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Correct Door Shadowing

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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
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6
environments/factory/base/shadow_casting.py
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@ -2,7 +2,6 @@ import numpy as np
from environments.helpers import Constants as c
FOV_RADIUS = 10
mult_array = np.asarray([
[1, 0, 0, -1, -1, 0, 0, 1],
[0, 1, -1, 0, 0, -1, 1, 0],
@ -14,11 +13,12 @@ mult_array = np.asarray([
class Map(object):
# Multipliers for transforming coordinates to other octants:
def __init__(self, map_array: np.ndarray):
def __init__(self, map_array: np.ndarray, diamond_slope: float = 0.9):
self.data = map_array
self.width, self.height = map_array.shape
self.light = np.full_like(self.data, c.FREE_CELL.value)
self.flag = c.FREE_CELL.value
self.d_slope = diamond_slope
def blocked(self, x, y):
return (x < 0 or y < 0
@ -47,7 +47,7 @@ class Map(object):
X, Y = cx + dx * xx + dy * xy, cy + dx * yx + dy * yy
# l_slope and r_slope store the slopes of the left and right
# extremities of the square we're considering:
l_slope, r_slope = (dx-0.5)/(dy+0.5), (dx+0.5)/(dy-0.5)
l_slope, r_slope = (dx-self.d_slope)/(dy+self.d_slope), (dx+self.d_slope)/(dy-self.d_slope)
if start < r_slope:
continue
elif end > l_slope: