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Refactoring of movement logic and parallel collision checks

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steffen-illium
2021-05-11 17:30:06 +02:00
parent ebd8f46a16
commit c539e5dddd
3 changed files with 30 additions and 21 deletions
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11
environments/helpers.py
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@ -64,16 +64,7 @@ def check_agent_move(state, dim, action):
or y_new >= agent_slice.shape[0]
)
if valid:
collisions_vec = state[:, x_new, y_new].copy() # "vertical fiber" at position of agent i
collisions_vec[dim] = IS_FREE_CELL # no self-collisions
pass
else:
collisions_vec = state[:, x, y].copy() # "vertical fiber" at position of agent i
collisions_vec[dim] = IS_FREE_CELL # no self-collisions
collisions_vec[LEVEL_IDX] = IS_OCCUPIED_CELL
did_collide = collisions_vec.sum(0) != IS_FREE_CELL
return (x, y), (x_new, y_new), collisions_vec, did_collide
return (x, y), (x_new, y_new), valid
if __name__ == '__main__':