From b29e3a4182c0164998c9664e5331bc9405becee5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Florian=20Schr=C3=B6der?=
<fschroeder@techfak.uni-bielefeld.de>
Date: Mon, 5 Feb 2024 18:30:29 +0100
Subject: [PATCH] Improve collision detection and player control handling
This update refines the collision detection mechanism in the 'overcooked_environment' module. The changes ensure that players can't move into positions where they would collide with other elements. Player control handling in the 'overcooked_gui' module is also tweaked to provide smoother switching between players. Remaining modifications in 'arch_config.yml' deactivate the GUI in status manager and change the preference for IPAACARInfo under communication.
---
.../game_content/agents/arch_config.yml | 13 ++--
.../gui_2d_vis/overcooked_gui.py | 34 +++++++----
.../overcooked_environment.py | 61 ++++++++-----------
3 files changed, 56 insertions(+), 52 deletions(-)
diff --git a/overcooked_simulator/game_content/agents/arch_config.yml b/overcooked_simulator/game_content/agents/arch_config.yml
index 60d20c0d..e7108df0 100644
--- a/overcooked_simulator/game_content/agents/arch_config.yml
+++ b/overcooked_simulator/game_content/agents/arch_config.yml
@@ -2,7 +2,7 @@ concurrency: MultiProcessing
communication:
communication_prefs:
- - !name:ipaacar_com_service.communications.ipaacar_com.IPAACARInfo
+ - !name:ipaacar_com_service.communications.ipaacar_com.IPAACARInfo
modules:
connection:
@@ -15,9 +15,10 @@ modules:
action_execution:
module_info: !name:cocosy_agent.modules.action_execution_module.ActionExecutionModule
mean_frequency_step: 10 # 2: every 0.5 seconds
- gui:
- module_info: !name:aaambos.std.guis.pysimplegui.pysimplegui_window.PySimpleGUIWindowModule
- window_title: Counting GUI
- topics_to_show: [["SubtaskDecision", "cocosy_agent.conventions.communication.SubtaskDecision", ["task_type"]], ["ActionControl", "cocosy_agent.conventions.communication.ActionControl", ["action_type"]]]
+ # gui:
+ # module_info: !name:aaambos.std.guis.pysimplegui.pysimplegui_window.PySimpleGUIWindowModule
+ # window_title: Counting GUI
+ # topics_to_show: [["SubtaskDecision", "cocosy_agent.conventions.communication.SubtaskDecision", ["task_type"]], ["ActionControl", "cocosy_agent.conventions.communication.ActionControl", ["action_type"]]]
status_manager:
- module_info: !name:aaambos.std.modules.module_status_manager.ModuleStatusManager
\ No newline at end of file
+ module_info: !name:aaambos.std.modules.module_status_manager.ModuleStatusManager
+ gui: false
\ No newline at end of file
diff --git a/overcooked_simulator/gui_2d_vis/overcooked_gui.py b/overcooked_simulator/gui_2d_vis/overcooked_gui.py
index b5db493c..c8b65fe5 100644
--- a/overcooked_simulator/gui_2d_vis/overcooked_gui.py
+++ b/overcooked_simulator/gui_2d_vis/overcooked_gui.py
@@ -73,17 +73,23 @@ class PlayerKeySet:
self.pickup_key: pygame.key = pickup_key
self.switch_key: pygame.key = switch_key
self.controlled_players: list[int] = players
- self.current_player: int = players[0]
+ self.current_player: int = players[0] if players else 0
+ self.current_idx = 0
+ self.other_keyset: list[PlayerKeySet] = []
def set_controlled_players(self, controlled_players: list[int]) -> None:
self.controlled_players = controlled_players
self.current_player = self.controlled_players[0]
+ self.current_idx = 0
def next_player(self) -> None:
- self.current_player += 1
- if self.current_player > self.controlled_players[-1]:
- self.current_player = self.controlled_players[0]
- print(self.current_player, self.controlled_players)
+ self.current_idx = (self.current_idx + 1) % len(self.controlled_players)
+ if self.other_keyset:
+ for ok in self.other_keyset:
+ if ok.current_idx == self.current_idx:
+ self.next_player()
+ return
+ self.current_player = self.controlled_players[self.current_idx]
class PyGameGUI:
@@ -183,28 +189,32 @@ class PyGameGUI:
def setup_player_keys(self, n=1, disjunct=False):
if n:
+ players = list(range(self.number_humans_to_be_added))
key_set1 = PlayerKeySet(
move_keys=[pygame.K_a, pygame.K_d, pygame.K_w, pygame.K_s],
interact_key=pygame.K_f,
pickup_key=pygame.K_e,
switch_key=pygame.K_SPACE,
- players=list(range(self.number_humans_to_be_added)),
+ players=players,
)
key_set2 = PlayerKeySet(
move_keys=[pygame.K_LEFT, pygame.K_RIGHT, pygame.K_UP, pygame.K_DOWN],
interact_key=pygame.K_i,
pickup_key=pygame.K_o,
switch_key=pygame.K_p,
- players=list(range(self.number_humans_to_be_added)),
+ players=players,
)
key_sets = [key_set1, key_set2]
if disjunct:
- split_idx = int(np.ceil(self.number_humans_to_be_added / 2))
- key_set1.set_controlled_players(list(range(0, split_idx)))
- key_set2.set_controlled_players(
- list(range(split_idx, self.number_humans_to_be_added))
- )
+ key_set1.set_controlled_players(players[::2])
+ key_set2.set_controlled_players(players[1::2])
+ elif n > 1:
+ key_set1.set_controlled_players(players)
+ key_set2.set_controlled_players(players)
+ key_set1.other_keyset = [key_set2]
+ key_set2.other_keyset = [key_set1]
+ key_set2.next_player()
return key_sets[:n]
else:
return []
diff --git a/overcooked_simulator/overcooked_environment.py b/overcooked_simulator/overcooked_environment.py
index 7621761e..e3e9c2f5 100644
--- a/overcooked_simulator/overcooked_environment.py
+++ b/overcooked_simulator/overcooked_environment.py
@@ -402,7 +402,6 @@ class Environment:
Detects collisions with other players and pushes them out of the way.
