Merge pull request 'Przeszukiwanie-stanów-A_star' (#2) from Przeszukiwanie-stanów-A_star into master

Reviewed-on: s481865/Male_zoo#2

.gitignore

@@ -0,0 +1 @@
+*.pyc

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "python.analysis.extraPaths": [
+        "./Animals"
+    ]
+}

Animals/animal.py

@@ -1,5 +1,5 @@
 import pygame
-from abc import ABC, abstractmethod
+from abc import abstractmethod
 
 class Animal:
     def __init__(self, x, y,name, image, food_image, food, environment, adult=False,):
@@ -14,29 +14,31 @@ class Animal:
         self.environment = environment #hot/cold/medium
 
     def draw(self, screen, grid_size):
-        self.image = pygame.transform.scale(self.image, (grid_size, grid_size))
         if self.adult:
-            # If adult, draw like AdultAnimal
+            # Jeśli zwierzę jest dorosłe, skaluj obrazek na większy rozmiar
             new_width = grid_size * 2
             new_height = grid_size * 2
             scaled_image = pygame.transform.scale(self.image, (new_width, new_height))
             screen.blit(scaled_image, (self.x * grid_size, self.y * grid_size))
         else:
-            # If not adult, draw like normal Animal
-            screen.blit(self.image, (self.x * grid_size, self.y * grid_size))
+            # Jeśli zwierzę nie jest dorosłe, skaluj obrazek na rozmiar jednej kratki
+            scaled_image = pygame.transform.scale(self.image, (grid_size, grid_size))
+            screen.blit(scaled_image, (self.x * grid_size, self.y * grid_size))
 
     def draw_exclamation(self, screen, grid_size, x, y):
         exclamation_image = pygame.image.load('images/exclamation.png')
-        exclamation_image = pygame.transform.scale(exclamation_image, (grid_size,grid_size))
-        screen.blit(exclamation_image, (x*grid_size, y*grid_size - grid_size))
+        exclamation_image = pygame.transform.scale(exclamation_image, (int(grid_size * 0.45), int(grid_size * 0.45)))
+        screen.blit(exclamation_image, (x * grid_size, y * grid_size))
 
     def draw_food(self, screen, grid_size, x, y):
+        scale = 0.45
         food_image = pygame.image.load(self.food_image)
-        food_image = pygame.transform.scale(food_image, (grid_size,grid_size))
-        screen.blit(food_image, (x*grid_size, y*grid_size + grid_size))
-
-    
 
+        if(self.adult):
+            y = y + 1
+            scale = 0.7
+        food_image = pygame.transform.scale(food_image, (int(grid_size * scale), int(grid_size * scale)))
+        screen.blit(food_image, (x * grid_size, (y + 1) * grid_size - int(grid_size * scale)))
 
     @abstractmethod
     def feed(self):
@@ -44,4 +46,4 @@ class Animal:
 
