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Made RayTracing more performant (exclude distant entities)

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This commit is contained in:
Dominik Moritz Roth 2022-06-19 21:47:35 +02:00
parent e3a1044cb3
commit 6898c2deb5
1 changed files with 11 additions and 3 deletions
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14
columbus/observables.py
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@ -100,8 +100,8 @@ 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):
for entity in self.env.entities:
def _check_collision(self, pos, entity_type, entities):
for entity in entities:
if isinstance(entity, entity_type):
if entity.shape != 'circle':
raise Exception('Can only raycast circular entities!')
@ -111,7 +111,15 @@ class RayObservable(Observable):
return True
return False
def _get_possible_entities(self):
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)**2:
yield entity
def get_observation(self):
entities = self._get_possible_entities()
self.rays = np.zeros((self.num_rays, self.num_chans))
for r, (hx, hy) in enumerate(self._get_ray_heads()):
occ_dist = self.num_steps
@ -123,7 +131,7 @@ class RayObservable(Observable):
rx, ry = sx + \
self.env.agent.pos[0]*self.env.width, sy + \
self.env.agent.pos[1]*self.env.height
if self._check_collision((rx, ry), entity_type):
if self._check_collision((rx, ry), entity_type, entities):
self.rays[r, c] = self.num_steps-s
if self.occlusion:
occ_dist = s