def render(self):
if not self.data:
return
# Make the window's context current
glfw.make_context_current(self.window)
self.gui_lock.acquire()
rect = self.get_rect()
arr = (ctypes.c_double * 3)(0, 0, 0)
functions.mjv_makeGeoms(
self.sim.ptr, self.data.ptr, byref(self.objects), byref(self.vopt),
mjCAT_ALL, 0, None, None,
ctypes.cast(arr, ctypes.POINTER(ctypes.c_double)))
functions.mjv_makeLights(self.sim.ptr, self.data.ptr,
byref(self.objects))
functions.mjv_setCamera(self.sim.ptr, self.data.ptr, byref(self.cam))
functions.mjv_updateCameraPose(byref(self.cam),
rect.width * 1.0 / rect.height)
functions.mjr_render(0, rect, byref(self.objects), byref(self.ropt),
byref(self.cam.pose), byref(self.con))
self.gui_lock.release()
def render(self):
rect = self.get_rect()
width = rect.width
height = rect.height
functions.mjv_addGeoms(self.model, self.data, self.vopt, None, CAT_ALL,
self.scn)
functions.mjv_updateCamera(self.model, self.data, self.cam, self.scn)
functions.mjv_moveCamera(self.model, 5, width / height,
height / height, self.scn, self.cam)
functions.mjr_render(rect, self.scn, self.con)
def render(self):
rect = self.get_rect()
arr = (ctypes.c_double * 3)(0, 0, 0)
functions.mjv_makeGeoms(
self.sim.ptr, self.data.ptr, byref(self.objects), byref(self.vopt),
mjCAT_ALL, 0, None, None,
ctypes.cast(arr, ctypes.POINTER(ctypes.c_double)))
functions.mjv_setCamera(self.sim.ptr, self.data.ptr, byref(self.cam))
functions.mjv_updateCameraPose(byref(self.cam),
rect.width * 1.0 / rect.height)
functions.mjr_render(0, rect, byref(self.objects), byref(self.ropt),
byref(self.cam.pose), byref(self.con))
def render(self):
super(GatherViewer, self).render()
ctx = MjRenderContext(self.env.wrapped_env.sim)
scn = ctx.scn
con = ctx.con
functions.mjv_makeScene(scn, 1000)
scn.camera[0].frustum_near = 0.05
scn.camera[1].frustum_near = 0.05
for obj in self.env.objects:
x, y, typ = obj
qpos = np.zeros_like(self.green_ball_sim.data.qpos)
qpos[0] = x
qpos[1] = y
if typ == APPLE:
self.green_ball_sim.data.qpos[:] = qpos
self.green_ball_sim.forward()
self.green_ball_renderer.render()
self.green_ball_ctx = MjRenderContext(self.green_ball_sim)
functions.mjv_addGeoms(self.green_ball_sim.model,
self.green_ball_sim.data,
self.green_ball_ctx.vopt,
self.green_ball_ctx.pert, CAT_ALL, scn)
else:
self.red_ball_sim.data.qpos[:] = qpos
self.red_ball_sim.forward()
self.red_ball_renderer.render()
self.red_ball_ctx = MjRenderContext(self.red_ball_sim)
functions.mjv_addGeoms(self.red_ball_sim.model,
self.red_ball_sim.data,
self.red_ball_ctx.vopt,
self.red_ball_ctx.pert, CAT_ALL, scn)
functions.mjv_addGeoms(self.env.wrapped_env.sim.model,
self.env.wrapped_env.sim.data, ctx.vopt,
ctx.pert, CAT_ALL, scn)
functions.mjr_render(self.green_ball_renderer.get_rect(), scn, con)
try:
import OpenGL.GL as GL
except ImportError:
return
def draw_rect(x, y, width, height):
# start drawing a rectangle
GL.glBegin(GL.GL_QUADS)
# bottom left point
GL.glVertex2f(x, y)
# bottom right point
GL.glVertex2f(x + width, y)
# top right point
GL.glVertex2f(x + width, y + height)
# top left point
GL.glVertex2f(x, y + height)
def refresh2d(width, height):
GL.glViewport(0, 0, width, height)
GL.glMatrixMode(GL.GL_PROJECTION)
GL.glLoadIdentity()
GL.glOrtho(0.0, width, 0.0, height, 0.0, 1.0)
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glLoadIdentity()
GL.glBegin(GL.GL_QUADS)
GL.glLoadIdentity()
width, height = glfw.get_framebuffer_size(self.window)
refresh2d(width, height)
GL.glDisable(GL.GL_LIGHTING)
GL.glEnable(GL.GL_BLEND)
GL.glColor4f(0.0, 0.0, 0.0, 0.8)
draw_rect(10, 10, 300, 100)
apple_readings, bomb_readings = self.env.get_readings()
for idx, reading in enumerate(apple_readings):
if reading > 0:
GL.glColor4f(0.0, 1.0, 0.0, reading)
draw_rect(20 * (idx + 1), 10, 5, 50)
for idx, reading in enumerate(bomb_readings):