     @abstractmethod
     def getting_hungry(self):
-        pass
+        pass

Animals/animals.py

@@ -0,0 +1,47 @@
+from elephant import Elephant
+from giraffe import Giraffe
+from penguin import Penguin
+from parrot import Parrot
+from bear import Bear
+
+def create_animals():
+    giraffe1 = Giraffe(0, 0, adult=True)
+    giraffe2 = Giraffe(0, 0, adult=True)
+    giraffe3 = Giraffe(0, 0, adult=True)
+    giraffe4 = Giraffe(0, 0)
+    giraffe5 = Giraffe(0, 0)
+    bear1 = Bear(0, 0, adult=True)
+    bear2 = Bear(0, 0, adult=True)
+    bear3 = Bear(0, 0)
+    bear4 = Bear(0, 0)
+    bear5 = Bear(0, 0)
+    penguin1 = Penguin(0, 0)
+    penguin2 = Penguin(0, 0)
+    penguin3 = Penguin(0, 0)
+    penguin4 = Penguin(0, 0)
+    elephant1 = Elephant(0, 0, adult=True)
+    elephant2 = Elephant(0, 0, adult=True)
+    elephant3 = Elephant(0, 0)
+    elephant4 = Elephant(0, 0)
+    elephant5 = Elephant(0, 0)
+    parrot1 = Parrot(0, 0)
+    parrot2 = Parrot(0, 0)
+    parrot3 = Parrot(0, 0)
+    parrot4 = Parrot(0, 0)
+    parrot5 = Parrot(0, 0)
+
+    Animals =  [giraffe1, giraffe2, giraffe3, giraffe4, giraffe5,
+                bear1, bear2, bear3, bear4, bear5,
+                elephant1, elephant2, elephant3, elephant4, elephant5,
+                penguin1, penguin2, penguin3, penguin4,
+                parrot1, parrot2, parrot3, parrot4, parrot5]
+
+    return Animals
+
+def draw_Animals(Animals, const):
+    for Animal in Animals:
+        Animal.draw(const.screen, const.GRID_SIZE)
+        if Animal.feed() == 'True':
+           Animal.draw_exclamation(const.screen, const.GRID_SIZE, Animal.x, Animal.y)
+        else: 
+            Animal.draw_food(const.screen,const.GRID_SIZE,Animal.x,Animal.y)

Animals/bear.py

@@ -2,8 +2,6 @@ from animal import Animal
 import pygame
 from datetime import datetime
 
-
-
 class Bear(Animal):
     def __init__(self, x, y, adult=False):
         Bear_image = pygame.image.load('images/bear.png')

agent.py

@@ -1,34 +1,66 @@
 import pygame
+from state_space_search import is_border, is_obstacle
 
 class Agent:
-    def __init__(self, x, y, image_path, grid_size):
-        self.x = x
-        self.y = y
+    def __init__(self, istate, image_path, grid_size):
+        self.istate = istate
+        self.x, self.y, self.direction = istate 
         self.grid_size = grid_size
-        self.image = pygame.image.load(image_path)
+        self.image= pygame.image.load(image_path)
         self.image = pygame.transform.scale(self.image, (grid_size, grid_size))
         
-
-    def draw(self, screen):
+    def draw(self, screen, grid_size):
+        # Obróć obrazek zgodnie z kierunkiem
+        if self.direction == 'E':
+            self.image= pygame.image.load('images/agent4.png')
+        elif self.direction == 'S':
+            self.image= pygame.image.load('images/agent1.png')
+        elif self.direction == 'W':
+            self.image= pygame.image.load('images/agent3.png')
+        else:  # direction == 'N'
+            self.image= pygame.image.load('images/agent2.png')
+        self.image = pygame.transform.scale(self.image, (grid_size, grid_size))
         screen.blit(self.image, (self.x * self.grid_size, self.y * self.grid_size))
 
-    def move(self, dx, dy):
-        self.x += dx
-        self.y += dy
-
-    def handle_event(self, event, grid_height,grid_width, animals, blocked_fields):
+    def handle_event(self, event, max_x, max_y, animals, obstacles):
         if event.type == pygame.KEYDOWN:
-            if event.key == pygame.K_UP and self.y > 0 and (self.x, self.y-1) not in blocked_fields:
-                self.move(0, -1)
-            elif event.key == pygame.K_DOWN and self.y < grid_height - 1 and (self.x, self.y+1) not in blocked_fields:
-                self.move(0, 1)
-            elif event.key == pygame.K_LEFT and self.x > 0 and (self.x-1, self.y) not in blocked_fields:
-                self.move(-1, 0)
-            elif event.key == pygame.K_RIGHT and self.x < grid_width - 1 and (self.x+1, self.y) not in blocked_fields:
-                self.move(1, 0)
+            if event.key == pygame.K_UP:
+                self.move('Go Forward', max_x, max_y, obstacles, animals)
+            elif event.key == pygame.K_LEFT:
+                self.move('Turn Left', max_x, max_y, obstacles, animals)
+            elif event.key == pygame.K_RIGHT:
+                self.move('Turn Right', max_x, max_y, obstacles, animals)
 
