def rotate(self,ang,rx,ry,rz):
glPushMatrix()
glLoadIdentity()
glRotatef(ang,rx,ry,rz)
glMultMatrixf(self.matrix)
self.matrix=get_model_matrix()
glPopMatrix()
def set_3d(self):
""" Configure OpenGL to draw in 3d.
"""
width, height = self.get_size()
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glViewport(0, 0, width, height)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.gluPerspective(65.0, width / float(height), 0.1, DIST)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
x, y = self.rotation
gl.glRotatef(x, 0, 1, 0)
gl.glRotatef(-y, math.cos(math.radians(x)), 0, math.sin(math.radians(x)))
x, y, z = self.position
gl.glTranslatef(-x, -y, -z)
gl.glEnable(gl.GL_LIGHTING)
gl.glLightModelfv(gl.GL_LIGHT_MODEL_AMBIENT, GLfloat4(0.05,0.05,0.05,1.0))
gl.glEnable(gl.GL_COLOR_MATERIAL)
gl.glColorMaterial(gl.GL_FRONT, gl.GL_AMBIENT_AND_DIFFUSE)
#gl.glLightfv(gl.GL_LIGHT1,gl.GL_SPOT_DIRECTION, GLfloat3(0,0,-1))
gl.glLightfv(gl.GL_LIGHT1, gl.GL_AMBIENT, GLfloat4(0.5,0.5,0.5,1.0))
gl.glLightfv(gl.GL_LIGHT1, gl.GL_DIFFUSE, GLfloat4(1.0,1.0,1.0,1.0))
gl.glLightfv(gl.GL_LIGHT1, gl.GL_POSITION, GLfloat4(0.35,1.0,0.65,0.0))
#gl.glLightfv(gl.GL_LIGHT0,gl.GL_SPECULAR, GLfloat4(1,1,1,1))
gl.glDisable(gl.GL_LIGHT0)
gl.glEnable(gl.GL_LIGHT1)
def _drawLUTtoScreen(self):
"""(private) Used to set the LUT in Bits++ mode.
Should not be needed by user if attached to a ``psychopy.visual.Window()``
since this will automatically draw the LUT as part of the screen refresh.
"""
#push the projection matrix and set to orthorgaphic
GL.glMatrixMode(GL.GL_PROJECTION)
GL.glPushMatrix()
GL.glLoadIdentity()
GL.glOrtho( 0, self.win.size[0],self.win.size[1], 0, 0, 1 ) #this also sets the 0,0 to be top-left
#but return to modelview for rendering
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glLoadIdentity()
#draw the pixels
GL.glActiveTextureARB(GL.GL_TEXTURE0_ARB)
GL.glEnable(GL.GL_TEXTURE_2D)
GL.glBindTexture(GL.GL_TEXTURE_2D, 0)
GL.glActiveTextureARB(GL.GL_TEXTURE1_ARB)
GL.glEnable(GL.GL_TEXTURE_2D)
GL.glBindTexture(GL.GL_TEXTURE_2D, 0)
GL.glRasterPos2i(0,1)
GL.glPixelStorei(GL.GL_UNPACK_ALIGNMENT, 1)
GL.glDrawPixels(len(self._HEADandLUT),1,
GL.GL_RGB,GL.GL_UNSIGNED_BYTE,
self._HEADandLUTstr)
#GL.glDrawPixels(524,1, GL.GL_RGB,GL.GL_UNSIGNED_BYTE, self._HEADandLUTstr)
#return to 3D mode (go and pop the projection matrix)
GL.glMatrixMode( GL.GL_PROJECTION )
GL.glPopMatrix()
GL.glMatrixMode( GL.GL_MODELVIEW )
def on_resize(self, width, height):
gl.glViewport(0, 0, width, height)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.gluPerspective(60., width / float(height), .01, 1000.)
gl.glMatrixMode(gl.GL_MODELVIEW)
self.view['ball'].place([width/2, height/2], (width+height)/2)
def translate(self,dx,dy,dz):
glPushMatrix()
glLoadIdentity()
glTranslatef(dx,dy,dz)
glMultMatrixf(self.matrix)
self.matrix=get_model_matrix()
glPopMatrix()
def world_projection(self, aspect):
"""
Sets OpenGL projection and modelview matrices such that the window
is centered on self.(x,y), shows at least scale world units in every
direction, and is oriented by angle.
"""
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
if aspect < 1:
gluOrtho2D(
-self.scale,
+self.scale,
-self.scale / aspect,
+self.scale / aspect)
else:
gluOrtho2D(
-self.scale * aspect,
+self.scale * aspect,
-self.scale,
+self.scale)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
gluLookAt(
self.x, self.y, +1.0,
self.x, self.y, -1.0,
sin(self.angle), cos(self.angle), 0.0)
def draw(self):
# set up projection
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glViewport(self.x, self.y, self.width, self.height)
gl.glOrtho(0, self.width, 0, self.height, self.near, self.far)
gl.glMatrixMode(gl.GL_MODELVIEW)
fx, fy = self._determine_focus()
w2 = self.width / 2
h2 = self.height / 2
x1, y1 = fx - w2, fy - h2
x2, y2 = fx + w2, fy + h2
gl.glPushMatrix()
gl.glTranslatef(self.width / 2 - fx, self.height / 2 - fy, 0)
for layer in self.layers:
if hasattr(layer, 'x'):
translate = layer.x or layer.y
else:
translate = False
if translate:
gl.glPushMatrix()
gl.glTranslatef(layer.x, layer.y, 0)
layer.draw()
if translate:
gl.glPopMatrix()
gl.glPopMatrix()
def _reset_projection(self):
if self.fullcanvas:
if self._pygimage is None:
return
width, height = self._pygimage.width, self._pygimage.height
else:
size = self.GetClientSize()
width, height = size.width, size.height
b = 0
t = height
if self.flip_lr:
l = width
r = 0
else:
l = 0
r = width
if self.rotate_180:
l,r=r,l
b,t=t,b
if width==0 or height==0:
# prevent OpenGL error
return
self.wxcontext.SetCurrent()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(l,r,b,t, -1, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
def predraw(w,h):
gl.glLightfv(gl.GL_LIGHT0, gl.GL_POSITION,vec(1,1,10, 3))
gl.glLightModelfv(
gl.GL_LIGHT_MODEL_AMBIENT|gl.GL_LIGHT_MODEL_TWO_SIDE,
vec(1,1,1, 1.0)
)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
#glOrtho(-1, 1, -1, 1, -1, 1)
#(w,h) = self.get_size()
gl.glScalef(
float(min(w,h))/w,
-float(min(w,h))/h,
1
)
gl.gluPerspective(45.0, 1, 0.1, 1000.0)
gl.gluLookAt(
camera.x,
camera.y,
camera.z,
0,0,0,
camera.up[0],
camera.up[1],
camera.up[2]
)
def on_draw():
pyglet.clock.tick()
window.clear()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
(w, h) = window.get_size()
gl.glScalef(
float(min(w, h))/w,
-float(min(w, h))/h,
1
)
gl.gluPerspective(45.0, 1, 0.1, 1000.0)
gl.gluLookAt(0, 0, 2.4,
0, 0, 0,
0, 1, 0)
for vision in window.visions.values():
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
vision()
buf = pyglet.image.get_buffer_manager().get_color_buffer()
