.gitignore

@@ -1,176 +0,0 @@
-# Created by https://www.toptal.com/developers/gitignore/api/python
-# Edit at https://www.toptal.com/developers/gitignore?templates=python
-
-### Python ###
-# Byte-compiled / optimized / DLL files
-__pycache__/
-*.py[cod]
-*$py.class
-
-# C extensions
-*.so
-
-# Distribution / packaging
-.Python
-build/
-develop-eggs/
-dist/
-downloads/
-eggs/
-.eggs/
-lib/
-lib64/
-parts/
-sdist/
-var/
-wheels/
-share/python-wheels/
-*.egg-info/
-.installed.cfg
-*.egg
-MANIFEST
-
-# PyInstaller
-#  Usually these files are written by a python script from a template
-#  before PyInstaller builds the exe, so as to inject date/other infos into it.
-*.manifest
-*.spec
-
-# Installer logs
-pip-log.txt
-pip-delete-this-directory.txt
-
-# Unit test / coverage reports
-htmlcov/
-.tox/
-.nox/
-.coverage
-.coverage.*
-.cache
-nosetests.xml
-coverage.xml
-*.cover
-*.py,cover
-.hypothesis/
-.pytest_cache/
-cover/
-
-# Translations
-*.mo
-*.pot
-
-# Django stuff:
-*.log
-local_settings.py
-db.sqlite3
-db.sqlite3-journal
-
-# Flask stuff:
-instance/
-.webassets-cache
-
-# Scrapy stuff:
-.scrapy
-
-# Sphinx documentation
-docs/_build/
-
-# PyBuilder
-.pybuilder/
-target/
-
-# Jupyter Notebook
-.ipynb_checkpoints
-
-# IPython
-profile_default/
-ipython_config.py
-
-# pyenv
-#   For a library or package, you might want to ignore these files since the code is
-#   intended to run in multiple environments; otherwise, check them in:
-# .python-version
-
-# pipenv
-#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
-#   However, in case of collaboration, if having platform-specific dependencies or dependencies
-#   having no cross-platform support, pipenv may install dependencies that don't work, or not
-#   install all needed dependencies.
-#Pipfile.lock
-
-# poetry
-#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
-#   This is especially recommended for binary packages to ensure reproducibility, and is more
-#   commonly ignored for libraries.
-#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
-#poetry.lock
-
-# pdm
-#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
-#pdm.lock
-#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
-#   in version control.
-#   https://pdm.fming.dev/#use-with-ide
-.pdm.toml
-
-# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
-__pypackages__/
-
-# Celery stuff
-celerybeat-schedule
-celerybeat.pid
-
-# SageMath parsed files
-*.sage.py
-
-# Environments
-.env
-.venv
-env/
-venv/
-ENV/
-env.bak/
-venv.bak/
-
-# Spyder project settings
-.spyderproject
-.spyproject
-
-# Rope project settings
-.ropeproject
-
-# mkdocs documentation
-/site
-
-# mypy
-.mypy_cache/
-.dmypy.json
-dmypy.json
-
-# Pyre type checker
-.pyre/
-
-# pytype static type analyzer
-.pytype/
-
-# Cython debug symbols
-cython_debug/
-
-# PyCharm
-#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
-#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
-#  and can be added to the global gitignore or merged into this file.  For a more nuclear
-#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
-#.idea/
-
-### Python Patch ###
-# Poetry local configuration file - https://python-poetry.org/docs/configuration/#local-configuration
-poetry.toml
-
-# ruff
-.ruff_cache/
-
-# LSP config files
-pyrightconfig.json
-
-# End of https://www.toptal.com/developers/gitignore/api/python

game_plat.py

@@ -3,16 +3,15 @@ import math
 import numpy as np
 import random
 from utils.cv_marker import cap_and_mark
-# from utils.stack_exe import Stackbot
+from utils.stack_exe import Stackbot
 import cv2
-import sys
 
 
 pygame.init()
 
 WIDTH, HEIGHT = 800, 600
 screen = pygame.display.set_mode((WIDTH, HEIGHT))
-pygame.display.set_caption("Stack Simulation")
+pygame.display.set_caption("积木塔仿真")
 
