def draw_lane_lines(self, lane):
gl.glColor3f(1., 1., 1.)
W = 1000
graphics.draw(4, gl.GL_LINES, ('v2f',
np.hstack([lane.p-lane.m*W-0.5*lane.w*lane.n, lane.p+lane.m*W-0.5*lane.w*lane.n,
lane.p-lane.m*W+0.5*lane.w*lane.n, lane.p+lane.m*W+0.5*lane.w*lane.n])
))
def draw(self, frame): # The gneneral plan here is: # 1. Get the dots in the range of 0-255. # 2. Create a texture with the dots data. # 3. Draw the texture, scaled up with nearest-neighbor. # 4. Draw a mask over the dots to give them a slightly more realistic look. gl.glEnable(gl.GL_BLEND) gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA) gl.glLoadIdentity() # Draw the dots in this color: gl.glColor3f(1.0, 0.5, 0.25) gl.glScalef(1, -1, 1) gl.glTranslatef(0, -DMD_SIZE[1]*DMD_SCALE, 0) data = frame.get_data_mult() image = pyglet.image.ImageData(DMD_SIZE[0], DMD_SIZE[1], 'L', data, pitch=DMD_SIZE[0]) gl.glTexParameteri(image.get_texture().target, gl.GL_TEXTURE_MAG_FILTER, gl.GL_NEAREST) image.blit(0, 0, width=DMD_SIZE[0]*DMD_SCALE, height=DMD_SIZE[1]*DMD_SCALE) del image gl.glScalef(DMD_SCALE/float(MASK_SIZE), DMD_SCALE/float(MASK_SIZE), 1.0) gl.glColor4f(1.0, 1.0, 1.0, 1.0) self.mask_texture.blit_tiled(x=0, y=0, z=0, width=DMD_SIZE[0]*MASK_SIZE, height=DMD_SIZE[1]*MASK_SIZE)
def render_boid(self):
glBegin(GL_TRIANGLES)
glColor3f(*self.color)
glVertex2f(-(self.size), 0.0)
glVertex2f(self.size, 0.0)
glVertex2f(0.0, self.size * 3.0)
glEnd()
def draw(self, colour=(0., 0., 1.)):
s = self.size # just a shorthand
gl.glColor3f(*colour)
gl.glBegin(gl.GL_LINE_LOOP)
for vertex in self.verticies:
gl.glVertex2f(*vertex)
gl.glEnd()
def flush_labels(self):
gl.glClear(gl.GL_DEPTH_BUFFER_BIT)
gl.glPushMatrix()
gl.glTranslatef(-self.game.camera_x * defs.WINDOW_SCALE[0],
-self.game.camera_y * defs.WINDOW_SCALE[1], 0)
for label, x, y, scale in self.labels:
if scale:
gl.glPushMatrix()
label.anchor_x = 'center'
label.anchor_y = 'center'
gl.glTranslatef(x * defs.WINDOW_SCALE[0],
y * defs.WINDOW_SCALE[1], 0)
gl.glScalef(*scale)
label.x = label.y = 0
label.draw()
gl.glPopMatrix()
else:
label.x = x * defs.WINDOW_SCALE[0]
label.y = y * defs.WINDOW_SCALE[1]
label.draw()
self.labels = []
gl.glColor3f(1, 1, 1)
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glPopMatrix()
# self.fps_label.draw()
self.game.score.draw()
def create_window(self, _iScr=0, _title="", _dx=0, _dy=0, _left=0, _top=0,
_scale=1.0, _isScrOvl=False, _iScrGUI=0, _offset=(0,0)):
""" If the renderer was initialized, create a window instance and store
it in the internal window list. For parameters, see Window class.
"""
if self.isReady:
self.winList.append(Window(self, _iScr, _title, _dx, _dy, _left, _top,
_scale, _isScrOvl, _iScrGUI, _offset))
'''
if len(self.winList) == 1:
# Is the first window, set some general OpenGL properties
#
'''
GL.glClearColor(0., 0., 0., 0.)
GL.glColor3f(1., 1., 1.)
GL.glDisable(GL.GL_DEPTH_TEST)
GL.glEnable(GL.GL_BLEND)
GL.glBlendFunc(GL.GL_SRC_ALPHA, GL.GL_ONE_MINUS_SRC_ALPHA)
'''
GL.glTexParameteri(GL_TEXTURE_3D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
GL.glTexParameteri(GL_TEXTURE_3D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
GL.glShadeModel(GL_FLAT) # GL_FLAT or GL_SMOOTH
GL.glEnable(GL_POINT_SMOOTH)
'''
return self.winList[-1]
else:
return None
def draw_lane_surface(self, lane):
gl.glColor3f(0.4, 0.4, 0.4)
W = 1000
graphics.draw(4, gl.GL_QUAD_STRIP, ('v2f',
np.hstack([lane.p-lane.m*W-0.5*lane.w*lane.n, lane.p-lane.m*W+0.5*lane.w*lane.n,
lane.q+lane.m*W-0.5*lane.w*lane.n, lane.q+lane.m*W+0.5*lane.w*lane.n])
))
def f():
for u in range(1, len(self.u_set)):
pgl.glBegin(pgl.GL_QUAD_STRIP)
for v in range(len(self.v_set)):
pa = self.verts[u - 1][v]
pb = self.verts[u][v]
if pa is None or pb is None:
pgl.glEnd()
pgl.glBegin(pgl.GL_QUAD_STRIP)
continue
if use_cverts:
ca = self.cverts[u - 1][v]
cb = self.cverts[u][v]
if ca is None:
ca = (0, 0, 0)
if cb is None:
cb = (0, 0, 0)
else:
if use_solid_color:
ca = cb = self.default_solid_color
else:
ca = cb = self.default_wireframe_color
pgl.glColor3f(*ca)
pgl.glVertex3f(*pa)
pgl.glColor3f(*cb)
pgl.glVertex3f(*pb)
pgl.glEnd()
def draw(self):
if draw_debug:
glColor3f(1,1,1)
self.vertex_list.draw(GL_LINE_LOOP)
glColor3f(1,1,0)
for j,r in self.forces:
pyglet.graphics.draw(2, GL_LINES, ("v2f", (r[0], r[1], r[0] + j[0]/10, r[1] + j[1]/10)))
def _draw(self):
corner = c = self.octree.corner
w = self.octree.width
gl.glPushAttrib( gl.GL_ENABLE_BIT )
gl.glEnable( gl.GL_COLOR_MATERIAL )
if self.octree._child_nodes is None:
if self.list_id:
gl.glCallList(self.list_id)
else:
self.list_id = gl.glGenLists(1)
gl.glNewList(self.list_id, gl.GL_COMPILE)
gl.glColor3f(*self.color)
gl.glBegin(gl.GL_LINE_LOOP)
gl.glVertex3f(*c)
gl.glVertex3f(*(c + (0,w,0)))
gl.glVertex3f(*(c + (0,w,w)))
gl.glVertex3f(*(c + (0,0,w)))
gl.glEnd()
c = corner + (w,0,0)
gl.glBegin(gl.GL_LINE_LOOP)
gl.glVertex3f(*c)
gl.glVertex3f(*(c + (0,w,0)))
gl.glVertex3f(*(c + (0,w,w)))
gl.glVertex3f(*(c + (0,0,w)))
gl.glEnd()
gl.glBegin(gl.GL_LINES)
gl.glVertex3f(*c)
gl.glVertex3f(*(c - (w,0,0)))
gl.glVertex3f(*(c + (0,w,0)))
gl.glVertex3f(*(corner + (0,w,0)))
gl.glVertex3f(*(c + (0,w,w)))
gl.glVertex3f(*(corner + (0,w,w)))
gl.glVertex3f(*(c + (0,0,w)))
gl.glVertex3f(*(corner + (0,0,w)))
gl.glEnd()
gl.glEndList()
# This could be optimized of course
if self.octree._child_nodes is not None:
r = self.color[0] + 0.14
if r < 1.0:
r = r % 1.0
else:
r = 1.0
b = max((self.color[2] - 0.14), 0)
for node in self.octree._child_nodes.values():
if not self._cache.has_key(id(node)):
self._cache[id(node)] = OctreeDebug(node, color=(r,0,b))
debugNode = self._cache[id(node)]
debugNode._draw()
gl.glColor3f(1,1,1)
gl.glPopAttrib()
def draw_line(self, v, color):
o = self._p._origin
pgl.glBegin(pgl.GL_LINES)
pgl.glColor3f(*color)
pgl.glVertex3f(v[0][0] + o[0], v[0][1] + o[1], v[0][2] + o[2])