rawimage = buf.get_image_data()
window.texture = rawimage.get_texture()
def update(self):
self.x += (self.target_x - self.x) * 0.1
self.y += (self.target_y - self.y) * 0.1
self.scale += (self.target_scale - self.scale) * 0.1
self.angle += (self.target_angle - self.angle) * 0.1
"Set projection and modelview matrices ready for rendering"
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluOrtho2D(
-self.scale * self.aspect,
+self.scale * self.aspect,
-self.scale,
+self.scale)
# Set modelview matrix to move, scale & rotate to camera position"
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
gluLookAt(
self.x, self.y, +1.0,
self.x, self.y, -1.0,
sin(self.angle), cos(self.angle), 0.0)
print 'gluLookAt:', self.x,self.y, self.angle
def hud_mode(self):
"Set matrices ready for drawing HUD, like fps counter"
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluOrtho2D(0, self.win_width, 0, self.win_height)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
def on_resize(self, width, height):
glViewport(0, 0, width, height)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glOrtho(0, width, 0, height, -1000, 1000)
glMatrixMode(GL_MODELVIEW)
return pyglet.event.EVENT_HANDLED
def handle_resize(w, h):
gl.glViewport(0, 0, w, h)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(0, w, h, 0, 0, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
def select_object(x, y, objects=None):
from miru.context import context
if objects is None:
objects = context.camera.objects
# following technique is adapted from
# http://www.cse.msu.edu/~cse872/tutorial9.html
w = context.window.width
h = context.window.height
select_buffer = ctypes.cast((100 * gl.GLuint)(), ctypes.POINTER(gl.GLuint))
gl.glSelectBuffer(100, select_buffer)
viewport = (4 * gl.GLint)()
gl.glGetIntegerv(gl.GL_VIEWPORT, viewport)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
# rotate the camera first
angle = context.camera.angle
gl.glRotatef(angle.z, 0, 0, 1)
gl.glRotatef(angle.y, 0, 1, 0)
gl.glRotatef(angle.x, 1, 0, 0)
gl.gluPickMatrix(x, y, 3, 3, viewport)
gl.glRenderMode(gl.GL_SELECT)
gl.gluPerspective(45., w / float(h), 0.1, 1000.)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glInitNames()
gl.glPushName(-1)
context.camera.render(select_pass=1, visible=objects)
gl.glFlush()
hits = gl.glRenderMode(gl.GL_RENDER)
gl.glPopName()
selected = None
if hits:
try:
m = sys.maxint << 100
idx = 0
for i in range(0, 100, 4):
if not select_buffer[i]:
selected = objects[idx]
break
m = min(select_buffer[i+1], m)
if m == select_buffer[i+1]:
idx = select_buffer[i+3]
except IndexError:
pass
context.window.on_resize(context.window.width, context.window.height)
return selected
def on_draw():
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
# draw_obj(bear, bear_tex)
draw_obj(ball, ball_tex)
def run(self, dt):
## UPDATE ##
# timestep ala http://gafferongames.com/game-physics/fix-your-timestep/
if dt > .25: # avoid spiral of death (updating taking longer than framerate)
dt = .25
self.accumulatedFrameTime += dt
while self.accumulatedFrameTime >= self.updateRate:
self.accumulatedFrameTime -= self.updateRate
self.levelTime = time.time() - self.levelStartTime
for entity in self.groups['updating']:
entity.update(self.updateRate) # update all entities
self._processRemoving()
self._processAdding()
for level in self.groups['level']:
level.update(self.updateRate) # this will do the physics
## DRAW ##
gl.glClearColor(0,0,0, 0)
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
gl.glLoadIdentity()
self.camera.track() # does camera work (such as what it focuses on)
for name in self.drawLayerNames:
shift = Vec2d() if name.startswith('UI') else None
with self.camera.shiftView(shift):
for entity in self.drawLayers[name]: # TODO: not iterate over batched things
entity.draw()
self.drawLayersBatch[name].draw()
self.fps_display.draw()
def _layerProjectLocalToScreen(self):
"""Maps self.coordLocal to self.coordScreen within OpenGL."""
if self._scissorBox is None and self.localBounds is None:
return
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glPushMatrix()
gl.glLoadIdentity()
# gluOrtho2D declares the render space for the corners of the window.
# So, we want to set it up in such a way that our layer renders in
# the right place. In other words, determine window corners that
# map cl -> cs. All clipping, etc is already handled by the coordsLocal
# getter.
cs = self.coordsScreen
cl = self.coordsLocal
sw = self.scene.width
sh = self.scene.height
# Determine the window width and height. We want a local-sized chunk
# of this to correspond to a screen-sized chunk of the screen. That is,
# cl[2] / ww == cs[2] / sw
ww = cl[2] * sw / cs[2]
wh = cl[3] * sh / cs[3]
# cs[0] / sw = (x - nx) / ww
nx = cl[0] - cs[0] * ww / sw
ny = cl[1] - cs[1] * wh / sh
gl.gluOrtho2D(nx, nx+ww, ny, ny+wh)
gl.glMatrixMode(gl.GL_MODELVIEW)
def gl_setup(): # general GL setup
glMatrixMode(GL_PROJECTION)
glMatrixMode(GL_MODELVIEW)
gluOrtho2D(0, WIDTH, 0, HEIGHT) # dont understand, check this # TODO
glLoadIdentity()
glTranslatef(CENTX, CENTY, 0)
glClear(GL_COLOR_BUFFER_BIT)
def on_draw(self, gl=pyglet.gl): """Clear the current OpenGL context, reset the model/view matrix and invoke the `draw()` methods of the renderers in order """ gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT) gl.glLoadIdentity() BaseWorld.draw_renderers(self)
def on_draw():
update_grid()
window.clear()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(0, 200, 200, 0, 0, 1)
grid.draw()
def draw_text(text, start_x, start_y, color, size):
"""
Draw text to the screen.
