From 3f3344c3d52598fdd57d5ee6018b066383427aa9 Mon Sep 17 00:00:00 2001
From: fheinrich <fheinrich@techfak.uni-bielefeld.de>
Date: Mon, 4 Dec 2023 15:18:00 +0100
Subject: [PATCH] Added collision detectio for player with players and player
with counters
---
.../overcooked_environment.py | 51 ++++++++++++++++++-
overcooked_simulator/player.py | 1 +
2 files changed, 51 insertions(+), 1 deletion(-)
diff --git a/overcooked_simulator/overcooked_environment.py b/overcooked_simulator/overcooked_environment.py
index c6e4970e..16986f61 100644
--- a/overcooked_simulator/overcooked_environment.py
+++ b/overcooked_simulator/overcooked_environment.py
@@ -143,9 +143,58 @@ class Environment:
player: The player for which to check collisions.
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)
+
+ def detect_player_collision(self, player: Player):
+ """Detects collisions between the queried player and other players.
+ A player is modelled as a circle. Collision is detected if the distance between the players is smaller
+ than the sum of the radius's.
+
+ Args:
+ player: The player to check collisions with other players for.
+
+ Returns: True if the player collides with other players, False if not.
"""
- pass
+ other_players = filter(lambda p: p.name != player.name, self.players.values())
+
+ def collide(p):
+ return np.linalg.norm(player.pos - p.pos) <= (player.radius + p.radius)
+
+ return any(map(collide, other_players))
+
+ def detect_collision_counters(self, player: Player):
+ """Checks for collisions of the queried player with each counter.
+
+ Args:
+ player: The player to check collisions with counters for.
+
+ Returns: True if the player collides with any counter, False if not.
+
+ """
+ return any(map(lambda counter: self.detect_collision_player_counter(player, counter), self.counters))
+
+ def detect_collision_player_counter(self, player: Player, counter: Counter):
+ """Checks if the player and counter collide (overlap).
+ A counter is modelled as a rectangle (square actually), a player is modelled as a circle.
+ The distance of the player position (circle center) and the counter rectangle is calculated, if it is
+ smaller than the player radius, a collision is detected.
+ TODO: Efficiency improvement by checking only nearest counters? Quadtree...?
+
+ Args:
+ player: The player to check the collision for.
+ counter: The counter to check the collision for.
+
+ Returns: True if player and counter overlap, False if not.
+
+ """
+ size = self.counter_side_length
+ cx, cy = player.pos
+ dx = max(np.abs(cx - counter.pos[0]) - size / 2, 0)
+ dy = max(np.abs(cy - counter.pos[1]) - size / 2, 0)
+ distance = np.linalg.norm([dx, dy])
+ return distance < player.radius
def step(self):
"""Performs a step of the environment. Affects time based events such as cooking or cutting things, orders
diff --git a/overcooked_simulator/player.py b/overcooked_simulator/player.py
index b98df2d6..bea1771a 100644
--- a/overcooked_simulator/player.py
+++ b/overcooked_simulator/player.py
@@ -13,6 +13,7 @@ class Player:
self.pos = np.array(pos, dtype=float)
self.holding = None
+ self.radius = 18
self.move_dist = 5
self.interaction_range = 50
self.facing_direction = np.array([0, 1])
--
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