def removeEverything(self):
for task in self.taskMgr.getTasks():
if task.getName() not in ['dataLoop', 'igLoop']:
task.remove()
camera.reparentTo(render)
for tex in render.findAllTextures():
tex.releaseAll()
for tex in aspect2d.findAllTextures():
tex.releaseAll()
for tex in render2d.findAllTextures():
tex.releaseAll()
for tex in hidden.findAllTextures():
tex.releaseAll()
for node in render.findAllMatches("**;+s"):
node.removeNode()
for node in aspect2d.findAllMatches("**;+s"):
node.removeNode()
for node in render2d.findAllMatches("**;+s"):
node.removeNode()
for node in hidden.findAllMatches("**;+s"):
node.removeNode()
TexturePool.garbageCollect()
ModelPool.garbageCollect()
RenderState.garbageCollect()
RenderState.clearCache()
RenderState.clearMungerCache()
self.win.getGsg().getPreparedObjects().releaseAll()
self.graphicsEngine.renderFrame()
def step(self):
self.rotate_light()
self.graphicsEngine.renderFrame()
image = self.get_camera_image()
TransformState.garbageCollect()
RenderState.garbageCollect()
return
def step(self, action):
dt = 1/self.fps
self.framecount += 1
max_dist = 1.1
# Move finger
finger_max_speed = 2
finger_accel = 10.0
finger_deccel = 10.0
self.action_buffer.pop(0)
self.action_buffer.append(action)
action = self.action_buffer[0]
if action == 0:
self.finger_speed_mps += dt * finger_accel
if self.finger_speed_mps > finger_max_speed:
self.finger_speed_mps = 2
if action == 1:
if self.finger_speed_mps > 0.01:
self.finger_speed_mps -= finger_deccel * dt
if self.finger_speed_mps < -0.01:
self.finger_speed_mps += finger_deccel * dt
if action == 2:
self.finger_speed_mps -= dt * finger_accel
if self.finger_speed_mps < -finger_max_speed:
self.finger_speed_mps = -finger_max_speed
real_displacement = self.finger_speed_mps * dt
self.finger_np.setY(self.finger_np.getY() + real_displacement)
if self.finger_np.getY() > max_dist:
self.finger_np.setY(max_dist)
self.finger_speed_mps = 0
if self.finger_np.getY() < -max_dist:
self.finger_np.setY(-max_dist)
self.finger_speed_mps = 0
# self.world.doPhysics(dt, 5, 1.0/120.0)
self.world.doPhysics(dt, 20, 1.0/240.0)
self.reset_conv()
self.check_teleportable(blocks_per_minute=59)
# Keep the conveyor moving
self.conv_np.node().setLinearVelocity(Vec3(1.0, 0.0, 0.0))
if self.human_playable is False:
self.graphicsEngine.renderFrame()
TransformState.garbageCollect()
RenderState.garbageCollect()
image = self.get_camera_image()
else:
image = None
score = 0
score += self.check_rewards()
done = False
return image, score, done
def doSceneCleanup():
from panda3d.core import ModelPool, TexturePool, RenderState, RenderAttrib, TransformState, GeomCacheManager
ModelPool.garbageCollect()
TexturePool.garbageCollect()
RenderState.clearMungerCache()
RenderState.clearCache()
RenderState.garbageCollect()
RenderAttrib.garbageCollect()
TransformState.clearCache()
TransformState.garbageCollect()
GeomCacheManager.getGlobalPtr().flush()
base.graphicsEngine.renderFrame()
def __gbcLoop(self):
TransformState.garbageCollect()
RenderState.garbageCollect()