+    def move(self, action, max_x, max_y, obstacles, animals, goal):
+        if action == 'Go Forward':
+            new_x, new_y = self.x, self.y
+            if self.direction == 'N':
+                new_y -= 1
+            elif self.direction == 'E':
+                new_x += 1
+            elif self.direction == 'S':
+                new_y += 1
+            elif self.direction == 'W':
+                new_x -= 1
+            
+            # Sprawdź, czy nowe położenie mieści się w granicach kraty i nie jest przeszkodą
+            if is_border(new_x, new_y, max_x, max_y) and not(is_obstacle(new_x, new_y, obstacles)):
+                self.x, self.y = new_x, new_y
+                
+        elif action == 'Turn Left':
+            self.direction = {'N': 'W', 'W': 'S', 'S': 'E', 'E': 'N'}[self.direction]
+
+        elif action == 'Turn Right':
+            self.direction = {'N': 'E', 'E': 'S', 'S': 'W', 'W': 'N'}[self.direction]
+        
+        self.istate = (self.x, self.y, self.direction) 
+        feed_animal(self, animals, goal)
+
+def feed_animal(self, animals, goal): 
+    goal_x, goal_y = goal
+    if self.x == goal_x and self.y == goal_y:
         for animal in animals:
-            if self.x == animal.x and self.y == animal.y:
-                if animal.feed()== 'True':
+            if animal.x == goal_x and animal.y == goal_y:
+                if animal.feed() == 'True':
                     animal._feed = 0
-                    print(animal.name,"fed with",animal.food)
+                    print(animal.name, "fed with", animal.food)

constants.py

@@ -0,0 +1,15 @@
+import pygame
+
+class Constants:
+    def __init__(self):
+        self.BLACK = (0, 0, 0)
+        self.RED = (255, 0, 0)
+        self.GRID_SIZE = 50
+        self.GRID_WIDTH = 30
+        self.GRID_HEIGHT = 15
+        self.WINDOW_SIZE = (self.GRID_WIDTH * self.GRID_SIZE, self.GRID_HEIGHT * self.GRID_SIZE)
+        self.background_image = pygame.transform.scale(pygame.image.load('images/tło.jpg'), self.WINDOW_SIZE)
+
+def init_pygame(const):
+    pygame.init()
+    const.screen = pygame.display.set_mode(const.WINDOW_SIZE)

draw.py

@@ -0,0 +1,14 @@
+import pygame
+
+def draw_goal(const, goal):
+    x, y = goal
+    rect = (x * const.GRID_SIZE, y * const.GRID_SIZE, const.GRID_SIZE, const.GRID_SIZE)
+    pygame.draw.rect(const.screen, const.RED, rect)
+    pygame.display.flip()
+    pygame.time.delay(2000)
+
+def draw_grid(const):
+    for y in range(0, const.GRID_HEIGHT * const.GRID_SIZE, const.GRID_SIZE):
+        for x in range(0, const.GRID_WIDTH * const.GRID_SIZE, const.GRID_SIZE):
+            rect = pygame.Rect(x, y, const.GRID_SIZE, const.GRID_SIZE)
+            pygame.draw.rect(const.screen, const.BLACK, rect, 1)