Args:
:text: Text to display.
:start_x: x coordinate of top left text point.
:start_y: y coordinate of top left text point.
:color: color, specified in a list of 3 or 4 bytes in RGB or
RGBA format.
Example:
>>> import arcade
>>> arcade.open_window("Drawing Example", 800, 600)
>>> arcade.set_background_color(arcade.color.WHITE)
>>> arcade.start_render()
>>> arcade.draw_text("Text Example", 250, 300, arcade.color.BLACK, 10)
>>> arcade.finish_render()
>>> arcade.quick_run(0.25)
"""
if len(color) == 3:
color = (color[0], color[1], color[2], 255)
label = pyglet.text.Label(text,
font_name='Times New Roman',
font_size=size,
x=start_x, y=start_y,
color=color)
GL.glLoadIdentity()
label.draw()
def on_resize(self, width, height):
'''
calculate perspective matrix
'''
v_ar = width/float(height)
usableWidth = int(min(width, height*v_ar))
usableHeight = int(min(height, width/v_ar))
ox = (width - usableWidth) // 2
oy = (height - usableHeight) // 2
glViewport(ox, oy, usableWidth, usableHeight)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(60, usableWidth/float(usableHeight), 0.1, 3000.0)
''' set camera position on modelview matrix
'''
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
gluLookAt(width/2.0, height/2.0, height/1.1566,
width/2.0, height/2.0, 0,
0.0, 1.0, 0.0)
''' update scene controller with size
'''
self.controller.resize(width, height)
#clears to a grey.
glClearColor(0.4,0.4,0.4,0.)
return pyglet.event.EVENT_HANDLED
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, 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()
#this new jk_get_data will read the dots using the dmd function
#and convert them via the map to rGB.
data = self.jk_get_data(frame)
image = pyglet.image.ImageData(DMD_SIZE[0], DMD_SIZE[1], 'RGB', data, pitch=DMD_SIZE[0] * 3)
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 set_camera_projection (self):
lander_width = self.scaleFactor * self.simulator.lander_width
lander_height = self.scaleFactor * -self.simulator.lander.colliders['pos'][1].min()
(pad_x, pad_y) = (0.0, lander_height)
(lander_x, lander_y) = self.scaleFactor * self.simulator.lander.pos
self.display_width = abs(pad_x - lander_x) + 2*lander_width
self.display_height = abs(pad_y - lander_y) + 2*lander_width
if self.display_width*self.height > self.display_height*self.width:
self.display_height = self.display_width * self.height / self.width
else:
self.display_width = self.display_height * self.width / self.height
self.camera_x = (pad_x + lander_x) / 2.0
self.camera_y = (pad_y + lander_y) / 2.0
self.camera_z = self.display_height / (2.0 * math.tan(self.fov_y/2.0))
moon_radius = self.scaleFactor * 1.7371e6
self.camera_near = self.camera_y / math.tan(self.fov_y/2.0)
# self.camera_far = 500*self.scaleFactor
self.camera_far = math.sqrt(2*moon_radius*self.camera_y)
gl.glLoadIdentity()
gl.gluPerspective (math.degrees(self.fov_y), self.display_width/self.display_height,
self.camera_near, self.camera_far)
def world_projection(self):
"""
Sets OpenGL projection and modelview matrices such that the window
is centered on self.(x,y), shows at least 'scale' world units in every
direction, and is oriented by rot.
"""
left = bottom = -self.scale
right = top = self.scale
aspect = self.width / self.height
if aspect >= 1:
# landscape
left *= aspect
right *= aspect
else:
# portrait
bottom /= aspect
top /= aspect
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluOrtho2D(left, right, bottom, top)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
gluLookAt(
self.x, self.y, +1.0,
self.x, self.y, -1.0,
sin(self.rot), cos(self.rot), 0.0)
def _set_texture(self, t):
self._texture = t
from pyglet import gl
try:
gl.glFramebufferTexture2DEXT(
gl.GL_FRAMEBUFFER_EXT,
gl.GL_COLOR_ATTACHMENT0_EXT,
t.target, t.id, 0,
)
except gl.GLException:
# HACK: Some Intel card return errno == 1286L
# which means GL_INVALID_FRAMEBUFFER_OPERATION_EXT
# but IT ACTUALLY WORKS FINE!!
pass
gl.glViewport(0, 0, t.width, t.height)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.gluOrtho2D(0, t.width, 0, t.height)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
# ATI cards hack
gl.glBegin(gl.GL_LINES)
gl.glEnd()
def on_draw(self):
self.window.clear()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glPushMatrix()
gl.glLoadIdentity()
self.camera()
gl.glEnable(self.grass.target)
gl.glEnable(gl.GL_BLEND)
gl.glBindTexture(self.grass.target, self.grass.id)
W = 10000.
graphics.draw(4, gl.GL_QUADS,
('v2f', (-W, -W, W, -W, W, W, -W, W)),
('t2f', (0., 0., W*5., 0., W*5., W*5., 0., W*5.))
)
gl.glDisable(self.grass.target)
for lane in self.lanes:
self.draw_lane_surface(lane)
for lane in self.lanes:
self.draw_lane_lines(lane)
for obj in self.objects:
self.draw_object(obj)
for car in self.cars:
if car!=self.main_car and car not in self.visible_cars:
self.draw_car(self.anim_x[car], car.color)
if self.heat is not None:
self.draw_heatmap()
for car in self.cars:
if car==self.main_car or car in self.visible_cars:
self.draw_car(self.anim_x[car], car.color)
gl.glPopMatrix()
if isinstance(self.main_car, Car):
self.label.text = 'Speed: %.2f'%self.anim_x[self.main_car][3]
self.label.draw()
if self.output is not None:
pyglet.image.get_buffer_manager().get_color_buffer().save(self.output.format(self.frame))
def on_draw():
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
# Gradient sky
l, b = world_to_screen((0, 0))
r, t = world_to_screen((W, H))
horizon = 177 / 255.0, 202 / 255.0, 1.0
zenith = 68 / 255.0, 0.5, 1.0
pyglet.graphics.draw(4, gl.GL_QUADS,
('v2f', [l, b, l, t, r, t, r, b]),
('c3f', sum([horizon, zenith, zenith, horizon], ())),
)
cx, cy = camera
tx, ty = world_to_screen((-cx + W * 0.5, -cy + H * 0.5))
gl.glTranslatef(tx, ty, 0)
batch.draw()
# Water
l, b = world_to_screen((0, 0))
r, t = world_to_screen((1000, WATER_LEVEL))
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
pyglet.graphics.draw(4, gl.GL_QUADS,
('v2f', [l, b, l, t, r, t, r, b]),
('c4f', [0, 0.2, 0.8, 0.5] * 4),
)
def draw_texture_rectangle(center_x: float,
center_y: float,
width: float,
height: float,
texture: Texture,
angle: float = 0,
alpha: float = 1,
transparent: bool = True,
repeat_count_x=1,
repeat_count_y=1):
"""
Draw a textured rectangle on-screen.
