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 render1(self):
if len(self.v) == 4 : gl.glBegin(gl.GL_QUADS)
elif len(self.v) > 4 : gl.glBegin(gl.GL_POLYGON)
else: gl.glBegin(gl.GL_TRIANGLES)
for p in self.v:
gl.glVertex3f(p[0], p[1],0) # draw each vertex
gl.glEnd()
def draw(self, scale, pos):
LINE_COLOUR = (255, 255, 255)
# gl.glEnable(gl.GL_DEPTH_TEST);
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glEnable(gl.GL_LINE_SMOOTH)
gl.glHint(gl.GL_LINE_SMOOTH_HINT, gl.GL_DONT_CARE)
gl.glBegin(gl.GL_LINES)
for link in self.links:
if link.highlight:
gl.glColor3ub(*self.colour)
gl.glColor3ub(*self.colour)
else:
gl.glColor3ub(*LINE_COLOUR)
gl.glColor3ub(*LINE_COLOUR)
if link.highlight:
depth = 0.5
else:
depth = 0.5
gl.glVertex3f(*util.add_tup(pos, util.scale_tup(link.points[0].pos, scale)) + (depth,))
gl.glVertex3f(*util.add_tup(pos, util.scale_tup(link.points[1].pos, scale)) + (depth,))
print util.add_tup(pos, util.scale_tup(link.points[0].pos, scale))
gl.glEnd()
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 bounce(thing, other, vector=None):
screen = thing.screen
velocity_perpendicular = thing.vel.proj(vector)
velocity_parallel = thing.vel - velocity_perpendicular
if vector * thing.vel > 0:
thing.vel = (
screen.constants["friction"] * velocity_parallel + screen.constants["elasticity"] * velocity_perpendicular
)
else:
thing.vel = (
screen.constants["friction"] * velocity_parallel - screen.constants["elasticity"] * velocity_perpendicular
)
thing.position_component.position += screen.constants["displace"] * vector
if other.immobile:
thing.position_component.position += vector
if screen.draw_debug:
opengl.glBegin(opengl.GL_LINES)
p = thing.position_component.position
opengl.glVertex3f(p.x, p.y, 11)
opengl.glVertex3f(p.x + 5 * vector.x, p.y + 5 * vector.y, 11)
opengl.glEnd()
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 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_lines(point_list, color, border_width=1):
"""
Draw a set of lines.
Draw a line between each pair of points specified.
Args:
:point_list: List of points making up the lines. Each point is
in a list. So it is a list of lists.
:color: color, specified in a list of 3 or 4 bytes in RGB or
RGBA format.
:border_width: Width of the line in pixels.
Returns:
None
Raises:
None
Example:
>>> import arcade
>>> arcade.open_window("Drawing Example", 800, 600)
>>> arcade.set_background_color(arcade.color.WHITE)
>>> arcade.start_render()
>>> point_list = ((390, 450), \
(450, 450), \
(390, 480), \
(450, 480), \
(390, 510), \
(450, 510))
>>> arcade.draw_lines(point_list, arcade.color.BLUE, 3)
>>> arcade.finish_render()
>>> arcade.quick_run(0.25)
"""
GL.glEnable(GL.GL_BLEND)
GL.glBlendFunc(GL.GL_SRC_ALPHA, GL.GL_ONE_MINUS_SRC_ALPHA)
GL.glEnable(GL.GL_LINE_SMOOTH)
GL.glHint(GL.GL_LINE_SMOOTH_HINT, GL.GL_NICEST)
GL.glHint(GL.GL_POLYGON_SMOOTH_HINT, GL.GL_NICEST)
GL.glLoadIdentity()
# Set line width
GL.glLineWidth(border_width)
# Set color
if len(color) == 4:
GL.glColor4ub(color[0], color[1], color[2], color[3])
elif len(color) == 3:
GL.glColor4ub(color[0], color[1], color[2], 255)
GL.glBegin(GL.GL_LINES)
for point in point_list:
GL.glVertex3f(point[0], point[1], 0.5)
GL.glEnd()
def draw_callback(self, nx, ny, z):
gl.glLineWidth(self.BOLT_WIDTH)
gl.glBegin(gl.GL_LINES)
gl.glColor4f(self.COLOR[0], self.COLOR[1], self.COLOR[2], 1)
gl.glVertex3f(self.x, self.y, z)
gl.glColor4f(self.COLOR[0] * 0.7, self.COLOR[1] * 0.7,
self.COLOR[2] * 0.7, 0)
gl.glVertex3f(self.x + nx * self.BOLT_LENGTH,
self.y + ny * self.BOLT_LENGTH, z)
gl.glColor3f(1, 1, 1)
gl.glEnd()
def draw_canvas():
# Draw full-screen canvas
gl.glDrawBuffer(gl.GL_COLOR_ATTACHMENT0_EXT)
gl.glBegin(gl.GL_QUADS)
for coords in [(-1.0, -1.0),
(1.0, -1.0),
(1.0, 1.0),
(-1.0, 1.0)]:
gl.glVertex3f(coords[0], coords[1], 0.0)
gl.glEnd()
def draw(self):
glPushMatrix()
glBegin(GL_LINES)
glColor4f(*self.color)
for di in [-1, 1]:
for dj in [-1, 1]:
glVertex3f(0, 0, 0)
glVertex3f(self.scale * di, self.scale * dj, self.height)
glEnd()
glPopMatrix()
def draw(self):
p = adjust_for_cam(self._body.position)
gl.glEnable(pyglet.gl.GL_TEXTURE_2D)
gl.glBindTexture(gl.GL_TEXTURE_2D, BLASTER_IMAGE.id)
gl.glEnable(gl.GL_POINT_SPRITE)
gl.glTexEnvi(gl.GL_POINT_SPRITE, gl.GL_COORD_REPLACE, gl.GL_TRUE)
gl.glPointSize(4 * SPACE.scale)
gl.glBegin(gl.GL_POINTS)
# TODO: more optimized to draw as one large batch
gl.glVertex3f(p.x, p.y, 0)
gl.glEnd();
def draw_line(start_x, start_y, end_x, end_y, color, border_width=1):
"""
Draw a line.
Args:
:start_x: x position of line starting point.
:start_y: y position of line starting point.
:end_x: x position of line ending point.
:end_y: y position of line ending point.
:color: color, specified in a list of 3 or 4 bytes in RGB or
RGBA format.
:border_width: Width of the line in pixels.
