@Override
protected State actionHelper(State s, JointAction ja) {
List<GroundedSGAgentAction> gsas = ja.getActionList();
// need to force no movement when trying to enter space of a noop agent
List<Location2> previousLocations = new ArrayList<GridGameStandardMechanics.Location2>();
List<Location2> noopLocations = new ArrayList<GridGameStandardMechanics.Location2>();
for (GroundedSGAgentAction gsa : gsas) {
Location2 loc = this.getLocation(s, gsa.actingAgent);
previousLocations.add(loc);
if (gsa.action.actionName.equals(GridGame.ACTIONNOOP)) {
noopLocations.add(loc);
}
}
List<Location2> basicMoveResults = new ArrayList<GridGameStandardMechanics.Location2>();
for (int i = 0; i < ja.size(); i++) {
Location2 loc = previousLocations.get(i);
GroundedSGAgentAction gsa = gsas.get(i);
basicMoveResults.add(
this.sampleBasicMovement(
s, loc, this.attemptedDelta(gsa.action.actionName), noopLocations));
}
// resolve swaps
basicMoveResults = this.resolvePositionSwaps(previousLocations, basicMoveResults);
List<Location2> finalPositions = this.resolveCollisions(previousLocations, basicMoveResults);
for (int i = 0; i < finalPositions.size(); i++) {
GroundedSGAgentAction gsa = gsas.get(i);
Location2 loc = finalPositions.get(i);
ObjectInstance agent = s.getObject(gsa.actingAgent);
agent.setValue(GridGame.ATTX, loc.x);
agent.setValue(GridGame.ATTY, loc.y);
}
return s;
}
@Override
public List<TransitionProbability> transitionProbsFor(State s, JointAction ja) {
List<TransitionProbability> tps = new ArrayList<TransitionProbability>();
List<GroundedSGAgentAction> gsas = ja.getActionList();
// need to force no movement when trying to enter space of a noop agent
List<Location2> previousLocations = new ArrayList<GridGameStandardMechanics.Location2>();
List<Location2> noopLocations = new ArrayList<GridGameStandardMechanics.Location2>();
for (GroundedSGAgentAction gsa : gsas) {
Location2 loc = this.getLocation(s, gsa.actingAgent);
previousLocations.add(loc);
if (gsa.action.actionName.equals(GridGame.ACTIONNOOP)) {
noopLocations.add(loc);
}
}
List<List<Location2Prob>> possibleOutcomes = new ArrayList<List<Location2Prob>>();
for (int i = 0; i < ja.size(); i++) {
Location2 loc = previousLocations.get(i);
GroundedSGAgentAction gsa = gsas.get(i);
possibleOutcomes.add(
this.getPossibleLocationsFromWallCollisions(
s, loc, this.attemptedDelta(gsa.action.actionName), noopLocations));
}
List<LocationSetProb> outcomeSets = this.getAllLocationSets(possibleOutcomes);
for (LocationSetProb sp : outcomeSets) {
// resolve collisions from attempted swaps, which is deterministic and does not need to be
// recursed
List<Location2> basicMoveResults = this.resolvePositionSwaps(previousLocations, sp.locs);
// finally, we need to find all stochastic outcomes from cell competition
List<LocationSetProb> cOutcomeSets =
this.getPossibleCollisionOutcomes(previousLocations, basicMoveResults);
// turn them into states with probabilities
for (LocationSetProb csp : cOutcomeSets) {
State ns = s.copy();
for (int i = 0; i < csp.locs.size(); i++) {
GroundedSGAgentAction gsa = gsas.get(i);
Location2 loc = csp.locs.get(i);
ObjectInstance agent = ns.getObject(gsa.actingAgent);
agent.setValue(GridGame.ATTX, loc.x);
agent.setValue(GridGame.ATTY, loc.y);
}
double totalProb = sp.p * csp.p;
TransitionProbability tp = new TransitionProbability(ns, totalProb);
tps.add(tp);
}
}
return this.combineDuplicateTransitionProbabilities(tps);
}