steffen/marl-factory-grid
1
0
Fork 0
mirror of https://github.com/illiumst/marl-factory-grid.git synced 2025-07-11 15:32:42 +02:00
Code Issues Packages Projects Releases Wiki Activity

Doors now Working,

Browse Source 
Pypi install adjustments.
This commit is contained in:
Steffen Illium
2023-06-16 09:58:28 +02:00
parent 45cb83746c
commit b4326b514c
12 changed files with 108 additions and 96 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
environment/utils/observation_builder.py
View File

@ -191,6 +191,9 @@ class RayCaster:
self.ray_targets = self.build_ray_targets()
self.obs_shape_cube = np.array([self.pomdp_r, self.pomdp_r])
def __repr__(self):
return f'{self.__class__.__name__}({self.agent.name})'
def build_ray_targets(self):
north = np.array([0, -1])*self.pomdp_r
thetas = [np.deg2rad(deg) for deg in np.linspace(-self.degs // 2, self.degs // 2, self.n_rays)[::-1]]
@ -202,12 +205,9 @@ class RayCaster:
rot_M = np.unique(np.round(rot_M @ north), axis=0)
return rot_M.astype(int)
@staticmethod
def ray_block_cache(cache_dict, key, callback, ents):
def ray_block_cache(self, cache_dict, key, callback, ents):
if key not in cache_dict:
cache_dict[key] = callback()
if any(True for e in ents.pos_dict[key] if e.is_blocking_light) and not cache_dict[key]:
print()
return cache_dict[key]
def visible_entities(self, entities):
@ -222,14 +222,23 @@ class RayCaster:
entities_hit = entities.pos_dict[(x, y)]
hits = self.ray_block_cache(cache_blocking,
(x, y),
lambda: any(True for e in entities_hit if e.is_blocking_light),
lambda: any(e.is_blocking_light for e in entities_hit),
entities)
diag_hits = all([
try:
d = next(x for x in entities_hit if 'Door' in x.name)
if d.pos in entities.pos_dict.keys():
if d.is_closed and not entities.pos_dict[d.pos]:
print()
except StopIteration:
pass
diag_hits = any([
self.ray_block_cache(
cache_blocking,
key,
lambda: all(False for e in entities.pos_dict[key] if not e.is_blocking_light),
# lambda: all(False for e in entities.pos_dict[key] if not e.is_blocking_light),
lambda: any(e.is_blocking_light for e in entities.pos_dict[key]),
entities)
for key in ((x, y-cy), (x-cx, y))
]) if (cx != 0 and cy != 0) else False
@ -238,13 +247,6 @@ class RayCaster:
if hits or diag_hits:
break
rx, ry = x, y
try:
d = next(x for x in visible if 'Door' in x.name)
v = [x for x in visible if tuple(np.subtract(x.pos, d.pos)) in [(1, 0), (0, 1), (-1, 0), (0, -1)] and x.name.startswith('Floor')]
if len(v) > 2:
pass
except StopIteration:
pass
return visible
def get_rays(self):