From 25328145cc28fb5f98c8af3214174ee6b9231d34 Mon Sep 17 00:00:00 2001
From: fheinrich <fheinrich@techfak.uni-bielefeld.de>
Date: Mon, 4 Dec 2023 16:17:40 +0100
Subject: [PATCH] Added actual player movement, added collision with world
bounds
---
.../overcooked_environment.py | 56 +++++++++++++++++--
1 file changed, 51 insertions(+), 5 deletions(-)
diff --git a/overcooked_simulator/overcooked_environment.py b/overcooked_simulator/overcooked_environment.py
index 16986f61..e260cfad 100644
--- a/overcooked_simulator/overcooked_environment.py
+++ b/overcooked_simulator/overcooked_environment.py
@@ -30,6 +30,8 @@ class Environment:
self.layout_path = Path("overcooked_simulator/layouts/basic.layout")
self.counters = self.create_counters(self.layout_path)
self.score = 0
+ self.world_width = 800
+ self.world_height = 600
def create_counters(self, layout_file: Path):
"""Creates layout of kitchen counters in the environment based on layout file.
@@ -55,7 +57,8 @@ class Environment:
counters.append(counter)
current_x += self.counter_side_length
elif character == "E":
- pass
+ current_x += self.counter_side_length
+
current_y += self.counter_side_length
return counters
@@ -126,15 +129,45 @@ class Environment:
"""
pass
- def perform_movement(self, player: Player, action):
+ def perform_movement(self, player: Player, move_vector: np.array):
"""Moves a player in the direction specified in the action.action. If the player collides with a
counter or other player through this movement, then they are not moved.
+ (The extended code with the two ifs is for sliding movement at the counters, which feels a bit smoother.
+ This happens, when the player moves diagonally against the counters or world boundary.
+ This just checks if the single axis party of the movement could move the player and does so at a lower rate.)
+
+ The movement action is a unit 2d vector.
Args:
player: The player to move.
- action: The Action which now contains a unit-2d-vector of the movement direction
+ move_vector: The movement vector which is a unit-2d-vector of the movement direction
"""
- pass
+ old_pos = player.pos.copy()
+
+ step = move_vector * player.move_dist
+ player.move(step)
+ if self.detect_collision(player):
+ player.move_abs(old_pos)
+
+ old_pos = player.pos.copy()
+
+ step_sliding = step.copy()
+ step_sliding[0] = 0
+ player.move(step_sliding * 0.5)
+ player.turn(step)
+
+ if self.detect_collision(player):
+ player.move_abs(old_pos)
+
+ old_pos = player.pos.copy()
+
+ step_sliding = step.copy()
+ step_sliding[1] = 0
+ player.move(step_sliding * 0.5)
+ player.turn(step)
+
+ if self.detect_collision(player):
+ player.move_abs(old_pos)
def detect_collision(self, player: Player):
"""Detect collisions between the player and other players or counters.
@@ -144,7 +177,8 @@ class Environment:
Returns: True if the player is intersecting with any object in the environment.
"""
- return self.detect_player_collision(player) or self.detect_collision_counters(player)
+ return (self.detect_player_collision(player) or self.detect_collision_counters(player) or
+ self.detect_collision_world_bounds(player))
def detect_player_collision(self, player: Player):
"""Detects collisions between the queried player and other players.
@@ -196,6 +230,18 @@ class Environment:
distance = np.linalg.norm([dx, dy])
return distance < player.radius
+ def detect_collision_world_bounds(self, player: Player):
+ """Checks for detections of the player and the world bounds.
+
+ Args:
+ player: The player which to not let escape the world.
+
+ Returns: True if the player touches the world bounds, False if not.
+ """
+ collisions_lower = any((player.pos - player.radius) < 0)
+ collisions_upper = any((player.pos + player.radius) > [self.world_width, self.world_height])
+ return collisions_lower or collisions_upper
+
def step(self):
"""Performs a step of the environment. Affects time based events such as cooking or cutting things, orders
and timelimits.
--
GitLab