From 88fc8a8067f7ea16fd9491217df1ef7ef4e48a8a Mon Sep 17 00:00:00 2001
From: Dominik Roth <dominik.roth.dev@gmail.com>
Date: Wed, 29 Jun 2022 18:49:28 +0200
Subject: [PATCH] Implemented aux penalty (enemys can radiate damage)

---
 columbus/entities.py |  1 +
 columbus/env.py      | 11 +++++++++++
 2 files changed, 12 insertions(+)

diff --git a/columbus/entities.py b/columbus/entities.py
index a44b383..4320656 100644
--- a/columbus/entities.py
+++ b/columbus/entities.py
@@ -91,6 +91,7 @@ class Enemy(Entity):
         super(Enemy, self).__init__(env)
         self.col = (255, 0, 0)
         self.damage = 100
+        self.radiateDamage = True
 
     def on_collision(self, other, depth):
         super().on_collision(other, depth)
diff --git a/columbus/env.py b/columbus/env.py
index e2386ff..fe7356a 100644
--- a/columbus/env.py
+++ b/columbus/env.py
@@ -37,6 +37,7 @@ class ColumbusEnv(gym.Env):
         self.controll_type = 'SPEED'  # one of SPEED, ACC
         self.limit_inp_to_unit_circle = True
         self.aux_reward_max = 0  # 0 = off
+        self.aux_penalty_max = 0  # 0 = off
         self.aux_reward_discretize = 0  # 0 = dont discretize
         self.draw_observable = True
         self.draw_joystick = True
@@ -109,6 +110,16 @@ class ColumbusEnv(gym.Env):
                             self.aux_reward_discretize / 2
 
                     aux_reward += reward
+            elif isinstance(entity, entities.Enemy):
+                if entity.radiateDamage:
+                    penalty = self.aux_penalty_max / \
+                        (1 + self.sq_dist(entity.pos, self.agent.pos))
+
+                    if self.aux_reward_discretize:
+                        penalty = int(penalty*self.aux_reward_discretize*2) / \
+                            self.aux_reward_discretize / 2
+
+                    aux_reward -= penalty
         return aux_reward
 
     def step(self, action):