Returns:
None
Raises:
None
Example:
>>> import arcade
>>> arcade.open_window("Drawing Example", 800, 600)
>>> arcade.set_background_color(arcade.color.WHITE)
>>> arcade.start_render()
>>> arcade.draw_line(270, 495, 300, 450, arcade.color.WOOD_BROWN, 3)
>>> color = (127, 0, 127, 127)
>>> arcade.draw_line(280, 495, 320, 450, color, 3)
>>> arcade.finish_render()
>>> arcade.quick_run(0.25)
"""
GL.glEnable(GL.GL_BLEND)
GL.glBlendFunc(GL.GL_SRC_ALPHA, GL.GL_ONE_MINUS_SRC_ALPHA)
GL.glEnable(GL.GL_LINE_SMOOTH)
GL.glHint(GL.GL_LINE_SMOOTH_HINT, GL.GL_NICEST)
GL.glHint(GL.GL_POLYGON_SMOOTH_HINT, GL.GL_NICEST)
GL.glLoadIdentity()
# Set line width
GL.glLineWidth(border_width)
# Set color
if len(color) == 4:
GL.glColor4ub(color[0], color[1], color[2], color[3])
elif len(color) == 3:
GL.glColor4ub(color[0], color[1], color[2], 255)
GL.glBegin(GL.GL_LINES)
GL.glVertex3f(start_x, start_y, 0.5)
GL.glVertex3f(end_x, end_y, 0.5)
GL.glEnd()
def render_indicators(self, W, H):
gl.glBegin(gl.GL_QUADS)
s = W/40.0
h = H/40.0
gl.glColor4f(0,0,0,1)
gl.glVertex3f(W, 0, 0)
gl.glVertex3f(W, 5*h, 0)
gl.glVertex3f(0, 5*h, 0)
gl.glVertex3f(0, 0, 0)
def vertical_ind(place, val, color):
gl.glColor4f(color[0], color[1], color[2], 1)
gl.glVertex3f((place+0)*s, h + h*val, 0)
gl.glVertex3f((place+1)*s, h + h*val, 0)
gl.glVertex3f((place+1)*s, h, 0)
gl.glVertex3f((place+0)*s, h, 0)
def horiz_ind(place, val, color):
gl.glColor4f(color[0], color[1], color[2], 1)
gl.glVertex3f((place+0)*s, 4*h , 0)
gl.glVertex3f((place+val)*s, 4*h, 0)
gl.glVertex3f((place+val)*s, 2*h, 0)
gl.glVertex3f((place+0)*s, 2*h, 0)
true_speed = np.sqrt(np.square(self.car.hull.linearVelocity[0]) + np.square(self.car.hull.linearVelocity[1]))
vertical_ind(5, 0.02*true_speed, (1,1,1))
vertical_ind(7, 0.01*self.car.wheels[0].omega, (0.0,0,1)) # ABS sensors
vertical_ind(8, 0.01*self.car.wheels[1].omega, (0.0,0,1))
vertical_ind(9, 0.01*self.car.wheels[2].omega, (0.2,0,1))
vertical_ind(10,0.01*self.car.wheels[3].omega, (0.2,0,1))
horiz_ind(20, -10.0*self.car.wheels[0].joint.angle, (0,1,0))
horiz_ind(30, -0.8*self.car.hull.angularVelocity, (1,0,0))
gl.glEnd()
self.score_label.text = "%04i" % self.reward
self.score_label.draw()
def draw_polygon_outline(point_list, color, border_width=1):
"""
Draw a polygon outline. Also known as a "line loop."
Args:
:point_list: List of points making up the lines. Each point is
in a list. So it is a list of lists.
:color: color, specified in a list of 3 or 4 bytes in RGB or
RGBA format.
:border_width: Width of the line in pixels.
Returns:
None
Raises:
None
>>> import arcade
>>> arcade.open_window("Drawing Example", 800, 600)
>>> arcade.set_background_color(arcade.color.WHITE)
>>> arcade.start_render()
>>> point_list = ((30, 240), \
(45, 240), \
(60, 255), \
(60, 285), \
(45, 300), \
(30, 300))
>>> arcade.draw_polygon_outline(point_list, arcade.color.SPANISH_VIOLET, 3)
>>> arcade.finish_render()
>>> arcade.quick_run(0.25)
"""
GL.glEnable(GL.GL_BLEND)
GL.glBlendFunc(GL.GL_SRC_ALPHA, GL.GL_ONE_MINUS_SRC_ALPHA)
GL.glEnable(GL.GL_LINE_SMOOTH)
GL.glHint(GL.GL_LINE_SMOOTH_HINT, GL.GL_NICEST)
GL.glHint(GL.GL_POLYGON_SMOOTH_HINT, GL.GL_NICEST)
# Set line width
GL.glLineWidth(border_width)
GL.glLoadIdentity()
# Set color
if len(color) == 4:
GL.glColor4ub(color[0], color[1], color[2], color[3])
elif len(color) == 3:
GL.glColor4ub(color[0], color[1], color[2], 255)
GL.glBegin(GL.GL_LINE_LOOP)
for point in point_list:
GL.glVertex3f(point[0], point[1], 0.5)
GL.glEnd()
def run(self):
while not self.has_exit:
dt = pyglet.clock.tick()
self.dispatch_events()
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
gl.glLoadIdentity()
self.shader.use()
self.shader["real"] = self.real
self.shader["w"] = self.w
self.shader["imag"] = self.imag
self.shader["h"] = self.h
gl.glBegin(gl.GL_QUADS)
gl.glVertex3f(0.0, 0.0, 0.0)
gl.glVertex3f(0.0, self.height, 0.0)
gl.glVertex3f(self.width, self.height, 0.0)
gl.glVertex3f(self.width, 0.0, 0.0)
gl.glEnd()
self.shader.stop()
if self.show_fps:
self.fps.draw()
if self.auto_zoom_in:
self.zoom_in(dt)
if self.auto_zoom_out:
self.zoom_out(dt)
self.key_move(dt=dt)
self.flip()
def draw(self):
glPushMatrix()
glTranslatef(self.xoffset, self.yoffset, self.zoffset)
def color(i):
if i % self.graduations_major == 0:
glColor4f(*self.color_grads_major)
elif i % (self.graduations_major / 2) == 0:
glColor4f(*self.color_grads_interm)
else:
if self.light: return False
glColor4f(*self.color_grads_minor)
return True
# draw the grid
glBegin(GL_LINES)
for i in range(0, int(math.ceil(self.width + 1))):
if color(i):
glVertex3f(float(i), 0.0, 0.0)
glVertex3f(float(i), self.depth, 0.0)
for i in range(0, int(math.ceil(self.depth + 1))):
if color(i):
glVertex3f(0, float(i), 0.0)
glVertex3f(self.width, float(i), 0.0)
glEnd()
# draw fill
glColor4f(*self.color_fill)
glRectf(0.0, 0.0, float(self.width), float(self.depth))
glPopMatrix()
def rect(a, b, color=(1.0,1.0,1.0), alpha=1.0):
"""
Draws a rectangle in the plane spanned by a,b with GL_QUADS
:param a: Point a
:type a: 2-float tuple
:param b: Point b
:type b: 2-float tuple
:param color: the color in [0..1] range
:type color: 3-float tuple
:param aa: Anti aliasing Flag
:param alpha: the alpha value in [0..1] range
"""
glDisable(GL_TEXTURE_2D)
glBegin(GL_QUADS)
glVertex3f(a[0], a[1], 0)
glVertex3f(b[0], a[1], 0)
glVertex3f(b[0], b[1], 0)
glVertex3f(a[0], b[1], 0)
glEnd()
glEnable(GL_TEXTURE_2D)
glColor4f(color+(alpha,))
def draw_rectangle_outline(center_x, center_y, width, height, color,
border_width=1, tilt_angle=0):
"""
Draw a rectangle outline.
