refactor: refactor code

main.py

@@ -15,7 +15,7 @@
 from src.render_object import RenderObject
 from src.interface import Button, Interface
 from src.agent_parts.limb import Limb
-from src.agent_parts.rectangle import Point, Rectangle, rectangle_factory
+from src.agent_parts.rectangle import Point
 
 
 from src.agent_parts.rectangle import Point
@@ -143,35 +143,25 @@ def make_limb():
     interface.add_button(pause_button)
 
 
-    environment = Environment(screen)
-    environment.ground_type = GroundType.BASIC_GROUND
 
     # Set up the Pymunk space
     space = pymunk.Space()
     space.gravity = (0, 981)  # Gravity pointing downward
 
+    environment = Environment(screen, space)
+    environment.ground_type = GroundType.BASIC_GROUND
     for environment_segment in environment.ground.terrain_segments:
         environment_segment.init_pymunk_polygon(space)
 
     creature = Creature(space)
 
-    # Add limbs to the creature, placing them above the ground
-    #limb1 = creature.add_limb(100, 20, (300, 100), mass=1)  # Positioned above the ground
-    #limb2 = creature.add_limb(100, 20, (350, 100), mass=1)  # Positioned above the ground
-    #limb3 = creature.add_limb(110, 20, (400, 100), mass=5)
-
-    # Add a motor between limbs
-    #creature.add_motor(limb1, limb2, (50, 0), (-25, 0), rate=2, tolerance=30)
-    #creature.add_motor(limb2, limb3, (37, 0), (-23, 0), rate=-2, tolerance=50)
+
 
     # Add limbs to the creature
     limb1 = creature.add_limb(100, 20, (300, 300), mass=1)
     limb2 = creature.add_limb(100, 20, (350, 300), mass=3)
     limb3 = creature.add_limb(80, 40, (400, 300), mass=5)
 
-    # Add motors between limbs
-    #creature.add_motor(limb1, limb2, (25, 0), (-25, 0), rate=2)
-    #creature.add_motor(limb2, limb3, (37, 0), (-23, 0), rate=-2)
     creature.add_motor_on_limbs(limb1, limb2, (325, 300))
     creature.add_motor_on_limbs(limb2, limb3, (375, 300))
 
@@ -186,7 +176,7 @@ def make_limb():
     limbs = []
 
     environment = Environment(screen, space)
-    environment.ground_type = GroundType.BASIC_GROUND
+    environment.ground_type = GroundType.PERLIN
 
     population_size = 10
     creatures = create_creatures(population_size, space)
@@ -271,11 +261,11 @@ def make_limb():
 
 
         # TODO: vision should be part of a creature, and not environment
-        print(environment.vision.get_near_periphery())
         inputs = np.array([environment.vision.get_near_periphery().x, 
                            environment.vision.get_near_periphery().y,
                            environment.vision.get_far_periphery().x,
                            environment.vision.get_far_periphery().y])
+
         for index, creature in enumerate(creatures):
             network = population[index]
             for joint_rate in creature.get_joint_rates():

src/agent.py

@@ -9,7 +9,6 @@
 
 from src.agent_parts_old.limb import Limb, LimbType, limb_factory
 from src.agent_parts_old.creature import Creature, creature_factory
-from CrawlAI.src.agent_parts.rectangle import Rectangle, rectangle_factory
 
 
 class Agent(ABC):

src/agent_parts/limb.py

@@ -36,4 +36,4 @@ def render(self, screen):
         # Convert pymunk Vec2d vertices to pygame coordinates
         vertices = [(float(v.x), float(v.y)) for v in vertices]
         # Draw the polygon onto the screen
-        pygame.draw.polygon(surface=screen, color=(0, 255, 0), vertices=vertices, width=0)
+        pygame.draw.polygon(surface=screen, color=(0, 255, 0), points=vertices, width=0)

src/agent_parts/motorjoint.py

@@ -21,14 +21,13 @@ def render(self, screen, body_a, body_b):
         pos_a_world = body_a.local_to_world(self.pivot.anchor_a)
         # Draw a line connecting the two bodies
         pygame.draw.circle(
-            screen, 
-            (255, 0, 0), 
-            (int(pos_a_world.x),
+            surface=screen, 
+            color=(255, 0, 0), 
+            point=(int(pos_a_world.x),
             int(pos_a_world.y)),
-            3)
+            radius=3)
 
     def get_angle(self):
         """Get the angle of the motor joint."""
         return self.pivot.angle
-        # Draw a circle connecting the two bodies
-        pygame.draw.circle(surface=screen, color=(255, 0, 0), center=(int(pos_a_world.x), int(pos_a_world.y)), radius=3)
+

src/ground.py

@@ -398,11 +398,10 @@ def get_y(self, x: int) -> int:
             x-coordinate
         """
 
-        norma = SCREEN_WIDTH / PERLIN_SEGMENTS
-        real_x = (x + self.offset) / norma
-        y = self.generate_y(real_x)
-        pix_y = SCREEN_HEIGHT / 2 + y
-        return pix_y
+        for i, point in enumerate(self.render_points):
+            if point[0] <= x <= self.render_points[i+1][0]:
+                return int((point[1]+self.render_points[i+1][1])/2)
+        return None  
 
     def generate_y(self, x: int) -> int:
         """_summary_ Calculate the y value of the Perlin noise at the given x