imageGate, (gate_x1 * grid_size, gate_y1 * grid_size))
|
||||
screen.blit(self.imageGate, (gate_x2 * grid_size, gate_y2 * grid_size))
|
||||
|
||||
def draw(self, screen, grid_size):
|
||||
self.imageH = pygame.transform.scale(self.imageH, (grid_size, grid_size))
|
||||
self.imageV = pygame.transform.scale(self.imageV, (grid_size, grid_size))
|
||||
gate_x, gate_y = self.gate
|
||||
gate_x -= 1
|
||||
gate_y -= 1
|
||||
gate_x1, gate_y1 = self.gate1
|
||||
gate_x2, gate_y2 = self.gate2
|
||||
gate_x1 -= 1
|
||||
gate_y1 -= 1
|
||||
gate_x2 -= 1
|
||||
gate_y2 -= 1
|
||||
if self.x1 < self.x2:
|
||||
for i in range(self.x1, self.x2+1):
|
||||
if (i, self.y1) != (gate_x, gate_y):
|
||||
for i in range(self.x1, self.x2 + 1):
|
||||
if (i, self.y1) != (gate_x1, gate_y1) and (i, self.y1) != (gate_x2, gate_y2):
|
||||
screen.blit(self.imageH, (i * grid_size, self.y1 * grid_size))
|
||||
if (i, self.y2) != (gate_x, gate_y):
|
||||
if (i, self.y2) != (gate_x1, gate_y1) and (i, self.y2) != (gate_x2, gate_y2):
|
||||
screen.blit(self.imageH, (i * grid_size, self.y2 * grid_size))
|
||||
for j in range(self.y1, self.y2+1):
|
||||
if (self.x1, j) != (gate_x, gate_y):
|
||||
for j in range(self.y1, self.y2 + 1):
|
||||
if (self.x1, j) != (gate_x1, gate_y1) and (self.x1, j) != (gate_x2, gate_y2):
|
||||
screen.blit(self.imageV, (self.x1 * grid_size, j * grid_size))
|
||||
if (self.x2, j) != (gate_x, gate_y):
|
||||
if (self.x2, j) != (gate_x1, gate_y1) and (self.x2, j) != (gate_x2, gate_y2):
|
||||
screen.blit(self.imageV, (self.x2 * grid_size, j * grid_size))
|
||||
|
||||
|
||||
def create_enclosures():
|
||||
fenceH = pygame.image.load('images/fenceHor.png')
|
||||
fenceV = pygame.image.load('images/fenceVer.png')
|
||||
gate = pygame.image.load('images/gate.png')
|
||||
|
||||
en1 = Enclosure(0,5, 9,11, (9,6),"hot", fenceH, fenceV, gate) # Lewa klatka
|
||||
en2 = Enclosure(13,0, 29,3, (16,3), 'medium', fenceH, fenceV, gate) # Górna klatka
|
||||
en3 = Enclosure(11,5, 16,11, (12,5),'cold', fenceH, fenceV, gate) # Środkowa klatka
|
||||
en4 = Enclosure(19,5, 31,11, (25,5),'hot', fenceH, fenceV, gate) # Prawa klatka
|
||||
en5 = Enclosure(4,13, 28,16, (16,13),'cold', fenceH, fenceV, gate) # Dolna klatka
|
||||
|
||||
en1 = Enclosure(0, 5, 9, 11, (9, 6), (4, 11), "hot", fenceH, fenceV, gate) # Lewa klatka
|
||||
en2 = Enclosure(13, 0, 29, 3, (16, 3), (27, 3), 'medium', fenceH, fenceV, gate) # Górna klatka
|
||||
en3 = Enclosure(11, 5, 16, 11, (12, 5), (16, 8), 'cold', fenceH, fenceV, gate) # Środkowa klatka
|
||||
en4 = Enclosure(19, 5, 31, 11, (23, 5), (25, 11), 'hot', fenceH, fenceV, gate) # Prawa klatka
|
||||
en5 = Enclosure(4, 13, 28, 16, (12, 13), (20, 13), 'cold', fenceH, fenceV, gate) # Dolna klatka
|
||||
|
||||
Enclosures = [en1, en2, en3, en4, en5]
|
||||
|
||||