Args:
:x: x coordinate of top left rectangle point.
:y: y coordinate of top left rectangle point.
:width: width of the rectangle.
:height: height of the rectangle.
:color: color, specified in a list of 3 or 4 bytes in RGB or
RGBA format.
:border_width: width of the lines, in pixels.
:angle: rotation of the rectangle. Defaults to zero.
Returns:
None
Raises:
None
Example:
>>> import arcade
>>> arcade.open_window("Drawing Example", 800, 600)
>>> arcade.set_background_color(arcade.color.WHITE)
>>> arcade.start_render()
>>> arcade.draw_rectangle_outline(278, 150, 45, 105, \
arcade.color.BRITISH_RACING_GREEN, 2)
>>> arcade.finish_render()
>>> arcade.quick_run(0.25)
"""
GL.glEnable(GL.GL_BLEND)
GL.glBlendFunc(GL.GL_SRC_ALPHA, GL.GL_ONE_MINUS_SRC_ALPHA)
GL.glEnable(GL.GL_LINE_SMOOTH)
GL.glHint(GL.GL_LINE_SMOOTH_HINT, GL.GL_NICEST)
GL.glHint(GL.GL_POLYGON_SMOOTH_HINT, GL.GL_NICEST)
GL.glLoadIdentity()
GL.glTranslatef(center_x, center_y, 0)
if tilt_angle:
GL.glRotatef(tilt_angle, 0, 0, 1)
# Set line width
GL.glLineWidth(border_width)
# Set color
if len(color) == 4:
GL.glColor4ub(color[0], color[1], color[2], color[3])
elif len(color) == 3:
GL.glColor4ub(color[0], color[1], color[2], 255)
GL.glBegin(GL.GL_LINE_LOOP)
GL.glVertex3f(-width // 2, -height // 2, 0.5)
GL.glVertex3f(width // 2, -height // 2, 0.5)
GL.glVertex3f(width // 2, height // 2, 0.5)
GL.glVertex3f(-width // 2, height // 2, 0.5)
GL.glEnd()
def draw_polygon_filled(point_list, color):
"""
Draw a polygon that is filled in.
Args:
:point_list: List of points making up the lines. Each point is
in a list. So it is a list of lists.
:color: color, specified in a list of 3 or 4 bytes in RGB or
RGBA format.
Returns:
None
Raises:
None
>>> import arcade
>>> arcade.open_window("Drawing Example", 800, 600)
>>> arcade.set_background_color(arcade.color.WHITE)
>>> arcade.start_render()
>>> point_list = ((150, 240), \
(165, 240), \
(180, 255), \
(180, 285), \
(165, 300), \
(150, 300))
>>> arcade.draw_polygon_filled(point_list, arcade.color.SPANISH_VIOLET)
>>> arcade.finish_render()
>>> arcade.quick_run(0.25)
"""
GL.glEnable(GL.GL_BLEND)
GL.glBlendFunc(GL.GL_SRC_ALPHA, GL.GL_ONE_MINUS_SRC_ALPHA)
GL.glEnable(GL.GL_LINE_SMOOTH)
GL.glHint(GL.GL_LINE_SMOOTH_HINT, GL.GL_NICEST)
GL.glHint(GL.GL_POLYGON_SMOOTH_HINT, GL.GL_NICEST)
GL.glLoadIdentity()
# Set color
if len(color) == 4:
GL.glColor4ub(color[0], color[1], color[2], color[3])
elif len(color) == 3:
GL.glColor4ub(color[0], color[1], color[2], 255)
GL.glBegin(GL.GL_POLYGON)
for point in point_list:
GL.glVertex3f(point[0], point[1], 0.5)
GL.glEnd()
def f():
pgl.glBegin(pgl.GL_LINE_STRIP)
for t in range(len(self.t_set)):
p = self.verts[t]
if p is None:
pgl.glEnd()
pgl.glBegin(pgl.GL_LINE_STRIP)
continue
if use_cverts:
c = self.cverts[t]
if c is None:
c = (0, 0, 0)
pgl.glColor3f(*c)
else:
pgl.glColor3f(*self.default_wireframe_color)
pgl.glVertex3f(*p)
pgl.glEnd()
def draw_points(self):
self.points_lock.acquire()
try:
from pyglet.gl import glBegin, GL_POINTS, GL_LINES, glColor4f, glVertex3f, glEnd
# pack parameters into array
parameters = numpy.zeros(len(self.system.get_parameter_names()))
for i in range(0, len(parameters)):
parameters[i] = self.parameter_ranges[i][0]
# draw lines or points
endpoints = [1]
if self.use_lines:
glBegin(GL_LINES)
endpoints = [1, 2]
else:
glBegin(GL_POINTS)
for i in xrange(0, self.density):
p = self.points[i]
# draw two endpoints if using lines, iterating system after first endpoint
for endpoint in endpoints:
x = p.state[self.state_indices[0]]
y = 0
z = 0
if len(self.state_ranges) > 1:
y = p.state[self.state_indices[1]]
if len(self.state_ranges) > 2:
z = p.state[self.state_indices[2]]
glColor4f(1, 1, 1, 0.1)
glVertex3f(x, y, z)
if endpoint == 1:
p.state = self.system.iterate(p.state, parameters)
glEnd()
except Exception, detail:
print "draw_points()", type(detail), detail
def draw_points(point_list, color, size):
"""
Draw a set of points.
Args:
:point_list: List of points Each point is
in a list. So it is a list of lists.
:color: color, specified in a list of 3 or 4 bytes in RGB or
RGBA format.
:size: Size of the point in pixels.
Returns:
None
Raises:
None
Example:
>>> import arcade
>>> arcade.open_window("Drawing Example", 800, 600)
>>> arcade.set_background_color(arcade.color.WHITE)
>>> arcade.start_render()
>>> point_list = ((165, 495), \
(165, 480), \
(165, 465), \
(195, 495), \
(195, 480), \
(195, 465))
>>> arcade.draw_points(point_list, arcade.color.ZAFFRE, 10)
>>> arcade.finish_render()
>>> arcade.quick_run(0.25)
"""
GL.glEnable(GL.GL_BLEND)
GL.glBlendFunc(GL.GL_SRC_ALPHA, GL.GL_ONE_MINUS_SRC_ALPHA)
GL.glLoadIdentity()
GL.glPointSize(size)
if len(color) == 4:
GL.glColor4ub(color[0], color[1], color[2], color[3])
elif len(color) == 3:
GL.glColor4ub(color[0], color[1], color[2], 255)
GL.glBegin(GL.GL_POINTS)
for point in point_list:
GL.glVertex3f(point[0], point[1], 0.5)
GL.glEnd()
def draw_rect(texture, points, direction=0, use_cam=True):
# Set the texture
gl.glEnable(gl.GL_TEXTURE_2D)
gl.glBindTexture(gl.GL_TEXTURE_2D, texture)
# Allow alpha blending
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
# draw
gl.glBegin(gl.GL_QUADS)
for i, vert in enumerate(points):
b = (i + direction) % 4 # render according to the direction
if use_cam:
x, y = adjust_for_cam(vert)
else:
x, y = vert
texture = b // 2, ((b + 1) // 2) % 2
gl.glTexCoord2f(*texture)
gl.glVertex3f(x, y, 0)
gl.glEnd()
def generate_model(self):
""" Generate the vertices and normals.
