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Better collisions

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This commit is contained in:
Dominik Moritz Roth 2022-08-20 17:18:03 +02:00
parent 9a40ee07b7
commit f18310ed5b
3 changed files with 9 additions and 7 deletions
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4
columbus/entities.py
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@ -15,9 +15,9 @@ class Entity(object):
self.solid = False self.solid = False
self.movable = False # False = Non movable, True = Movable, x>1: lighter movable self.movable = False # False = Non movable, True = Movable, x>1: lighter movable
self.elasticity = 1 self.elasticity = 1
self.collision_changes_speed = False self.collision_changes_speed = True
self._crash_list = [] self._crash_list = []
self._coll_add_pushback = 0.05 self._coll_add_pushback = 0
def physics_step(self): def physics_step(self):
x, y = self.pos x, y = self.pos

5
columbus/env.py
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@ -563,7 +563,10 @@ def parseObs(obsConf):
obs = [] obs = []
for i, c in enumerate(obsConf): for i, c in enumerate(obsConf):
obs.append(parseObs(c)) obs.append(parseObs(c))
return observables.CompositionalObservable(obs) if len(obs) == 1:
return obs[0]
else:
return observables.CompositionalObservable(obs)
if obsConf['type'] == 'State': if obsConf['type'] == 'State':
conf = {k: v for k, v in obsConf.items() if k not in ['type']} conf = {k: v for k, v in obsConf.items() if k not in ['type']}

7
columbus/observables.py
View File

@ -9,18 +9,17 @@ import torch as th
class Observable(): class Observable():
def __init__(self): def __init__(self):
self.obs = None self.obs = None
pass
def _set_env(self, env): def _set_env(self, env):
self.env = env self.env = env
def get_observation_space(): def get_observation_space():
print("[!] Using dummyObservable. Env won't output anything") print("[!] Using dummyObservable. Env won't output anything")
return spaces.Box(low=0, high=255, return spaces.Box(low=0, high=1,
shape=(1,), dtype=np.uint8) shape=(1,), dtype=np.float32)
def get_observation(self): def get_observation(self):
return False return np.array([0])
def draw(self): def draw(self):
pass pass