pgl.glVertex3f(v[1][0] + o[0], v[1][1] + o[1], v[1][2] + o[2])
pgl.glEnd()
def draw_block(block):
transformed = [world_to_screen(block.GetWorldPoint(p)) for p in POINTS]
gl.glColor3f(1.0, 0.1, 0)
gl.glBegin(gl.GL_LINE_LOOP)
for p in transformed:
gl.glVertex2f(*p)
gl.glEnd()
def draw(self):
self.loadStartPosition()
gl.glRotatef(90.0, 0.0, 0.0, 1.0)
gl.glBegin(gl.GL_QUADS)
gl.glColor3f(1.0, 1.0, 0.0)
tenth = math.pi * 2.0 / 10.0
for z in [-0.1, 0.1]:
for i in xrange(5):
a = float(i) * tenth * 2.0
gl.glVertex3f(0.0, 0.0, z)
gl.glVertex3f(0.4 * math.cos(a - tenth), 0.4 * math.sin(a - tenth), z)
gl.glVertex3f(math.cos(a), math.sin(a), z)
gl.glVertex3f(0.4 * math.cos(a + tenth), 0.4 * math.sin(a + tenth), z)
for i in xrange(5):
a = float(i) * tenth * 2.0
gl.glVertex3f(0.4 * math.cos(a - tenth), 0.4 * math.sin(a - tenth), 0.1)
gl.glVertex3f(math.cos(a), math.sin(a), 0.1)
gl.glVertex3f(math.cos(a), math.sin(a), -0.1)
gl.glVertex3f(0.4 * math.cos(a - tenth), 0.4 * math.sin(a - tenth), -0.1)
gl.glVertex3f(0.4 * math.cos(a + tenth), 0.4 * math.sin(a + tenth), 0.1)
gl.glVertex3f(math.cos(a), math.sin(a), 0.1)
gl.glVertex3f(math.cos(a), math.sin(a), -0.1)
gl.glVertex3f(0.4 * math.cos(a + tenth), 0.4 * math.sin(a + tenth), -0.1)
gl.glEnd()
self.loadStartPosition()
gl.glTranslatef(0.0, 0.0, 0.1)
gl.glScalef(0.01, 0.01, 0.0)
self.label.draw()
gl.glLoadIdentity()
def draw(self):
gl.glClear(gl.GL_DEPTH_BUFFER_BIT)
if self.game.game_over:
if self.game.game_lost:
gl.glBegin(gl.GL_QUADS)
gl.glColor3f(1, 1, 1)
gl.glVertex3f(0, 0, -0.9)
gl.glVertex3f(0, defs.WINDOW_HEIGHT, -0.9)
gl.glVertex3f(defs.WINDOW_WIDTH, defs.WINDOW_HEIGHT, -0.9)
gl.glVertex3f(defs.WINDOW_WIDTH, 0, -0.9)
gl.glEnd()
self.you_died.draw()
self.you_died2.draw()
if not self.died:
for name in self.VALUES:
getattr(self, name + '_label').color = (0, 0, 0, 255)
self.died = True
else:
gl.glBegin(gl.GL_QUADS)
gl.glColor3f(0, 0, 0)
gl.glVertex3f(0, 0, -0.9)
gl.glVertex3f(0, defs.WINDOW_HEIGHT, -0.9)
gl.glVertex3f(defs.WINDOW_WIDTH, defs.WINDOW_HEIGHT, -0.9)
gl.glVertex3f(defs.WINDOW_WIDTH, 0, -0.9)
gl.glEnd()
self.you_win.draw()
for name in self.VALUES:
getattr(self, name + '_label').draw()
def setup():
# One-time GL setup
glClearColor(1, 1, 1, 1)
glColor3f(1, 0, 0)
glEnable(GL_DEPTH_TEST)
glEnable(GL_CULL_FACE)
# Uncomment this line for a wireframe view
#glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
# Simple light setup. On Windows GL_LIGHT0 is enabled by default,
# but this is not the case on Linux or Mac, so remember to always
# include it.
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
glEnable(GL_LIGHT1)
# Define a simple function to create ctypes arrays of floats:
def vec(*args):
return (GLfloat * len(args))(*args)
glLightfv(GL_LIGHT0, GL_POSITION, vec(.5, .5, 1, 0))
glLightfv(GL_LIGHT0, GL_SPECULAR, vec(.5, .5, 1, 1))
glLightfv(GL_LIGHT0, GL_DIFFUSE, vec(1, 1, 1, 1))
glLightfv(GL_LIGHT1, GL_POSITION, vec(1, 0, .5, 0))
glLightfv(GL_LIGHT1, GL_DIFFUSE, vec(.5, .5, .5, 1))
glLightfv(GL_LIGHT1, GL_SPECULAR, vec(1, 1, 1, 1))
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, vec(0.5, 0, 0.3, 1))
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, vec(1, 1, 1, 1))
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, 50)
def setup(self): # One-time GL setup gl.glClearColor(1, 1, 1, 0) gl.glColor3f(1, 0, 0) gl.glEnable(gl.GL_DEPTH_TEST) gl.glEnable(gl.GL_CULL_FACE) gl.glDisable(gl.GL_LIGHTING)
def draw(self):
gl.glColor3f(0, 0, 0)
gl.glRectd(self._aabb.x, self._aabb.y, self._aabb.x+self._aabb.width,
self._aabb.y+self._aabb.height)
gl.glColor3f(*self.color)
gl.glRectd(self._aabb.x+2, self._aabb.y+2,
self._aabb.x+self._aabb.width-2, self._aabb.y+self._aabb.height-2)
def draw(self): for x,y in self.grid: opengl.glPushMatrix() opengl.glTranslatef(x*self.grid_size, y*self.grid_size, 0) opengl.glColor3f(self.color[0], self.color[1], self.color[2]) self.vlist.draw(pyglet.gl.GL_LINE_LOOP) opengl.glPopMatrix() if self.secondary is not None: self.secondary.draw()
def draw(self):
r = self.size.x
gl.glColor3f(1.0, .7, 0.0)
with shiftView(self.body.position):
gl.glBegin(gl.GL_LINE_LOOP)
for angle in xrange(0, 360, 360/12):
gl.glVertex2f(*self.size.rotated_degrees(angle))
gl.glEnd()
def drawGl(self):
glColor3f(0,0.5,0)
offset = 0
x1, x2 = 0, self.width
for i in range(8):
y = self.altitude - offset
pyglet.graphics.draw(2, GL_LINES, ('v2i', (x1, y, x2, y)))
offset += i*2
def draw(self):
if not self.should_draw: return
glColor3f(1, 1, 1)
self.texture.blit(0, 100)
glColor4f(1, 1, 1, 0.65)
glRectf(0, 0, self.width, 100)
self.lbls.draw()
self.draw_subcontrols()
def nakresli_tvar(self):
"""Nakreslí obdélník"""
gl.glColor3f(1, 0.5, 0)
gl.glBegin(gl.GL_TRIANGLE_FAN)
gl.glVertex2f(-VELIKOST_TORPEDA, -VELIKOST_TORPEDA/2)
gl.glVertex2f(-VELIKOST_TORPEDA, VELIKOST_TORPEDA/2)
gl.glVertex2f(VELIKOST_TORPEDA, VELIKOST_TORPEDA/2)
gl.glVertex2f(VELIKOST_TORPEDA, -VELIKOST_TORPEDA/2)
gl.glEnd()
def draw(self):
gl.glColor3f(1, 1, 1)
gl.glBegin(gl.GL_LINES)
gl.glVertex2f(0, 50)
gl.glVertex2f(self.window.width, 50)
gl.glEnd()
for label in self.labels:
label.draw()
def render(self):
self.w.batches["mm_buttons"].draw()
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
gl.glColor3f(0.3, 0.3, 0.3, 1)
for e in self.entries:
graphics.draw(
4, gl.GL_QUADS, ('v2i', e.rectangle)
)
e.label.draw()
def draw_rects(done, colors):
gl.glBegin(gl.GL_QUADS)
for rect in done:
gl.glColor3f(*colors[rect.rel])
gl.glVertex2f(rect.x, rect.y)
gl.glVertex2f(rect.x+rect.width, rect.y)
gl.glVertex2f(rect.x+rect.width, rect.y+rect.height)
gl.glVertex2f(rect.x, rect.y+rect.height)
gl.glEnd()
def draw_line(a, b, color):
gl.glPushMatrix()
gl.glColor3f(color[0], color[1], color[2])
gl.glLineWidth(2)
gl.glBegin(gl.GL_LINES)
gl.glVertex2f(a[0], a[1])
gl.glVertex2f(b[0], b[1])
gl.glEnd()
gl.glPopMatrix()
def draw_arrow(p1, p2):
"""
Draw a single vector.
