steffen/FIKS_Entwicklungsumgebung
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Correct Door Shadowing

Browse Source
This commit is contained in:
Steffen Illium
2021-07-28 11:26:19 +02:00
parent e8d79d40e1
commit b0aeb6f94f
5 changed files with 37 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
environments/factory/base/base_factory.py
+28 -9
View File
@@ -39,13 +39,13 @@ class BaseFactory(gym.Env):
elif not self.combin_agent_slices_in_obs and not self.omit_agent_slice_in_obs:
slices = self._slices.n
level_shape = (self.pomdp_radius * 2 + 1, self.pomdp_radius * 2 + 1) if self.pomdp_radius else self._level_shape
level_shape = (self.pomdp_r * 2 + 1, self.pomdp_r * 2 + 1) if self.pomdp_r else self._level_shape
space = spaces.Box(low=0, high=1, shape=(slices, *level_shape), dtype=np.float32)
return space
@property
def pomdp_diameter(self):
return self.pomdp_radius * 2 + 1
return self.pomdp_r * 2 + 1
@property
def movement_actions(self):
@@ -100,7 +100,7 @@ class BaseFactory(gym.Env):
self.n_agents = n_agents
self.max_steps = max_steps
self.pomdp_radius = pomdp_radius
self.pomdp_r = pomdp_radius
self.combin_agent_slices_in_obs = combin_agent_slices_in_obs
self.omit_agent_slice_in_obs = omit_agent_slice_in_obs
self.cast_shadows = cast_shadows
@@ -149,7 +149,7 @@ class BaseFactory(gym.Env):
x, y = self._slices.by_enum(c.LEVEL).shape
state = np.zeros((len(self._slices), x, y), dtype=np.float32)
state[0] = self._slices.by_enum(c.LEVEL).slice
if r := self.pomdp_radius:
if r := self.pomdp_r:
self._padded_obs_cube = np.full((len(self._slices), x + r*2, y + r*2), c.FREE_CELL.value, dtype=np.float32)
self._padded_obs_cube[0] = c.OCCUPIED_CELL.value
self._padded_obs_cube[:, r:r+x, r:r+y] = state
@@ -293,14 +293,14 @@ class BaseFactory(gym.Env):
def _build_per_agent_obs(self, agent: Agent) -> np.ndarray:
first_agent_slice = self._slices.AGENTSTARTIDX
if r := self.pomdp_radius:
if r := self.pomdp_r:
x, y = self._level_shape
self._padded_obs_cube[:, r:r + x, r:r + y] = self._obs_cube
global_x, global_y = agent.pos
global_x += r
global_y += r
x0, x1 = max(0, global_x - self.pomdp_radius), global_x + self.pomdp_radius + 1
y0, y1 = max(0, global_y - self.pomdp_radius), global_y + self.pomdp_radius + 1
x0, x1 = max(0, global_x - self.pomdp_r), global_x + self.pomdp_r + 1
y0, y1 = max(0, global_y - self.pomdp_r), global_y + self.pomdp_r + 1
obs = self._padded_obs_cube[:, x0:x1, y0:y1]
else:
obs = self._obs_cube
@@ -308,10 +308,29 @@ class BaseFactory(gym.Env):
if self.cast_shadows:
obs_block_light = [obs[idx] != c.OCCUPIED_CELL.value for idx, slice
in enumerate(self._slices) if slice.is_blocking_light]
door_shadowing = False
if door := self._doors.by_pos(agent.pos):
if door.is_closed:
for group in door.connectivity_subgroups:
if agent.last_pos not in group:
door_shadowing = True
if self.pomdp_r:
blocking = [tuple(np.subtract(x, agent.pos) + (self.pomdp_r, self.pomdp_r))
for x in group]
xs, ys = zip(*blocking)
else:
xs, ys = zip(*group)
obs_block_light[self._slices.get_idx(c.LEVEL)][xs, ys] = False
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))
if self.pomdp_r:
light_block_map = light_block_map.do_fov(self.pomdp_r, self.pomdp_r, max(self._level_shape))
else:
light_block_map = light_block_map.do_fov(*agent.pos, max(self._level_shape))
if door_shadowing:
light_block_map[xs, ys] = 0
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)])
obs = (obs * light_block_map) - ((1 - light_block_map) * obs[self._slices.get_idx(c.LEVEL)])
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