Args:
:center_x: x coordinate of rectangle center.
:center_y: y coordinate of rectangle center.
:width: width of the rectangle.
:height: height of the rectangle.
:texture: identifier of texture returned from load_texture() call
:angle: rotation of the rectangle. Defaults to zero.
:alpha: Transparency of image.
Returns:
None
Raises:
None
:Example:
>>> import arcade
>>> arcade.open_window(800,600,"Drawing Example")
>>> arcade.set_background_color(arcade.color.WHITE)
>>> arcade.start_render()
>>> arcade.draw_text("draw_bitmap", 483, 3, arcade.color.BLACK, 12)
>>> name = "arcade/examples/images/playerShip1_orange.png"
>>> texture = arcade.load_texture(name)
>>> scale = .6
>>> arcade.draw_texture_rectangle(540, 120, scale * texture.width, \
scale * texture.height, texture, 0)
>>> arcade.draw_texture_rectangle(540, 60, scale * texture.width, \
scale * texture.height, texture, 90)
>>> arcade.draw_texture_rectangle(540, 60, scale * texture.width, \
scale * texture.height, texture, 90, 1, False)
>>> arcade.finish_render()
>>> arcade.quick_run(0.25)
"""
if transparent:
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
else:
gl.glDisable(gl.GL_BLEND)
gl.glEnable(gl.GL_TEXTURE_2D)
gl.glHint(gl.GL_POLYGON_SMOOTH_HINT, gl.GL_NICEST)
gl.glHint(gl.GL_PERSPECTIVE_CORRECTION_HINT, gl.GL_NICEST)
gl.glLoadIdentity()
gl.glColor4f(1, 1, 1, alpha)
z = 0.5 # pylint: disable=invalid-name
x1 = -width / 2 + center_x
x2 = width / 2 + center_x
y1 = -height / 2 + center_y
y2 = height / 2 + center_y
p1 = x1, y1
p2 = x2, y1
p3 = x2, y2
p4 = x1, y2
if angle:
p1 = rotate_point(p1[0], p1[1], center_x, center_y, angle)
p2 = rotate_point(p2[0], p2[1], center_x, center_y, angle)
p3 = rotate_point(p3[0], p3[1], center_x, center_y, angle)
p4 = rotate_point(p4[0], p4[1], center_x, center_y, angle)
gl.glBindTexture(gl.GL_TEXTURE_2D, texture.texture_id)
gl.glBegin(gl.GL_POLYGON)
gl.glNormal3f(0.0, 0.0, 1.0)
gl.glTexCoord2f(0, 0)
gl.glVertex3f(p1[0], p1[1], z)
gl.glTexCoord2f(repeat_count_x, 0)
gl.glVertex3f(p2[0], p2[1], z)
gl.glTexCoord2f(repeat_count_x, repeat_count_y)
gl.glVertex3f(p3[0], p3[1], z)
gl.glTexCoord2f(0, repeat_count_y)
gl.glVertex3f(p4[0], p4[1], z)
gl.glEnd()
gl.glDisable(gl.GL_TEXTURE_2D)
def unset_state(self):
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
def set_state(self):
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.glTranslatef(self.position.x, self.position.y, 0)
gl.glRotatef(self.angle, 0, 0, 1)
def on_draw(self):
"""
Run the actual draw calls.
"""
if self._profile:
profiler = self.Profiler()
profiler.start()
self._update_meshes()
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glLoadIdentity()
# pull the new camera transform from the scene
transform_camera = np.linalg.inv(self.scene.camera_transform)
# apply the camera transform to the matrix stack
gl.glMultMatrixf(rendering.matrix_to_gl(transform_camera))
# we want to render fully opaque objects first,
# followed by objects which have transparency
node_names = collections.deque(self.scene.graph.nodes_geometry)
# how many nodes did we start with
count_original = len(node_names)
count = -1
# if we are rendering an axis marker at the world
if self._axis and not self.view['axis'] == 'without_world':
# we stored it as a vertex list
self._axis.draw(mode=gl.GL_TRIANGLES)
if self._grid:
self._grid.draw(mode=gl.GL_LINES)
while len(node_names) > 0:
count += 1
current_node = node_names.popleft()
if current_node in self._nodes_hidden:
continue
# get the transform from world to geometry and mesh name
transform, geometry_name = self.scene.graph.get(current_node)
# if no geometry at this frame continue without rendering
if geometry_name is None:
continue
# if a geometry is marked as fixed apply the inverse view transform
if self.fixed is not None and geometry_name in self.fixed:
# remove altered camera transform from fixed geometry
transform_fix = np.linalg.inv(
np.dot(self._initial_camera_transform, transform_camera))
# apply the transform so the fixed geometry doesn't move
transform = np.dot(transform, transform_fix)
# get a reference to the mesh so we can check transparency
mesh = self.scene.geometry[geometry_name]
if mesh.is_empty:
continue
# get the GL mode of the current geometry
mode = self.vertex_list_mode[geometry_name]
# if you draw a coplanar line with a triangle it will z-fight
# the best way to do this is probably a shader but this works fine
if mode == gl.GL_LINES:
# apply the offset in camera space
transform = util.multi_dot([
transform,
np.linalg.inv(transform_camera), self._line_offset,
transform_camera
])
# add a new matrix to the model stack
gl.glPushMatrix()
# transform by the nodes transform
gl.glMultMatrixf(rendering.matrix_to_gl(transform))
# draw an axis marker for each mesh frame
if self.view['axis'] == 'all':
self._axis.draw(mode=gl.GL_TRIANGLES)
elif self.view['axis'] == 'without_world':
if count > 0:
self._axis.draw(mode=gl.GL_TRIANGLES)
# transparent things must be drawn last
if (hasattr(mesh, 'visual')
and hasattr(mesh.visual, 'transparency')
and mesh.visual.transparency):
# put the current item onto the back of the queue
if count < count_original:
# add the node to be drawn last
node_names.append(current_node)
# pop the matrix stack for now
gl.glPopMatrix()
# come back to this mesh later
continue
# if we have texture enable the target texture
texture = None
if geometry_name in self.textures:
texture = self.textures[geometry_name]
gl.glEnable(texture.target)
gl.glBindTexture(texture.target, texture.id)
# draw the mesh with its transform applied
self.vertex_list[geometry_name].draw(mode=mode)
# pop the matrix stack as we drew what we needed to draw
gl.glPopMatrix()
# disable texture after using
if texture is not None:
gl.glDisable(texture.target)
if self._profile:
profiler.stop()
print(profiler.output_text(unicode=True, color=True))
def update(self):
gl.glLoadIdentity()
gl.glTranslatef(-self.x, -self.y, -self.z)
gl.glRotatef(self.rx, 1, 0, 0)
gl.glRotatef(self.ry, 0, 1, 0)
gl.glRotatef(self.rz, 0, 0, 1)
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 = 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()
def init_rot_matrix(self):
pgl.glPushMatrix()
pgl.glLoadIdentity()
self._rot = get_model_matrix()
pgl.glPopMatrix()
def render(self):
glTranslatef(self.x, self.y, 0)
glRotatef(self.angle, 0.0, 0.0, 1.0)
glTranslatef(self.xoff, 0, 0)
self.label.draw()
glLoadIdentity() # Restores ordinary drawing
def _draw_rects(shape_list: List[Sprite], vertex_buffer: VertexBuffer,
texture_coord_buffer: TextureCoordBuffer,
color_buffer: ColorBuffer, change_x: float, change_y: float):
"""
Draw a set of rectangles using vertex buffers. This is more efficient
than drawing them individually.
