bug: fix main bug

main.py

@@ -33,7 +33,7 @@
 def create_creatures(amount, space):
     creatures = []
     for i in range(amount):
-        creature = Creature(space)
+        creature: Creature = Creature(space)
         # Add limbs to the creature, placing them above the ground
         limb1 = creature.add_limb(100, 60, (300, 100), mass=1)  
         limb2 = creature.add_limb(100, 20, (350, 100), mass=1)  
@@ -45,13 +45,13 @@ def create_creatures(amount, space):
             limb2, 
             (50, 0), 
             (-25, 0), 
-            rate=-2, tolerance=30)
+            rate=0, tolerance=30)
         creature.add_motor(
             limb2, 
             limb3, 
             (37, 0), 
             (-23, 0), 
-            rate=2, 
+            rate=0, 
             tolerance=50)
 
         creatures.append(creature)
@@ -73,31 +73,22 @@ def create_population(population_size, creature: Creature):
     return population 
 
 def main():
-
-    genetic_algorithm = GeneticAlgorithm()
-
-    # Initialize Pygame and Pymunk
-
     pygame.init()
     screen_width, screen_height = SCREEN_WIDTH, SCREEN_HEIGHT
     screen = pygame.display.set_mode((screen_width, screen_height))
     pygame.display.set_caption("Pymunk Rectangle Physics")
     interface = Interface()
 
-    # Track whether physics is on or off
-    physics_on = False
-    physics_value = 0
-
     # Set up the Pymunk space
     space = pymunk.Space()
     space.gravity = (0, 981)  # Gravity pointing downward
 
-    environment = Environment(screen, space)
+    environment: Environment = Environment(screen, space)
     environment.ground_type = GroundType.BASIC_GROUND
 
     population_size = 10
-    creatures = create_creatures(population_size, space)
-    creature_instance = creatures[0]
+    creatures: list[Creature] = create_creatures(population_size, space)
+    creature_instance: Creature = creatures[0]
     population = create_population(population_size, creature_instance)
     neat_networks: list[NEATNetwork] = []
     for genome in population:
@@ -117,24 +108,13 @@ def main():
                     print("Left arrow pressed")
                 if event.key == pygame.K_RIGHT:
                     print("Right arrow pressed")
-                if event.key == pygame.K_SPACE:
-                    handle_physics()
 
-        space.step(physics_value)   
+        space.step(1/60.0)
         screen.fill((135, 206, 235))
         environment.update()
         environment.render()
-
-        #creature.set_joint_rates([random.random()*2, random.random()*2])
-        # Render the creature
-        creature.render(screen)
 
-        if not physics_on: 
-            interface.add_button(limb_button)
-        else: 
-            interface.remove_button(limb_button)
-        interface.render(screen)
-
+
         # TODO: vision should be part of a creature, and not environment
         inputs = np.array([environment.vision.get_near_periphery().x, 
                            environment.vision.get_near_periphery().y,
@@ -151,7 +131,7 @@ def main():
                 inputs = np.append(inputs, limb.body.position.y)
 
             outputs = neat_networks[index].forward(inputs)
-            creature.set_joint_rates(outputs)
+            #creature.set_joint_rates(outputs)
 
         vision_y = round(creature_instance.limbs[0].body.position.y)
         vision_x = round(creature_instance.limbs[0].body.position.x)

src/agent_parts/creature.py

@@ -5,7 +5,9 @@
 
 
 class Creature:
-
+    limbs: list[Limb]
+    motors: list[MotorJoint]
+
     def __init__(self, space):
         """Initialize a creature with an empty list of limbs and motors."""
         self.space = space
@@ -46,6 +48,11 @@ def add_motor_on_limbs(self, limb_a: Limb, limb_b: Limb, position: tuple[float,
             print("false")
             return None
 
+    def local_to_global(self, limb: Limb, anchor: tuple[float,float]) -> tuple[float,float]:
+        """Convert a local anchor point to a global anchor point."""
+        return limb.body.local_to_world(anchor)
+
+
 
     def add_motor(self, limb_a: Limb, limb_b: Limb, anchor_a: tuple[float,float], anchor_b: tuple[float,float], rate = 0.0, tolerance = 30) -> MotorJoint|None:
         """Add a motor connecting two limbs."""

src/agent_parts/limb.py

@@ -3,7 +3,7 @@
 
 
 class Limb:
-    def __init__(self, space, width, height, position, mass=1, color=(0, 255, 0)):
+    def __init__(self, space, width, height, position, mass=3, color=(0, 255, 0)):
         """Initialize a limb as a rectangular body."""
         self.width = width
         self.height = height

src/agent_parts/motorjoint.py

@@ -22,7 +22,7 @@ def render(self, screen, body_a, body_b):
         # Draw a line connecting the two bodies
         pygame.draw.circle(
             surface=screen, 
-            color=(255, 0, 0),
+            color=(255, 0, 0), 
             center=(int(pos_a_world.x),
             int(pos_a_world.y)),
             radius=3)

src/environment.py

@@ -130,8 +130,14 @@ def update(
         self.eye_position = eye_position
         x1 = eye_position.x + self.x_offset
         x2 = x1 + self.sight_width
-        y1=ground.get_y(x1+scroll_offset)
-        y2=ground.get_y(x2+scroll_offset)
+        try:
+            y1=ground.get_y(x1+scroll_offset)
+        except:
+            pass
+        try:
+            y2=ground.get_y(x2+scroll_offset)
+        except:
+            pass
         if not y1 is None:
             self.near_periphery = Point(x1, y1)
         if not y2 is None:

src/game_loop.py

@@ -2,30 +2,5 @@
 
 
 class GameLoop:
-
-    def scene_graph(
-            self, 
-            scene_node: RenderObject,
-            transformations: list
-            ) -> None:
-
-        """
-        A method that traverses the scene graph and applies '
-        transformations to the nodes.
-        
-        Parameters:
-        ----------
-        scene_node : RenderObject
-            The root node of the scene graph.
-        transformations : list
-            A list of transformations to apply to the nodes.
-        """
-        for transformation in transformations:
-            transformation.apply(scene_node)
-
-        scene_node.render()
-
-        for child in scene_node.children:
-            self.scene_graph(child, transformations)
-
-
+
+

src/ground.py

@@ -121,6 +121,11 @@ def get_first_shifted_point(self) -> tuple[int, int]:
         scroll_offset = self.start_x-self.poly.body.position[0]
         return (points[0][0] - scroll_offset, points[0][1])
 
+    def init_pymunk_polygon(self, space) -> None:
+        body = pymunk.Body(0, 0, 1)
+        poly = pymunk.Poly(body, self.points, radius=0.0)
+        space.add(body, poly)
+
 class BasicGround(RenderObject, Ground, BasicSegment):
     def __init__(self, screen: pg.display, space: pymunk.space, segment_width: int) -> None:
         self.screen = screen