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
@@ -16,64 +18,57 @@ 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)
-        pygame.draw.rect(screen, (0, 0, 0), rect)  # Fill the area with
-        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 gateopen(self, blocked):
-        gate_x, gate_y = self.gate
-        gate_x -= 1
-        gate_y -= 1
-        if (gate_x, gate_y) in blocked:
-                blocked.remove((gate_x, gate_y))
-
-
-
-    def draw(self,screen, grid_size , blocked_fields):
+    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_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):
-                screen.blit(self.imageH, (i * grid_size, self.y1 * grid_size))
-                blocked_fields.add((i, self.y1))
-                screen.blit(self.imageH, (i * grid_size, self.y2 * grid_size))
-                blocked_fields.add((i, self.y2))
-            if self.y1 < self.y2:
-                for j in range(self.y1, self.y2+1):
-                    screen.blit(self.imageH, (self.x1 * grid_size, j * grid_size))
-                    blocked_fields.add((self.x1, j))
-                    screen.blit(self.imageH, (self.x2 * grid_size, j * grid_size))
-                    blocked_fields.add((self.x2, j))
-            if self.y1 > self.y2:
-                for j in range(self.y2, self.y1+1):
-                    screen.blit(self.imageH, (self.x1 * grid_size, j * grid_size))
-                    blocked_fields.add((self.x1, j))
-                    screen.blit(self.imageH, (self.x2 * grid_size, j * grid_size))
-                    blocked_fields.add((self.x2, j))
-        if self.x1 > self.x2:
-            for i in range(self.x2, self.x1+1):
-                screen.blit(self.imageH, (i * grid_size, self.y1 * grid_size))
-                blocked_fields.add((i, self.y1))
-                screen.blit(self.imageH, (i * grid_size, self.y2 * grid_size))
-                blocked_fields.add((i, self.y2))
-            if self.y1 < self.y2:
-                for j in range(self.y1, self.y2+1):
-                    screen.blit(self.imageH, (self.x1 * grid_size, j * grid_size))
-                    blocked_fields.add((self.x1, j))
-                    screen.blit(self.imageH, (self.x2 * grid_size, j * grid_size))
-                    blocked_fields.add((self.x2, j))
-            if self.y1 > self.y2:
-                for j in range(self.y2, self.y1+1):
-                    screen.blit(self.imageH, (self.x1 * grid_size, j * grid_size))
-                    blocked_fields.add((self.x1, j))
-                    screen.blit(self.imageH, (self.x2 * grid_size, j * grid_size))
-                    blocked_fields.add((self.x2, j))
+            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_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_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_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), (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
 
+def draw_enclosures(Enclosures, const):
+    for enclosure in Enclosures:
+        enclosure.draw(const.screen, const.GRID_SIZE)
 
+def draw_gates(Enclosures, const):
+    for enclosure in Enclosures:
+        enclosure.gatebuild(const.screen, const.GRID_SIZE)

main.py

@@ -1,117 +1,116 @@
+import random
 import pygame
 import sys
-from elephant import Elephant
-from giraffe import Giraffe
-from penguin import Penguin
-from parrot import Parrot
-from bear import Bear
+import sys
+sys.path.append('./Animals')
+from animals import create_animals, draw_Animals
 from agent import Agent
-from enclosure import Enclosure
+from enclosure import create_enclosures, draw_enclosures, draw_gates
 from spawner import Spawner
+from state_space_search import graphsearch, generate_cost_map
+from terrain_obstacle import create_obstacles, draw_Terrain_Obstacles
+from constants import Constants, init_pygame
+from draw import draw_goal, draw_grid
 
-BLACK = (0, 0, 0)
-
-GRID_SIZE = 50
-GRID_WIDTH = 30
-GRID_HEIGHT = 15
-
-pygame.init()
-
-WINDOW_SIZE = (GRID_WIDTH * GRID_SIZE, GRID_HEIGHT * GRID_SIZE)
-screen = pygame.display.set_mode(WINDOW_SIZE)
+const = Constants()
+init_pygame(const)
 pygame.display.set_caption("Mini Zoo")
 
-
-
-background_image = pygame.image.load('images/tło.jpg')
-background_image = pygame.transform.scale(background_image, WINDOW_SIZE)
-fenceH = pygame.image.load('images/fenceHor.png')
-fenceV = pygame.image.load('images/fenceVer.png')
-gate = pygame.image.load('images/gate.png')
-
-
-fences = set()
+obstacles = set()
 animals_position = set()
+terrain_obstacles_position = set()
 
