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Bug fixes for RayTracing

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This commit is contained in:
Dominik Moritz Roth 2022-06-19 22:58:30 +02:00
parent 75732ba960
commit 3dc5bed9f4
1 changed files with 6 additions and 4 deletions
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10
columbus/observables.py
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@ -112,11 +112,13 @@ class RayObservable(Observable):
return False return False
def _get_possible_entities(self): def _get_possible_entities(self):
entities = []
for entity in self.env.entities: for entity in self.env.entities:
sq_dist = ((self.env.agent.pos[0]-entity.pos[0])*self.env.width) ** 2 \ 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 + ((self.env.agent.pos[1]-entity.pos[1])*self.env.height) ** 2
if sq_dist <= (entity.radius + self.env.agent.radius)**2: if sq_dist <= (entity.radius + self.env.agent.radius + self.ray_len)**2:
yield entity entities.append(entity) # cannot use yield here!
return entities
def get_observation(self): def get_observation(self):
entities = self._get_possible_entities() entities = self._get_possible_entities()
@ -127,7 +129,7 @@ class RayObservable(Observable):
for s in range(self.num_steps): for s in range(self.num_steps):
if s > occ_dist: if s > occ_dist:
break break
sx, sy = s*hx/self.num_steps, s*hy/self.num_steps sx, sy = (s+1)*hx/self.num_steps, (s+1)*hy/self.num_steps
rx, ry = sx + \ rx, ry = sx + \
self.env.agent.pos[0]*self.env.width, sy + \ self.env.agent.pos[0]*self.env.width, sy + \
self.env.agent.pos[1]*self.env.height self.env.agent.pos[1]*self.env.height
@ -142,7 +144,7 @@ class RayObservable(Observable):
for c, entity_type in enumerate(self.chans): for c, entity_type in enumerate(self.chans):
for r, (hx, hy) in enumerate(self._get_ray_heads()): for r, (hx, hy) in enumerate(self._get_ray_heads()):
s = self.num_steps - self.rays[r, c] s = self.num_steps - self.rays[r, c]
sx, sy = s*hx/self.num_steps, s*hy/self.num_steps sx, sy = (s+1)*hx/self.num_steps, (s+1)*hy/self.num_steps
rx, ry = sx + \ rx, ry = sx + \
self.env.agent.pos[0]*self.env.width, sy + \ self.env.agent.pos[0]*self.env.width, sy + \
self.env.agent.pos[1]*self.env.height self.env.agent.pos[1]*self.env.height