Fixed determining closest counter and if the player can reach it. Added flags...

Fixed determining closest counter and if the player can reach it. Added flags in gui to show ranges and interaction points

overcooked_simulator/game_content/player_config.yaml

 radius: 0.4
 move_dist: 5
-interaction_range: 1.5
\ No newline at end of file
+interaction_range: 1.6
\ No newline at end of file

overcooked_simulator/overcooked_environment.py

@@ -167,7 +167,7 @@ class Environment:
 
         else:
             counter = self.get_facing_counter(player)
-            if player.can_reach(counter):
+            if player.can_reach(counter):  # TODO: this
                 if action.act_type == "pickup":
                     player.pick_action(counter)
 
@@ -205,14 +205,7 @@ class Environment:
         Returns:
 
         """
-        # TODO: Decide on one variant of getting the interacting counter
-        # facing_point = player.pos + (
-        #     player.facing_direction
-        #     * player.interaction_range
-        #     * self.counter_side_length
-        # )
-        # facing_counter = self.get_closest_counter(facing_point)
-        facing_counter = self.get_closest_counter(player.pos)
+        facing_counter = self.get_closest_counter(player.facing_point)
         return facing_counter
 
     def perform_movement(self, player: Player, move_vector: np.array):

overcooked_simulator/player.py

@@ -50,6 +50,7 @@ class Player:
         ] = None  # needed to stop progress when moved away
 
         self.current_nearest_counter: Optional[Counter] = None
+        self.facing_point: npt.NDArray[float] = np.array([0, 0], float)
 
     def move(self, movement: npt.NDArray[float]):
         """Moves the player position by the given movement vector.
@@ -80,6 +81,9 @@ class Player:
         """
         if np.linalg.norm(direction) != 0:
             self.facing_direction = direction / np.linalg.norm(direction)
+        self.facing_point = self.pos + (
+            self.facing_direction * self.radius * self.grid_size * 0.5
+        )
 
     def can_reach(self, counter: Counter):
         """Checks whether the player can reach the counter in question. Simple check if the distance is not larger
@@ -91,7 +95,7 @@ class Player:
         Returns: True if the counter is in range of the player, False if not.
 
         """
-        return np.linalg.norm(counter.pos - self.pos) <= (
+        return np.linalg.norm(counter.pos - self.facing_point) <= (
             self.interaction_range * self.grid_size
         )
 

overcooked_simulator/pygame_gui/pygame_gui.py

@@ -22,8 +22,9 @@ from overcooked_simulator.pygame_gui.game_colors import BLUE
 from overcooked_simulator.pygame_gui.game_colors import colors, Color
 from overcooked_simulator.simulation_runner import Simulator
 
-USE_PLAYER_COOK_SPRITES = False
+USE_PLAYER_COOK_SPRITES = True
 SHOW_INTERACTION_RANGE = False
+SHOW_COUNTER_CENTERS = False
 
 
 def create_polygon(n, length):
@@ -256,8 +257,13 @@ class PyGameGUI:
 
             if SHOW_INTERACTION_RANGE:
                 pygame.draw.circle(
-                    self.screen, BLUE, player.pos, player.interaction_range, width=1
+                    self.screen,
+                    BLUE,
+                    player.facing_point,
+                    player.interaction_range * self.counter_size,
+                    width=1,
                 )
+                pygame.draw.circle(self.screen, colors["red1"], player.facing_point, 4)
 
             if player.holding is not None:
                 holding_item_pos = player.pos + (20 * player.facing_direction)
@@ -406,6 +412,8 @@ class PyGameGUI:
         """
         for counter in state["counters"]:
             self.draw_counter(counter)
+            if SHOW_COUNTER_CENTERS:
+                pygame.draw.circle(self.screen, colors["green1"], counter.pos, 3)
 
     def draw(self, state):
         """Main visualization function.