"""
if len(shape_list) == 0:
return
gl.glEnable(gl.GL_BLEND)
gl.glEnable(gl.GL_TEXTURE_2D
) # As soon as this happens, can't use drawing commands
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glTexParameterf(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MIN_FILTER,
gl.GL_NEAREST)
gl.glTexParameterf(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MAG_FILTER,
gl.GL_NEAREST)
gl.glHint(gl.GL_POLYGON_SMOOTH_HINT, gl.GL_NICEST)
gl.glHint(gl.GL_PERSPECTIVE_CORRECTION_HINT, gl.GL_NICEST)
vertex_buffer.bind()
color_buffer.bind()
texture_coord_buffer.bind()
gl.glLoadIdentity()
gl.glTranslatef(change_x, change_y, 0)
# Ideally, we want to draw these in "batches."
# We seek to find groups of squares with the same texture. Then draw
# them all at once.
last_texture_id = None
batch_count = 0
offset = 0
batch_offset = 0
texture_coord_vbo_id = None
for shape in shape_list:
if shape.texture.texture_id != last_texture_id:
# Ok, if the 'if' triggered above, we are now looking at a different
# texture than we looked at with the last loop. So draw the last
# "batch" of squares. We'll start a new batch with the current
# square but not draw it yet
if batch_count > 0:
_render_rect_filled(batch_offset, last_texture_id,
texture_coord_vbo_id, batch_count)
batch_count = 0
batch_offset = offset
last_texture_id = shape.texture.texture_id
batch_count += 4
offset += 4
# Draw the last batch, if it exists
_render_rect_filled(batch_offset, last_texture_id, texture_coord_vbo_id,
batch_count)
# Must do this, or drawing commands won't work.
gl.glDisable(gl.GL_TEXTURE_2D)
def set_viewport(self, width, height):
gl.glViewport(0, 0, width, height)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(0, 1, 0, 1, -1, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
def draw(self):
gl.glLoadIdentity()
self.batch.draw()
def _draw_rects(shape_list: List[Sprite], vertex_vbo_id: gl.GLuint,
texture_coord_vbo_id: gl.GLuint, change_x: float,
change_y: float):
"""
Draw a set of rectangles using vertex buffers. This is more efficient
than drawing them individually.
"""
if len(shape_list) == 0:
return
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glEnable(gl.GL_TEXTURE_2D
) # As soon as this happens, can't use drawing commands
# gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_WRAP_S, gl.GL_CLAMP_TO_EDGE)
# gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_WRAP_T, gl.GL_CLAMP_TO_EDGE)
gl.glTexParameterf(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MIN_FILTER,
gl.GL_NEAREST)
gl.glTexParameterf(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MAG_FILTER,
gl.GL_NEAREST)
gl.glHint(gl.GL_POLYGON_SMOOTH_HINT, gl.GL_NICEST)
gl.glHint(gl.GL_PERSPECTIVE_CORRECTION_HINT, gl.GL_NICEST)
# gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
# gl.glMatrixMode(gl.GL_MODELVIEW)
# gl.glDisable(gl.GL_BLEND)
gl.glBindBuffer(gl.GL_ARRAY_BUFFER, vertex_vbo_id)
gl.glEnableClientState(gl.GL_TEXTURE_COORD_ARRAY)
gl.glEnableClientState(gl.GL_VERTEX_ARRAY)
gl.glVertexPointer(2, gl.GL_FLOAT, 0, 0)
gl.glBindBuffer(gl.GL_ARRAY_BUFFER, texture_coord_vbo_id)
last_alpha = shape_list[0].alpha
gl.glColor4f(1, 1, 1, last_alpha)
gl.glLoadIdentity()
# gl.glLoadIdentity()
gl.glTranslatef(change_x, change_y, 0)
