diff --git a/overcooked_simulator/counters.py b/overcooked_simulator/counters.py
index 2b980877828189671859ef2cec20a66745f6dfbb..8e76013e7ce405e8215a249122eeea4f9b22da5c 100644
--- a/overcooked_simulator/counters.py
+++ b/overcooked_simulator/counters.py
@@ -84,8 +84,7 @@ class Counter:
self.uuid = uuid.uuid4().hex if uid is None else None
self.pos: npt.NDArray[float] = pos
self.occupied_by: Optional[Item] = occupied_by
- self.orientation: npt.NDArray[float] = np.zeros(2)
- self.orientation[0] = 1
+ self.orientation: npt.NDArray[float] = np.array([0, 1], dtype=float)
@property
def occupied(self):
@@ -164,6 +163,7 @@ class Counter:
"category": COUNTER_CATEGORY,
"type": self.__class__.__name__,
"pos": self.pos.tolist(),
+ "orientation": self.orientation.tolist(),
"occupied_by": None
if self.occupied_by is None
else (
diff --git a/overcooked_simulator/game_content/layouts/rot_test.layout b/overcooked_simulator/game_content/layouts/rot_test.layout
new file mode 100644
index 0000000000000000000000000000000000000000..d3bd23d0a2dbe378bbc7a128995e8240ebb916fb
--- /dev/null
+++ b/overcooked_simulator/game_content/layouts/rot_test.layout
@@ -0,0 +1,5 @@
+##S+#
+S___#
++___S
+#___+
+#+SP#
\ No newline at end of file
diff --git a/overcooked_simulator/gui_2d_vis/drawing.py b/overcooked_simulator/gui_2d_vis/drawing.py
index c257730d3be73f30bbacbcbc090a045da3b34eb1..5d047bd2df564eb53b9da0f2ca02960440c0e475 100644
--- a/overcooked_simulator/gui_2d_vis/drawing.py
+++ b/overcooked_simulator/gui_2d_vis/drawing.py
@@ -1,5 +1,4 @@
import colorsys
-import math
from datetime import datetime, timedelta
from pathlib import Path
@@ -21,6 +20,12 @@ SHOW_INTERACTION_RANGE = False
SHOW_COUNTER_CENTERS = False
+def calc_angle(vec_a: list[float], vec_b: list[float]) -> float:
+ a = pygame.math.Vector2(vec_a)
+ b = pygame.math.Vector2(vec_b)
+ return a.angle_to(b)
+
+
def create_polygon(n, length):
if n == 1:
return np.array([0, 0])
@@ -141,7 +146,7 @@ class Visualizer:
player_dict: PlayerState
pos = np.array(player_dict["pos"]) * grid_size
- facing = np.array(player_dict["facing_direction"])
+ facing = np.array(player_dict["facing_direction"], dtype=float)
if USE_PLAYER_COOK_SPRITES:
pygame.draw.circle(
@@ -152,8 +157,7 @@ class Visualizer:
)
img_path = self.config["Cook"]["parts"][0]["path"]
- rel_x, rel_y = facing
- angle = -np.rad2deg(math.atan2(rel_y, rel_x)) + 90
+ angle = calc_angle(facing.tolist(), [0, 1])
size = self.config["Cook"]["parts"][0]["size"] * grid_size
self.draw_image(screen, img_path, size, pos, angle)
@@ -224,6 +228,7 @@ class Visualizer:
grid_size: float,
parts: list[dict[str]],
scale: float = 1.0,
+ orientation: list[float] | None = None,
):
"""Draws an item, based on its visual parts specified in the visualization config.
@@ -233,21 +238,32 @@ class Visualizer:
pos: Where to draw the item parts.
parts: The visual parts to draw.
scale: Rescale the item by this factor.
+ orientation: Rotate the item to face this direction.
"""
for part in parts:
part_type = part["type"]
match part_type:
case "image":
+ angle, angle_offset = 0, 0
+ if orientation is not None:
+ angle_offset = calc_angle(orientation, [0, 1])
+ if "rotate_image" in part.keys():
+ if part["rotate_image"]:
+ angle = calc_angle(orientation, [0, 1])
+ else:
+ angle = angle_offset
if "center_offset" in part:
- d = np.array(part["center_offset"]) * grid_size
+ d = pygame.math.Vector2(part["center_offset"]) * grid_size
+ d.rotate_ip(angle_offset)
pos = np.array(pos)
- pos += d
+ pos += np.array(d)
self.draw_image(
screen,
part["path"],
part["size"] * scale * grid_size,
pos,
+ rot_angle=angle,
)
case "rect":
height = part["height"] * grid_size
@@ -371,9 +387,21 @@ class Visualizer:
"""
pos = np.array(counter_dict["pos"]) * grid_size
counter_type = counter_dict["type"]
- self.draw_thing(screen, pos, grid_size, self.config["Counter"]["parts"])
+ self.draw_thing(
+ screen,
+ pos,
+ grid_size,
+ self.config["Counter"]["parts"],
+ orientation=counter_dict["orientation"],
+ )
if counter_type in self.config:
- self.draw_thing(screen, pos, grid_size, self.config[counter_type]["parts"])
+ self.draw_thing(
+ screen,
+ pos,
+ grid_size,
+ self.config[counter_type]["parts"],
+ orientation=counter_dict["orientation"],
+ )
else:
if counter_type in self.config:
parts = self.config[counter_type]["parts"]
