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Fixed RayObservable Collisions PreFilter for Rect

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This commit is contained in:
Dominik Moritz Roth 2022-12-08 20:27:36 +01:00
parent 2032d2e91d
commit 78ac536bb9
1 changed files with 5 additions and 2 deletions
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7
columbus/observables.py
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@ -138,14 +138,17 @@ class RayObservable(Observable):
entities_l.append(entities.Void(self.env))
for entity in self.env.entities:
if entity.shape == 'rect':
x, y = entity.pos[0]+entity.width/self.env.width / \
2, entity.pos[1]+entity.height/self.env.height/2
radius = (entity.width/2 + entity.height/2)*1.0
elif entity.shape == 'circle':
x, y = entity.pos[0], entity.pos[1]
radius = entity.radius
else:
raise Exception(
'Can only raycast circular and rectangular 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
sq_dist = ((self.env.agent.pos[0]-x)*self.env.width) ** 2 \
+ ((self.env.agent.pos[1]-y)*self.env.height) ** 2
if sq_dist <= (radius + self.env.agent.radius + self.ray_len)**2:
entities_l.append(entity) # cannot use yield here!
return entities_l