"""
corner = 0.5
vertices = [
[[+corner, +corner, +corner], [+corner, -corner, +corner],
[+corner, -corner, -corner], [+corner, +corner, -corner]],
# Right face
[[-corner, +corner, -corner], [-corner, -corner, -corner],
[-corner, -corner, +corner], [-corner, +corner, +corner]],
# Left face
[[-corner, -corner, +corner], [-corner, -corner, -corner],
[+corner, -corner, -corner], [+corner, -corner, +corner]],
# Bottom face
[[-corner, +corner, -corner], [-corner, +corner, +corner],
[+corner, +corner, +corner], [+corner, +corner, -corner]],
# Top face
[[+corner, +corner, +corner], [-corner, +corner, +corner],
[-corner, -corner, +corner], [+corner, -corner, +corner]],
# Front face
[[-corner, -corner, -corner], [-corner, +corner, -corner],
[+corner, +corner, -corner], [+corner, -corner, -corner]]
# Back face
]
normals = [[+1, 0, 0], [-1, 0, 0], [0, -1, 0],
[0, +1, 0], [0, 0, +1], [0, 0, -1]]
# Draw inside (reverse winding and normals)
for face in range(self.skip_right_face, 6):
gl.glNormal3f(-normals[face][0], -normals[face][1],
-normals[face][2])
for vertex in range(0, 3):
gl.glVertex3f(gl.GLfloat(vertices[face][3 - vertex][0]),
gl.GLfloat(vertices[face][3 - vertex][1]),
gl.GLfloat(vertices[face][3 - vertex][2]))
for vertex in (0, 2, 3):
gl.glVertex3f(gl.GLfloat(vertices[face][3 - vertex][0]),
gl.GLfloat(vertices[face][3 - vertex][1]),
gl.GLfloat(vertices[face][3 - vertex][2]))
# Draw outside
for face in range(self.skip_right_face, 6):
gl.glNormal3f(gl.GLfloat(normals[face][0]),
gl.GLfloat(normals[face][1]),
gl.GLfloat(normals[face][2]))
for vertex in range(0, 3):
gl.glVertex3f(gl.GLfloat(vertices[face][vertex][0]),
gl.GLfloat(vertices[face][vertex][1]),
gl.GLfloat(vertices[face][vertex][2]))
for vertex in (0, 2, 3):
gl.glVertex3f(gl.GLfloat(vertices[face][vertex][0]),
gl.GLfloat(vertices[face][vertex][1]),
gl.GLfloat(vertices[face][vertex][2]))
def draw(self):
# TODO: Let's use particles. And lighting! Way more fun.
p = adjust_for_cam(self._body.position)
if off_screen(self._body.position):
return
gl.glEnable(gl.GL_TEXTURE_2D) # enables texturing, without it everything is white
gl.glBindTexture(gl.GL_TEXTURE_2D, EXPLOSION_ANIM.id)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA,gl.GL_ONE_MINUS_SRC_ALPHA);
# TODO: more optimized to draw as one large batch
gl.glBegin(gl.GL_QUADS)
r = (self.radius + BLOCK_SIZE) * SPACE.scale
for i, vert in enumerate([Vec2d(p.x - r, p.y - r),
Vec2d(p.x + r, p.y - r),
Vec2d(p.x + r, p.y + r),
Vec2d(p.x - r, p.y + r),]):
# TODO: This is really ugly, and a lot of shared code with the
# blocks. Let's write a draw_rect function to handle this
# with an optional animation option.
x = (i // 2)
if x == 0:
x = FRAME_POSITIONS[int((20 - self.ticks) / 20. * ANIM_FRAMES)][0]
else:
x = FRAME_POSITIONS[int((20 - self.ticks) / 20. * ANIM_FRAMES)][0] + 1 / ANIM_COLUMNS
y = ((i + 1) // 2) % 2
if y == 0:
y = FRAME_POSITIONS[int((20 - self.ticks) / 20. * ANIM_FRAMES)][1]
else:
y = FRAME_POSITIONS[int((20 - self.ticks) / 20. * ANIM_FRAMES)][1] + 1 / ANIM_ROWS
gl.glTexCoord2f(x, y)
gl.glVertex3f(vert.x, vert.y, 0)
gl.glEnd()
def draw_point(x, y, color, size):
"""
Draw a point.
Args:
:x: x position of point.
:y: y position of point.
:color: color, specified in a list of 3 or 4 bytes in RGB or
RGBA format.
:size: Size of the point in pixels.
Returns:
None
Raises:
None
Example:
>>> import arcade
>>> arcade.open_window("Drawing Example", 800, 600)
>>> arcade.set_background_color(arcade.color.WHITE)
>>> arcade.start_render()
>>> arcade.draw_point(60, 495, arcade.color.RED, 10)
>>> arcade.finish_render()
>>> arcade.quick_run(0.25)
"""
GL.glEnable(GL.GL_BLEND)
GL.glBlendFunc(GL.GL_SRC_ALPHA, GL.GL_ONE_MINUS_SRC_ALPHA)
GL.glLoadIdentity()
GL.glPointSize(size)
if len(color) == 4:
GL.glColor4ub(color[0], color[1], color[2], color[3])
elif len(color) == 3:
GL.glColor4ub(color[0], color[1], color[2], 255)
GL.glBegin(GL.GL_POINTS)
GL.glVertex3f(x, y, 0.5)
GL.glEnd()
def draw_rectangle_filled(center_x, center_y, width, height, color,
tilt_angle=0):
"""
Draw a filled-in rectangle.
Args:
:x: x coordinate of top left rectangle point.
:y: y coordinate of top left rectangle point.
:width: width of the rectangle.
:height: height of the rectangle.
:color: color, specified in a list of 3 or 4 bytes in RGB or
RGBA format.
:angle: rotation of the rectangle. Defaults to zero.