"""
glColor3f(0.4, 0.4, 0.9)
glVertex3f(*p1)
glColor3f(0.9, 0.4, 0.4)
glVertex3f(*p2)
def drawBackground(self):
glColor3f(self.backColour[0],self.backColour[1],self.backColour[2])
glTranslatef(self.focusX, self.focusY, 0)
glBegin(GL_QUADS)
glVertex3i(0, 0, 0)
glVertex3f(0, float(self.height), 0)
glVertex3f(float(self.width), float(self.height), 0)
glVertex3f(float(self.width), 0, 0)
glEnd()
glTranslatef(-self.focusX, -self.focusY, 0)
def renderCatalog(cat, far): gl.glDisable(gl.GL_LIGHTING) for s in cat: c = s.getRgb() gl.glPointSize(s.getSize()) gl.glBegin(gl.GL_POINTS) gl.glColor3f(c[0], c[1], c[2]) gl.glVertex3f(far * cos(s.ra_rad) * cos(s.dec_rad), far * sin(s.ra_rad) * cos(s.dec_rad), far * sin(s.dec_rad)) gl.glEnd() gl.glEnable(gl.GL_LIGHTING)
def draw(self, colour=(0., 0., 1.)):
s = self.size # shorthand
gl.glColor3f(*colour)
with shiftView(self.pos):
gl.glBegin(gl.GL_LINE_LOOP)
gl.glVertex2f(-s.x, +s.y)
gl.glVertex2f(+s.x, +s.y)
gl.glVertex2f(+s.x, -s.y)
gl.glVertex2f(-s.x, -s.y)
gl.glEnd()
def bezier_draw(cps, n=20, red=False):
pts = [bezier_point(cps, i / (n - 1)) for i in range(0, n)]
gl.glBegin(gl.GL_LINE_STRIP)
if red:
gl.glColor3f(1, 0, 0)
else:
gl.glColor3f(0, 0, 1)
for i, p in enumerate(pts):
gl.glVertex3f(*p)
gl.glEnd()
gl.glColor3f(1, 1, 1)
def drawStuff():
gl.glBegin(gl.GL_TRIANGLES)
gl.glColor3f(1.0, 0.0, 1)
gl.glVertex3f(0.0, 0.5, 1)
gl.glColor3f(0.0, 1.0, 0.0)
gl.glVertex3f(-0.5, -0.5, 1)
gl.glColor3f(0.0, 0.0, 1.0)
gl.glVertex3f(0.5, -0.5, -1)
gl.glEnd()
a_blob.draw()
myWin.flip()
def bezier_draw_points_curve(cps, n=10, red=False):
from pyglet import gl
pts = [bezier_point(cps, i / (n - 1)) for i in range(0, n)]
gl.glPointSize(5)
gl.glBegin(gl.GL_POINTS)
if red:
gl.glColor3f(0, 0, 1)
else:
gl.glColor3f(1, 0, 0)
for i, p in enumerate(pts):
gl.glVertex3f(p[0], 0.01, p[2])
gl.glEnd()
gl.glColor3f(1, 1, 1)
def render1(self):
points = [[0.08910714285714288, -0.009017857142857133],
[0.13910714285714287, -0.04026785714285712],
[0.12285714285714289, 0.07098214285714288],
[0.08535714285714285, 0.03348214285714288],
[0.10535714285714287, 0.07848214285714286],
[0.04910714285714285, 0.13348214285714285],
[-0.03589285714285714, 0.11723214285714287],
[-0.14964285714285713, 0.08598214285714287],
[-0.21714285714285714, 0.023482142857142868],
[-0.18589285714285714, -0.004017857142857129],
[-0.12714285714285714, -0.11151785714285713],
[-0.039642857142857146, -0.15651785714285713],
[0.044107142857142845, -0.15651785714285713],
[0.12035714285714288, -0.06526785714285713]]
gl.glColor3f(*self.color)
gl.glBegin(gl.GL_POLYGON)
for p0, p1 in points:
gl.glVertex3f(p0, -p1, 0)
gl.glEnd()
points = [[-0.14964285714285713, -0.016517857142857112],
[-0.11214285714285714, 0.020982142857142866],
[-0.15839285714285714, 0.06973214285714288],
[-0.17089285714285712, 0.013482142857142887]]
gl.glColor3f(0.5, 0.4, 0.3)
gl.glBegin(gl.GL_POLYGON)
for p0, p1 in points:
gl.glVertex3f(p0, -p1, 0)
gl.glEnd()
points = []
for i in range(20):
ang = 2 * np.pi * i / 20
points.append((np.cos(ang) * 0.018 - 0.16,
np.sin(ang) * 0.018 - 0.01))
gl.glColor3f(0, 0, 0)
gl.glBegin(gl.GL_POLYGON)
for p0, p1 in points:
gl.glVertex3f(p0, p1, 0)
gl.glEnd()
def drawing():
gl.glClear(gl.GL_COLOR_BUFFER_BIT) # smaz obsah okna (vybarvi na cerno)
gl.glColor3f(0, 1, 0) # nastav barvu kresleni na zelenu
### Plots the snake body
for i in range(0, len(snake_position) - 1):
draw_rectangle(PIECE * snake_position[i][0],
PIECE * snake_position[i][1],
PIECE * (snake_position[i][0] + 1),
PIECE * (snake_position[i][1] + 1))
### Snake head in blue
gl.glColor3f(0, 0, 1)
draw_rectangle(PIECE * snake_position[-1][0],
PIECE * snake_position[-1][1],
PIECE * (snake_position[-1][0] + 1),
PIECE * (snake_position[-1][1] + 1))
### Food
draw_rectangle(PIECE * food_position[0], PIECE * food_position[1],
PIECE * (food_position[0] + 1),
PIECE * (food_position[1] + 1))
### Score
draw_text(str(N - 20), PIECE * SCORE_POSITION[0],
PIECE * SCORE_POSITION[1], 'left', PIECE * FONT_SIZE)
### Walls
gl.glColor3f(0, 1, 0) # nastav barvu kresleni na zelenu
draw_rectangle(0, 0, PIECE * WALL_THICKNESS, PIECE * HEIGHT)
draw_rectangle(0, 0, PIECE * WIDTH, PIECE * WALL_THICKNESS)
draw_rectangle(PIECE * WIDTH - PIECE * WALL_THICKNESS, 0, PIECE * WIDTH,
PIECE * HEIGHT)
draw_rectangle(0, PIECE * HEIGHT - PIECE * WALL_THICKNESS, PIECE * WIDTH,
PIECE * HEIGHT)
if QUIT_SIGNAL == 1:
draw_text('GAME OVER', PIECE * WIDTH // 2 - PIECE * FONT_SIZE * 4,
PIECE * HEIGHT // 2 - PIECE * FONT_SIZE // 2, 'left',
PIECE * FONT_SIZE)
def draw(self):
gl.glLineWidth(1)
ecsm = game_scene.ecsm
phys_comp_list = ecsm.comps[phys.PhysicsEcsComponent.name()]
grav_comp_list = ecsm.comps[phys.GravityEcsComponent.name()]
coll_comp_list = ecsm.comps[collision.CollisionEcsComponent.name()]
planet_comp_list = ecsm.comps[planet.PlanetEcsComponent.name()]
ship_comp_list = ecsm.comps[ship.ShipEcsComponent.name()]
base_comp_list = ecsm.comps[base.BaseEcsComponent.name()]
entities = ecsm.entities
player_entity_id = ecsm.get_system(
player.PlayerEscSystem.name()).player_entity_id
player_physc = ecsm.get_entity_comp(player_entity_id,
phys.PhysicsEcsComponent.name())
# if player_physc:
# tx = (-player_physc.pos.x * ZOOM) + const.WIDTH // 2
# ty = (-player_physc.pos.y * ZOOM) + const.HEIGHT // 2
# else:
tx = const.WIDTH // 2
ty = const.HEIGHT // 2
gl.glColor3f(0, 0, 0.2)
for i in range(0, const.WIDTH, 50):
gl.glBegin(gl.GL_LINES)