 WHITE = (255, 255, 255)
 BLACK = (0, 0, 0)
@@ -29,14 +28,6 @@ cap.set(6,cv2.VideoWriter.fourcc('M','J','P','G'))
 cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
 cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
 
-# 定义屏幕尺寸
-SCREEN_WIDTH = 800
-SCREEN_HEIGHT = 600
-
-# 定义按钮尺寸
-BUTTON_WIDTH = 200
-BUTTON_HEIGHT = 200
-
 class Block:
     def __init__(self, x, y, width, height, angle, layer):
         self.x = x
@@ -71,34 +62,27 @@ class Block:
 
 
 class Tower:
-    def __init__(self, blueprint, tower_image=None):
+    def __init__(self):
         self.blocks = []
         self.current_layer = 0
-        self.layer_centroids = []
+        self.layer_centroids = []  # 存储每层的重心
-        self.stability_threshold = 10
+        self.stability_threshold = 10  # 稳定性阈值（像素）
-        self.rotation_angle = 15
+        self.rotation_angle = 15  # 预设每层旋转角度
-        self.angle_tolerance = 5
+        self.angle_tolerance = 5  # 允许的角度偏移
-        self.position_tolerance = 10
+        self.position_tolerance = 10  # 允许的位置偏移
 
         self.sim_to_robot_matrix = np.array([
-            [1, 0, 0, -300],
+            [1, 0, 0, -300],  # 假设的转换矩阵，需要根据实际情况调整
             [0, -1, 0, -200],
             [0, 0, 1, 0],
             [0, 0, 0, 1]
         ])
         self.robot_to_sim_matrix = np.linalg.inv(self.sim_to_robot_matrix)
 
+        self.stack_bot = Stackbot()
+
         self.is_upper = False
 
-        self.blueprint = blueprint
-        self.center_x, self.center_y = 300, 300  # 定义塔的中心点
-        self.ideal_positions = self.get_ideal_positions()
-        self.position_tolerance = 20
-        self.angle_tolerance = 15
-
-        self.tower_image = None
-        if tower_image:
-            self.tower_image = pygame.transform.scale(tower_image, (150, 150))  # 调整图片大小
 
     def sim_to_robot_coords(self, x, y, angle):
         sim_coords = np.array([x, y, 0, 1])
@@ -122,7 +106,7 @@ class Tower:
             angle (float): 机器人的角度
 
         返回值：
-            bool：如果方块添加成，返回 True，否则返回 False
+            bool：如果方块添加成功，返回 True，否则返回 False
 
         注意：这个函数需要先调用 robot_to_sim_coords 来将机器人坐标转换为模拟坐标，并且需要一个名为 Block 的类来创建方块对象
         """
@@ -137,27 +121,21 @@ class Tower:
 
 
     def add_block(self, block):
-        self.add_block_from_sim(block)
+        if self.current_layer == 5:
-        return True
+            self.is_upper = True
-        # if self.current_layer == 5:
+            print("is upper")
-        #     self.is_upper = True
-        #     print("is upper")
 
-        # if not self.check_interference(block):
+        if not self.check_interference(block):
-        #     self.blocks.append(block)
+            self.blocks.append(block)
-        #     self.stack_bot.pick_stack()
+            self.stack_bot.pick_stack()
-        #     robo_xyz = self.sim_to_robot_coords(block.x, block.y, block.angle)
+            robo_xyz = self.sim_to_robot_coords(block.x, block.y, block.angle)
-        #     print(block.x, block.y, block.angle)
+            print(block.x, block.y, block.angle)
-        #     if self.is_upper:
+            if self.is_upper:
-        #         self.stack_bot.place_stack(robo_xyz[0], robo_xyz[1], robo_xyz[2], self.current_layer - 5)
+                self.stack_bot.place_stack(robo_xyz[0], robo_xyz[1], robo_xyz[2], self.current_layer - 5)
-        #     else:
+            else:
-        #         self.stack_bot.place_stack(robo_xyz[0], robo_xyz[1], robo_xyz[2], self.current_layer)
+                self.stack_bot.place_stack(robo_xyz[0], robo_xyz[1], robo_xyz[2], self.current_layer)
-        #     return True
+            return True
-        # return False
+        return False
-    
-    def add_block_from_sim(self, block):
-        self.blocks.append(block)
-        return True
 
     def draw(self, surface):
         for block in self.blocks:
@@ -274,84 +252,49 @@ class Tower:
             self.layer_centroids.append(centroid)
         self.current_layer += 1
 
