petting zoo 自己的笔记

core.py中的integrate_state应用了智能体做出动作以后对环境状态的影响。它的参数p_force来源于apply_environment_force()的返回结果，通过这几个代码可以清楚pettingzoo中动作对状态的影响逻辑。

    def integrate_state(self, p_force):
        for i,entity in enumerate(self.entities):
            if not entity.movable: continue
            entity.state.p_vel = entity.state.p_vel * (1 - self.damping)
            if (p_force[i] is not None):
                entity.state.p_vel += (p_force[i] / entity.mass) * self.dt
            if entity.max_speed is not None:
                speed = np.sqrt(np.square(entity.state.p_vel[0]) + np.square(entity.state.p_vel[1]))
                if speed > entity.max_speed:
                    entity.state.p_vel = entity.state.p_vel / np.sqrt(np.square(entity.state.p_vel[0]) +
                                                                  np.square(entity.state.p_vel[1])) * entity.max_speed
            entity.state.p_pos += entity.state.p_vel * self.dt