gl.glVertex2f(i, 0.0)
gl.glVertex2f(i, const.HEIGHT)
gl.glEnd()
for i in range(0, const.HEIGHT, 50):
gl.glBegin(gl.GL_LINES)
gl.glVertex2f(0.0, i)
gl.glVertex2f(const.WIDTH, i)
gl.glEnd()
gl.glPushMatrix()
gl.glLoadIdentity()
gl.glTranslatef(tx, ty, 0.0)
# planet orbots
for idx, eid in enumerate(entities):
planetc = planet_comp_list[idx]
physc = phys_comp_list[idx]
if planetc and physc.static:
# rpc = rend_plan_comp_list[idx]
# render.draw_circle(physc.pos.x * ZOOM, physc.pos.y * ZOOM, collc.radius * ZOOM)
distance = physc.pos.length
if distance:
render.draw_circle(0,
0,
distance * ZOOM,
mode=gl.GL_LINES,
color=(.5, .5, .5, 1))
for idx, eid in enumerate(entities):
shipc = ship_comp_list[idx]
basec = base_comp_list[idx]
planetc = planet_comp_list[idx]
physc = phys_comp_list[idx]
collc = coll_comp_list[idx]
if basec and basec.crew_load > 0:
render.draw_circle(physc.pos.x * ZOOM,
physc.pos.y * ZOOM,
TOKEN_SIZE * ZOOM,
color=(1, 1, 0, 1))
# show planet
elif planetc:
# rpc = rend_plan_comp_list[idx]
render.draw_circle(physc.pos.x * ZOOM,
physc.pos.y * ZOOM,
collc.radius * ZOOM,
color=(.8, .8, .8, 1))
# gc = grav_comp_list[idx]
# if gc and gc.gravity_radius:
# render.draw_circle(physc.pos.x * ZOOM, physc.pos.y * ZOOM, gc.gravity_radius * ZOOM, None, gl.GL_LINE_LOOP, color=(.3, .3, .3, 1))
# labels
for idx, eid in enumerate(entities):
planetc = planet_comp_list[idx]
physc = phys_comp_list[idx]
collc = coll_comp_list[idx]
if planetc:
if planetc.pname:
label = pyglet.text.Label(
planetc.pname,
font_name=font.FONT_MONO.name,
font_size=12,
x=physc.pos.x * ZOOM,
y=(physc.pos.y + (collc.radius + 500)) * ZOOM,
# + collc.radius + 5
anchor_x='center',
anchor_y='center',
color=(255, 255, 255, 120))
label.draw()
# show player position
if player_physc:
render.draw_circle(player_physc.pos.x * ZOOM,
player_physc.pos.y * ZOOM,
TOKEN_SIZE * ZOOM,
color=(1, 0, 0, 1))
gl.glPopMatrix()
def level_draw(self, camera):
gl.glLoadIdentity()
gl.glBegin(gl.GL_TRIANGLES)
gl.glColor3f(1.0, 1.0, 1.0)
secs = 0
necs = 0
for sector in self.sectors:
if camera.inCamera(sector.x, sector.y, sector.w, sector.h):
secs += 1
for node in sector.nodes:
necs += 1
if node.e4:
node2 = node.e4.end
if node2.e6:
node3 = node2.e6.end
gl.glColor3f(*TriNode.color[node.mat])
gl.glVertex2f(node.vx - camera.x,
node.vy - camera.y)
gl.glColor3f(*TriNode.color[node2.mat])
gl.glVertex2f(node2.vx - camera.x,
node2.vy - camera.y)
gl.glColor3f(*TriNode.color[node3.mat])
gl.glVertex2f(node3.vx - camera.x,
node3.vy - camera.y)
if node.e5:
node2 = node.e5.end
if node2.e3:
node3 = node2.e3.start
gl.glColor3f(*TriNode.color[node.mat])
gl.glVertex2f(node.vx - camera.x,
node.vy - camera.y)
gl.glColor3f(*TriNode.color[node2.mat])
gl.glVertex2f(node2.vx - camera.x,
node2.vy - camera.y)
gl.glColor3f(*TriNode.color[node3.mat])
gl.glVertex2f(node3.vx - camera.x,
node3.vy - camera.y)
gl.glEnd()
#print(secs, necs)
gl.glBegin(gl.GL_LINES)
gl.glColor3f(1.0, 1.0, 1.0)
for sector in self.sectors:
if camera.inCamera(sector.x, sector.y, sector.w, sector.h):
for node in sector.nodes:
for edge in node.leftEdgeList():
gl.glVertex2f(edge.start.vx - camera.x,
edge.start.vy - camera.y)
gl.glVertex2f(edge.end.vx - camera.x,
edge.end.vy - camera.y)
gl.glEnd()
if self.selected:
s = self.selected
sz = 4
gl.glBegin(gl.GL_QUADS)
gl.glColor3f(1.0, 0.0, 0.0)
gl.glVertex2d(s.vx - sz - camera.x, s.vy - sz - camera.y)
gl.glVertex2d(s.vx - sz - camera.x, s.vy + sz - camera.y)
gl.glVertex2d(s.vx + sz - camera.x, s.vy + sz - camera.y)
gl.glVertex2d(s.vx + sz - camera.x, s.vy - sz - camera.y)
gl.glEnd()
def on_draw():
window.clear()
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glEnable(gl.GL_LINE_SMOOTH)
width, height = window.get_size()
gl.glViewport(0, 0, width, height)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.gluPerspective(60, width / float(height), 0.01, 20)
gl.glMatrixMode(gl.GL_TEXTURE)
gl.glLoadIdentity()
# texcoords are [0..1] and relative to top-left pixel corner, add 0.5 to center
gl.glTranslatef(0.5 / image_data.width, 0.5 / image_data.height, 0)
image_texture = image_data.get_texture()
# texture size may be increased by pyglet to a power of 2
tw, th = image_texture.owner.width, image_texture.owner.height
gl.glScalef(image_data.width / float(tw),
image_data.height / float(th), 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.gluLookAt(0, 0, 0, 0, 0, 1, 0, -1, 0)
gl.glTranslatef(0, 0, state.distance)
gl.glRotated(state.pitch, 1, 0, 0)
gl.glRotated(state.yaw, 0, 1, 0)
if any(state.mouse_btns):
axes(0.1, 4)
gl.glTranslatef(0, 0, -state.distance)
gl.glTranslatef(*state.translation)
gl.glColor3f(0.5, 0.5, 0.5)
gl.glPushMatrix()
gl.glTranslatef(0, 0.5, 0.5)
grid()
gl.glPopMatrix()
psz = max(window.get_size()) / float(max(w, h)) if state.scale else 1
gl.glPointSize(psz)
distance = (0, 0, 1) if state.attenuation else (1, 0, 0)
gl.glPointParameterfv(gl.GL_POINT_DISTANCE_ATTENUATION,
(gl.GLfloat * 3)(*distance))
if state.lighting:
ldir = [0.5, 0.5, 0.5] # world-space lighting
ldir = np.dot(state.rotation, (0, 0, 1)) # MeshLab style lighting
ldir = list(ldir) + [0] # w=0, directional light
gl.glLightfv(gl.GL_LIGHT0, gl.GL_POSITION, (gl.GLfloat * 4)(*ldir))
gl.glLightfv(gl.GL_LIGHT0, gl.GL_DIFFUSE,
(gl.GLfloat * 3)(1.0, 1.0, 1.0))
gl.glLightfv(gl.GL_LIGHT0, gl.GL_AMBIENT,
(gl.GLfloat * 3)(0.75, 0.75, 0.75))
gl.glEnable(gl.GL_LIGHT0)
gl.glEnable(gl.GL_NORMALIZE)
gl.glEnable(gl.GL_LIGHTING)