-    def get_ideal_positions(self):
-        # 将相对坐标转换为绝对坐标
-        absolute_positions = []
-        for layer in self.blueprint:
-            layer_positions = []
-            for rel_x, rel_y, angle in layer:
-                abs_x = self.center_x + rel_x
-                abs_y = self.center_y + rel_y
-                layer_positions.append((abs_x, abs_y, angle))
-            absolute_positions.append(layer_positions)
-        return absolute_positions
-
     def auto_place_block(self):
-        if self.current_layer >= len(self.ideal_positions):
+        if self.current_layer == 0:
-            print("塔已经完成")
+            # 对于第一层，直接在中心放置
-            return None, 0
+            return Block(WIDTH // 2, HEIGHT // 2, 100, 20, 0, self.current_layer)
 
-        possible_positions = self.generate_possible_positions()
+        base_centroid = self.layer_centroids[0] if self.layer_centroids else (WIDTH // 2, HEIGHT // 2)
-        best_position, similarity_score = self.find_best_position(possible_positions)
+        current_centroid = self.calculate_current_layer_centroid() or base_centroid
 
-        if best_position:
+        # 计算当前层的总质量（假设质量与宽度成正比）
-            x, y, angle = best_position
+        total_mass = sum(block.width for block in self.blocks if block.layer == self.current_layer)
-            print(f"选择的最佳位置: ({x}, {y}) 角度为 {angle}")
-            return Block(x, y, 100, 20, angle, self.current_layer), similarity_score
-        else:
-            print("无法找到合适的放置位置")
-            return None, 0
-
-    def generate_possible_positions(self):
-        ideal_positions = self.ideal_positions[self.current_layer]
-        possible_positions = []
-
-        for ideal_x, ideal_y, ideal_angle in ideal_positions:
-            for dx in range(-self.position_tolerance, self.position_tolerance + 1, 2):
-                for dy in range(-self.position_tolerance, self.position_tolerance + 1, 2):
-                    for dangle in range(-self.angle_tolerance, self.angle_tolerance + 1, 5):
-                        x = ideal_x + dx
-                        y = ideal_y + dy
-                        angle = (ideal_angle + dangle) % 360
-                        possible_positions.append((x, y, angle))
-
-        print(f"生成的可能位置数量: {len(possible_positions)}")
-        return possible_positions
-
-    def find_best_position(self, possible_positions):
-        best_position = None
-        min_distance = float('inf')
-        best_similarity_score = 0
         
-        blocks_in_current_layer = sum(1 for block in self.blocks if block.layer == self.current_layer)
+        # 假设新积木块的质量与宽度成正比
-        ideal_positions = self.ideal_positions[self.current_layer]
+        new_block_mass = 100  # 新积木块的宽度
-        
-        if blocks_in_current_layer < len(ideal_positions):
-            ideal_x, ideal_y, ideal_angle = ideal_positions[blocks_in_current_layer]
-        else:
-            print("警告：当前层的所有位置都已被填满")
-            return None, 0
 
-        for x, y, angle in possible_positions:
+        # 计算理想位置
-            new_block = Block(x, y, 100, 20, angle, self.current_layer)
+        ideal_x = (base_centroid[0] * (total_mass + new_block_mass) - current_centroid[0] * total_mass) / new_block_mass
+        ideal_y = (base_centroid[1] * (total_mass + new_block_mass) - current_centroid[1] * total_mass) / new_block_mass
+
+        # 计算木块中心到塔重心的角度
+        dx = base_centroid[0] - ideal_x
+        dy = base_centroid[1] - ideal_y
+        center_to_centroid_angle = math.degrees(math.atan2(dy, dx))
+
+        # 计算垂直于中心线的理想角度
+        ideal_angle = (center_to_centroid_angle + 90) % 180 + 90
+
+        # 步骤 2: 寻找最佳角度
+        best_block = None
+        min_angle_diff = float('inf')
+
+        for angle in range(0, 180, 15):  # 每15度尝试一次
+            test_block = Block(ideal_x, ideal_y, 100, 20, angle, self.current_layer)
             
