"""
@author: Olivier Sigaud

A merge between two sources:

* Adaptation of the MountainCar Environment from the "FAReinforcement" library
of Jose Antonio Martin H. (version 1.0), adapted by  'Tom Schaul, tom@idsia.ch'
and then modified by Arnaud de Broissia

* the gymnasium MountainCar environment
itself from
http://incompleteideas.net/sutton/book/MountainCar/MountainCar1.cp
permalink: https://perma.cc/6Z2N-PFWC
"""

import math

import numpy as np

import gymnasium as gym
from gymnasium import spaces
from gymnasium.envs.classic_control import utils
from gymnasium.error import DependencyNotInstalled


class Continuous_MountainCarEnv(gym.Env):
    """
    ## Description

    The Mountain Car MDP is a deterministic MDP that consists of a car placed stochastically
    at the bottom of a sinusoidal valley, with the only possible actions being the accelerations
    that can be applied to the car in either direction. The goal of the MDP is to strategically
    accelerate the car to reach the goal state on top of the right hill. There are two versions
    of the mountain car domain in gymnasium: one with discrete actions and one with continuous.
    This version is the one with continuous actions.

    This MDP first appeared in [Andrew Moore's PhD Thesis (1990)](https://www.cl.cam.ac.uk/techreports/UCAM-CL-TR-209.pdf)

    ```
    @TECHREPORT{Moore90efficientmemory-based,
        author = {Andrew William Moore},
        title = {Efficient Memory-based Learning for Robot Control},
        institution = {University of Cambridge},
        year = {1990}
    }
    ```

    ## Observation Space

    The observation is a `ndarray` with shape `(2,)` where the elements correspond to the following:

    | Num | Observation                          | Min   | Max  | Unit          |
    |-----|--------------------------------------|-------|------|---------------|
    | 0   | position of the car along the x-axis | -1.2  | 0.6  | position (m)  |
    | 1   | velocity of the car                  | -0.07 | 0.07 | velocity (v)  |

    ## Action Space

    The action is a `ndarray` with shape `(1,)`, representing the directional force applied on the car.
    The action is clipped in the range `[-1,1]` and multiplied by a power of 0.0015.

    ## Transition Dynamics:

    Given an action, the mountain car follows the following transition dynamics:

    *velocity<sub>t+1</sub> = velocity<sub>t</sub> + force * self.power - 0.0025 * cos(3 * position<sub>t</sub>)*

    *position<sub>t+1</sub> = position<sub>t</sub> + velocity<sub>t+1</sub>*

    where force is the action clipped to the range `[-1,1]` and power is a constant 0.0015.
    The collisions at either end are inelastic with the velocity set to 0 upon collision with the wall.
    The position is clipped to the range [-1.2, 0.6] and velocity is clipped to the range [-0.07, 0.07].

    ## Reward

    A negative reward of *-0.1 * action<sup>2</sup>* is received at each timestep to penalise for
    taking actions of large magnitude. If the mountain car reaches the goal then a positive reward of +100
    is added to the negative reward for that timestep.

    ## Starting State

    The position of the car is assigned a uniform random value in `[-0.6 , -0.4]`.
    The starting velocity of the car is always assigned to 0.

    ## Episode End

    The episode ends if either of the following happens:
    1. Termination: The position of the car is greater than or equal to 0.45 (the goal position on top of the right hill)
    2. Truncation: The length of the episode is 999.

    ## Arguments

    Continuous Mountain Car has two parameters for `gymnasium.make` with `render_mode` and `goal_velocity`.
    On reset, the `options` parameter allows the user to change the bounds used to determine the new random state.

    ```python
    >>> import gymnasium as gym
    >>> env = gym.make("MountainCarContinuous-v0", render_mode="rgb_array", goal_velocity=0.1)  # default goal_velocity=0
    >>> env
    <TimeLimit<OrderEnforcing<PassiveEnvChecker<Continuous_MountainCarEnv<MountainCarContinuous-v0>>>>>
    >>> env.reset(seed=123, options={"low": -0.7, "high": -0.5})  # default low=-0.6, high=-0.4
    (array([-0.5635296,  0.       ], dtype=float32), {})

    ```

    ## Version History

    * v0: Initial versions release
    """

    metadata = {
        "render_modes": ["human", "rgb_array"],
        "render_fps": 30,
    }

    def __init__(self, render_mode: str | None = None, goal_velocity=0):
        self.min_action = -1.0
        self.max_action = 1.0
        self.min_position = -1.2
        self.max_position = 0.6
        self.max_speed = 0.07
        self.goal_position = (
            0.45  # was 0.5 in gymnasium, 0.45 in Arnaud de Broissia's version
        )
        self.goal_velocity = goal_velocity
        self.power = 0.0015

        self.low_state = np.array(
            [self.min_position, -self.max_speed], dtype=np.float32
        )
        self.high_state = np.array(
            [self.max_position, self.max_speed], dtype=np.float32
        )

        self.render_mode = render_mode

        self.screen_width = 600
        self.screen_height = 400
        self.screen = None
        self.clock = None
        self.isopen = True

        self.action_space = spaces.Box(
            low=self.min_action, high=self.max_action, shape=(1,), dtype=np.float32
        )
        self.observation_space = spaces.Box(
            low=self.low_state, high=self.high_state, dtype=np.float32
        )

    def step(self, action: np.ndarray):
        position = self.state[0]
        velocity = self.state[1]
        force = min(max(action[0], self.min_action), self.max_action)

        velocity += force * self.power - 0.0025 * math.cos(3 * position)
        if velocity > self.max_speed:
            velocity = self.max_speed
        if velocity < -self.max_speed:
            velocity = -self.max_speed
        position += velocity
        if position > self.max_position:
            position = self.max_position
        if position < self.min_position:
            position = self.min_position
        if position == self.min_position and velocity < 0:
            velocity = 0