-
-
-an1 = Parrot(16, 2)
-an2 = Penguin(8, 6)
-an3 = Bear(14, 9)
-old_an2 = Giraffe(18,4, adult=True)
-old_an1 = Elephant(4, 7, adult=True)
-an4 = Elephant(4,3)
-
-Animals = [an1, an2, an3, an4, old_an1, old_an2]
-
-en1 = Enclosure(1,5,9,11,(9,6),"medium", fenceH, fenceV, gate)
-en2 = Enclosure(29,3, 13,1,(16,3), 'medium', fenceH, fenceV, gate)
-en3 = Enclosure(11,5, 16,11, (12,5),'cold', fenceH, fenceV, gate)
-en4 = Enclosure(19,11, 30,5, (25,5),'hot', fenceH, fenceV, gate)
-en5 = Enclosure(4,13, 28,15, (16,13),'cold', fenceH, fenceV, gate)
-
-
-Enclosures = [en1, en2, en3, en4, en5]
-
-
-def draw_grid():
-    for y in range(0, GRID_HEIGHT * GRID_SIZE, GRID_SIZE):
-        for x in range(0, GRID_WIDTH * GRID_SIZE, GRID_SIZE):
-            rect = pygame.Rect(x, y, GRID_SIZE, GRID_SIZE)
-            pygame.draw.rect(screen, BLACK, rect, 1)
-
-def draw_enclosures():
-    for enclosure in Enclosures:
-        enclosure.draw(screen, GRID_SIZE, fences)
-
-def draw_gates():
-    for enclosure in Enclosures:
-        enclosure.gatebuild(screen, GRID_SIZE)
-
-def opengates():
-    for enclosure in Enclosures:
-        enclosure.gateopen(fences)
-
-def draw_Animals():
-    for Animal in Animals:
-        Animal.draw(screen, GRID_SIZE)
-        if Animal.feed() == 'True':
-           Animal.draw_exclamation(screen, GRID_SIZE, Animal.x, Animal.y)
-        else: 
-            Animal.draw_food(screen,GRID_SIZE,Animal.x,Animal.y)
+Animals = create_animals()
+Enclosures = create_enclosures()
+Terrain_Obstacles = create_obstacles()
 
 def spawn_all_animals():
     for Animal in Animals:
-        spawner1 = Spawner(Animal, Enclosures)
-        spawner1.spawn_animal(fences, animals_position)
+        spawner1 = Spawner(Animal)
+        spawner1.spawn_animal(obstacles, animals_position, Enclosures)
 
+def spawn_obstacles():
+    for terrain_obstacle in Terrain_Obstacles:
+        spawner2 = Spawner(terrain_obstacle)
+        spawner2.spawn_terrain_obstacles(obstacles, animals_position, terrain_obstacles_position, const.GRID_WIDTH, const.GRID_HEIGHT)
 
+def generate_obstacles():
+    for en in Enclosures:
+        # Pobierz współrzędne bramy
+        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) 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) 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) 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) and (x, en.y2) != (gate_x2, gate_y2):
+                obstacles.add((x, en.y2))
+
+    return obstacles
 
 def main():
-    agent = Agent(0, 0, 'images/avatar.png', GRID_SIZE)
+    initial_state = (0, 0, 'S')
+    agent = Agent(initial_state, 'images/agent1.png', const.GRID_SIZE)
+    
+    obstacles = generate_obstacles()
+    actions = []
     clock = pygame.time.Clock()
     spawned = False
+
     while True:
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
                 pygame.quit()
                 sys.exit()
-            agent.handle_event(event, GRID_HEIGHT, GRID_WIDTH, Animals, fences)
+            agent.handle_event(event, const.GRID_WIDTH, const.GRID_HEIGHT, Animals, obstacles)
 
-       
+        const.screen.blit(const.background_image, (0, 0))
+        draw_grid(const)
+        draw_enclosures(Enclosures, const)
+        draw_gates(Enclosures, const)
 