-            if self.has_support(new_block) and not self.check_interference(new_block):
+            if not self.check_interference(test_block):
-                temp_tower = Tower(self.blueprint)
+                # 检查是否有支撑
-                temp_tower.blocks = self.blocks.copy()
+                if self.has_support(test_block):
-                temp_tower.add_block(new_block)
+                    # 计算与理想角度的差异
-                if temp_tower.check_stability():
+                    angle_diff = min((angle - ideal_angle) % 180, (ideal_angle - angle) % 180)
-                    distance = np.sqrt((x - ideal_x)**2 + (y - ideal_y)**2) + abs(angle - ideal_angle)
+                    if angle_diff < min_angle_diff:
-                    # 方案1：使用指数函数
+                        min_angle_diff = angle_diff
-                    ratio = distance / (np.sqrt(WIDTH**2 + HEIGHT**2) + 360)
+                        best_block = test_block
-                    similarity_score = 100 * (1 - np.power(ratio, 0.5))  # 使用0.5次方增加敏感度
-                    
-                    if distance < min_distance:
-                        min_distance = distance
-                        best_position = (x, y, angle)
-                        best_similarity_score = similarity_score
 
-        print(f"选择的最佳位置: {best_position}，相似性评分: {best_similarity_score:.2f}")
+        return best_block
-        return best_position, best_similarity_score
 
     def has_support(self, block):
         if self.current_layer == 0:
@@ -410,193 +353,10 @@ class Tower:
             self.add_block_from_robot(block[0][0], block[0][1], block[1])
             