# Ideally, we want to draw these in "batches."
# We seek to find groups of squares with the same texture. Then draw
# them all at once.
last_texture_id = None
last_alpha = 1
batch_count = 0
offset = 0
batch_offset = 0
texture_coord_vbo_id = None
for shape in shape_list:
if shape.texture.texture_id != last_texture_id or shape.alpha != last_alpha:
# Ok, if the 'if' triggered above, we are now looking at a different
# texture than we looked at with the last loop. So draw the last
# "batch" of squares. We'll start a new batch with the current
# square but not draw it yet
if batch_count > 0:
gl.glColor4f(1, 1, 1, last_alpha)
_render_rect_filled(batch_offset, last_texture_id,
texture_coord_vbo_id, batch_count)
batch_count = 0
batch_offset = offset
last_texture_id = shape.texture.texture_id
last_alpha = shape.alpha
batch_count += 4
offset += 4
# Draw the last batch, if it exists
_render_rect_filled(batch_offset, last_texture_id, texture_coord_vbo_id,
batch_count)
gl.glDisable(gl.GL_TEXTURE_2D)
def on_draw():
pyglet.clock.tick()
window.clear()
gl.glLoadIdentity()
draw()
def _draw_ortho(self):
glLoadIdentity()
self._info_label.draw()
def render(self, mode='human', close=False, text=False):
"""
Render the environment for human viewing
"""
if close:
if self.window:
self.window.close()
return
top_down = mode == 'top_down'
# Render the image
top = self._render_img(WINDOW_WIDTH,
WINDOW_HEIGHT,
self.multi_fbo_human,
self.final_fbo_human,
self.img_array_human,
top_down=True)
bot = self._render_img(WINDOW_WIDTH,
WINDOW_HEIGHT,
self.multi_fbo_human,
self.final_fbo_human,
self.img_array_human,
top_down=False)
win_width = WINDOW_WIDTH
if self._view_mode == FULL_VIEW_MODE:
img = np.concatenate((top, bot), axis=1)
win_width = 2 * WINDOW_WIDTH
elif self._view_mode == TOP_DOWN_VIEW_MODE:
img = top
else:
img = bot
if self.window is not None:
self.window.set_size(win_width, WINDOW_HEIGHT)
# self.undistort - for UndistortWrapper
if self.distortion and not self.undistort and mode != "free_cam":
img = self.camera_model.distort(img)
if mode == 'rgb_array':
return img
from pyglet import gl, window, image
if self.window is None:
config = gl.Config(double_buffer=False)
self.window = window.Window(width=win_width,
height=WINDOW_HEIGHT,
resizable=False,
config=config)
self.window.clear()
self.window.switch_to()
self.window.dispatch_events()
# Bind the default frame buffer
gl.glBindFramebuffer(gl.GL_FRAMEBUFFER, 0)
# Setup orghogonal projection
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.glOrtho(0, WINDOW_WIDTH, 0, WINDOW_HEIGHT, 0, 10)
# Draw the image to the rendering window
width = img.shape[1]
height = img.shape[0]
img = np.ascontiguousarray(np.flip(img, axis=0))
img_data = image.ImageData(
width,
height,
'RGB',
img.ctypes.data_as(POINTER(gl.GLubyte)),
pitch=width * 3,
)
img_data.blit(0, 0, 0, width=WINDOW_WIDTH, height=WINDOW_HEIGHT)
# Display position/state information
if text and mode != "free_cam":
x, y, z = self.cur_pos
self.text_label.text = "pos: (%.2f, %.2f, %.2f), angle: %d, steps: %d, speed: %.2f m/s" % (
x, y, z, int(self.cur_angle * 180 / math.pi), self.step_count,
self.speed)
self.text_label.draw()
# Force execution of queued commands
gl.glFlush()
def update(dt):
"""
pyglet update
:param dt: We don't care about no dt
:return: none
"""
path_cost = None
# run simulation. If incrementalAnimation then animate the search at each step
# else just show the end result
#global flag
if shared.incrementalAnimation:
if shared.running:
if shared.node_count < shared.max_nodes:
shared.method()
else:
while shared.running:
if shared.node_count < shared.max_nodes:
shared.method()
# draw optimized path
if len(shared.optimizedPath) > 0:
node1 = shared.optimizedPath[0]
for node2 in shared.optimizedPath[1:]:
#node1.root_path_color()
#print((node1.parent.x, node1.parent.y), (node1.x, node1.y))
shared.batch.add(2, gl.GL_LINES, None,
('v2f', (node1.x, node1.y, node2.x, node2.y)),
('c3B', (0, 255, 255, 0, 255, 2)))
node1 = node2
shared.optimizedPath = []
'''
if flag:
for i in range(20):
shared.nodes[i].remove_node()
print("delete node")
'''
# draws the bottom row stuff
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
gl.glLoadIdentity()
if shared.root_path_length != sys.maxsize:
path_cost = pyglet.text.Label("Path Cost: %6.2f" %
shared.root_path_length,
font_size=18,
x=shared.window_width // 3,
y=24,
anchor_x='center',
anchor_y='center',
color=(128, 128, 128, 128))
node_label = pyglet.text.Label("Nodes: %d" % shared.node_count,
font_size=18,
x=2 * shared.window_width // 3,
y=24,
anchor_x='center',
anchor_y='center',
color=(128, 128, 128, 128))
label = pyglet.text.Label(shared.method.__name__,
font_size=36,
x=shared.window_width - 10,
y=24,
anchor_x='right',
anchor_y='center',
color=(128, 128, 128, 128))
pyglet.graphics.draw(
4, gl.GL_QUADS,
('v2f',
(0, 50, shared.window_width, 50, shared.window_width, 48, 0, 48)),
('c4f', (0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5,
0.5, 0.5, 0.5, 0.5)))
# draws the square that indicates mode
if shared.running:
if shared.node_count >= shared.max_nodes:
pyglet.graphics.draw(4, gl.GL_QUADS,
('v2f',
(shared.window_width // 5 - 20, 24 - 10,
shared.window_width // 5 - 20, 24 + 10,
shared.window_width // 5, 24 + 10,
shared.window_width // 5, 24 - 10)),
('c4f',
(0.5, 0.25, 0.0, 0.5, 0.5, 0.25, 0.0, 0.5,
0.5, 0.25, 0.0, 0.5, 0.5, 0.25, 0.0, 0.5)))
else:
pyglet.graphics.draw(4, gl.GL_QUADS,
('v2f',
(shared.window_width // 5 - 20, 24 - 10,
shared.window_width // 5 - 20, 24 + 10,
shared.window_width // 5, 24 + 10,
shared.window_width // 5, 24 - 10)),
('c4f',
(0.0, 0.5, 0.0, 0.5, 0.0, 0.5, 0.0, 0.5, 0.0,
0.5, 0.0, 0.5, 0.0, 0.5, 0.0, 0.5)))
else:
pyglet.graphics.draw(
4, gl.GL_QUADS,
('v2f',
(shared.window_width // 5 - 20, 24 - 10,
shared.window_width // 5 - 20, 24 + 10, shared.window_width // 5,
24 + 10, shared.window_width // 5, 24 - 10)),
('c4f', (0.5, 0.0, 0.0, 0.5, 0.5, 0.0, 0.0, 0.5, 0.5, 0.0, 0.0,
0.5, 0.5, 0.0, 0.0, 0.5)))
# draw optimized path
#print("OPTIMUS: ", shared.optimizedPath)
shared.batch.draw()
#fps_display.draw()
label.draw()
node_label.draw()
if path_cost is not None:
path_cost.draw()
def on_draw(self):
self.update_bottom_toolbar()
# Main area:
# Window background color
gl.glClearColor(33 / 255, 33 / 255, 33 / 255, 1)
# Set viewport
gl.glViewport(0, 0, self.width, self.height)
# Initialize Projection matrix
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
# Set orthographic projection matrix
gl.gluOrtho2D(self.left, self.right, self.bottom, self.top)
# Initialize Modelview matrix
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
# Clear window with ClearColor
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
# Draw blank canvas
self.canvas_bg_sprite.draw()
# Draw pixels
if pixel_batch:
pixel_batch.draw()