        # Convert a possible numpy bool to a Python bool.
        terminated = bool(
            position >= self.goal_position and velocity >= self.goal_velocity
        )

        reward = 0
        if terminated:
            reward = 100.0
        reward -= math.pow(action[0], 2) * 0.1

        self.state = np.array([position, velocity], dtype=np.float32)

        if self.render_mode == "human":
            self.render()
        # truncation=False as the time limit is handled by the `TimeLimit` wrapper added during `make`
        return self.state, reward, terminated, False, {}

    def reset(self, *, seed: int | None = None, options: dict | None = None):
        super().reset(seed=seed)
        # Note that if you use custom reset bounds, it may lead to out-of-bound
        # state/observations.
        low, high = utils.maybe_parse_reset_bounds(options, -0.6, -0.4)
        self.state = np.array([self.np_random.uniform(low=low, high=high), 0])

        if self.render_mode == "human":
            self.render()
        return np.array(self.state, dtype=np.float32), {}

    def _height(self, xs):
        return np.sin(3 * xs) * 0.45 + 0.55

    def render(self):
        if self.render_mode is None:
            assert self.spec is not None
            gym.logger.warn(
                "You are calling render method without specifying any render mode. "
                "You can specify the render_mode at initialization, "
                f'e.g. gym.make("{self.spec.id}", render_mode="rgb_array")'
            )
            return

        try:
            import pygame
            from pygame import gfxdraw
        except ImportError as e:
            raise DependencyNotInstalled(
                'pygame is not installed, run `pip install "gymnasium[classic_control]"`'
            ) from e

        if self.screen is None:
            pygame.init()
            if self.render_mode == "human":
                pygame.display.init()
                self.screen = pygame.display.set_mode(
                    (self.screen_width, self.screen_height)
                )
            else:  # mode == "rgb_array":
                self.screen = pygame.Surface((self.screen_width, self.screen_height))
        if self.clock is None:
            self.clock = pygame.time.Clock()

        world_width = self.max_position - self.min_position
        scale = self.screen_width / world_width
        carwidth = 40
        carheight = 20

        self.surf = pygame.Surface((self.screen_width, self.screen_height))
        self.surf.fill((255, 255, 255))

        pos = self.state[0]

        xs = np.linspace(self.min_position, self.max_position, 100)
        ys = self._height(xs)
        xys = list(zip((xs - self.min_position) * scale, ys * scale))

        pygame.draw.aalines(self.surf, points=xys, closed=False, color=(0, 0, 0))

        clearance = 10

        l, r, t, b = -carwidth / 2, carwidth / 2, carheight, 0
        coords = []
        for c in [(l, b), (l, t), (r, t), (r, b)]:
            c = pygame.math.Vector2(c).rotate_rad(math.cos(3 * pos))
            coords.append(
                (
                    c[0] + (pos - self.min_position) * scale,
                    c[1] + clearance + self._height(pos) * scale,
                )
            )

        gfxdraw.aapolygon(self.surf, coords, (0, 0, 0))
        gfxdraw.filled_polygon(self.surf, coords, (0, 0, 0))

        for c in [(carwidth / 4, 0), (-carwidth / 4, 0)]:
            c = pygame.math.Vector2(c).rotate_rad(math.cos(3 * pos))
            wheel = (
                int(c[0] + (pos - self.min_position) * scale),
                int(c[1] + clearance + self._height(pos) * scale),
            )

            gfxdraw.aacircle(
                self.surf, wheel[0], wheel[1], int(carheight / 2.5), (128, 128, 128)
            )
            gfxdraw.filled_circle(
                self.surf, wheel[0], wheel[1], int(carheight / 2.5), (128, 128, 128)
            )

        flagx = int((self.goal_position - self.min_position) * scale)
        flagy1 = int(self._height(self.goal_position) * scale)
        flagy2 = flagy1 + 50
        gfxdraw.vline(self.surf, flagx, flagy1, flagy2, (0, 0, 0))

        gfxdraw.aapolygon(
            self.surf,
            [(flagx, flagy2), (flagx, flagy2 - 10), (flagx + 25, flagy2 - 5)],
            (204, 204, 0),
        )
        gfxdraw.filled_polygon(
            self.surf,
            [(flagx, flagy2), (flagx, flagy2 - 10), (flagx + 25, flagy2 - 5)],
            (204, 204, 0),
        )

        self.surf = pygame.transform.flip(self.surf, False, True)
        self.screen.blit(self.surf, (0, 0))
        if self.render_mode == "human":
            pygame.event.pump()
            self.clock.tick(self.metadata["render_fps"])
            pygame.display.flip()

        elif self.render_mode == "rgb_array":
            return np.transpose(
                np.array(pygame.surfarray.pixels3d(self.screen)), axes=(1, 0, 2)
            )

    def close(self):
        if self.screen is not None:
            import pygame

            pygame.display.quit()
            pygame.quit()
            self.isopen = False