return Enclosures
|
||||
return Enclosures
|
||||
|
||||
20
main.py
20
main.py
@ -94,28 +94,32 @@ def generate_obstacles():
|
||||
|
||||
for en in Enclosures:
|
||||
# Pobierz współrzędne bramy
|
||||
gate_x, gate_y = en.gate
|
||||
gate_x, gate_y = en.gate1
|
||||
gate_x -= 1
|
||||
gate_y -= 1
|
||||
|
||||
gate_x2, gate_y2 = en.gate2
|
||||
gate_x2 -= 1
|
||||
gate_y2 -= 1
|
||||
|
||||
# Dodaj lewy brzeg prostokąta
|
||||
for y in range(en.y1, en.y2 + 1):
|
||||
if (en.x1, y) != (gate_x, gate_y):
|
||||
if (en.x1, y) != (gate_x, gate_y) and (en.x1, y) != (gate_x2, gate_y2):
|
||||
obstacles.add((en.x1, y))
|
||||
|
||||
# Dodaj prawy brzeg prostokąta
|
||||
for y in range(en.y1, en.y2 + 1):
|
||||
if (en.x2, y) != (gate_x, gate_y):
|
||||
if (en.x2, y) != (gate_x, gate_y) and (en.x2, y) != (gate_x2, gate_y2):
|
||||
obstacles.add((en.x2, y))
|
||||
|
||||
# Dodaj górny brzeg prostokąta
|
||||
for x in range(en.x1+1, en.x2):
|
||||
if (x, en.y1) != (gate_x, gate_y):
|
||||
if (x, en.y1) != (gate_x, gate_y) and (x, en.y1) != (gate_x2, gate_y2):
|
||||
obstacles.add((x, en.y1))
|
||||
|
||||
# Dodaj dolny brzeg prostokąta
|
||||
for x in range(en.x1+1, en.x2):
|
||||
if (x, en.y2) != (gate_x, gate_y):
|
||||
if (x, en.y2) != (gate_x, gate_y) and (x, en.y2) != (gate_x2, gate_y2):
|
||||
obstacles.add((x, en.y2))
|
||||
|
||||
return obstacles
|
||||
@ -251,8 +255,8 @@ animal1 = Elephant(14, 10)
|
||||
animal2 = Elephant(13, 10)
|
||||
animal3 = Elephant(12, 10)
|
||||
animal4 = Elephant(11, 10)
|
||||
Animals = [animal, animal1, animal2, animal3, animal4]
|
||||
Terrain_Obstacles = [puddle1, bush1]
|
||||
#Animals = [animal, animal1, animal2, animal3, animal4] *Uncomment to test A*
|
||||
#Terrain_Obstacles = [puddle1, bush1] *Uncomment to test A*
|
||||
|
||||
empty_rows = [5, 7, 9]
|
||||
|
||||
@ -305,7 +309,7 @@ class DebugMode(Enum):
|
||||
A_STAR_TESTING = 3
|
||||
|
||||
if __name__ == "__main__":
|
||||
debug_mode = DebugMode.A_STAR_TESTING
|
||||
debug_mode = DebugMode.MAIN
|
||||
|
||||
if debug_mode == DebugMode.MAIN:
|
||||
main()
|
||||
|
||||
@ -88,10 +88,12 @@ def current_cost(node, cost_map):
|
||||
while node[1] is not None: # Dopóki nie dojdziemy do korzenia
|
||||
_, parent, action = node
|
||||
# Dodaj koszt pola z mapy kosztów tylko jeśli akcja to "Forward"
|
||||
# if action == 'Go Forward':
|
||||
if True:
|
||||
if action == 'Go Forward':
|
||||
#if True:
|
||||
state, _, _ = node
|
||||
cost += cost_map.get(state[:2], DEFAULT_COST_VALUE) # Pobiera koszt przejścia przez dane pole, a jeśli koszt nie jest zdefiniowany to bierze wartość domyślną
|
||||
if action == 'Turn Right' or action == 'Turn Left':
|
||||
cost += 1
|
||||
node = parent # Przejdź do rodzica
|
||||
return cost
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user