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Shadow casting, now debugged

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Steffen Illium
2021-07-27 15:43:46 +02:00
parent 69f573d9ba
commit 4db2acfd77
5 changed files with 17 additions and 11 deletions
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10
environments/factory/base/base_factory.py
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@ -306,10 +306,12 @@ class BaseFactory(gym.Env):
obs = self._obs_cube
if self.cast_shadows:
slices = [l_slice.slice != c.OCCUPIED_CELL.value for l_slice in self._slices if l_slice.is_blocking_light]
light_block_map = Map((np.prod(slices, axis=0) != True).astype(int))
light_block_map = light_block_map.do_fov(*agent.pos, max(self._level_shape))
obs = ((obs * light_block_map)).astype(int)
obs_block_light = [obs[idx] != c.OCCUPIED_CELL.value for idx, slice
in enumerate(self._slices) if slice.is_blocking_light]
light_block_map = Map((np.prod(obs_block_light, axis=0) != True).astype(int))
light_block_map = light_block_map.do_fov(self.pomdp_radius, self.pomdp_radius, max(self._level_shape))
agent.temp_light_map = light_block_map
obs = (obs * light_block_map) - ((1 - light_block_map) * obs[self._slices.get_idx_by_name(c.LEVEL.name)])
if self.combin_agent_slices_in_obs and self.n_agents > 1:
agent_obs = np.sum(obs[[key for key, l_slice in self._slices.items() if c.AGENT.name in l_slice.name and