Example:
>>> import arcade
>>> arcade.open_window("Drawing Example", 800, 600)
>>> arcade.set_background_color(arcade.color.WHITE)
>>> arcade.start_render()
>>> arcade.draw_rectangle_filled(390, 150, 45, 105, arcade.color.BLUSH)
>>> arcade.finish_render()
>>> arcade.quick_run(0.25)
"""
GL.glEnable(GL.GL_BLEND)
GL.glBlendFunc(GL.GL_SRC_ALPHA, GL.GL_ONE_MINUS_SRC_ALPHA)
GL.glEnable(GL.GL_LINE_SMOOTH)
GL.glHint(GL.GL_LINE_SMOOTH_HINT, GL.GL_NICEST)
GL.glHint(GL.GL_POLYGON_SMOOTH_HINT, GL.GL_NICEST)
# Set color
if len(color) == 4:
GL.glColor4ub(color[0], color[1], color[2], color[3])
elif len(color) == 3:
GL.glColor4ub(color[0], color[1], color[2], 255)
GL.glLoadIdentity()
GL.glTranslatef(center_x, center_y, 0)
if tilt_angle:
GL.glRotatef(tilt_angle, 0, 0, 1)
GL.glBegin(GL.GL_QUADS)
GL.glVertex3f(-width // 2, -height // 2, 0.5)
GL.glVertex3f(width // 2, -height // 2, 0.5)
GL.glVertex3f(width // 2, height // 2, 0.5)
GL.glVertex3f(-width // 2, height // 2, 0.5)
GL.glEnd()
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 flush(self):
gl.glPushMatrix()
gl.glScalef(defs.WINDOW_SCALE[0], defs.WINDOW_SCALE[1], 1)
gl.glTranslatef(-self.game.camera_x, -self.game.camera_y, 0)
# draw quads
keys = list(set(self.callbacks.keys() + self.quads.keys()))
keys.sort()
for k in keys:
gl.glBegin(gl.GL_QUADS)
quads = self.quads.get(k)
if quads:
for x, y, w, h, z, c1, c2, c3, c4, bf in quads:
if bf:
gl.glEnd()
gl.glBlendFunc(bf[0], bf[1])
gl.glBegin(gl.GL_QUADS)
if c1:
gl.glColor4f(c1[0], c1[1], c1[2], c1[3])
gl.glVertex3f(x, y + h, z)
if c2:
gl.glColor4f(c2[0], c2[1], c2[2], c2[3])
gl.glVertex3f(x + w, y + h, z)
if c3:
gl.glColor4f(c3[0], c3[1], c3[2], c3[3])
gl.glVertex3f(x + w, y, z)
if c4:
gl.glColor4f(c4[0], c4[1], c4[2], c4[3])
gl.glVertex3f(x, y, z)
if c1 or c2 or c3 or c4:
gl.glColor3f(1, 1, 1)
if bf:
gl.glEnd()
gl.glBlendFunc(gl.GL_SRC_ALPHA,
gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glBegin(gl.GL_QUADS)
gl.glEnd()
callbacks = self.callbacks.get(k)
if callbacks:
for callback, args, kwargs in callbacks:
callback(*args, **kwargs)
gl.glPopMatrix()
self.callbacks = {}
self.quads = {}
self.flush_labels()
def render1(self):
(GL_POINTS) # draw point
glVertex3f(0.0, 0.0, 0.0)
glEnd()
def _render(self):
arg = gl.GL_LINE_LOOP if self.close else gl.GL_LINE_STRIP
gl.glBegin(arg)
for vertex in self.vertices:
gl.glVertex3f(vertex[0], vertex[1], 0.)
gl.glEnd()
def horiz_ind(place, val, color):
gl.glColor4f(color[0], color[1], color[2], 1)
gl.glVertex3f((place + 0) * s, 4 * h, 0)
gl.glVertex3f((place + val) * s, 4 * h, 0)
gl.glVertex3f((place + val) * s, 2 * h, 0)
gl.glVertex3f((place + 0) * s, 2 * h, 0)
def on_draw_(self):
with self._lock:
for i in range(0, self._analyzer.n):
# TODO: Calculate those in on_resize()
x_min = (i * self._bars_width +
i * self.bars_spacing) * self.width
x_max = ((i + 1) * self._bars_width +
i * self.bars_spacing) * self.width
if self._bars_height[i] > 0:
gl.glBegin(gl.GL_QUADS)
gl.glColor3f(1.0, 0.0, 3.0)
gl.glVertex3f(x_min, 0.0, 0.0)
gl.glVertex3f(x_max, 0.0, 0.0)
gl.glColor3f(0.3, 0.0, 1.0)
gl.glVertex3f(x_max, self._bars_height[i] * self.height,
0.0)
gl.glVertex3f(x_min, self._bars_height[i] * self.height,
0.0)
gl.glEnd()
if self.draw_ticks and self._ticks_y[i] > 0:
gl.glLineWidth(2.0)
gl.glBegin(gl.GL_LINES)
gl.glColor3f(1.0, 1.0, 1.0)
gl.glVertex3f(x_min, self._ticks_y[i] * self.height + 2.0,
0.0)
gl.glVertex3f(x_max, self._ticks_y[i] * self.height + 2.0,
0.0)
gl.glEnd()
# 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:
hmd.recenterTrackingOrigin()
def render1(self):
gl.glBegin(gl.GL_LINE_LOOP if self.close else gl.GL_LINE_STRIP)
for p in self.v:
gl.glVertex3f(p[0], p[1],0) # draw each vertex
gl.glEnd()
def render(self,
mode="human",
close=False,
lidar_scan_override=None,
save_to_file=False,
draw_score=True):
if close:
if self.viewer is not None:
self.viewer.close()
return
# get last obs
goal_pred = self.data["robotstates"][self.current_iteration - 1][:2]
action = self.data["actions"][self.current_iteration - 1]
scan = self.data["scans"][self.current_iteration - 1]
scan[scan == 0] = MAX_LIDAR_DIST # render 0 returns as inf
if lidar_scan_override is not None:
scan = lidar_scan_override
if mode == "rgb_array":
raise NotImplementedError
elif mode in ["human", "rings"]:
# Window and viewport size
WINDOW_W = 256
WINDOW_H = 256
M_PER_PX = 13.6 / WINDOW_H
VP_W = WINDOW_W
VP_H = WINDOW_H
from gym.envs.classic_control import rendering
import pyglet
from pyglet import gl
# enable this to render for hg_archivenv visual
if False:
draw_score = False
save_to_file = True
WINDOW_W = 512
WINDOW_H = 512
M_PER_PX = 51.2 / WINDOW_H
# Create viewer
if self.viewer is None:
self.viewer = rendering.Viewer(WINDOW_W, WINDOW_H)
self.score_label = pyglet.text.Label(
"0000",
font_size=12,
x=20,
y=WINDOW_H * 2.5 / 40.00,
anchor_x="left",
anchor_y="center",
color=(255, 255, 255, 255),
)
# self.transform = rendering.Transform()
self.currently_rendering_iteration = 0
self.image_lock = threading.Lock()
# Render in pyglet
def make_circle(c, r, res=10):
thetas = np.linspace(0, 2 * np.pi, res + 1)[:-1]
verts = np.zeros((res, 2))
verts[:, 0] = c[0] + r * np.cos(thetas)
verts[:, 1] = c[1] + r * np.sin(thetas)
return verts
with self.image_lock:
self.currently_rendering_iteration += 1
self.viewer.draw_circle(r=10, color=(0.3, 0.3, 0.3))
win = self.viewer.window
win.switch_to()
win.dispatch_events()
win.clear()
gl.glViewport(0, 0, VP_W, VP_H)
# colors
# bgcolor = np.array([0.4, 0.8, 0.4])
bgcolor = np.array([0.7, 0.75, 0.86])
nosecolor = np.array([0.3, 0.3, 0.3])
# lidarcolor = np.array([1.0, 0.0, 0.0])
lidarcolor = np.array([1., 0.3, 0.0])