gl.glColor3f(1, 1, 1)
texture = image_data.get_texture()
gl.glEnable(texture.target)
gl.glBindTexture(texture.target, texture.id)
gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MAG_FILTER,
gl.GL_NEAREST)
# comment this to get round points with MSAA on
gl.glEnable(gl.GL_POINT_SPRITE)
if not state.scale and not state.attenuation:
gl.glDisable(gl.GL_MULTISAMPLE) # for true 1px points with MSAA on
vertex_list.draw(gl.GL_POINTS)
gl.glDisable(texture.target)
if not state.scale and not state.attenuation:
gl.glEnable(gl.GL_MULTISAMPLE)
gl.glDisable(gl.GL_LIGHTING)
gl.glColor3f(0.25, 0.25, 0.25)
frustum(depth_intrinsics)
axes()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(0, width, 0, height, -1, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.glMatrixMode(gl.GL_TEXTURE)
gl.glLoadIdentity()
gl.glDisable(gl.GL_DEPTH_TEST)
fps_display.draw()
z = hmd.headPose.translation.z
# print(x, y, z)
# use OpenGL rendering commands here...
# Just draw a triangle 2 meters away. Let's use the ovrMatrix4f type to
# handle the translation. You can do whatever you like to the position
# every frame.
#
triangle_origin = ovrVector3f(0.0, 0.0, -2.0)
M = ovrMatrix4f.translation(triangle_origin)
GL.glPushMatrix()
GL.glMultMatrixf(M.ctypes) # multiply the scene by the matrix
GL.glBegin(GL.GL_TRIANGLES)
GL.glColor3f(1, 0, 0)
GL.glVertex3f(-1.0, -1.0, 0.0)
GL.glColor3f(0, 1, 0)
GL.glVertex3f(1.0, -1.0, 0.0)
GL.glColor3f(0, 0, 1)
GL.glVertex3f(0.0, 1.0, 0.0)
GL.glEnd()
GL.glPopMatrix()
# send the rendered buffer to the HMD
hmd.flip()
# check if the application should exit
if event.getKeys('q') or hmd.shouldQuit:
stopApp = True
elif event.getKeys('r') or hmd.shouldRecenter:
def _display_movements(self, has_vbo):
self.vertex_buffer.bind()
glVertexPointer(3, GL_FLOAT, 0, self.vertex_buffer.ptr)
self.vertex_color_buffer.bind()
glColorPointer(3, GL_FLOAT, 0, self.vertex_color_buffer.ptr)
self.vertex_normal_buffer.bind()
glNormalPointer(GL_FLOAT, 0, self.vertex_normal_buffer.ptr)
self.index_buffer.bind()
# Prevent race condition by using the number of currently loaded layers
max_layers = self.layers_loaded
start = 1
layer_selected = self.num_layers_to_draw <= max_layers
if layer_selected:
end_prev_layer = self.layer_stops[self.num_layers_to_draw - 1]
else:
end_prev_layer = 0
end = self.layer_stops[min(self.num_layers_to_draw, max_layers)]
glDisableClientState(GL_COLOR_ARRAY)
glColor3f(*self.color_printed[:-1])
# Draw printed stuff until end or end_prev_layer
cur_end = min(self.printed_until, end)
if not self.only_current:
if 1 <= end_prev_layer <= cur_end:
self._draw_elements(1, end_prev_layer)
elif cur_end >= 1:
self._draw_elements(1, cur_end)
glEnableClientState(GL_COLOR_ARRAY)
# Draw nonprinted stuff until end_prev_layer
start = max(cur_end, 1)
if end_prev_layer >= start:
if not self.only_current:
self._draw_elements(start, end_prev_layer)
cur_end = end_prev_layer
# Draw current layer
if layer_selected:
glDisableClientState(GL_COLOR_ARRAY)
glColor3f(*self.color_current_printed[:-1])
if cur_end > end_prev_layer:
self._draw_elements(end_prev_layer + 1, cur_end)
glColor3f(*self.color_current[:-1])
if end > cur_end:
self._draw_elements(cur_end + 1, end)
glEnableClientState(GL_COLOR_ARRAY)
# Draw non printed stuff until end (if not ending at a given layer)
start = max(self.printed_until, 1)
if not layer_selected and end >= start:
self._draw_elements(start, end)
self.index_buffer.unbind()
self.vertex_buffer.unbind()
self.vertex_color_buffer.unbind()
self.vertex_normal_buffer.unbind()
def render(self, world_state, goals=[], time_step=None, wait=True):
""""
Renders the world state. Spawn a window if called for the first time.
Parameters
----------
world_state:
state of the world as an instance of `roboball2d.physics.world_state.WorldState`
goals:
list of tuple (x1, x2, (r,g,b)). For each item, a goal will be
drawn on the ground, using the specified color
time_step:
allows to force a frame rate by either;
- having rendering waiting a suitable amount of time (wait=True)
or
- skipping some frames (wait=False)
wait:
see time_step above
"""
if time_step is not None:
# if wait : sleep the right amount of time such that the correct framerate is met
# TODO: Does it make sense to wait before actually having rendered? This will result in a slower
# framerate than desired. Should be right before self.window.flip()
if wait:
if self._t_last_frame is None:
sleep_time = 0.0
else:
sleep_time = max(
0.0, time_step - (time.time() - self._t_last_frame))
time.sleep(sleep_time)
self._t_last_frame = time.time()
# if not wait : skipping frame if required
else:
t = time.time()
if self._t_last_frame is None:
self._t_last_frame = t
if t - self._t_last_frame < time_step:
return
self._t_last_frame = t
if self.window is None:
self.window = pyglet.window.Window(
width=self.rendering_config.window.width,
height=self.rendering_config.window.height,
vsync=False,
resizable=True)
self.window.set_location(self.rendering_config.location[0],
self.rendering_config.location[1])
gl.glClearColor(*self.rendering_config.background_color)
@self.window.event
def on_resize(width, height):
gl.glViewport(0, 0, width, height)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(
0., self.rendering_config.visible_area_width,
-0.1 * float(height) / width *
self.rendering_config.visible_area_width,
0.9 * float(height) / width *
self.rendering_config.visible_area_width, -1., 1.)
