class Terrain():
vertexCount = 502
terrainVertices = []
terrainIndices = []
def __init__(self, position, heightMap):
self.position = position
self.heightMap = heightMap
self.setup()
def draw(self, perspective , view):
self.shader.use()
self.shader.setMat4("perspective", perspective)
self.shader.setMat4("view", view)
glBindVertexArray(self.__vao)
# glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
glDrawElements(GL_TRIANGLES, len(self.terrainIndices), GL_UNSIGNED_INT, None)
# glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
glBindVertexArray(0);
glActiveTexture(GL_TEXTURE0)
glBindTexture(GL_TEXTURE_2D, self.colors)
self.shader.setInt("terrainTexture", 0)
glActiveTexture(GL_TEXTURE1)
glBindTexture(GL_TEXTURE_2D, self.heightMap)
self.shader.setInt("heightMap", 1)
glActiveTexture(GL_TEXTURE2)
glBindTexture(GL_TEXTURE_2D, self.rewardMap)
self.shader.setInt("rewardMap", 2)
self.shader.stop()
def getVerticesCount(self, vertexCount):
return vertexCount*vertexCount*3
def getIndicesCount(self, vertexCount):
return 6*(vertexCount-1)*(vertexCount-1)
def getVertices(self, vertexCount):
vertices = [0.0]*self.getVerticesCount(vertexCount)
vertexPointer = 0
for i in range(vertexCount):
for j in range(vertexCount):
vertices[vertexPointer*3] = (j/(vertexCount-1))*2.0 - 1.0
vertices[vertexPointer*3+1] = 0
vertices[vertexPointer*3+2] = (i/(vertexCount-1))*2.0 - 1.0
vertexPointer = vertexPointer+1
return vertices
def getIndices(self, vertexCount):
indices = [0.0]*self.getIndicesCount(vertexCount)
pointer = 0
for gz in range(vertexCount-1):
for gx in range(vertexCount-1):
topLeft = (gz*vertexCount)+gx
topRight = topLeft + 1
bottomLeft = ((gz+1)*vertexCount)+gx
bottomRight = bottomLeft + 1
indices[pointer] = topLeft
pointer = pointer+1
indices[pointer] = bottomLeft
pointer = pointer+1
indices[pointer] = topRight
pointer = pointer+1
indices[pointer] = topRight
pointer = pointer+1
indices[pointer] = bottomLeft
pointer = pointer+1
indices[pointer] = bottomRight
pointer = pointer+1
return indices
def getObjectCoord(self, windowPos, perspective, view, viewport):
modelView = QMatrix4x4()
modelView*=view
modelView*=self.model
objectCoord = windowPos.unproject(modelView, perspective, self.np2QRect(viewport))
return objectCoord
def matrixTypeConversion(self, matrix):
return QMatrix4x4(matrix.m11, matrix.m12,matrix.m13, matrix.m14,matrix.m21, matrix.m22,matrix.m23, matrix.m24,matrix.m31, matrix.m32,matrix.m33, matrix.m34,matrix.m41, matrix.m42,matrix.m43, matrix.m44)
def np2QRect(self, raw_array):
return QRect(raw_array[0], raw_array[1], raw_array[2], raw_array[3])
def updateRewards(self, rewardMap):
rewardColors = self.rewardMapColors(rewardMap)
bindRewardMap(self.rewardMap, rewardColors)
def rewardMapColors(self, rewardMap):
colors = np.zeros([1001, 1001, 3], dtype='uint8')
noReward = (rewardMap==0)
positiveReward = (rewardMap==1)
negativeReward = (rewardMap==-1)
colors[..., 0] = 255*positiveReward
colors[..., 1] = 255*noReward
colors[..., 2] = 255*negativeReward
return np.array(colors, dtype='uint8')
def setup(self):
# Set up vertices and indices
self.terrainVertices = np.array(self.getVertices(self.vertexCount), dtype='float32')
self.terrainIndices = np.array(self.getIndices(self.vertexCount), dtype='uint32')
# Setup shaders
self.shader = Shader(vertex_source="shaders/terrain.vs", fragment_source="shaders/terrain.fs")
self.shader.use()
# Set model matrix of terrain
# self.model = Matrix44.from_translation(np.array(self.position))
self.model = QMatrix4x4()
self.model.scale(500.5, 1.0, 500.5)
#self.model.translate(self.position)
self.shader.setMat4("model", self.model)
# Create Vertex Array Object
self.__vao = glGenVertexArrays(1)
glBindVertexArray(self.__vao)
# Create Buffers and assign data
bufs = glGenBuffers(2)
glBindBuffer(GL_ARRAY_BUFFER, bufs[0])
glBufferData(GL_ARRAY_BUFFER, sizeof(ctypes.c_float) * len(self.terrainVertices), (ctypes.c_float * len(self.terrainVertices))(*self.terrainVertices), GL_STATIC_DRAW)
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, bufs[1])
glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(ctypes.c_uint) * len(self.terrainIndices), (ctypes.c_uint * len(self.terrainIndices))(*self.terrainIndices), GL_STATIC_DRAW)
# Turn on position attribute and set its size
glEnableVertexAttribArray(0)
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 3*sizeof(ctypes.c_float), None)
# Unbind buffers and VAO
glBindBuffer(GL_ARRAY_BUFFER, 0)
glBindVertexArray(0);
# Setup textures
self.colors = ReadTexture("textures/atacama_rgb3.jpg")
self.rewardMap = createEmptyTexture()
self.heightMap = bindHeightMap(self.heightMap.getHeightMap())
self.shader.stop()
