From eababca6d1f18fa572853834b30ba76f0f78be68 Mon Sep 17 00:00:00 2001
From: fheinrich <fheinrich@techfak.uni-bielefeld.de>
Date: Fri, 19 Jan 2024 16:48:35 +0100
Subject: [PATCH] Movement based on timedelta, independent of gui fps
---
overcooked_simulator/fastapi_game_server.py | 14 ++++++---
.../game_content/environment_config.yaml | 2 +-
.../gui_2d_vis/overcooked_gui.py | 23 +++++++-------
.../overcooked_environment.py | 30 ++++++++++++-------
overcooked_simulator/player.py | 10 ++++++-
tests/test_start.py | 2 +-
6 files changed, 53 insertions(+), 28 deletions(-)
diff --git a/overcooked_simulator/fastapi_game_server.py b/overcooked_simulator/fastapi_game_server.py
index 2a9fa234..a725684f 100644
--- a/overcooked_simulator/fastapi_game_server.py
+++ b/overcooked_simulator/fastapi_game_server.py
@@ -102,13 +102,17 @@ def parse_action(message: str) -> Action:
value = np.array([x, y], dtype=float)
else:
value = None
- action = Action(message_dict["player_name"], message_dict["act_type"], value)
+ action = Action(
+ message_dict["player_name"],
+ message_dict["act_type"],
+ value,
+ duration=message_dict["duration"],
+ )
return action
def manage_message(message: str):
answer = None
- print("MESSAGE:", message)
if "get_state" in message:
return oc_api.get_state()
@@ -119,7 +123,8 @@ def manage_message(message: str):
action = parse_action(message)
oc_api.simulator.enter_action(action)
- return oc_api.get_state()
+ answer = oc_api.get_state()
+ return answer
@app.get("/")
@@ -134,8 +139,9 @@ async def websocket_endpoint(websocket: WebSocket, client_id: int):
try:
while True:
message = await websocket.receive_text()
+ # print("MESSAGE:", message)
answer = manage_message(message)
- print("ANSWER:", answer)
+ # print("ANSWER:", answer)
await manager.send_personal_message(answer, websocket)
except WebSocketDisconnect:
diff --git a/overcooked_simulator/game_content/environment_config.yaml b/overcooked_simulator/game_content/environment_config.yaml
index a88b5d10..f23b3902 100644
--- a/overcooked_simulator/game_content/environment_config.yaml
+++ b/overcooked_simulator/game_content/environment_config.yaml
@@ -59,5 +59,5 @@ orders:
player_config:
radius: 0.4
- move_dist: 0.15
+ player_speed_units_per_seconds: 5
interaction_range: 1.6
\ 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 b6e6cfdf..0500a3a6 100644
--- a/overcooked_simulator/gui_2d_vis/overcooked_gui.py
+++ b/overcooked_simulator/gui_2d_vis/overcooked_gui.py
@@ -201,7 +201,7 @@ class PyGameGUI:
return player_colors
- def handle_keys(self, websocket):
+ def handle_keys(self):
"""Handles keyboard inputs. Sends action for the respective players. When a key is held down, every frame
an action is sent in this function.
"""
@@ -216,10 +216,12 @@ class PyGameGUI:
if np.linalg.norm(move_vec) != 0:
move_vec = move_vec / np.linalg.norm(move_vec)
- action = Action(key_set.name, "movement", move_vec)
- self.send_action(action, websocket)
+ action = Action(
+ key_set.name, "movement", move_vec, duration=2 / (self.FPS)
+ )
+ self.send_action(action)
- def handle_key_event(self, event, websocket):
+ def handle_key_event(self, event):
"""Handles key events for the pickup and interaction keys. Pickup is a single action,
for interaction keydown and keyup is necessary, because the player has to be able to hold
the key down.
@@ -230,15 +232,15 @@ class PyGameGUI:
for key_set in self.player_key_sets:
if event.key == key_set.pickup_key and event.type == pygame.KEYDOWN:
action = Action(key_set.name, "pickup", "pickup")
- self.send_action(action, websocket)
+ self.send_action(action)
if event.key == key_set.interact_key:
if event.type == pygame.KEYDOWN:
action = Action(key_set.name, "interact", "keydown")
- self.send_action(action, websocket)
+ self.send_action(action)
elif event.type == pygame.KEYUP:
action = Action(key_set.name, "interact", "keyup")
- self.send_action(action, websocket)
+ self.send_action(action)
def draw_background(self):
"""Visualizes a game background."""
@@ -858,7 +860,7 @@ class PyGameGUI:
self.reset_window_size()
log.debug("Pressed finished button")
- def send_action(self, action: Action, websocket):
+ def send_action(self, action: Action):
"""Sends an action to the game environment.