gl.glMatrixMode(gl.GL_MODELVIEW)
return pyglet.event.EVENT_HANDLED
self.window.clear()
self.window.switch_to()
self.window.dispatch_events()
gl.glLoadIdentity()
# balls
if self.ball_configs:
for ball, config in zip(world_state.balls, self.ball_configs):
draw_ball(ball.position, ball.angle, config.radius, 16,
config.color, config.line_color)
# robots
for robot in world_state.robots:
robot.render()
gl.glBegin(gl.GL_QUADS)
gl.glColor3f(*self.rendering_config.ground_color)
gl.glVertex2f(0., 0.)
gl.glVertex2f(0., -10.)
gl.glVertex2f(self.rendering_config.visible_area_width, -10.)
gl.glVertex2f(self.rendering_config.visible_area_width, 0.)
gl.glEnd()
# goals (if any)
for goal in goals:
x1, x2, color = goal
draw_box(
[(x1 + x2) / 2.0, -0.5 * self.rendering_config.visual_height],
max(x1, x2) - min(x1, x2), self.rendering_config.visual_height,
0., color)
for callback in self._callbacks:
callback(world_state)
self.window.flip()
def draw_notice(
self, notice
): # Elis: Function added to just have an arrow when car is coming.
#if notice.condition: # then notice condition is fulfilled, so notify.
if notice.name == 'maniac':
if notice.info is not False and notice.info < 5 and notice.info > 0: # old: notice.info <= 5 and notice.info >= 0:
#if notice.have_played is False:
# notice.beep.play()
# notice.have_played = True
sprite = self.obj_sprites['arrow%d' % np.ceil(notice.info)]
sprite.x, sprite.y = -0.13, self.center()[1] + 0.85
sprite.rotation = 0
sprite.draw()
elif notice.name == 'exit':
exit_begins = notice.exit_begins
W = notice.W
U = notice.U
gl.glColor3f(0.4, 0.4, 0.4)
graphics.draw(4, gl.GL_QUAD_STRIP,
('v2f',
np.hstack([(0.13 / 2, exit_begins + W),
(0.13 / 2, exit_begins),
(1, exit_begins + U + W),
(1, exit_begins + U)])))
gl.glColor3f(1, 1, 1)
graphics.draw(2, gl.GL_LINES,
('v2f',
np.hstack([(0.13 / 2, exit_begins + W),
(1, exit_begins + U + W)])))
graphics.draw(2, gl.GL_LINES, ('v2f',
np.hstack([(0.13 / 2, exit_begins),
(1, exit_begins + U)])))
# dashed lines (neater way to do this?)
gl.glColor3f(0.4, 0.4, 0.4)
graphics.draw(
2,
gl.GL_LINES,
(
'v2f',
np.hstack([(0.13 / 2, exit_begins),
(0.13 / 2, exit_begins + W)
]) # overwrite the usual white road lines.
))
gl.glColor3f(1, 1, 1)
graphics.draw(2, gl.GL_LINES,
('v2f',
np.hstack([(0.13 / 2, exit_begins),
(0.13 / 2, exit_begins + 0.05 * W)])))
graphics.draw(2, gl.GL_LINES,
('v2f',
np.hstack([(0.13 / 2, exit_begins + 0.1 * W),
(0.13 / 2, exit_begins + 0.15 * W)])))
graphics.draw(2, gl.GL_LINES,
('v2f',
np.hstack([(0.13 / 2, exit_begins + 0.2 * W),
(0.13 / 2, exit_begins + 0.25 * W)])))
graphics.draw(2, gl.GL_LINES,
('v2f',
np.hstack([(0.13 / 2, exit_begins + 0.3 * W),
(0.13 / 2, exit_begins + 0.35 * W)])))
graphics.draw(2, gl.GL_LINES,
('v2f',
np.hstack([(0.13 / 2, exit_begins + 0.4 * W),
(0.13 / 2, exit_begins + 0.45 * W)])))
graphics.draw(2, gl.GL_LINES,
('v2f',
np.hstack([(0.13 / 2, exit_begins + 0.5 * W),
(0.13 / 2, exit_begins + 0.55 * W)])))
graphics.draw(2, gl.GL_LINES,
('v2f',
np.hstack([(0.13 / 2, exit_begins + 0.6 * W),
(0.13 / 2, exit_begins + 0.65 * W)])))
graphics.draw(2, gl.GL_LINES,
('v2f',
np.hstack([(0.13 / 2, exit_begins + 0.7 * W),
(0.13 / 2, exit_begins + 0.75 * W)])))
graphics.draw(2, gl.GL_LINES,
('v2f',
np.hstack([(0.13 / 2, exit_begins + 0.8 * W),
(0.13 / 2, exit_begins + W)])))
if notice.info is not False and notice.info < 5 and notice.info > 0: # Here for exit.
#if notice.have_played is False:
# notice.beep.play()
# notice.have_played = True
sprite = self.obj_sprites['rarrow%d' % np.ceil(notice.info)]
sprite.x, sprite.y = 0.13 + 0.13 / 4, self.center()[1] + 0.85
sprite.roation = 0
sprite.draw()
elif notice.name == 'quit':
if notice.info == 1 or notice.info == -1: # the done.
topic_program.paused = True
initcond = notice.current_init_order[0]
while True:
input_text = raw_input(
'Write your subject ID and trial number: ')
input_text = input_text.split()
if (len(input_text) == 2
and input_text[0] in notice.subject_list
and input_text[1] in notice.trial_list):
save = True
if input_text[1] == notice.trial_list[-1]:
# last trial so take next order for next subject.
# rotate list of orders for next subject.
notice.init_orders = notice.init_orders[
1:] + notice.init_orders[:1]
# get the first order for next subject (copies it to
# preserve the orginal one in case something goes wrong).
notice.current_init_order = copy.copy(
notice.init_orders[0])
else:
# rotate the current order for next trial.
notice.current_init_order = (
notice.current_init_order[1:] +
notice.current_init_order[:1])
break
elif len(input_text) == 1 and input_text[0] == 'dismiss':
# completely ignore this trial and continue.
save = False
break
elif len(input_text) == 1 and input_text[0] == 'skip':
# jump to next order without saving.
save = False
notice.init_orders = notice.init_orders[
1:] + notice.init_orders[:1]
notice.current_init_order = copy.copy(
notice.init_orders[0])
break
elif len(input_text) == 1 and input_text[0] == 'reset':
# reset to same original order (in case something went wrong).
save = False
notice.current_init_order = copy.copy(
notice.init_orders[0])
break
elif len(input_text) == 1 and input_text[0] == 'RESET':
# Reset the total list of orders and make current order the first.
save = False
notice.init_orders = copy.copy(
notice.original_init_order)
notice.current_init_order = copy.copy(
notice.init_orders[0])
break
else:
print('Wrong input format.')
print('Example of correct input formats:')
print('kth1 2')
print('ucb2 3')
print('Try again...')
