gen_world.py

# Experimenting with alphashapes to generate 2D worlds with randomly sized and shaped obstacles.

import numpy as np
import matplotlib.pyplot as plt
from matplotlib.patches import Polygon
from descartes import PolygonPatch
import alphashape

n_points = 200
alpha = 25.

points = np.random.random(size=(n_points, 2))
gen = alphashape.alphasimplices(points)

tris = []
for simplex, r in gen:
	if r < 1/alpha:
		tris.append(points[simplex])

fig, (ax1, ax2) = plt.subplots(nrows=1, ncols=2)

# ax1.scatter(*(points.T))
# ax2.scatter(*(points.T))

shape = alphashape.alphashape(points, alpha)
ax1.add_patch(PolygonPatch(shape, alpha=0.2))

for tri in tris:
	ax2.add_patch(Polygon(tri))

plt.show()