             
-    def draw_tower_image(self, screen):
-        if self.tower_image:
-            image_rect = self.tower_image.get_rect()
-            image_rect.topright = (SCREEN_WIDTH - 10, 10)  # 放置在右上角，留出10像素的边距
-            screen.blit(self.tower_image, image_rect)
-
-def show_tower_selection(screen):
-    # 加载塔型图片
-    tower_images = [
-        pygame.image.load("tower1.png"),
-        pygame.image.load("tower2.png"),
-        pygame.image.load("tower3.png")
-    ]
-    
-    # 调整图片大小
-    tower_images = [pygame.transform.scale(img, (BUTTON_WIDTH, BUTTON_HEIGHT)) for img in tower_images]
-    
-    # 计算按钮位置
-    button_y = (SCREEN_HEIGHT - BUTTON_HEIGHT) // 2
-    button_x_start = (SCREEN_WIDTH - (BUTTON_WIDTH * 3 + 40)) // 2
-    
-    # 创建按钮矩形
-    buttons = [
-        pygame.Rect(button_x_start + i * (BUTTON_WIDTH + 20), button_y, BUTTON_WIDTH, BUTTON_HEIGHT)
-        for i in range(3)
-    ]
-    
-    while True:
-        for event in pygame.event.get():
-            if event.type == pygame.QUIT:
-                pygame.quit()
-                sys.exit()
-            if event.type == pygame.MOUSEBUTTONDOWN:
-                mouse_pos = pygame.mouse.get_pos()
-                for i, button in enumerate(buttons):
-                    if button.collidepoint(mouse_pos):
-                        return i  # 返回选择的塔型索引
-        
-        screen.fill(WHITE)
-        
-        # 绘制按钮和图片
-        for i, (button, image) in enumerate(zip(buttons, tower_images)):
-            screen.blit(image, button.topleft)
-            pygame.draw.rect(screen, BLACK, button, 2)
-        
-        # 添加标题
-        font = pygame.font.Font(None, 36)
-        title = font.render("Select Tower Type", True, BLACK)
-        title_rect = title.get_rect(center=(SCREEN_WIDTH // 2, 50))
-        screen.blit(title, title_rect)
-        
-        pygame.display.flip()
-
-def polar_to_cartesian(r, theta, angle):
-    """
-    将极坐标转换为直角坐标
-    
-    参数:
-    r: 半径
-    theta: 极角(度)
-    angle: 方块的旋转角度(度)
-    
-    返回:
-    (x, y, angle): 直角坐标和方块旋转角度
-    """
-    # 将角度转换为弧度
-    theta_rad = math.radians(theta)
-    
-    # 计算 x 和 y
-    x = r * math.cos(theta_rad)
-    y = r * math.sin(theta_rad)
-    
-    # 四舍五入到整数
-    x = round(x)
-    y = round(y)
-    
-    return (x, y, angle)
-
-def get_tower_blueprint_1():
-    # 第一种塔型的蓝图（相对坐标）
-    return [
-        [(-40, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-35, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-30, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-25, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-20, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-15, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-10, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-5, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(0, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-5, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-10, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-15, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-20, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-25, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-30, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-35, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-        [(-40, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-    ]
-
-def get_tower_blueprint_2():
-    # 使用极坐标定义第二种塔型的蓝图
-    return [
-        [(-30, 0, 90), (30, 0, 90)],
-        [(-3, 30, -5), (3, -30, -5)],
-        [(-29, -5, 80), (29, 5, 80)],
-        [(-8, 29, -15), (8, -29, -15)],
-        [(-28, -10, 70), (28, 10, 70)],
-        [(-13, 27, -25), (13, -27, -25)],
-        [(-27, -13, 60), (27, 13, 60)],
-        [(-18, 25, -35), (18, -25, -35)],
-        [(-26, -18, 50), (26, 18, 50)],
-        [(-21, 23, -45), (21, -23, -45)],
-        [(-25, -21, 40), (25, 21, 40)],
-        [(-22, 20, -55), (22, -20, -55)],
-        [(-24, -22, 30), (24, 22, 30)],
-        [(-20, 19, -65), (20, -19, -65)],
-        [(-23, -20, 20), (23, 20, 20)],
-        [(-19, 18, -75), (19, -18, -75)],
-        [(-22, -19, 10), (22, 19, 10)],
-        [(-17, 17, -85), (17, -17, -85)],
-        [(-21, -17, 0), (21, 17, 0)],
-        [(-16, 16, -95), (16, -16, -95)],
-    ]
-
-def get_tower_blueprint_3():
-    # 第三种塔型的蓝图（相对坐标）
-    return [
-        [(-60, -60, 45), (60, -60, 135), (-60, 60, 135), (60, 60, 45)],
-        [(0, -80, 0), (80, 0, 90), (0, 80, 0), (-80, 0, 90)],
-        [(-55, -55, 45), (55, -55, 135), (-55, 55, 135), (55, 55, 45)],
-        [(0, -75, 0), (75, 0, 90), (0, 75, 0), (-75, 0, 90)],
-        [(-50, -50, 45), (50, -50, 135), (-50, 50, 135), (50, 50, 45)],
-        [(0, -70, 0), (70, 0, 90), (0, 70, 0), (-70, 0, 90)],
-        [(-45, -45, 45), (45, -45, 135), (-45, 45, 135), (45, 45, 45)],
-        [(0, -65, 0), (65, 0, 90), (0, 65, 0), (-65, 0, 90)],
-        [(-40, -40, 45), (40, -40, 135), (-40, 40, 135), (40, 40, 45)],
-        [(0, -60, 0), (60, 0, 90), (0, 60, 0), (-60, 0, 90)],
-        [(-40, 0, 90), (40, 0, 90)],
-        [(0, 40, 0), (0, -40, 0)],
-    ]
-
 def main():
-    pygame.init()
+    tower = Tower()
-    screen = pygame.display.set_mode((SCREEN_WIDTH, SCREEN_HEIGHT))
-    pygame.display.set_caption("Stack Simulation")
-
-    # 加载塔型图片
-    tower_images = [
-        pygame.image.load("tower1.png"),
-        pygame.image.load("tower2.png"),
-        pygame.image.load("tower3.png")
-    ]
-
-    # 显示塔选择界面
-    selected_tower = show_tower_selection(screen)
-    
-    # 根据选择的塔型设置相应的蓝图和图片
-    if selected_tower == 0:
-        tower_blueprint = get_tower_blueprint_1()
-    elif selected_tower == 1:
-        tower_blueprint = get_tower_blueprint_2()
-    else:
-        tower_blueprint = get_tower_blueprint_3()
-    
-    tower = Tower(tower_blueprint, tower_images[selected_tower])
     clock = pygame.time.Clock()
     current_block = None
-    similarity_score = 0  # 初始化相似性评分
-    font = pygame.font.Font(None, 36)  # 创建字体对象
     
