/**
* Returns a movement result of the agent. If the agent tries to pass through a semi-wall, then it
* is randomly selected whether the agent succeeds or not. If the agent tries to move through a
* solid wall or to a location where there is another agent who is not moving, then no change
* occurs.
*
* @param s the state containing the agent
* @param p0 the initial position of the agent
* @param delta the desired change of position.
* @param agentNoOpLocs the locations occupied by agents who are not moving.
* @return The resulting location of this agents movement.
*/
protected Location2 sampleBasicMovement(
State s, Location2 p0, Location2 delta, List<Location2> agentNoOpLocs) {
Location2 p1 = p0.add(delta);
boolean reset = false;
for (Location2 anl : agentNoOpLocs) {
if (p1.equals(anl)) {
reset = true;
break;
}
}
if (delta.x != 0 && !reset) {
reset =
this.sampleWallCollision(p0, delta, s.getObjectsOfClass(GridGame.CLASSDIMVWALL), true);
}
if (delta.y != 0 && !reset) {
reset =
this.sampleWallCollision(p0, delta, s.getObjectsOfClass(GridGame.CLASSDIMHWALL), false);
}
if (reset) {
p1 = p1.subtract(delta);
}
return p1;
}
/**
* Returns the list of possible outcome locations for a given start point and desired position
* change.
*
* @param s the state in which the changes would occur
* @param p0 the initial location
* @param delta the desired change in position
* @param agentNoOpLocs the locations occupied by agents who are not moving
* @return the list of possible outcome locations in which the agent could wind up
*/
protected List<Location2Prob> getPossibleLocationsFromWallCollisions(
State s, Location2 p0, Location2 delta, List<Location2> agentNoOpLocs) {
List<Location2Prob> locs = new ArrayList<GridGameStandardMechanics.Location2Prob>(2);
Location2 p1 = p0.add(delta);
for (Location2 anl : agentNoOpLocs) {
if (p1.equals(anl)) {
// definitely cannot move to desired position
p1 = p1.subtract(delta);
locs.add(new Location2Prob(p1, 1.));
return locs;
}
}
if (delta.x != 0) {
int wc = this.wallCollision(p0, delta, s.getObjectsOfClass(GridGame.CLASSDIMVWALL), true);
if (wc == 0) {
locs.add(new Location2Prob(p1, 1.)); // agent freely moves
} else if (wc == 1) {
p1 = p1.subtract(delta);
locs.add(new Location2Prob(p1, 1.)); // agent certainly cannot move
} else {
// agent moves with some probability
locs.add(new Location2Prob(p1, this.pMoveThroughSWall));
locs.add(new Location2Prob(p1.subtract(delta), 1. - this.pMoveThroughSWall));
}
} else if (delta.y != 0) {
int wc = this.wallCollision(p0, delta, s.getObjectsOfClass(GridGame.CLASSDIMHWALL), false);
if (wc == 0) {
locs.add(new Location2Prob(p1, 1.)); // agent freely moves
} else if (wc == 1) {
p1 = p1.subtract(delta);
locs.add(new Location2Prob(p1, 1.)); // agent certainly cannot move
} else {
// agent moves with some probability
locs.add(new Location2Prob(p1, this.pMoveThroughSWall));
locs.add(new Location2Prob(p1.subtract(delta), 1. - this.pMoveThroughSWall));
}
} else {
// agent is not trying to change location
locs.add(new Location2Prob(p1, 1.));
}
return locs;
}