# if save:
# save_name = notice.scenario+'-initcond'+str(initcond)+'-'+input_text[0]+'-'+input_text[1]
# with open('data/'+input_text[0]+'/%s-%d.pickle'%(save_name, int(time.time())), 'w') as f:
# pickle.dump((topic_world.history, notice.info), f)
self.reset()
def on_draw(self):
if (not self.e.period is None) and (not self.e.filename is None):
if True: #not os.path.isfile(self.e.filename):
if self.e.time() > self.e.period:
pyglet.app.exit()
self.clear()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
# gluOrtho2D sets up a two-dimensional orthographic viewing region.
# Parameters left, right
# Specify the coordinates for the left and right vertical clipping planes.
# bottom, top
# Specify the coordinates for the bottom and top horizontal clipping planes.
# Description
# gl.gluOrtho2D(-(self.W-1)/2*self.e.total_width, (self.W+1)/2*self.e.total_width, -self.e.total_width/2, self.e.total_width/2, 0, 0, 1);
self.W = float(self.width) / self.height
gl.gluOrtho2D(-self.W / 2 * self.e.total_width,
self.W / 2 * self.e.total_width,
-self.e.total_width / 2, self.e.total_width / 2, 0,
0, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
#gl.glLineWidth () #p['line_width'])
gl.glEnable(gl.GL_BLEND)
gl.glHint(gl.GL_LINE_SMOOTH_HINT, gl.GL_NICEST)
gl.glColor3f(0., 0., 0.)
if self.first_frame:
# print(self.e.t0, self.e.t)
self.e.t0 = time.time()
self.e.t = self.e.time()
# print(self.e.t0, self.e.t)
self.first_frame = False
dt = self.e.time() - self.e.t
if 1. / self.e.desired_fps - dt > 0.:
time.sleep(1. / self.e.desired_fps - dt)
self.e.receive()
X, Y, Theta = self.e.lames[0, :], self.e.lames[1, :], self.e.lames[
2, :]
dX, dY = np.cos(Theta) / 2., np.sin(Theta) / 2.
#print(Theta)
# coords = np.vstack((X-dX*self.e.lame_length, Y-dY*self.e.lame_length, X+dX*self.e.lame_length, Y+dY*self.e.lame_length))
coords = np.vstack((
X - dX * self.e.lame_length + dY * self.e.lame_width,
Y - dY * self.e.lame_length - dX * self.e.lame_width,
X + dX * self.e.lame_length + dY * self.e.lame_width,
Y + dY * self.e.lame_length - dX * self.e.lame_width,
X - dX * self.e.lame_length - dY * self.e.lame_width,
Y - dY * self.e.lame_length + dX * self.e.lame_width,
X + dX * self.e.lame_length - dY * self.e.lame_width,
Y + dY * self.e.lame_length + dX * self.e.lame_width,
))
#pyglet.graphics.draw(2*self.e.N_lame, gl.GL_LINES, ('v2f', coords.T.ravel().tolist()))
if True:
indices = np.array([
0, 1, 2, 1, 2, 3
])[:, np.newaxis] + 4 * np.arange(self.e.N_lame)
pyglet.graphics.draw_indexed(
4 * self.e.N_lame, pyglet.gl.GL_TRIANGLES,
indices.T.ravel().tolist(),
('v2f', coords.T.ravel().tolist()))
#pyglet.graphics.draw(4*self.e.N_lame, gl.GL_QUADS, ('v2f', coords.T.ravel().tolist()))
# carré
if self.e.DEBUG:
coords = np.array([[
-.5 * self.e.total_width, .5 * self.e.total_width,
.5 * self.e.total_width, -.5 * self.e.total_width
],
[
-.5 * self.e.total_width,
-.5 * self.e.total_width,
.5 * self.e.total_width,
.5 * self.e.total_width
]])
pyglet.graphics.draw(4, gl.GL_LINE_LOOP,
('v2f', coords.T.ravel().tolist()))
# centres des lames
if self.e.DEBUG:
gl.glLineWidth(1.)
gl.glColor3f(0., 0., 0.)
pyglet.graphics.draw(
self.e.N_lame, gl.GL_POINTS,
('v2f', self.e.lames[:2, :].T.ravel().tolist()))
gl.glColor3f(1., 0., 0.)
pyglet.graphics.draw(2, gl.GL_LINES, ('v2f', [0., 0., 1., 0.]))
gl.glColor3f(0., 1., 0.)
pyglet.graphics.draw(2, gl.GL_LINES, ('v2f', [0., 0., 0., 1.]))
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
self.label.draw()
self.text.draw()
def draw(self):
super(AngleEditor, self).draw()
if not self.dragging:
gl.glColor3f(*SELECTED_COLOUR)
self.protractor.draw()
gl.glColor3f(*WHITE)
def _render_img(self, width, height, multi_fbo, final_fbo, img_array, top_down=True):
"""
Render an image of the environment into a frame buffer
Produce a numpy RGB array image as output
"""
if not self.graphics:
return
# Switch to the default context
# This is necessary on Linux nvidia drivers
# pyglet.gl._shadow_window.switch_to()
self.shadow_window.switch_to()
from pyglet import gl
# Bind the multisampled frame buffer
gl.glEnable(gl.GL_MULTISAMPLE)
gl.glBindFramebuffer(gl.GL_FRAMEBUFFER, multi_fbo)
gl.glViewport(0, 0, width, height)
# Clear the color and depth buffers
c0, c1, c2 = self.horizon_color
gl.glClearColor(c0, c1, c2, 1.0)
gl.glClearDepth(1.0)
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
# Set the projection matrix
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.gluPerspective(
self.cam_fov_y,
width / float(height),
0.04,
100.0
)
# Set modelview matrix
# Note: we add a bit of noise to the camera position for data augmentation
pos = self.cur_pos
angle = self.cur_angle
if self.domain_rand:
pos = pos + self.randomization_settings['camera_noise']
x, y, z = pos + self.cam_offset
dx, dy, dz = self.get_dir_vec(angle)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
if self.draw_bbox:
y += 0.8
gl.glRotatef(90, 1, 0, 0)
elif not top_down:
y += self.cam_height
gl.glRotatef(self.cam_angle[0], 1, 0, 0)
gl.glRotatef(self.cam_angle[1], 0, 1, 0)
gl.glRotatef(self.cam_angle[2], 0, 0, 1)
gl.glTranslatef(0, 0, self._perturb(gym_duckietown.simulator.CAMERA_FORWARD_DIST))
if top_down:
gl.gluLookAt(
# Eye position
(self.grid_width * self.road_tile_size) / 2,
self.top_cam_height,
(self.grid_height * self.road_tile_size) / 2,
# Target
(self.grid_width * self.road_tile_size) / 2,
0,
(self.grid_height * self.road_tile_size) / 2,
# Up vector
0, 0, -1.0
)
else:
gl.gluLookAt(
# Eye position
x,
y,
z,
# Target
x + dx,
y + dy,
z + dz,
# Up vector
0, 1.0, 0.0
)
# Draw the ground quad
gl.glDisable(gl.GL_TEXTURE_2D)
gl.glColor3f(*self.ground_color)
gl.glPushMatrix()
gl.glScalef(50, 1, 50)
self.ground_vlist.draw(gl.GL_QUADS)
gl.glPopMatrix()
# Draw the ground/noise triangles
self.tri_vlist.draw(gl.GL_TRIANGLES)
# Draw the road quads
gl.glEnable(gl.GL_TEXTURE_2D)
gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MIN_FILTER, gl.GL_LINEAR)
gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MAG_FILTER, gl.GL_LINEAR)
# For each grid tile
for j in range(self.grid_height):
for i in range(self.grid_width):
# Get the tile type and angle
tile = self._get_tile(i, j)
if tile is None:
continue
# kind = tile['kind']
angle = tile['angle']
color = tile['color']
texture = tile['texture']
gl.glColor3f(*color)
gl.glPushMatrix()