-        screen.blit(background_image,(0,0))
-        draw_grid()
-        draw_enclosures()
-        draw_gates()
         if not spawned:
             spawn_all_animals()
+            spawn_obstacles()
+            cost_map = generate_cost_map(Animals, Terrain_Obstacles)
+            for animal in Animals:
+                animal._feed = 2  # Ustawienie, aby zwierzę było głodne
             spawned = True
-        draw_Animals()
-        opengates()
-        agent.draw(screen)
+            
+        draw_Animals(Animals, const)
+        draw_Terrain_Obstacles(Terrain_Obstacles, const)
+        agent.draw(const.screen, const.GRID_SIZE)
         pygame.display.flip()
         clock.tick(10)
 
+        if actions:
+            action = actions.pop(0)
+            agent.move(action, const.GRID_WIDTH, const.GRID_HEIGHT, obstacles, Animals, goal)
+            pygame.time.wait(200)
+        else:
+            animal = random.choice(Animals)
+            goal = (animal.x, animal.y)
+            draw_goal(const, goal)
+            actions = graphsearch(agent.istate, goal, const.GRID_WIDTH, const.GRID_HEIGHT, obstacles, cost_map)
+
 if __name__ == "__main__":
-    main()
+    main()

spawner.py

@@ -1,44 +1,53 @@
 import random
 
-
 class Spawner:
-    def __init__(self, animal, enclosures):
-        self.animal = animal
-        self.enclosures = enclosures
+    def __init__(self, entity):
+        self.entity = entity
+
+    def spawn_animal(self, blocked, taken, enclosures):
+        self.enclosures = [enclosure for enclosure in enclosures if enclosure.type == self.entity.environment]
+        # Wyrażenie listowe filtrujące tylko te wybiegi, które pasują do środowiska zwierzęcia 
+        enclosure = random.choice(self.enclosures)
 
-    def spawn_animal(self, blocked, taken):
-        possibilities = self.enclosures
-        fitting = []
-        for option in possibilities:
-            if option.type == self.animal.environment:
-                fitting.append(option)
-        enclosure = random.choice(fitting)
         while True:
-            if enclosure.x1 < enclosure.x2:
-                self.animal.x = random.randint(enclosure.x1, enclosure.x2)
-                if enclosure.y1 < enclosure.y2:
-                    self.animal.y = random.randint(enclosure.y1, enclosure.y2)
-                if enclosure.y1 > enclosure.y2:
-                    self.animal.y = random.randint(enclosure.y2, enclosure.y1)
-            if enclosure.x1 > enclosure.x2:
-                self.animal.x = random.randint(enclosure.x2, enclosure.x1)
-                if enclosure.y1 < enclosure.y2:
-                    self.animal.y = random.randint(enclosure.y1, enclosure.y2)
-                if enclosure.y1 > enclosure.y2:
-                    self.animal.y = random.randint(enclosure.y2, enclosure.y1)
-            if self.check(blocked, taken):
+            if self.entity.adult:
+                self.entity.x = random.randint(enclosure.x1+1, enclosure.x2-2)
+                self.entity.y = random.randint(enclosure.y1+1, enclosure.y2-2)
+            else:
+                self.entity.x = random.randint(enclosure.x1+1, enclosure.x2)
+                self.entity.y = random.randint(enclosure.y1+1, enclosure.y2)
+
+            if self.check(blocked | {(8,5),(3,10),(15,2),(26,2),(11,4),(15,7),(22,4),(24,10),(11,12),(19,12)}, taken):
+                break
+
+    def spawn_terrain_obstacles(self, blocked1, blocked2, taken, grid_width, grid_height):
+        blocked1 = blocked1 | {(8,5),(3,10),(15,2),(26,2),(11,4),(15,7),(22,4),(24,10),(11,12),(19,12)}
+        while True:
+            self.entity.x = random.randint(0, grid_width - 1)
+            self.entity.y = random.randint(0, grid_height - 1)
+            y = self.entity.y
+            x = self.entity.x
+            if (x, y) not in blocked1 and (x, y) not in blocked2 and (x, y) not in taken:
+                taken.add((self.entity.x, self.entity.y))
                 break
 
     def check(self, blocked, taken):
-        x = self.animal.x
-        y = self.animal.y
+        x = self.entity.x
+        y = self.entity.y
+
         if (x,y) in blocked or (x,y) in taken:
             return False
-        taken.add((x,y))
-        return True
-
-
-
 