# ???
if holder_patch:
holder_patch.draw()
# Draw pixel cursor
if not self.pixel_cursor_sprite == None:
self.pixel_cursor_sprite.draw()
# Draw grid lines
if options["grid_on"] and self.zoom_level < 0.5:
draw_grid(self.width, self.height)
# Bottom toolbar:
# Set viewport
gl.glViewport(0, 0, self.width, 20)
# Initialize Projection matrix
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
# Set orthographic projection matrix
gl.gluOrtho2D(0, self.width, 0, 20)
# Initialize Modelview matrix
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
# Draw bottom toolbar
self.bottom_toolbar_bg_sprite.draw()
self.size_label.draw()
self.zoom_label.draw()
if self.mouse_on_canvas:
self.position_label.draw()
# Top toolbar:
# Set viewport
gl.glViewport(0, self.height - 80, self.width, 80)
# Initialize Projection matrix
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
# Set orthographic projection matrix
gl.gluOrtho2D(0, self.width, 0, 80)
# Initialize Modelview matrix
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
# Draw background for top toolbar
self.top_toolbar_bg_sprite.draw()
# Draw top toolbar palette
top_toolbar_batch.draw()
# Draw color selection displays
self.palette_colorleft_sprite.draw()
self.palette_colorright_sprite.draw()
self.colorleft_label.draw()
self.colorright_label.draw()
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 _render(self, mode='human', close=False):
if not self.render_mode:
return
if close:
if self.viewer is not None:
self.viewer.close()
self.viewer = None
return
try:
small_img = self.current_obs
if small_img is None:
small_img = np.zeros(shape=(SCREEN_X, SCREEN_Y, 3),
dtype=np.uint8)
vae_img = resize(self._decode(self.z), (64, 64))
WINDOW_HEIGHT = 600
if DEBUG:
small_img = resize(small_img, (64, 64))
if DEBUG_NEXT:
next_img = resize(self._decode(self.next_z), (64, 64))
img = np.concatenate((small_img, next_img), axis=1)
else:
img = np.concatenate((small_img, vae_img), axis=1)
WINDOW_WIDTH = 1200
else:
WINDOW_WIDTH = 800
img = vae_img
if mode == 'rgb_array':
return img
elif mode == 'human':
from pyglet import gl, window, image
if self.window is None:
config = gl.Config(double_buffer=False)
self.window = window.Window(width=WINDOW_WIDTH,
height=WINDOW_HEIGHT,
resizable=False,
config=config)
self.window.clear()
self.window.switch_to()
self.window.dispatch_events()
gl.glBindFramebuffer(gl.GL_FRAMEBUFFER, 0)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.glOrtho(0, WINDOW_WIDTH, 0, WINDOW_HEIGHT, 0, 10)
width = img.shape[1]
height = img.shape[0]
img = np.ascontiguousarray(np.flip(img, axis=0))
from ctypes import POINTER
img_data = image.ImageData(
width,
height,
'RGB',
img.ctypes.data_as(POINTER(gl.GLubyte)),
pitch=width * 3,
)
img_data.blit(0,
0,
0,
width=WINDOW_WIDTH,
height=WINDOW_HEIGHT)
except Exception as e:
print(e) # Duckietown has been closed
def on_draw(self):
"""
Run the actual draw calls.
"""
self._update_meshes()
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glLoadIdentity()
# pull the new camera transform from the scene
transform_camera = self.scene.graph.get(
frame_to='world',
frame_from=self.scene.camera.name)[0]
# apply the camera transform to the matrix stack
gl.glMultMatrixf(rendering.matrix_to_gl(transform_camera))
# dragging the mouse moves the view
# but doesn't alter the scene
view = view_to_transform(self.view)
# add the view transform to the stack
gl.glMultMatrixf(rendering.matrix_to_gl(view))
# we want to render fully opaque objects first,
# followed by objects which have transparency
node_names = collections.deque(self.scene.graph.nodes_geometry)
# how many nodes did we start with
count_original = len(node_names)
count = -1
# if we are rendering an axis marker at the world
if self._axis:
# we stored it as a vertex list
self._axis.draw(mode=gl.GL_TRIANGLES)
while len(node_names) > 0:
count += 1
current_node = node_names.popleft()
# get the transform from world to geometry and mesh name
transform, geometry_name = self.scene.graph[current_node]
# if no geometry at this frame continue without rendering
if geometry_name is None:
continue
# if a geometry is marked as fixed apply the inverse view transform
if self.fixed is not None and geometry_name in self.fixed:
transform = np.dot(np.linalg.inv(view), transform)
# get a reference to the mesh so we can check transparency
mesh = self.scene.geometry[geometry_name]
if mesh.is_empty:
continue
# add a new matrix to the model stack
gl.glPushMatrix()
# transform by the nodes transform
gl.glMultMatrixf(rendering.matrix_to_gl(transform))
# draw an axis marker for each mesh frame
if self.view['axis'] == 'all':
self._axis.draw(mode=gl.GL_TRIANGLES)
# transparent things must be drawn last
if (hasattr(mesh, 'visual') and
hasattr(mesh.visual, 'transparency')
and mesh.visual.transparency):
# put the current item onto the back of the queue
if count < count_original:
# add the node to be drawn last
node_names.append(current_node)
# pop the matrix stack for now
gl.glPopMatrix()
# come back to this mesh later
continue
# if we have texture enable the target texture
texture = None
if geometry_name in self.textures:
texture = self.textures[geometry_name]
gl.glEnable(texture.target)
gl.glBindTexture(texture.target, texture.id)
# get the mode of the current geometry
mode = self.vertex_list_mode[geometry_name]