# fovcolor = np.array([1., 1., 0.])
fovcolor = np.array([0.8, 0.8, 0.2])
# Green background
gl.glBegin(gl.GL_QUADS)
gl.glColor4f(bgcolor[0], bgcolor[1], bgcolor[2], 1.0)
gl.glVertex3f(0, VP_H, 0)
gl.glVertex3f(VP_W, VP_H, 0)
gl.glVertex3f(VP_W, 0, 0)
gl.glVertex3f(0, 0, 0)
gl.glEnd()
# LIDAR
i = WINDOW_W / 2.0
j = WINDOW_H / 2.0
angle = np.pi / 2.0
lidar_angles = np.linspace(0, 2 * np.pi, len(scan) + 1)[:-1]
lidar_angles = lidar_angles + np.pi / 2. # make robot face up
i_ray_ends = i + scan / M_PER_PX * np.cos(lidar_angles)
j_ray_ends = j + scan / M_PER_PX * np.sin(lidar_angles)
is_in_fov = np.cos(lidar_angles - angle) >= 0.78
for ray_idx in range(len(scan)):
end_i = i_ray_ends[ray_idx]
end_j = j_ray_ends[ray_idx]
gl.glBegin(gl.GL_LINE_LOOP)
if is_in_fov[ray_idx]:
gl.glColor4f(fovcolor[0], fovcolor[1], fovcolor[2],
0.1)
else:
gl.glColor4f(lidarcolor[0], lidarcolor[1],
lidarcolor[2], 0.1)
gl.glVertex3f(i, j, 0)
gl.glVertex3f(end_i, end_j, 0)
gl.glEnd()
# Agent body
i = WINDOW_W / 2.0
j = WINDOW_H / 2.0
r = 0.3 / M_PER_PX
angle = np.pi / 2.0
poly = make_circle((i, j), r)
gl.glBegin(gl.GL_POLYGON)
color = np.array([1.0, 1.0, 1.0])
gl.glColor4f(color[0], color[1], color[2], 1)
for vert in poly:
gl.glVertex3f(vert[0], vert[1], 0)
gl.glEnd()
# Direction triangle
inose = i + r * np.cos(angle)
jnose = j + r * np.sin(angle)
iright = i + 0.3 * r * -np.sin(angle)
jright = j + 0.3 * r * np.cos(angle)
ileft = i - 0.3 * r * -np.sin(angle)
jleft = j - 0.3 * r * np.cos(angle)
gl.glBegin(gl.GL_TRIANGLES)
gl.glColor4f(nosecolor[0], nosecolor[1], nosecolor[2], 1)
gl.glVertex3f(inose, jnose, 0)
gl.glVertex3f(iright, jright, 0)
gl.glVertex3f(ileft, jleft, 0)
gl.glEnd()
# Goal
goalcolor = np.array([1., 1., 0.3])
px_goal = goal_pred / M_PER_PX
igoal = i - px_goal[1] # rotate 90deg to face up
jgoal = j + px_goal[0]
# Goal line
gl.glBegin(gl.GL_LINE_LOOP)
gl.glColor4f(goalcolor[0], goalcolor[1], goalcolor[2], 1)
gl.glVertex3f(i, j, 0)
gl.glVertex3f(igoal, jgoal, 0)
gl.glEnd()
# Goal markers
gl.glBegin(gl.GL_TRIANGLES)
gl.glColor4f(goalcolor[0], goalcolor[1], goalcolor[2], 1)
triangle = make_circle((igoal, jgoal), r, res=3)
for vert in triangle:
gl.glVertex3f(vert[0], vert[1], 0)
gl.glEnd()
# Text
self.score_label.text = "File {} It {} a {:.1f} {:.1f} {:.1f}".format(
self.current_iteration // 1000,
self.current_iteration % 1000,
action[0],
action[1],
action[2],
)
if draw_score:
self.score_label.draw()
win.flip()
if save_to_file:
pyglet.image.get_buffer_manager().get_color_buffer().save(
"/tmp/archivenv{:05}.png".format(
self.currently_rendering_iteration))
return self.viewer.isopen
def render1(self) -> None:
glBegin(GL_POINTS) # draw point
glVertex3f(0.0, 0.0, 0.0)
glEnd()
def draw_objects(self):
'''called in the middle of ondraw after the buffer has been cleared'''
self.create_objects()
glPushMatrix()
glTranslatef(0, 0, -self.dist)
glMultMatrixd(build_rotmatrix(
self.basequat)) # Rotate according to trackball
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE,
vec(0.2, 0.2, 0.2, 1))
glTranslatef(-self.build_dimensions[3] - self.platform.width / 2,
-self.build_dimensions[4] - self.platform.depth / 2,
0) # Move origin to bottom left of platform
# Draw platform
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
glDisable(GL_LIGHTING)
self.platform.draw()
glEnable(GL_LIGHTING)
# Draw mouse
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
inter = self.mouse_to_plane(self.mousepos[0],
self.mousepos[1],
plane_normal=(0, 0, 1),
plane_offset=0,
local_transform=False)
if inter is not None:
glPushMatrix()
glTranslatef(inter[0], inter[1], inter[2])
glBegin(GL_TRIANGLES)
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE,
vec(1, 0, 0, 1))
glNormal3f(0, 0, 1)
glVertex3f(2, 2, 0)
glVertex3f(-2, 2, 0)
glVertex3f(-2, -2, 0)
glVertex3f(2, -2, 0)
glVertex3f(2, 2, 0)
glVertex3f(-2, -2, 0)
glEnd()
glPopMatrix()
# Draw objects
glDisable(GL_CULL_FACE)
glPushMatrix()
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE,
vec(0.3, 0.7, 0.5, 1))
for i in self.parent.models:
model = self.parent.models[i]
glPushMatrix()
glTranslatef(*(model.offsets))
glRotatef(model.rot, 0.0, 0.0, 1.0)
glTranslatef(*(model.centeroffset))
glScalef(*model.scale)
model.batch.draw()
glPopMatrix()
glPopMatrix()
glEnable(GL_CULL_FACE)
# Draw cutting plane
if self.parent.cutting:
# FIXME: make this a proper Actor
axis = self.parent.cutting_axis
fixed_dist = self.parent.cutting_dist
dist, plane_width, plane_height = self.get_cutting_plane(
axis, fixed_dist)
if dist is not None:
glPushMatrix()
if axis == "x":
glRotatef(90, 0, 1, 0)
glRotatef(90, 0, 0, 1)
glTranslatef(0, 0, dist)
elif axis == "y":
glRotatef(90, 1, 0, 0)
glTranslatef(0, 0, -dist)
elif axis == "z":
glTranslatef(0, 0, dist)
glDisable(GL_CULL_FACE)
glBegin(GL_TRIANGLES)
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE,
vec(0, 0.9, 0.15, 0.3))
glNormal3f(0, 0, self.parent.cutting_direction)
glVertex3f(plane_width, plane_height, 0)
glVertex3f(0, plane_height, 0)
glVertex3f(0, 0, 0)
glVertex3f(plane_width, 0, 0)
glVertex3f(plane_width, plane_height, 0)
glVertex3f(0, 0, 0)
glEnd()
glEnable(GL_CULL_FACE)
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
glEnable(GL_LINE_SMOOTH)
orig_linewidth = (GLfloat)()
glGetFloatv(GL_LINE_WIDTH, orig_linewidth)
glLineWidth(4.0)