gl.glTranslatef((i + 0.5) * self.road_tile_size, 0, (j + 0.5) * self.road_tile_size)
gl.glRotatef(angle * 90, 0, 1, 0)
# Bind the appropriate texture
texture.bind()
self.road_vlist.draw(gl.GL_QUADS)
gl.glPopMatrix()
if self.draw_curve and tile['drivable']:
# Find curve with largest dotproduct with heading
curves = self._get_tile(i, j)['curves']
curve_headings = curves[:, -1, :] - curves[:, 0, :]
curve_headings = curve_headings / np.linalg.norm(curve_headings).reshape(1, -1)
dirVec = get_dir_vec(angle)
dot_prods = np.dot(curve_headings, dirVec)
# Current ("closest") curve drawn in Red
pts = curves[np.argmax(dot_prods)]
bezier_draw(pts, n=20, red=True)
pts = self._get_curve(i, j)
for idx, pt in enumerate(pts):
# Don't draw current curve in blue
if idx == np.argmax(dot_prods):
continue
bezier_draw(pt, n=20)
# For each object
for idx, obj in enumerate(self.objects):
obj.render(self.draw_bbox)
# Draw the agent's own bounding box
if self.draw_bbox:
corners = get_agent_corners(pos, angle)
gl.glColor3f(1, 0, 0)
gl.glBegin(gl.GL_LINE_LOOP)
gl.glVertex3f(corners[0, 0], 0.01, corners[0, 1])
gl.glVertex3f(corners[1, 0], 0.01, corners[1, 1])
gl.glVertex3f(corners[2, 0], 0.01, corners[2, 1])
gl.glVertex3f(corners[3, 0], 0.01, corners[3, 1])
gl.glEnd()
if top_down:
gl.glPushMatrix()
gl.glTranslatef(*self.cur_pos)
gl.glScalef(1, 1, 1)
gl.glRotatef(self.cur_angle * 180 / np.pi, 0, 1, 0)
# glColor3f(*self.color)
self.mesh.render()
gl.glPopMatrix()
# Resolve the multisampled frame buffer into the final frame buffer
gl.glBindFramebuffer(gl.GL_READ_FRAMEBUFFER, multi_fbo)
gl.glBindFramebuffer(gl.GL_DRAW_FRAMEBUFFER, final_fbo)
gl.glBlitFramebuffer(
0, 0,
width, height,
0, 0,
width, height,
gl.GL_COLOR_BUFFER_BIT,
gl.GL_LINEAR
)
# Copy the frame buffer contents into a numpy array
# Note: glReadPixels reads starting from the lower left corner
gl.glBindFramebuffer(gl.GL_FRAMEBUFFER, final_fbo)
gl.glReadPixels(
0,
0,
width,
height,
gl.GL_RGB,
gl.GL_UNSIGNED_BYTE,
img_array.ctypes.data_as(POINTER(gl.GLubyte))
)
# Unbind the frame buffer
gl.glBindFramebuffer(gl.GL_FRAMEBUFFER, 0)
# Flip the image because OpenGL maps (0,0) to the lower-left corner
# Note: this is necessary for gym.wrappers.Monitor to record videos
# properly, otherwise they are vertically inverted.
img_array = np.ascontiguousarray(np.flip(img_array, axis=0))
return img_array
def render_obs(self):
"""
Render an observation from the point of view of the agent
"""
observation = self._render_img(
self.camera_width,
self.camera_height,
self.multi_fbo,
self.final_fbo,
self.img_array,
top_down=True
)
# self.undistort - for UndistortWrapper
if self.distortion and not self.undistort:
observation = self.camera_model.distort(observation)
return observation
def draw(self):
gl.glColor3f(*self.color)
gl.glCallList(self.square)
gl.glFlush()
def render_velocity(self):
glColor3f(0.6, 0.6, 0.6)
glBegin(GL_LINES)
glVertex2f(0.0, 0.0)
glVertex2f(0.0, _BOID_RANGE)
glEnd()
def on_draw_(self):
gl.glColor3f(0.25, 0.0, 1.0)
with self._lock:
self._vertex_list.draw(pyglet.gl.GL_LINE_STRIP)
def draw_selected(self):
gl.glColor3f(0, 1, 0)
self.draw_component()
gl.glColor3f(1, 1, 1)
def render_velocity(self, b):
glColor3f(0.6, 0.6, 0.6)
glBegin(GL_LINES)
glVertex2f(0.0, 0.0)
glVertex2f(0.0, b.body.fustrum.radius)
glEnd()
def draw(self):
gl.glColor3f(*self.color)
gl.glBegin(self.primtype)
for vert in self.verts:
gl.glVertex2f(*vert)
gl.glEnd()
def on_draw():
window.clear()
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glEnable(gl.GL_LINE_SMOOTH)
width, height = window.get_size()
gl.glViewport(0, 0, width, height)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.gluPerspective(60, width / float(height), 0.01, 20)
gl.glMatrixMode(gl.GL_TEXTURE)
gl.glLoadIdentity()
# texcoords are [0..1] and relative to top-left pixel corner, add 0.5 to center
gl.glTranslatef(0.5 / image_data.width, 0.5 / image_data.height, 0)
# texture size may be increased by pyglet to a power of 2
tw, th = image_data.texture.owner.width, image_data.texture.owner.height
gl.glScalef(image_data.width / float(tw),
image_data.height / float(th), 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.gluLookAt(0, 0, 0, 0, 0, 1, 0, -1, 0)
gl.glTranslatef(0, 0, state.distance)
gl.glRotated(state.pitch, 1, 0, 0)
gl.glRotated(state.yaw, 0, 1, 0)
""" if any(state.mouse_btns):
axes(0.1, 4) """
gl.glTranslatef(0, 0, -state.distance)
gl.glTranslatef(*state.translation)
gl.glColor3f(0.5, 0.5, 0.5)
gl.glPushMatrix()
gl.glTranslatef(0, 0.5, 0.5)
#grid()
gl.glPopMatrix()
psz = 1
gl.glPointSize(psz)
distance = (1, 0, 0)
gl.glPointParameterfv(gl.GL_POINT_DISTANCE_ATTENUATION,
(gl.GLfloat * 3)(*distance))
gl.glColor3f(1, 1, 1)
texture = image_data.get_texture()
gl.glEnable(texture.target)
gl.glBindTexture(texture.target, texture.id)
gl.glTexParameteri(
gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MAG_FILTER, gl.GL_NEAREST)
# comment this to get round points with MSAA on
gl.glEnable(gl.GL_POINT_SPRITE)
gl.glDisable(gl.GL_MULTISAMPLE) # for true 1px points with MSAA on
vertex_list.draw(gl.GL_POINTS)
gl.glDisable(texture.target)
gl.glEnable(gl.GL_MULTISAMPLE)
gl.glDisable(gl.GL_LIGHTING)
gl.glColor3f(0.25, 0.25, 0.25)
#frustum(depth_intrinsics)
#axes()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(0, width, 0, height, -1, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.glMatrixMode(gl.GL_TEXTURE)
gl.glLoadIdentity()
gl.glDisable(gl.GL_DEPTH_TEST)
def render(self, position, size, color):
glColor3f(color[0], color[1], color[2])
shapes.draw_circle(position, size)
def set_state(self):
gl.glPushAttrib(gl.GL_LINE_BIT | gl.GL_CURRENT_BIT)
gl.glLineWidth(2)
gl.glColor3f(1, 1, 1)
def line(x1, y1, x2, y2):
gl.glBegin(gl.GL_LINES)
gl.glColor3f(1.0, 1.0, 1.0)
gl.glVertex2f(x1, y1)
gl.glVertex2f(x2, y2)
gl.glEnd()
def render(self):
gl.glColor3f(*self.color)
gl.glVertex2f(self.x, self.y)
def draw(self):
Panel.draw(self)
pic = self.pic
glColor3f(1, 1, 1)
self.pic.blit(self.width - pic.width - 10,
self.height - pic.height - 10)
def draw(self):
glColor3f(1, 1, 1)
L('thb-tag-gameintro').blit(0, 0)
def draw(self):
glColor3f(1, 1, 1)
self.texture.blit(0, 80)
glColor4f(1, 1, 1, 0.65)
glRectf(0, 0, self.width, self.ta_height)
self.draw_subcontrols()
def draw(self):
gl.glCallList(self.list)
gl.glColor3f(1.0, 1.0, 1.0)