Args:
- player: The player to move.
duration: The duration for how long the movement to perform.
"""
d_time = duration.total_seconds()
@@ -415,13 +414,12 @@ class Environment:
],
dtype=float,
)
- print(player_positions, ".")
targeted_positions = player_positions + (
player_movement_vectors * (self.player_movement_speed * d_time)
)
- # Collisions player player
+ # Collisions player between player
distances_players_after_scipy = distance_matrix(
targeted_positions, targeted_positions
)
@@ -457,52 +455,46 @@ class Environment:
]
nearest_counter_to_player = closest_counter_positions - new_positions
- # print(nearest_counter_to_player)
collided = np.min(counter_distances, axis=1) < self.player_radius + 0.5
- # print(" COLLIDED", collided)
-
- # print("CLOSEST_COUNTER", closest_counter_positions)
relevant_axes = np.abs(nearest_counter_to_player).argmax(axis=1)
- relevant_values = nearest_counter_to_player.max(axis=1)
for idx, player in enumerate(player_positions):
axis = relevant_axes[idx]
if collided[idx]:
- # print("before", updated_movement)
+ # collide with counter left or top
if nearest_counter_to_player[idx][axis] < 0:
- # print("settings more")
- # new_positions[idx, axis] = np.min(
- # [
- # player_positions[idx, axis],
- # closest_counter_positions[idx, axis],
- # ]
- # )
-
updated_movement[idx, axis] = max(updated_movement[idx, axis], 0)
+ # collide with counter right or bottom
if nearest_counter_to_player[idx][axis] > 0:
- # print("settings less")
- # new_positions[idx, axis] = np.max(
- # [
- # player_positions[idx, axis],
- # closest_counter_positions[idx, axis],
- # ]
- # )
-
updated_movement[idx, axis] = min(updated_movement[idx, axis], 0)
- # print("after", updated_movement)
- # new_positions[collided] = player_positions[collided]
- print(updated_movement, "-")
new_positions = player_positions + (
updated_movement * (self.player_movement_speed * d_time)
)
- print(new_positions, "<")
- # new_positions[min_counter_distances < self.player_radius] = player_positions[min_counter_distances < self.player_radius]
-
- # counter_distances_axes = np.max((np.abs(counter_diff_vecs)), axis=1)
+ # Check if pushed players collide with counters or second closest is to close
+ counter_diff_vecs = (
+ new_positions[:, np.newaxis, :] - self.counter_positions[np.newaxis, :, :]
+ )
+ counter_distances = np.max((np.abs(counter_diff_vecs)), axis=2)
+ collided2 = np.min(counter_distances, axis=1) < self.player_radius + 0.5
+ # player do not move if they collide after pushing/sliding
+ new_positions[collided2] = player_positions[collided2]
+ # Players that pushed the player that can not be pushed do also no movement
+ # in the future these players could slide around the player?
+ for idx, collides in enumerate(collided2):
+ if collides:
+ new_positions[collision_idxs[idx]] = player_positions[
+ collision_idxs[idx]
+ ]
+ # Check if two moving players collide into each other: No movement (Future: slide?)
+ distances_players_after_scipy = distance_matrix(new_positions, new_positions)
+ collision_idxs = distances_players_after_scipy < (2 * self.player_radius)
+ collision_idxs[eye_idxs] = False
+ collision_idxs = np.any(collision_idxs, axis=1)
+ new_positions[collision_idxs] = player_positions[collision_idxs]
# Collisions player world borders
new_positions = np.max(
@@ -513,8 +505,9 @@ class Environment:
)
for idx, p in enumerate(self.players.values()):
- p.turn(player_movement_vectors[idx])
- p.move_abs(new_positions[idx])
+ if not (new_positions[idx] == player_positions[idx]).all():
+ p.turn(player_movement_vectors[idx])
+ p.move_abs(new_positions[idx])
def detect_collision(self, player: Player):
"""Detect collisions between the player and other players or counters.
--
GitLab