glBegin(GL_LINE_LOOP)
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE,
vec(0, 0.8, 0.15, 1))
glVertex3f(0, 0, 0)
glVertex3f(0, plane_height, 0)
glVertex3f(plane_width, plane_height, 0)
glVertex3f(plane_width, 0, 0)
glEnd()
glLineWidth(orig_linewidth)
glDisable(GL_LINE_SMOOTH)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
glPopMatrix()
glPopMatrix()
def render_floors(self):
PLAYFIELD = 2000
gl.glBegin(gl.GL_QUADS)
gl.glColor4f(1, 1, 1, 1.0)
gl.glVertex3f(-PLAYFIELD, +PLAYFIELD, 0)
gl.glVertex3f(+PLAYFIELD, +PLAYFIELD, 0)
gl.glVertex3f(+PLAYFIELD, -PLAYFIELD, 0)
gl.glVertex3f(-PLAYFIELD, -PLAYFIELD, 0)
# increase range by one to add line on the top
for floor in range(self.floor_num + 1):
gl.glColor4f(0, 0, 0, 1)
gl.glVertex3f(self.screen_width, 50 + self.floor_padding * floor,
0)
gl.glVertex3f(self.screen_width,
50 + self.floor_padding * floor + 1, 0)
gl.glVertex3f(self.screen_width / 2,
50 + self.floor_padding * floor + 1, 0)
gl.glVertex3f(self.screen_width / 2,
50 + self.floor_padding * floor, 0)
gl.glEnd()
def vertical_ind(place, val, color):
gl.glColor4f(color[0], color[1], color[2], 1)
gl.glVertex3f((place + 0) * s, h + h * val, 0)
gl.glVertex3f((place + 1) * s, h + h * val, 0)
gl.glVertex3f((place + 1) * s, h, 0)
gl.glVertex3f((place + 0) * s, h, 0)
def render_road(self):
gl.glBegin(gl.GL_QUADS)
gl.glColor4f(0.4, 0.8, 0.4, 1.0)
gl.glVertex3f(-PLAYFIELD, +PLAYFIELD, 0)
gl.glVertex3f(+PLAYFIELD, +PLAYFIELD, 0)
gl.glVertex3f(+PLAYFIELD, -PLAYFIELD, 0)
gl.glVertex3f(-PLAYFIELD, -PLAYFIELD, 0)
gl.glColor4f(0.4, 0.9, 0.4, 1.0)
k = PLAYFIELD / 20.0
for x in range(-20, 20, 2):
for y in range(-20, 20, 2):
gl.glVertex3f(k * x + k, k * y + 0, 0)
gl.glVertex3f(k * x + 0, k * y + 0, 0)
gl.glVertex3f(k * x + 0, k * y + k, 0)
gl.glVertex3f(k * x + k, k * y + k, 0)
for poly, color in self.road_poly:
gl.glColor4f(color[0], color[1], color[2], 1)
for p in poly:
gl.glVertex3f(p[0], p[1], 0)
gl.glEnd()
def render(self, mode="human", close=False):
rings_pred = (self.vae.decode(self.sequence_z[0, -1].reshape(1, _Z)) *
self.rings_def["rings_to_bool"])
predicted_ranges = self.rings_def["rings_to_lidar"](rings_pred, 1080)
if mode == "rgb_array":
raise NotImplementedError
elif mode == "human":
# Window and viewport size
WINDOW_W = 256
WINDOW_H = 256
M_PER_PX = 25.6 / WINDOW_H
VP_W = WINDOW_W
VP_H = WINDOW_H
from gym.envs.classic_control import rendering
import pyglet
from pyglet import gl
# Create viewer
if self.viewer is None:
self.viewer = rendering.Viewer(WINDOW_W, WINDOW_H)
self.score_label = pyglet.text.Label(
"0000",
font_size=12,
x=20,
y=WINDOW_H * 2.5 / 40.00,
anchor_x="left",
anchor_y="center",
color=(255, 255, 255, 255),
)
# self.transform = rendering.Transform()
self.currently_rendering_iteration = 0
self.image_lock = threading.Lock()
# Render in pyglet
def make_circle(c, r, res=10):
thetas = np.linspace(0, 2 * np.pi, res + 1)[:-1]
verts = np.zeros((res, 2))
verts[:, 0] = c[0] + r * np.cos(thetas)
verts[:, 1] = c[1] + r * np.sin(thetas)
return verts
with self.image_lock:
self.currently_rendering_iteration += 1
self.viewer.draw_circle(r=10, color=(0.3, 0.3, 0.3))
win = self.viewer.window
win.switch_to()
win.dispatch_events()
win.clear()
gl.glViewport(0, 0, VP_W, VP_H)
# colors
bgcolor = np.array([0.4, 0.8, 0.4])
nosecolor = np.array([0.3, 0.3, 0.3])
lidarcolor = np.array([1.0, 0.0, 0.0])
# Green background
gl.glBegin(gl.GL_QUADS)
gl.glColor4f(bgcolor[0], bgcolor[1], bgcolor[2], 1.0)
gl.glVertex3f(0, VP_H, 0)
gl.glVertex3f(VP_W, VP_H, 0)
gl.glVertex3f(VP_W, 0, 0)
gl.glVertex3f(0, 0, 0)
gl.glEnd()
# LIDAR
i = WINDOW_W / 2.0
j = WINDOW_H / 2.0
angle = np.pi / 2.0
scan = np.squeeze(predicted_ranges)
lidar_angles = np.linspace(0, 2 * np.pi, len(scan) + 1)[:-1]
i_ray_ends = i + scan / M_PER_PX * np.cos(lidar_angles)
j_ray_ends = j + scan / M_PER_PX * np.sin(lidar_angles)
is_in_fov = np.cos(lidar_angles - angle) >= 0.78
for ray_idx in range(len(scan)):
end_i = i_ray_ends[ray_idx]
end_j = j_ray_ends[ray_idx]
gl.glBegin(gl.GL_LINE_LOOP)
if is_in_fov[ray_idx]:
gl.glColor4f(1.0, 1.0, 0.0, 0.1)
else:
gl.glColor4f(lidarcolor[0], lidarcolor[1],
lidarcolor[2], 0.1)
gl.glVertex3f(i, j, 0)
gl.glVertex3f(end_i, end_j, 0)
gl.glEnd()
# Agent body
i = WINDOW_W / 2.0
j = WINDOW_H / 2.0
r = 0.3 / M_PER_PX
angle = np.pi / 2.0
poly = make_circle((i, j), r)
gl.glBegin(gl.GL_POLYGON)
color = np.array([1.0, 1.0, 1.0])
gl.glColor4f(color[0], color[1], color[2], 1)
for vert in poly:
gl.glVertex3f(vert[0], vert[1], 0)
gl.glEnd()
# Direction triangle
inose = i + r * np.cos(angle)
jnose = j + r * np.sin(angle)
iright = i + 0.3 * r * -np.sin(angle)
jright = j + 0.3 * r * np.cos(angle)
ileft = i - 0.3 * r * -np.sin(angle)
jleft = j - 0.3 * r * np.cos(angle)
gl.glBegin(gl.GL_TRIANGLES)
gl.glColor4f(nosecolor[0], nosecolor[1], nosecolor[2], 1)
gl.glVertex3f(inose, jnose, 0)
gl.glVertex3f(iright, jright, 0)
gl.glVertex3f(ileft, jleft, 0)
gl.glEnd()
# Text
self.score_label.text = "A {:.1f} {:.1f} {:.1f} S {}".format(
self.prev_action[0],
self.prev_action[1],
self.prev_action[2],
self.episode_step,
)
self.score_label.draw()
win.flip()
return self.viewer.isopen
def render1(self):
gl.glBegin(gl.GL_POINTS) # draw point
gl.glVertex3f(0.0, 0.0, 0.0)
gl.glEnd()
def _render(self):
gl.glBegin(gl.GL_POINTS)
gl.glVertex3f(0., 0., 0.)