if reading > 0:
GL.glColor4f(1.0, 0.0, 0.0, reading)
draw_rect(20 * (idx + 1), 60, 5, 50)
v_initPost()
FPS = 90.0
lasttm = glfw.get_time()
frametime = sim.data.time
viewFull = PyMjrRect()
viewFull.width, viewFull.height = 2 * hmd.width, hmd.height
nullCam = PyMjvCamera()
while not glfw.window_should_close(window):
if sim.data.time - frametime > 1 / FPS or sim.data.time < frametime:
functions.mjv_updateScene(sim.model, sim.data, ctx.vopt, ctx.pert,
nullCam, CAT_ALL, ctx.scn)
v_update()
functions.mjr_setBuffer(FB_OFFSCREEN, ctx.con)
functions.mjr_render(viewFull, ctx.scn, ctx.con)
FPS = .9 * FPS + .1 / (glfw.get_time() - lasttm)
lasttm = glfw.get_time()
functions.mjr_overlay(FONT_BIG, GRID_BOTTOMLEFT, viewFull,
'FPS %.1f' % FPS, '', ctx.con)
v_render()
frametime = sim.data.time
sim.step()
glfw.poll_events()
# close
openvr.shutdown()
gl.glDeleteTextures(1, hmd.idtex)
del sim
del ctx
glfw.terminate()
def render(self):
super(GatherViewer, self).render()
tmpobjects = mjcore.MJVOBJECTS()
functions.mjv_makeObjects(byref(tmpobjects), 1000)
for obj in self.env.objects:
x, y, typ = obj
# print x, y
qpos = np.zeros_like(self.green_ball_model.data.qpos)
qpos[0, 0] = x
qpos[1, 0] = y
if typ == APPLE:
self.green_ball_model.data.qpos = qpos
self.green_ball_model.forward()
self.green_ball_renderer.render()
mjextra.append_objects(tmpobjects,
self.green_ball_renderer.objects)
else:
self.red_ball_model.data.qpos = qpos
self.red_ball_model.forward()
self.red_ball_renderer.render()
mjextra.append_objects(tmpobjects,
self.red_ball_renderer.objects)
mjextra.append_objects(tmpobjects, self.objects)
functions.mjv_makeLights(self.sim.ptr, self.data.ptr,
byref(tmpobjects))
functions.mjr_render(0, self.get_rect(), byref(tmpobjects),
byref(self.ropt), byref(self.cam.pose),
byref(self.con))
try:
import OpenGL.GL as GL
except:
return
def draw_rect(x, y, width, height):
# start drawing a rectangle
GL.glBegin(GL.GL_QUADS)
# bottom left point
GL.glVertex2f(x, y)
# bottom right point
GL.glVertex2f(x + width, y)
# top right point
GL.glVertex2f(x + width, y + height)
# top left point
GL.glVertex2f(x, y + height)
GL.glEnd()
def refresh2d(width, height):
GL.glViewport(0, 0, width, height)
GL.glMatrixMode(GL.GL_PROJECTION)
GL.glLoadIdentity()
GL.glOrtho(0.0, width, 0.0, height, 0.0, 1.0)
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glLoadIdentity()
GL.glLoadIdentity()
width, height = glfw.get_framebuffer_size(self.window)
refresh2d(width, height)
GL.glDisable(GL.GL_LIGHTING)
GL.glEnable(GL.GL_BLEND)
GL.glColor4f(0.0, 0.0, 0.0, 0.8)
draw_rect(10, 10, 300, 100)
apple_readings, bomb_readings = self.env.get_readings()
for idx, reading in enumerate(apple_readings):
if reading > 0:
GL.glColor4f(0.0, 1.0, 0.0, reading)
draw_rect(20 * (idx + 1), 10, 5, 50)
for idx, reading in enumerate(bomb_readings):
if reading > 0:
GL.glColor4f(1.0, 0.0, 0.0, reading)
draw_rect(20 * (idx + 1), 60, 5, 50)
v_initPre()
initMuJoCo(filename, hmd.width * 2, hmd.height)
v_initPost()
FPS = 90.0
lasttm = glfw.get_time()
frametime = sim.data.time
viewFull = PyMjrRect()
viewFull.width, viewFull.height = 2 * hmd.width, hmd.height
nullCam = PyMjvCamera()
while not glfw.window_should_close(window):
if sim.data.time - frametime > 1 / FPS or sim.data.time < frametime:
functions.mjv_updateScene(sim.model, sim.data, ctx.vopt, ctx.pert, nullCam, CAT_ALL, ctx.scn)
v_update()
functions.mjr_setBuffer(FB_OFFSCREEN, ctx.con)
functions.mjr_render(viewFull, ctx.scn, ctx.con)
FPS = .9 * FPS + .1 / (glfw.get_time() - lasttm)
lasttm = glfw.get_time()
functions.mjr_overlay(FONT_BIG, GRID_BOTTOMLEFT, viewFull, 'FPS %.1f' % FPS, '', ctx.con)
v_render()
frametime = sim.data.time
sim.step()
glfw.poll_events()
# close
openvr.shutdown()
gl.glDeleteTextures(1, hmd.idtex)
del sim
del ctx
glfw.terminate()