From 1c81c6bae9b9585cff9599506f81b5e70e44a0b6 Mon Sep 17 00:00:00 2001
From: Dominik Roth <dominik.roth.dev@gmail.com>
Date: Sun, 19 Jun 2022 23:14:39 +0200
Subject: [PATCH] Added entities.Void for RayTracing detection of Border

---
 columbus/entities.py    |  6 ++++++
 columbus/humanPlayer.py |  1 +
 columbus/observables.py | 32 ++++++++++++++++++++------------
 3 files changed, 27 insertions(+), 12 deletions(-)

diff --git a/columbus/entities.py b/columbus/entities.py
index 56fdc20..4ec910e 100644
--- a/columbus/entities.py
+++ b/columbus/entities.py
@@ -193,3 +193,9 @@ class TimeoutReward(OnceReward):
             self.env.new_abs_reward += self.reward
             self.set_avaible(False)
             self.env.timers.append((self.timeout, self.set_avaible, True))
+
+
+class Void():
+    def __init__(self, env):
+        self.col = (50, 50, 50)
+    pass
diff --git a/columbus/humanPlayer.py b/columbus/humanPlayer.py
index 3dcceed..c2e6495 100644
--- a/columbus/humanPlayer.py
+++ b/columbus/humanPlayer.py
@@ -8,6 +8,7 @@ from observables import Observable, CnnObservable
 
 def main():
     env = ColumbusTest3_1()
+    env = ColumbusTestRay(hide_map=True)
     env.start_pos = [0.6, 0.3]
     playEnv(env)
     env.close()
diff --git a/columbus/observables.py b/columbus/observables.py
index 66b7318..90b652d 100644
--- a/columbus/observables.py
+++ b/columbus/observables.py
@@ -82,7 +82,7 @@ def _clip(num, lower, upper):
 
 
 class RayObservable(Observable):
-    def __init__(self, num_rays=24, chans=[entities.Enemy, entities.Reward], ray_len=256):
+    def __init__(self, num_rays=24, chans=[entities.Enemy, entities.Reward, entities.Void], ray_len=256):
         super(RayObservable, self).__init__()
         self.num_rays = num_rays
         self.chans = chans
@@ -100,25 +100,33 @@ class RayObservable(Observable):
             rad = 2*math.pi/self.num_rays*i
             yield self.ray_len*math.sin(rad), self.ray_len*math.cos(rad)
 
-    def _check_collision(self, pos, entity_type, entities):
-        for entity in entities:
+    def _check_collision(self, pos, entity_type, entities_l):
+        for entity in entities_l:
             if isinstance(entity, entity_type):
-                if entity.shape != 'circle':
-                    raise Exception('Can only raycast circular entities!')
-                sq_dist = (pos[0]-entity.pos[0]*self.env.width) ** 2 \
-                    + (pos[1]-entity.pos[1]*self.env.height)**2
-                if sq_dist < entity.radius**2:
-                    return True
+                if isinstance(entity, entities.Void):
+                    hit = 0 >= pos[0] or pos[0] >= self.env.width or 0 >= pos[1] or pos[0] >= self.env.height
+                    if hit:
+                        print(pos)
+                    return hit
+                else:
+                    if entity.shape != 'circle':
+                        raise Exception('Can only raycast circular entities!')
+                    sq_dist = (pos[0]-entity.pos[0]*self.env.width) ** 2 \
+                        + (pos[1]-entity.pos[1]*self.env.height)**2
+                    if sq_dist < entity.radius**2:
+                        return True
         return False
 
     def _get_possible_entities(self):
-        entities = []
+        entities_l = []
+        if entities.Void in self.chans:
+            entities_l.append(entities.Void(self.env))
         for entity in self.env.entities:
             sq_dist = ((self.env.agent.pos[0]-entity.pos[0])*self.env.width) ** 2 \
                 + ((self.env.agent.pos[1]-entity.pos[1])*self.env.height) ** 2
             if sq_dist <= (entity.radius + self.env.agent.radius + self.ray_len)**2:
-                entities.append(entity)  # cannot use yield here!
-        return entities
+                entities_l.append(entity)  # cannot use yield here!
+        return entities_l
 
     def get_observation(self):
         entities = self._get_possible_entities()