Args:
@@ -872,6 +874,7 @@ class PyGameGUI:
"player_name": action.player,
"act_type": action.act_type,
"value": value,
+ "duration": action.duration,
}
_ = self.websocket_communicate(message_dict)
@@ -938,7 +941,7 @@ class PyGameGUI:
and self.menu_state == MenuStates.Game
):
pass
- self.handle_key_event(event, websocket)
+ self.handle_key_event(event)
self.manager.process_events(event)
@@ -962,7 +965,7 @@ class PyGameGUI:
self.draw_background()
- self.handle_keys(websocket)
+ self.handle_keys()
# state = self.simulator.get_state()
self.draw(state)
diff --git a/overcooked_simulator/overcooked_environment.py b/overcooked_simulator/overcooked_environment.py
index 28e35742..2a63df64 100644
--- a/overcooked_simulator/overcooked_environment.py
+++ b/overcooked_simulator/overcooked_environment.py
@@ -40,7 +40,7 @@ log = logging.getLogger(__name__)
class Action:
"""Action class, specifies player, action type and action itself."""
- def __init__(self, player, act_type, action):
+ def __init__(self, player, act_type, action, duration=0):
self.player = player
self.act_type = act_type
assert self.act_type in [
@@ -49,6 +49,7 @@ class Action:
"interact",
], "Unknown action type"
self.action = action
+ self.duration = duration
def __repr__(self):
return f"Action({self.player},{self.act_type},{self.action})"
@@ -335,8 +336,10 @@ class Environment:
player = self.players[action.player]
if action.act_type == "movement":
- with self.lock:
- self.perform_movement(player, action.action)
+ player.set_movement(
+ action.action,
+ self.env_time + datetime.timedelta(seconds=action.duration),
+ )
else:
counter = self.get_facing_counter(player)
@@ -351,10 +354,7 @@ class Environment:
player.last_interacted_counter = counter
if action.action == "keyup":
if player.last_interacted_counter:
- with self.lock:
- player.perform_interact_hold_stop(
- player.last_interacted_counter
- )
+ player.perform_interact_hold_stop(player.last_interacted_counter)
def get_closest_counter(self, point: np.ndarray):
"""Determines the closest counter for a given 2d-coordinate point in the env.
@@ -385,7 +385,7 @@ class Environment:
facing_counter = self.get_closest_counter(player.facing_point)
return facing_counter
- def perform_movement(self, player: Player, move_vector: np.array):
+ def perform_movement(self, player: Player, timedelta):
"""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.
@@ -402,7 +402,11 @@ class Environment:
"""
old_pos = player.pos.copy()
- step = move_vector * player.move_dist
+ move_vector = player.current_movement
+
+ d_time = timedelta.total_seconds()
+ step = move_vector * (player.move_speed * d_time)
+
player.move(step)
if self.detect_collision(player):
collided_players = self.get_collided_players(player)
@@ -412,7 +416,8 @@ class Environment:
pushing_vector = pushing_vector / np.linalg.norm(pushing_vector)
old_pos_other = collided_player.pos.copy()
- self.perform_movement(collided_player, pushing_vector)
+ collided_player.current_movement = pushing_vector
+ self.perform_movement(collided_player, timedelta)
if self.detect_collision_counters(
collided_player
) or self.detect_collision_world_bounds(collided_player):
@@ -572,6 +577,10 @@ class Environment:
with self.lock:
if not self.game_ended:
+ for player in self.players.values():
+ if self.env_time < player.movement_until:
+ self.perform_movement(player, passed_time)
+
for counter in self.counters:
if isinstance(counter, (CuttingBoard, Stove, Sink, PlateDispenser)):
counter.progress(passed_time=passed_time, now=self.env_time)
@@ -663,7 +672,6 @@ class Environment:
closest_addon.pos - pos
), f"No SinkAddon connected to Sink at pos {pos}"
counter.set_addon(closest_addon)
-
pass
@staticmethod
diff --git a/overcooked_simulator/player.py b/overcooked_simulator/player.py
index 63f803c8..409ef065 100644
--- a/overcooked_simulator/player.py
+++ b/overcooked_simulator/player.py
@@ -1,3 +1,4 @@
+import datetime
import logging
from collections import deque
from typing import Optional, Any
@@ -34,7 +35,7 @@ class Player:
self.holding: Optional[Item] = None
self.radius: float = self.player_config["radius"]
- self.move_dist: int = self.player_config["move_dist"]
+ self.move_speed: int = self.player_config["player_speed_units_per_seconds"]
self.interaction_range: int = self.player_config["interaction_range"]
self.facing_direction: npt.NDArray[float] = np.array([0, 1])
self.last_interacted_counter: Optional[
@@ -44,6 +45,13 @@ class Player:
self.current_nearest_counter: Optional[Counter] = None
self.facing_point: npt.NDArray[float] = np.zeros(2, float)
+ self.current_movement: npt.NDArray[2] = np.zeros(2, float)
+ self.movement_until: datetime.datetime = datetime.datetime.now()
+
+ def set_movement(self, move_vector, move_until):
+ self.current_movement = move_vector
+ self.movement_until = move_until
+
def move(self, movement: npt.NDArray[float]):
"""Moves the player position by the given movement vector.
A unit direction vector multiplied by move_dist is added to the player position.
diff --git a/tests/test_start.py b/tests/test_start.py
index d6010a9e..0f71d0e7 100644
--- a/tests/test_start.py
+++ b/tests/test_start.py
@@ -95,7 +95,7 @@ def test_movement():
sim.enter_action(move_action)
expected = start_pos + do_moves_number * (
- move_direction * sim.env.players[player_name].move_dist
+ move_direction * sim.env.players[player_name].move_speed
)
assert np.isclose(
--
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