| """Le monde : obstacles (cylindres), cratères et soldats.""" |
| from __future__ import annotations |
|
|
| from dataclasses import dataclass, field |
|
|
| import numpy as np |
|
|
| from . import config as C |
|
|
|
|
| @dataclass |
| class Soldier: |
| x: float |
| y: float |
| team: int |
| alive: bool = True |
|
|
| @property |
| def dir(self) -> int: |
| return 1 if self.team == 0 else -1 |
|
|
|
|
| @dataclass |
| class World: |
| obstacles: np.ndarray |
| soldiers: list[Soldier] = field(default_factory=list) |
| craters: np.ndarray = field(default_factory=lambda: np.zeros((0, 3))) |
|
|
| |
| @staticmethod |
| def random(rng: np.random.Generator, team_sizes=(3, 3)) -> "World": |
| n = int(rng.integers(C.OBST_COUNT[0], C.OBST_COUNT[1] + 1)) |
| obs = np.column_stack([ |
| rng.uniform(-22, 22, n), |
| rng.uniform(-14, 14, n), |
| rng.uniform(*C.OBST_RADIUS, n), |
| rng.uniform(*C.OBST_HEIGHT, n), |
| ]) |
| w = World(obstacles=obs) |
| for team, count in enumerate(team_sizes): |
| for _ in range(count): |
| w.soldiers.append(w._free_soldier(rng, team)) |
| return w |
|
|
| def _free_soldier(self, rng, team) -> Soldier: |
| for _ in range(500): |
| x = rng.uniform(3, 24) * (-1 if team == 0 else 1) |
| y = rng.uniform(-13.5, 13.5) |
| if self.is_free(x, y, C.SPAWN_MARGIN) and all( |
| np.hypot(s.x - x, s.y - y) > 3.0 for s in self.soldiers |
| ): |
| return Soldier(x, y, team) |
| |
| d = np.hypot(self.obstacles[:, 0] - x, self.obstacles[:, 1] - y) - self.obstacles[:, 2] |
| self.obstacles = np.delete(self.obstacles, int(np.argmin(d)), axis=0) |
| return self._free_soldier(rng, team) |
|
|
| |
| def is_free(self, x: float, y: float, margin: float = 0.0) -> bool: |
| o = self.obstacles |
| inside = np.hypot(o[:, 0] - x, o[:, 1] - y) < o[:, 2] + margin |
| if not inside.any(): |
| return True |
| if len(self.craters) and margin == 0.0: |
| c = self.craters |
| if (np.hypot(c[:, 0] - x, c[:, 1] - y) < c[:, 2]).any(): |
| return True |
| return False |
|
|
| def add_crater(self, x: float, y: float, r: float = C.CRATER_R) -> None: |
| self.craters = np.vstack([self.craters, [x, y, r]]) |
|
|
| def alive(self, team: int | None = None) -> list[int]: |
| return [i for i, s in enumerate(self.soldiers) if s.alive and (team is None or s.team == team)] |
|
|
| def copy(self) -> "World": |
| return World( |
| obstacles=self.obstacles.copy(), |
| soldiers=[Soldier(s.x, s.y, s.team, s.alive) for s in self.soldiers], |
| craters=self.craters.copy(), |
| ) |
|
|