     running = True
     while running:
@@ -610,27 +370,9 @@ def main():
             elif event.type == pygame.MOUSEMOTION:
                 if current_block:
                     current_block.x, current_block.y = pygame.mouse.get_pos()
-                    # 实时计算当前位置的相似性评分
-                    ideal_positions = tower.ideal_positions[tower.current_layer]
-                    blocks_in_current_layer = sum(1 for block in tower.blocks if block.layer == tower.current_layer)
-                    if blocks_in_current_layer < len(ideal_positions):
-                        ideal_x, ideal_y, ideal_angle = ideal_positions[blocks_in_current_layer]
-                        distance = np.sqrt((current_block.x - ideal_x)**2 + (current_block.y - ideal_y)**2) + abs(current_block.angle - ideal_angle)
-                        # similarity_score = 100 * (1 - distance / (np.sqrt(WIDTH**2 + HEIGHT**2) + 360))
-                        ratio = distance / (np.sqrt(WIDTH**2 + HEIGHT**2) + 360)
-                        similarity_score = 100 * (1 - np.power(ratio, 0.5))  # 使用0.5次方增加敏感度
             elif event.type == pygame.MOUSEBUTTONUP:
                 if event.button == 1 and current_block:
-                    # 计算最终放置位置的相似性评分
+                    if tower.add_block(current_block):
-                    ideal_positions = tower.ideal_positions[tower.current_layer]
-                    blocks_in_current_layer = sum(1 for block in tower.blocks if block.layer == tower.current_layer)
-                    if blocks_in_current_layer < len(ideal_positions):
-                        ideal_x, ideal_y, ideal_angle = ideal_positions[blocks_in_current_layer]
-                        distance = np.sqrt((current_block.x - ideal_x)**2 + (current_block.y - ideal_y)**2) + abs(current_block.angle - ideal_angle)
-                        similarity_score = 100 * (1 - distance / (np.sqrt(WIDTH**2 + HEIGHT**2) + 360))
-                        
-                    if tower.add_block_from_sim(current_block):
-                        print(f"Block placed with similarity score: {similarity_score:.2f}")
                         current_block = None
                     else:
                         print("CANNOT place block here, there is already a block there.")
@@ -641,15 +383,11 @@ def main():
                 elif event.key == pygame.K_SPACE:  # 按 'Space' 键确认当前层完成放置
                     tower.increase_layer()
                 elif event.key == pygame.K_a:  # 按 'A' 键自动放置
-                    auto_block, new_similarity_score = tower.auto_place_block()
+                    auto_block = tower.auto_place_block()
                     if auto_block:
-                        if tower.add_block_from_sim(auto_block):
+                        tower.add_block(auto_block)
-                            print(f"Successfully placed block at ({auto_block.x}, {auto_block.y}) with angle {auto_block.angle}")
-                            similarity_score = new_similarity_score
-                        else:
-                            print("Cannot place block")
                     else:
-                        print("Cannot find suitable position")
+                        print("Cannot find a suitable position for auto-placement.")
                 elif event.key == pygame.K_n:  # 按 'N' 键自动放置新的一层
                     tower.auto_place_layer()
                 elif event.key == pygame.K_s:  # 按 'S' 键扫描当前层
@@ -661,10 +399,6 @@ def main():
         if current_block:
             current_block.draw(screen)
 
-        # 显示相似性评分
-        score_text = font.render(f"Similarity Score: {similarity_score:.2f}", True, (0, 0, 0))
-        screen.blit(score_text, (10, 50))
-
         # 计算并绘制当前层的重心
         current_centroid = tower.calculate_current_layer_centroid()
         if current_centroid:
@@ -684,15 +418,13 @@ def main():
             screen.blit(text, (WIDTH // 2 - text.get_width() // 2, 20))
 
         font = pygame.font.Font(None, 36)
-        layer_text = font.render(f"Current Layer: {tower.current_layer + 1}", True, BLACK)
+        layer_text = font.render(f"Current layer: {tower.current_layer + 1}", True, BLACK)
         screen.blit(layer_text, (10, 10))
 
-        tower.draw_tower_image(screen)
-
         pygame.display.flip()
         clock.tick(60)
 
     pygame.quit()
 
 if __name__ == "__main__":
-    main()
+    main()