@@ -429,9 +457,26 @@ class Visualizer:
grid_size,
np.array(counter["pos"]) * grid_size,
)
+
if SHOW_COUNTER_CENTERS:
- pygame.draw.circle(
- screen, colors["green1"], np.array(counter["pos"]) * grid_size, 3
+ pos = np.array(counter["pos"]) * grid_size
+ pygame.draw.circle(screen, colors["green1"], pos, 3)
+ pygame.draw.circle(screen, colors["green1"], pos, 3)
+ facing = np.array(counter["orientation"])
+ pygame.draw.polygon(
+ screen,
+ colors["red"],
+ (
+ (
+ pos[0] + (facing[1] * 0.1 * grid_size),
+ pos[1] - (facing[0] * 0.1 * grid_size),
+ ),
+ (
+ pos[0] - (facing[1] * 0.1 * grid_size),
+ pos[1] + (facing[0] * 0.1 * grid_size),
+ ),
+ pos + (facing * 0.5 * grid_size),
+ ),
)
def draw_orders(
diff --git a/overcooked_simulator/gui_2d_vis/images/arrow_right.png b/overcooked_simulator/gui_2d_vis/images/arrow_right.png
index 522ec051e8f1ad938c8e53cd0e8b563f1e383cb1..a1ea0946b67e89bed858a0312ed6ee70ea68c1c7 100644
Binary files a/overcooked_simulator/gui_2d_vis/images/arrow_right.png and b/overcooked_simulator/gui_2d_vis/images/arrow_right.png differ
diff --git a/overcooked_simulator/gui_2d_vis/visualization.yaml b/overcooked_simulator/gui_2d_vis/visualization.yaml
index 21005007a59ecf3fe868e69f1c8ff48363c68114..6fbd622cbd53ec51e6b73dda3ea98f00260acccc 100644
--- a/overcooked_simulator/gui_2d_vis/visualization.yaml
+++ b/overcooked_simulator/gui_2d_vis/visualization.yaml
@@ -2,7 +2,7 @@
GameWindow:
WhatIsFixed: grid # grid or window_width or window_height
- size: 50
+ size: 80
screen_margin: 100
min_width: 700
min_height: 600
@@ -22,10 +22,13 @@ Kitchen:
Counter:
parts:
- - type: rect
- height: 1
- width: 1
- color: whitesmoke
+ # - type: rect
+ # height: 1
+ # width: 1
+ # color: whitesmoke
+ - type: image
+ path: images/counter2.png
+ size: 1
CuttingBoard:
parts:
@@ -92,14 +95,15 @@ Dispenser:
ServingWindow:
parts:
- - type: image
- path: images/arrow_right.png
- size: 1
- center_offset: [ 0, 0 ]
+ # - type: image
+ # path: images/arrow_right.png
+ # size: 1
+ # center_offset: [ 0, 0 ]
- type: image
path: images/bell_gold.png
size: 0.5
- center_offset: [ 0.1, -0.4 ]
+ center_offset: [ -0.4, 0.1 ]
+ rotate_image: False
Stove:
parts:
diff --git a/overcooked_simulator/overcooked_environment.py b/overcooked_simulator/overcooked_environment.py
index 1707b515f5e03cb4aad1d3b621fe271a13fd3e70..837eb7ed1142b42e4bea7f90334b85cd3328d350 100644
--- a/overcooked_simulator/overcooked_environment.py
+++ b/overcooked_simulator/overcooked_environment.py
@@ -304,11 +304,7 @@ class Environment:
for character in line:
character = character.capitalize()
pos = np.array([current_x, current_y])
- counter_class = self.SYMBOL_TO_CHARACTER_MAP[character]
- if not isinstance(counter_class, str):
- counter = counter_class(pos)
- counters.append(counter)
- grid_line.append(1)
+
assert self.counter_factory.can_map(
character
), f"{character=} in layout file can not be mapped"
@@ -316,14 +312,9 @@ class Environment:
counters.append(
self.counter_factory.get_counter_object(character, pos)
)
+ grid_line.append(1)
else:
grid_line.append(0)
- if counter_class == "Agent":
- designated_player_positions.append(
- np.array([current_x, current_y])
- )
- elif counter_class == "Free":
- free_positions.append(np.array([current_x, current_y]))
match self.counter_factory.map_not_counter(character):
case "Agent":
designated_player_positions.append(pos)
@@ -348,6 +339,9 @@ class Environment:
return counters, designated_player_positions, free_positions
def determine_counter_orientations(self, counters, grid, kitchen_center):
+ for l in grid:
+ print(l)
+
grid = np.array(grid).T
grid_width = grid.shape[0]
@@ -381,7 +375,6 @@ class Environment:
c.set_orientation(nearest_vec)
else:
- print("HERE", c)
c.set_orientation(np.array([0, 1]))
# for c in counters:
diff --git a/overcooked_simulator/state_representation.py b/overcooked_simulator/state_representation.py
index e8ad5d17a79b4db29c2977934f0127c7a09c83f9..1912be8a9b530ac50b41c9648c9f50e16fd3fe31 100644
--- a/overcooked_simulator/state_representation.py
+++ b/overcooked_simulator/state_representation.py
@@ -30,6 +30,7 @@ class CounterState(TypedDict):
category: Literal["Counter"]
type: str
pos: list[float]
+ orientation: list[float]
occupied_by: None | list[
ItemState | CookingEquipmentState
] | ItemState | CookingEquipmentState