environment.py

import pygame

class Environment():
	"""
	A class of the map where the robot will be moving around.

	Attributes
	----------
	dimensions : tuple
		The X and Y window dimensions.
	"""
	
	def __init__(self, map_dimensions):
		# Colors 
		self.WHITE = (255, 255, 255)
		self.BLACK = (0, 0, 0)
		self.RED = (255, 0, 0)
		self.GREEN = (0, 255, 0)
		self.BLUE = (0, 0, 255)
		self.BROWN = (189, 154, 122)
		self.GRAY = (105, 105, 105)

		# Map dimensions
		self.WIDTH, self.HEIGHT = map_dimensions

		# Window settings
		self.FPS = 120
		pygame.display.set_caption('RRT')
		self.map = pygame.display.set_mode(size=(self.WIDTH, self.HEIGHT))
		self.map.fill(self.WHITE)

		self.obstacles = []


	def make_obstacles_T(self, initial_point):
		"""
		Given a initial point, it makes a obstacle with shape of T.
		
		Parameters
		----------
		initial_point : tuple
			X and Y coordinates, starting from the top-left most part where
			the obstacle will be placed.
		
		Returns
		-------
		list
			A collection of sides composing the T obstacle.			
		"""
		x, y = initial_point[0], initial_point[1]
		width, height = 50, 150

		side1 = pygame.Rect(x, y, height, width)
		side2 = pygame.Rect((x+height//2) - width//2, y, width, height)

		obstacle = [side1, side2]

		return obstacle

	def make_obstacles_L(self, initial_point):
		"""
		Given a initial point, it makes a obstacle with shape of L.
		
		Parameters
		----------
		initial_point : tuple
			X and Y coordinates, starting from the top-left most part where
			the obstacle will be placed.
		
		Returns
		-------
		list
			A collection of sides composing the L obstacle.
		"""	
		x, y = initial_point[0], initial_point[1]
		width, height = 50, 150

		side1 = pygame.Rect(x, y, width, height)
		side2 = pygame.Rect(x, y+height-width, height, width)

		obstacle = [side1, side2]

		return obstacle

	def make_obstacles(self):
		"""Generate the obstacles to be placed on the final map."""
		obstacle1 = self.make_obstacles_T(initial_point=(350, 200))
		obstacle2 = self.make_obstacles_L(initial_point=(150, 20))

		self.obstacles.append(obstacle1)
		self.obstacles.append(obstacle2)

		return self.obstacles

	def draw_obstacles(self):
		"""Draw each side of the obstacles."""
		obstacles = []
		self.make_obstacles()

		for obstacle in self.obstacles:
			for side in obstacle:
				pygame.draw.rect(surface=self.map, color=self.GRAY,
					rect=side)
				obstacles.append(side)

		return obstacles

	def draw_convex_obstacles():
		"""Draw obstacles on the window.

		Parameters
		----------
		None

		Returns
		-------
		list
			All the rectangle obstacles.
		"""
		obstacles = []
		obstacle1 = pygame.Rect((WIDTH//2 + 90, HEIGHT//2 - 45, 90, 90))
		obstacle2 = pygame.Rect((WIDTH//2 - 180, HEIGHT//2 - 45, 90, 90))
		pygame.draw.rect(surface=WINDOW, color=RED, rect=obstacle1)
		pygame.draw.rect(surface=WINDOW, color=RED, rect=obstacle2)

		# Just decoration borders in black
		pygame.draw.rect(surface=WINDOW, color=BLACK, rect=obstacle1, width=2)
		pygame.draw.rect(surface=WINDOW, color=BLACK, rect=obstacle2, width=2)

		obstacles.append(obstacle1)
		obstacles.append(obstacle2)

		return obstacles