gl.glEnd()
def _render_rings(self, close, save_to_file=False):
if close:
self.viewer.close()
return
# rendering
if self.backend in ["VAE1DLSTM", "GPT1D", "VAE1D_LSTM"]:
return False
else:
last_rings_obs = self.last_lidar_obs.reshape((_64, _64))
last_rings_pred = self.vae.decode(self.lidar_z.reshape((1,self._Z))).reshape((_64, _64))
# Window and viewport size
ring_size = _64 # grid cells
padding = 4 # grid cells
grid_size = 1 # px per grid cell
WINDOW_W = (2 * ring_size + 3 * padding) * grid_size
WINDOW_H = (1 * ring_size + 2 * padding) * grid_size
VP_W = WINDOW_W
VP_H = WINDOW_H
from gym.envs.classic_control import rendering
import pyglet
from pyglet import gl
# Create viewer
if self.viewer is None:
self.viewer = rendering.Viewer(WINDOW_W, WINDOW_H)
self.rendering_iteration = 0
# Render in pyglet
win = self.viewer.window
win.switch_to()
win.dispatch_events()
win.clear()
gl.glViewport(0, 0, VP_W, VP_H)
# colors
bgcolor = np.array([0.4, 0.8, 0.4])
# Green background
gl.glBegin(gl.GL_QUADS)
gl.glColor4f(bgcolor[0], bgcolor[1], bgcolor[2], 1.0)
gl.glVertex3f(0, VP_H, 0)
gl.glVertex3f(VP_W, VP_H, 0)
gl.glVertex3f(VP_W, 0, 0)
gl.glVertex3f(0, 0, 0)
gl.glEnd()
# rings - observation
w_offset = 0
for rings in [last_rings_obs, last_rings_pred]:
for i in range(ring_size):
for j in range(ring_size):
cell_color = 1 - rings[i, j]
cell_y = (padding + i) * grid_size # px
cell_x = (padding + j + w_offset) * grid_size # px
gl.glBegin(gl.GL_QUADS)
gl.glColor4f(cell_color, cell_color, cell_color, 1.0)
gl.glVertex3f(cell_x+ 0, cell_y+grid_size, 0) # noqa
gl.glVertex3f(cell_x+grid_size, cell_y+grid_size, 0) # noqa
gl.glVertex3f(cell_x+grid_size, cell_y+ 0, 0) # noqa
gl.glVertex3f(cell_x+ 0, cell_y+ 0, 0) # noqa
gl.glEnd()
w_offset += ring_size + padding
if save_to_file:
pyglet.image.get_buffer_manager().get_color_buffer().save(
"/tmp/encodeder_rings{:04d}.png".format(self.rendering_iteration))
# actualize
win.flip()
self.rendering_iteration += 1
return self.viewer.isopen
def render_background(self):
gl.glBegin(gl.GL_QUADS)
gl.glColor4f(0.4, 0.8, 0.4, 1.0)
gl.glVertex3f(-PLAYFIELD, +PLAYFIELD, 0)
gl.glVertex3f(+PLAYFIELD, +PLAYFIELD, 0)
gl.glVertex3f(+PLAYFIELD, -PLAYFIELD, 0)
gl.glVertex3f(-PLAYFIELD, -PLAYFIELD, 0)
gl.glColor4f(0.4, 0.9, 0.4, 1.0)
k = PLAYFIELD / 20.0
for x in range(-20, 20, 2):
for y in range(-20, 20, 2):
gl.glVertex3f(k * x + k, k * y + 0, 0)
gl.glVertex3f(k * x + 0, k * y + 0, 0)
gl.glVertex3f(k * x + 0, k * y + k, 0)
gl.glVertex3f(k * x + k, k * y + k, 0)
gl.glEnd()
self.buff_areas.render(gl)
self.supply_areas.render(gl)
def render_road(self):
gl.glBegin(gl.GL_QUADS)
gl.glColor4f(0.4, 0.8, 0.4, 1.0)
gl.glVertex3f(-PLAYFIELD, +PLAYFIELD, 0)
gl.glVertex3f(+PLAYFIELD, +PLAYFIELD, 0)
gl.glVertex3f(+PLAYFIELD, -PLAYFIELD, 0)
gl.glVertex3f(-PLAYFIELD, -PLAYFIELD, 0)
gl.glColor4f(0.4, 0.9, 0.4, 1.0)
k = PLAYFIELD / 20.0
for x in range(-20, 20, 2):
for y in range(-20, 20, 2):
gl.glVertex3f(k * x + k, k * y + 0, 0)
gl.glVertex3f(k * x + 0, k * y + 0, 0)
gl.glVertex3f(k * x + 0, k * y + k, 0)
gl.glVertex3f(k * x + k, k * y + k, 0)
for poly, color in self.road_poly:
gl.glColor4f(color[0], color[1], color[2], 1)
for p in poly:
gl.glVertex3f(p[0], p[1], 0)
gl.glEnd()
if self.highlight_loc is not None:
gl.glColor4f(1, 0, 0, 1)
gl.glRectf(self.highlight_loc[0], self.highlight_loc[1],
self.highlight_loc[0] + 3, self.highlight_loc[1] + 3)