+        if self.entity.adult:
+            
+            adult_fields = [(x, y), (x+1,y), (x,y+1), (x+1,y+1)] # Duże zwierze zajmuje 4 pola
 
+            if any(field in taken for field in adult_fields): # Jeśli stawiane zwierze jest dorosłe i jakiekolwiek pole jest zajęte, to nie można postawić zwierzęcia
+                return False
+            
+            for field in adult_fields: # Dodaj wszystkie pola zajęte przez duże zwierzę
+                taken.add(field)
+        else:
+            taken.add((x,y))
 
+        return True

state_space_search.py

@@ -0,0 +1,127 @@
+from queue import PriorityQueue
+
+DEFAULT_COST_VALUE = 1
+
+def is_border(x, y, max_x, max_y):
+    return 0 <= x < max_x and 0 <= y < max_y
+
+def is_obstacle(x, y, obstacles):
+    return (x, y) in obstacles
+
+def succ(current_state, max_x, max_y, obstacles):
+    successors = []
+    x, y, direction = current_state
+
+    # Akcja: Do przodu
+    direction_x, direction_y = {'N': (0, -1), 'E': (1, 0), 'S': (0, 1), 'W': (-1, 0)}[direction] # Słownik przesunięć w zależności od kierunku
+    new_x, new_y = x + direction_x, y + direction_y
+
+    if is_border(new_x, new_y, max_x, max_y) and not(is_obstacle(new_x, new_y, obstacles)):
+        successors.append(((new_x, new_y, direction), 'Go Forward'))
+
+    # Akcja: Obrót w lewo
+    left_turns = {'N': 'W', 'W': 'S', 'S': 'E', 'E': 'N'} # Słownik kierunków po obrocie w lewo
+    successors.append(((x, y, left_turns[direction]), 'Turn Left')) 
+
+    # Akcja: Obrót w prawo
+    right_turns = {'N': 'E', 'E': 'S', 'S': 'W', 'W': 'N'} # Słownik kierunków po obrocie w prawo
+    successors.append(((x, y, right_turns[direction]), 'Turn Right'))
+
+    return successors
+
+def graphsearch(istate, goal, max_x, max_y, obstacles, cost_map):
+    fringe = PriorityQueue()
+    explored = set()
+
+    fringe.put((0, (istate, None , None)))
+
+    while not fringe.empty():
+        _, node = fringe.get()
+        state, _, _ = node
+
+        if goaltest(state, goal):
+            return build_action_sequence(node)
+
+        explored.add(state)
+
+        successors = succ(state, max_x, max_y, obstacles)
+
+        for new_state, action in successors:
+            new_node = (new_state, node, action)
+
+            p_new_state = current_cost(node, cost_map) + heuristic(state, goal)
+
+            if not is_state_in_queue(new_state, fringe) and new_state not in explored:
+                fringe.put((p_new_state, new_node))
+
+            elif is_state_in_queue(new_state, fringe):
+                for i, (p_existing_state, (existing_state, _, _)) in enumerate(fringe.queue):
+                    if existing_state == new_state and p_existing_state > p_new_state:
+                        fringe.queue[i] = (p_new_state, new_node)
+                    else:
+                        break
+
+    return False
+
+def is_state_in_queue(state, queue):
+    for _, (s, _, _) in queue.queue:
+        if s == state:
+            return True
+    return False    
+
+def build_action_sequence(node):
+    actions = []
+    while node[1] is not None:  # Dopóki nie dojdziemy do korzenia
+        _, parent, action = node
+        actions.append(action)
+        node = parent
+    actions.reverse()
+    return actions
+
+def goaltest(state, goal):
+    x, y, _ = state
+    goal_x, goal_y = goal
+    return (x,y) == (goal_x, goal_y)
+
+def current_cost(node, cost_map):
+    cost = 0
+    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':
+            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 += DEFAULT_COST_VALUE
+            
+        node = parent  # Przejdź do rodzica
+    return cost
+
+def heuristic(state, goal):
+    x, y, _ = state
+    goal_x, goal_y = goal
+    return abs(x - goal_x) + abs(y - goal_y)  # Odległość Manhattana do celu
+
+def generate_cost_map(Animals, Terrain_Obstacles, cost_map={}):
+    adult_animal_cost = 15  # Default : 15
+    baby_animal_cost = 10   # Default : 10
+    puddle_cost = 50        # Default : 50
+    bush_cost = 20          # Default : 20
+
+    for animal in Animals:
+        if animal.adult:
+            cost_map[(animal.x + 1, animal.y + 1)] = adult_animal_cost
+            cost_map[(animal.x + 1, animal.y)] = adult_animal_cost
+            cost_map[(animal.x, animal.y + 1)] = adult_animal_cost
+            cost_map[(animal.x, animal.y)] = adult_animal_cost
+        else:
+            cost_map[(animal.x, animal.y)] = baby_animal_cost
+
+    for terrain_obstacle in Terrain_Obstacles:
+        if terrain_obstacle.type == 'puddle':
+            cost_map[(terrain_obstacle.x , terrain_obstacle.y )] = puddle_cost
+        else:
+            cost_map[(terrain_obstacle.x , terrain_obstacle.y )] = bush_cost
+
+    return cost_map

