bfs b A* g, poczatki A*, bardzo do poprawy

This commit is contained in:
Uni 2024-05-08 19:50:30 +02:00
parent 8bb836ef06
commit d7c3f50322
2 changed files with 69 additions and 27 deletions

37
app.py
View File

@ -3,12 +3,14 @@ import prefs
from classes.beerKeg import BeerKeg
from classes.coffeMachine import CoffeMachine
from classes.table import Table
from pygame.locals import K_w, K_s, K_a, K_d, K_q, K_e, K_r, K_b
from pygame.locals import K_w, K_s, K_a, K_d, K_q, K_e, K_r, K_b,K_g
from classes.cell import Cell
from classes.agent import Agent
from collections import deque
import threading
import time
from astar import AStar
pygame.init()
window = pygame.display.set_mode((prefs.WIDTH, prefs.HEIGHT))
pygame.display.set_caption("Game Window")
@ -23,8 +25,8 @@ def initBoard():
row.append(cell)
cells.append(row)
#test
# Na potrzeby prezentacji tworzę sobie prostokatne sciany na które nie da się wejść
# Test
# Na potrzeby prezentacji tworzę sobie prostokątne ściany na które nie da się wejść
x1 = 3
y1 = 6
for i in range(x1, x1+4):
@ -39,14 +41,12 @@ def initBoard():
cells[6][2].interactableItem = Table(cells[6][2], "Table")
cells[4][2].interactableItem = Table(cells[4][2], "Table")
cells[9][9].waga = 2
cells[9][8].waga = 2
cells[9][7].waga = 2
cells[10][6].waga = 2
cells[7][7].waga = 2
def draw_grid(window, cells, agent):
for i in range(prefs.GRID_SIZE):
for j in range(prefs.GRID_SIZE):
@ -64,33 +64,30 @@ def draw_grid(window, cells, agent):
initBoard()
agent = Agent(prefs.SPAWN_POINT[0], prefs.SPAWN_POINT[1], cells)
target_x, target_y = 9,11
target_x, target_y = 9, 11
def watekDlaSciezkiAgenta():
time.sleep(3)
while True:
if len(path) > 0:
element = path.pop(0)
print(element)
if element =="left":
if element == "left":
agent.rotate_left()
if element =="right":
if element == "right":
agent.rotate_right()
if element =="forward":
if element == "forward":
agent.move_direction()
time.sleep(1)
running = True
while running:
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
# takie głupie kontrolki do usunięcia potem, tylko do preznetacji
keys = pygame.key.get_pressed()
if keys[K_w] and not agent.moved:
agent.move_up()
if keys[K_s] and not agent.moved:
@ -117,13 +114,15 @@ while running:
watek.daemon = True
watek.start()
if keys[K_g]:
path = AStar(cells).astar((agent.current_cell.X, agent.current_cell.Y), (target_x, target_y))
print("Shortest path:", path)
if pygame.key.get_pressed()[pygame.K_e]:
if agent.current_cell.interactableItem and pygame.time.get_ticks() - agent.last_interact_time > 500:
agent.last_interact_time = pygame.time.get_ticks()
agent.current_cell.interactableItem.interact(agent)
window.fill((255, 0, 0))
draw_grid(window, cells, agent)
agent.update(window)
@ -131,9 +130,3 @@ while running:
time.sleep(0.1)
pygame.quit()

49
astar.py Normal file
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@ -0,0 +1,49 @@
from collections import deque
import heapq
class AStar:
def __init__(self, cells):
self.cells = cells
def heuristic(self, current, target):
# Euclidean distance heuristic
dx = abs(current[0] - target[0])
dy = abs(current[1] - target[1])
return dx + dy
def get_neighbors(self, cell):
neighbors = []
x, y = cell[0], cell[1]
if x > 0 and not self.cells[x - 1][y].blocking_movement:
neighbors.append((x - 1, y))
if x < len(self.cells) - 1 and not self.cells[x + 1][y].blocking_movement:
neighbors.append((x + 1, y))
if y > 0 and not self.cells[x][y - 1].blocking_movement:
neighbors.append((x, y - 1))
if y < len(self.cells[x]) - 1 and not self.cells[x][y + 1].blocking_movement:
neighbors.append((x, y + 1))
return neighbors
def astar(self, start, target):
open_list = [(0, start)]
came_from = {}
g_score = {start: 0}
while open_list:
_, current = heapq.heappop(open_list)
if current == target:
path = []
while current in came_from:
path.append(current)
current = came_from[current]
return path[::-1]
for neighbor in self.get_neighbors(current):
tentative_g_score = g_score[current] + 1
if tentative_g_score < g_score.get(neighbor, float('inf')):
came_from[neighbor] = current
g_score[neighbor] = tentative_g_score
f_score = tentative_g_score + self.heuristic(neighbor, target)
heapq.heappush(open_list, (f_score, neighbor))
return []