From 12de00d74877dd90706ea2782d496efbe03dc03d Mon Sep 17 00:00:00 2001
From: Giovanni Briglia <93917046+Giovannibriglia@users.noreply.github.com>
Date: Sat, 31 Aug 2024 09:27:32 +0200
Subject: [PATCH] [environment rendering] implementing boundary visualization
 for limited environments

---
 vmas/simulator/environment/environment.py | 45 -----------------------
 1 file changed, 45 deletions(-)

diff --git a/vmas/simulator/environment/environment.py b/vmas/simulator/environment/environment.py
index c80eaf43..e96b1be4 100644
--- a/vmas/simulator/environment/environment.py
+++ b/vmas/simulator/environment/environment.py
@@ -740,51 +740,6 @@ def render(
                 pos[Y] + cam_range[Y],
             )
 
-        # Include boundaries in the rendering
-        from vmas.simulator import rendering
-        from vmas.simulator.rendering import Line
-        from vmas.simulator.utils import Color
-
-        # Check if the world dimensions are defined
-        if self.world.x_semidim is not None and self.world.y_semidim is not None:
-            # Get the radius of the agents
-            radius = self.agents[0].shape.radius
-
-            # Get the origin coordinates and dimensions for rendering
-            origin_x, origin_y = (
-                self.scenario.render_origin[X],
-                self.scenario.render_origin[Y],
-            )
-            # Extend the dimensions to account for the agent's radius
-            x_semi, y_semi = (
-                self.world.x_semidim + radius,
-                self.world.y_semidim + radius,
-            )
-
-            # Define the corner points of the boundary
-            corners = [
-                (origin_x - x_semi, origin_y + y_semi),  # top_left
-                (origin_x + x_semi, origin_y + y_semi),  # top_right
-                (origin_x + x_semi, origin_y - y_semi),  # bottom_right
-                (origin_x - x_semi, origin_y - y_semi),  # bottom_left
-            ]
-
-            # Set the color for the boundary lines
-            color = Color.BLACK.value
-            # Initialize a transformation (if needed for rendering)
-            xform = rendering.Transform()
-
-            # Create lines to form the boundary by connecting each corner to the next
-            for i in range(len(corners)):
-                start = corners[i]  # Current corner point
-                end = corners[
-                    (i + 1) % len(corners)
-                ]  # Next corner point, wraps around to the first point
-                line = Line(start, end, width=1)  # Create a line between two corners
-                line.add_attr(xform)  # Apply transformation to the line
-                line.set_color(*color)  # Set the line color
-                self.viewer.add_geom(line)  # Add the line to the viewer for rendering
-
         # Render
         self._set_agent_comm_messages(env_index)