terrain_obstacle.py

@@ -0,0 +1,37 @@
+import pygame
+
+class Terrain_Obstacle:
+    def __init__(self, x, y, type , image):
+        self.x = x - 1
+        self.y = y - 1
+        self.type = type
+        self.image = image
+
+    def draw(self, screen, grid_size):
+            scaled_image = pygame.transform.scale(self.image, (grid_size, grid_size))
+            screen.blit(scaled_image, (self.x * grid_size, self.y * grid_size))
+
+def create_obstacles():
+    puddle_image = pygame.image.load('images/puddle.png')
+    bush_image = pygame.image.load('images/bush.png')
+
+    puddle1 = Terrain_Obstacle(0,0,'puddle', puddle_image)
+    puddle2 = Terrain_Obstacle(0,0,'puddle', puddle_image)
+    puddle3 = Terrain_Obstacle(0,0,'puddle', puddle_image)
+    puddle4 = Terrain_Obstacle(0,0,'puddle', puddle_image)
+    puddle5 = Terrain_Obstacle(0,0,'puddle', puddle_image)
+    puddle6 = Terrain_Obstacle(0,0,'puddle', puddle_image)
+    puddle7 = Terrain_Obstacle(0,0,'puddle', puddle_image)
+    bush1 = Terrain_Obstacle(0,0,'bush', bush_image)
+    bush2 = Terrain_Obstacle(0,0,'bush', bush_image)
+    bush3 = Terrain_Obstacle(0,0,'bush', bush_image)
+    bush4 = Terrain_Obstacle(0,0,'bush', bush_image)
+    bush5 = Terrain_Obstacle(0,0,'bush', bush_image)
+    
+    Terrain_Obstacles = [puddle1, puddle2, puddle3, puddle4,  puddle5, puddle6, puddle7, bush1, bush2, bush3, bush4, bush5]
+
+    return Terrain_Obstacles
+
+def draw_Terrain_Obstacles(Terrain_Obstacles, const):
+    for terrain_obstacle in Terrain_Obstacles:
+        terrain_obstacle.draw(const.screen, const.GRID_SIZE)