# draw the mesh with its transform applied
self.vertex_list[geometry_name].draw(mode=mode)
# pop the matrix stack as we drew what we needed to draw
gl.glPopMatrix()
# disable texture after using
if texture is not None:
gl.glDisable(texture.target)
def draw(self):
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.glTranslatef(-self.x, -self.y, 0)
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 draw(self):
gl.glLoadIdentity()
#gl.glTranslatef(p[0], p[1], 0)
self.vl.draw(pyglet.gl.GL_LINE_LOOP)
def draw(self, _Stage, _View, _isClear=False):
""" Draw current batch of triangle vertices, acknowledging the scaling
and rotation of the current display (stage settings)
"""
for iWin, win in enumerate(pyglet.app.windows):
win.switch_to()
xScale = _Stage.scalX_umPerPix * _Stage.winXCorrFact * win.scale
yScale = _Stage.scalY_umPerPix * _Stage.winXCorrFact * win.scale
yWin_5 = win.height // 2
xWin_5 = win.width // 2
xWin_25 = win.width // 4
if len(win.caption) == 0:
GL.glMatrixMode(GL.GL_PROJECTION)
GL.glLoadIdentity()
GL.glOrtho(-xWin_5, xWin_5, -yWin_5, yWin_5, -1, 1)
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glLoadIdentity()
GL.glPushMatrix()
GL.glTranslatef(_Stage.centOffX_pix, _Stage.centOffY_pix, 0)
GL.glScalef(xScale, yScale, 0.0)
GL.glRotatef(_Stage.rot_angle, 0, 0, 1)
if not _isClear:
self.Batch.draw()
self.BatchSpr.draw()
GL.glPopMatrix()
else:
if _Stage.useScrOvl:
# Draw on first (left) screen
#
GL.glViewport(0, 0, win.width // 2, win.height)
GL.glMatrixMode(GL.GL_PROJECTION)
GL.glLoadIdentity()
GL.glOrtho(-xWin_25 * _Stage.hFlipScr1,
xWin_25 * _Stage.hFlipScr1,
-yWin_5 * _Stage.vFlipScr1,
yWin_5 * _Stage.vFlipScr1, -1, 1)
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glLoadIdentity()
GL.glPushMatrix()
x = _Stage.centOffX_pix
y = _Stage.centOffY_pix
GL.glTranslatef(x, y, 0)
GL.glScalef(xScale, yScale, 0.0)
GL.glRotatef(_Stage.rot_angle, 0, 0, 1)
if not _isClear:
self.Batch.draw()
self.BatchSpr.draw()
GL.glPopMatrix()
# Draw on second (right) screen
#
GL.glViewport(win.width // 2, 0, win.width // 2,
win.height)
GL.glMatrixMode(GL.GL_PROJECTION)
GL.glLoadIdentity()
GL.glOrtho(-xWin_25 * _Stage.hFlipScr2,
xWin_25 * _Stage.hFlipScr2,
-yWin_5 * _Stage.vFlipScr2,
yWin_5 * _Stage.vFlipScr2, -1, 1)
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glLoadIdentity()
GL.glPushMatrix()
self.add_rect_data(win.Scr2Vert)
x = _Stage.centOffX_pix + _Stage.offXScr2_pix
y = _Stage.centOffY_pix + _Stage.offYScr2_pix
GL.glTranslatef(x, y, 0)
GL.glScalef(xScale, yScale, 0.0)
GL.glRotatef(_Stage.rot_angle, 0, 0, 1)
if not _isClear:
self.Batch2.draw()
self.Batch2Spr.draw()
GL.glPopMatrix()
else:
GL.glMatrixMode(GL.GL_PROJECTION)
GL.glLoadIdentity()
GL.glOrtho(-xWin_5, xWin_5, -yWin_5, yWin_5, -1, 1)
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glLoadIdentity()
GL.glPushMatrix()
GL.glTranslatef(_Stage.centOffX_pix, _Stage.centOffY_pix,
0)
GL.glScalef(xScale, yScale, 0.0)
GL.glRotatef(_Stage.rot_angle, 0, 0, 1)
if not _isClear:
self.Batch.draw()
self.BatchSpr.draw()
GL.glPopMatrix()
def on_draw():
window.clear()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(-wx, wx, -wy, wy, -1, 1)
gl.glBegin(gl.GL_QUADS)
gl.glColor3f(1, 0.5, 1)
gl.glVertex3f(d, d, 0)
gl.glColor3f(1, 1, 0.5)
gl.glVertex3f(d, -d, 0)
gl.glColor3f(0.5, 1, 1)
gl.glVertex3f(-d, -d, 0)
gl.glColor3f(1, 0.5, 0.5)
gl.glVertex3f(-d, d, 0)
gl.glColor3f(1, 1, 1)
gl.glEnd()
pattern = '0b1111000011110000'
gl.glLineStipple(2, int(pattern, 2))
gl.glColor3f(1, 0.5, 0.5)
gl.glBegin(gl.GL_LINES)
gl.glVertex3f(-20*d, 0, 0)
gl.glVertex3f(20*d, 0, 0)
gl.glVertex3f(0, -20*d, 0)
gl.glVertex3f(0, 20*d, 0)
gl.glEnd()
gl.glDisable(gl.GL_LINE_STIPPLE)
gl.glColor3f(1, 1, 1)
gl.glBegin(gl.GL_LINE_LOOP)
for i in range(0, 5):
gl.glVertex3f(f(2*np.pi*i/5, d)[0], f(2*np.pi*i/5, d)[1], 0)
gl.glEnd()
gl.glBegin(gl.GL_POINTS)
gl.glVertex3f(0, 0, 0)
gl.glEnd()
gl.glDisable(gl.GL_POINT_SMOOTH)
gl.glBegin(gl.GL_POINTS)
for i in range(0, 5):
gl.glVertex3f(f(2*np.pi*i/5, d)[0], f(2*np.pi*i/5, d)[1], 0)
gl.glEnd()
graphics.draw(3, gl.GL_TRIANGLES,
('v2f', (
f((2*np.pi*1/3)+ np.pi/2, d/3)[0],
f((2*np.pi*1/3)+ np.pi/2, d/3)[1],
f((2*np.pi*2/3)+ np.pi/2, d/3)[0],
f((2*np.pi*2/3)+ np.pi/2, d/3)[1],
f((2*np.pi*3/3)+ np.pi/2, d/3)[0],
f((2*np.pi*3/3)+ np.pi/2, d/3)[1]
)),
('c3f', (
1, 0, 0,
0, 1, 0,
0, 0, 1
)))
def view_setup(): # general GL setup
glMatrixMode(GL_PROJECTION)
glMatrixMode(GL_MODELVIEW)
gluOrtho2D(0, WIDTH, 0, HEIGHT)
glLoadIdentity()
glTranslatef(CENTX, CENTY, 0)
def apply_transformation(self):
pgl.glLoadIdentity()
pgl.glTranslatef(self._x, self._y, -self._dist)
if self._rot is not None:
pgl.glMultMatrixf(self._rot)
pgl.glScalef(*self._get_scale())
def hud_mode(self, width, height):
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluOrtho2D(0, width, 0, height)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
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 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()
# enable depth test (objects with higher values of the z coordinate
# will occlude other objects; if z coordinates are the same, newer
# object will occlude older one)
pyglet.graphics.glEnable(pyglet.graphics.GL_DEPTH_TEST)
gl.glDepthFunc(gl.GL_LEQUAL)
# 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()
