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[Feature] Boundary visualization for limited-size environments #142

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merged 19 commits into from
Sep 20, 2024
Merged

[Feature] Boundary visualization for limited-size environments #142

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b4752db
add boundary visualization for limited-size environments
Giovannibriglia Sep 17, 2024
9a6a890
add boundary visualization for limited-size environments
Giovannibriglia Sep 18, 2024
1177611
add boundary visualization for limited-size environments
Giovannibriglia Sep 18, 2024
15c244f
introduce "visualize_semidims" to display boundaries
Giovannibriglia Sep 18, 2024
5ca1125
Update vmas/simulator/environment/environment.py
Giovannibriglia Sep 18, 2024
d328cc8
Merge remote-tracking branch 'origin/boundaries_rendering' into bound…
Giovannibriglia Sep 18, 2024
255e577
Update vmas/simulator/environment/environment.py
Giovannibriglia Sep 19, 2024
2119cbd
Update vmas/simulator/environment/environment.py
Giovannibriglia Sep 19, 2024
beeba6b
Update vmas/simulator/environment/environment.py
Giovannibriglia Sep 19, 2024
010e99c
Update vmas/simulator/environment/environment.py
Giovannibriglia Sep 19, 2024
e1afd29
Update vmas/simulator/scenario.py
Giovannibriglia Sep 19, 2024
a17dea1
add boundary visualization for limited-size environments
Giovannibriglia Sep 20, 2024
e57ca48
disabled "visualize_semidims" as boundaries are already being plotted…
Giovannibriglia Sep 20, 2024
0f7626c
Update vmas/simulator/environment/environment.py
Giovannibriglia Sep 20, 2024
411fd8f
Update vmas/simulator/environment/environment.py
Giovannibriglia Sep 20, 2024
b370fa8
disabled "visualize_semidims" as boundaries are already being plotted…
Giovannibriglia Sep 20, 2024
a4a0af9
add boundary visualization for limited-size environments
Giovannibriglia Sep 20, 2024
a6526da
Update vmas/simulator/environment/environment.py
Giovannibriglia Sep 20, 2024
6f4e1e2
add boundary visualization for limited-size environments
Giovannibriglia Sep 20, 2024
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50 changes: 50 additions & 0 deletions vmas/simulator/environment/environment.py
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Original file line number Diff line number Diff line change
Expand Up @@ -741,6 +741,9 @@ def render(
)

# Render
if self.scenario.visualize_semidims:
self.plot_boundary()

self._set_agent_comm_messages(env_index)

if plot_position_function is not None:
Expand Down Expand Up @@ -770,6 +773,53 @@ def render(
# render to display or array
return self.viewer.render(return_rgb_array=mode == "rgb_array")

def plot_boundary(self):
# Include boundaries in the rendering
from vmas.simulator import rendering
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from vmas.simulator.rendering import Line
from vmas.simulator.utils import Color

# Check boundary limits
if self.world.x_semidim is not None or self.world.y_semidim is not None:

infinite_value = 1e7
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# set semidim variables
x_semi = (
self.world.x_semidim
if self.world.x_semidim is not None
else infinite_value
)
y_semi = (
self.world.y_semidim
if self.world.y_semidim is not None
else infinite_value
)

# define edges
boundary_edges = [
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In the case of only one boundary set we need just 2 lines not 4

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@Giovannibriglia Giovannibriglia Sep 19, 2024 •
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In the case of only one boundary set we need just 2 lines not 4

Sorry, are you sure?

Eventhough are just two lines, in my opinion, we should specify 4 points. Anyway, I agree that the previous implementation drew a square/rectangle.

I think the point regards the for-loop for drawing lines, for this reason I suggest this new implementation. But I'm not understanding why it draws nothing in the case of just "two parallel lines".

if x_semi is not None and y_semi is not None: # drawing square/rectangle

    boundary_edges = [
        (-x_semi, y_semi),  # top_left
        (x_semi, y_semi),  # top_right
        (x_semi, -y_semi),  # bottom_right
        (-x_semi, -y_semi)  # bottom_left
    ]

    # Create lines to form the boundary by connecting each corner to the next
    for i in range(len(boundary_edges)):
        start = boundary_edges[i]  # Current corner point
        end = boundary_edges[
            (i + 1) % len(boundary_edges)]  # Next corner point, wrap around to the first point
        print(start, end)
        line = Line(start, end, width=0.7)  # Create a line between two corners
        line.set_color(*color)  # Set the line color
        self.viewer.add_onetime(line)  # Add the line to the viewer for rendering

else: # drawing two parallel lines

    # if only x_semi is provided, draw horizontal lines
    if x_semi is not None:
        boundary_edges = [
            (-x_semi, infinite_value),  # upper_left
            (x_semi, infinite_value),  # upper_right
            (-x_semi, -infinite_value),  # lower_left
            (x_semi, -infinite_value)  # lower_right
        ]

    # if only y_semi is provided, draw vertical lines
    elif y_semi is not None:
        boundary_edges = [
            (infinite_value, y_semi),  # right_top
            (infinite_value, -y_semi),  # right_bottom
            (-infinite_value, y_semi),  # left_top
            (-infinite_value, -y_semi)  # left_bottom
        ]

    else:
        boundary_edges = []

    # create the two parallel lines by connecting the points
    for i in range(0, len(boundary_edges), 2):
        start = boundary_edges[i]
        end = boundary_edges[i + 1]
        print(start, end)
        line = Line(start, end, width=0.7)
        line.set_color(*color)
        self.viewer.add_onetime(line)

What do you think?

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@Giovannibriglia Giovannibriglia Sep 19, 2024 •
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I was wrong in labelling boundary_edges, the correct name should be boundary_points or something like this.

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yes what you did is what i was thinking, still 4 points, but only draw 2 lines when only one semidim is available.

I do think we can write it a little more compactly tho:

  • define the 4 points like before
  • write only once the line creation loop making it work for 2 or 4 lines

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if it is too difficult also as is it works, but more compact would look better

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what we want to avoid is drawing 4 lines when only one semidim is available

(-x_semi, y_semi), # top_left
(x_semi, y_semi), # top_right
(x_semi, -y_semi), # bottom_right
(-x_semi, -y_semi), # bottom_left
]

# Set the color for the boundary lines
color = Color.GRAY.value
# Initialize a transformation
xform = rendering.Transform()
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# Create lines to form the boundary by connecting each corner to the next
for i in range(len(boundary_edges)):
start = boundary_edges[i] # Current corner point
end = boundary_edges[
(i + 1) % len(boundary_edges)
] # Next corner point, wraps around to the first point
line = Line(start, end, width=0.7) # Create a line between two corners
line.add_attr(xform) # Apply transformation to the line
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line.set_color(*color) # Set the line color
self.viewer.add_onetime(line) # Add the line to the viewer for rendering

def plot_function(
self, f, precision, plot_range, cmap_range, cmap_alpha, cmap_name
):
Expand Down
2 changes: 2 additions & 0 deletions vmas/simulator/scenario.py
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Expand Up @@ -56,6 +56,8 @@ def __init__(self):
"""Whether to plot a grid in the scenario rendering background. This can be changed in the :class:`~make_world` function. """
self.grid_spacing = 0.1
"""If :class:`~plot_grid`, the distance between lines in the background grid. This can be changed in the :class:`~make_world` function. """
self.visualize_semidims = True
"""If :class:`~plot_grid`, boundaries are displayed if dimension-limited environment. This can be changed in the :class:`~make_world` function. """
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@property
def world(self):
Expand Down