def circle(pos, radius, color=(1.0,1.0,1.0), alpha=1.0,segments=6):
"""
Draws a circle with gluDisk
:param pos: center of the circle
:type pos: 2-float tuple
:param radius: radius of the circle
:type radius: float
:param color: the color in [0..1] range
:type color: 3-float tuple
:param alpha: the alpha value in [0..1] range
:param segments: number of segments
:type segments: int
"""
glDisable(GL_TEXTURE_2D)
c = gluNewQuadric()
glColor4f(color[0], color[1], color[2], alpha)
glPushMatrix()
glTranslatef(pos[0], pos[1], 0)
gluDisk(c, 0, radius, segments, 1)
glPopMatrix()
glColor4f(1.0,1.0,1.0,1.0)
glEnable(GL_TEXTURE_2D)
def draw_points(self):
self.points_lock.acquire()
try:
from pyglet.gl import glCallList, glBegin, GL_LINE_STRIP, glColor4f, glVertex2f, glEnd
# line from previous iterate to next iterate of function
glBegin(GL_LINE_STRIP)
glColor4f(1, 1, 1, 0.3)
state_index = self.state_indices[0]
for i in [1, 2]:
state_previous = self.point.state[state_index]
self.point.state = self.system.iterate(self.point.state, self.point.parameters)
glVertex2f(state_previous, state_previous)
glVertex2f(state_previous, self.point.state[state_index])
glEnd()
# call display lists, doesn't work in init_points()
if self.server.iteration <= 1:
glCallList(self.iterate_list)
glCallList(self.reflection_list)
except Exception, detail:
print "draw_points()", type(detail), detail
def draw(self, win=None):
"""Draw the current frame to a particular visual.Window (or to the
default win for this object if not specified). The current
position in the movie will be determined automatically.
This method should be called on every frame that the movie is
meant to appear.
"""
if (self.status == NOT_STARTED or
(self.status == FINISHED and self.loop)):
self.play()
elif self.status == FINISHED and not self.loop:
return
if win is None:
win = self.win
self._selectWindow(win)
self._updateFrameTexture() # will check if it's needed
# scale the drawing frame and get to centre of field
GL.glPushMatrix() # push before drawing, pop after
# push the data for client attributes
GL.glPushClientAttrib(GL.GL_CLIENT_ALL_ATTRIB_BITS)
self.win.setScale('pix')
# move to centre of stimulus and rotate
vertsPix = self.verticesPix
# bind textures
GL.glActiveTexture(GL.GL_TEXTURE1)
GL.glBindTexture(GL.GL_TEXTURE_2D, 0)
GL.glEnable(GL.GL_TEXTURE_2D)
GL.glActiveTexture(GL.GL_TEXTURE0)
GL.glBindTexture(GL.GL_TEXTURE_2D, self._texID)
GL.glEnable(GL.GL_TEXTURE_2D)
# sets opacity (1,1,1 = RGB placeholder)
GL.glColor4f(1, 1, 1, self.opacity)
array = (GL.GLfloat * 32)(
1, 1, # texture coords
vertsPix[0, 0], vertsPix[0, 1], 0., # vertex
0, 1,
vertsPix[1, 0], vertsPix[1, 1], 0.,
0, 0,
vertsPix[2, 0], vertsPix[2, 1], 0.,
1, 0,
vertsPix[3, 0], vertsPix[3, 1], 0.,
)
# 2D texture array, 3D vertex array
GL.glInterleavedArrays(GL.GL_T2F_V3F, 0, array)
GL.glDrawArrays(GL.GL_QUADS, 0, 4)
GL.glPopClientAttrib()
GL.glPopAttrib()
GL.glPopMatrix()
# unbind the textures
GL.glActiveTexture(GL.GL_TEXTURE0)
GL.glBindTexture(GL.GL_TEXTURE_2D, 0)
GL.glEnable(GL.GL_TEXTURE_2D) # implicitly disables 1D
def core_draw(self):
super(PointDisplayCanvas, self).core_draw()
points,point_colors, linesegs,lineseg_colors = self.extra_points_linesegs
gl.glColor4f(0.0,1.0,0.0,1.0) # green point
if points is not None:
if point_colors is None:
point_colors = [ (0,1,0,1) ] * len(points)
gl.glBegin(gl.GL_POINTS)
for color_4tuple,pt in zip(point_colors,points):
gl.glColor4f(*color_4tuple)
gl.glVertex2f(pt[0],pt[1])
gl.glEnd()
if linesegs is not None:
if lineseg_colors is None:
lineseg_colors = [ (0,1,0,1) ] * len(linesegs)
for color_4tuple,this_lineseg in zip(lineseg_colors,linesegs):
gl.glBegin(gl.GL_LINE_STRIP)
gl.glColor4f(*color_4tuple)
for (x,y) in zip(this_lineseg[0::2],this_lineseg[1::2]):
gl.glVertex2f(x,y)
gl.glEnd()
if self.red_points is not None:
gl.glColor4f(1.0,0.0,0.0,0.5) # 50% alpha
gl.glBegin(gl.GL_POINTS)
for pt in self.red_points:
gl.glVertex2f(pt[0],pt[1])
gl.glEnd()
gl.glColor4f(1.0,1.0,1.0,1.0) # restore white color
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_rects(shape_list, vertex_vbo_id, texture_coord_vbo_id):
"""
Draw a set of rectangles using vertex buffers. This is more efficient
than drawing them individually.
"""
GL.glEnable(GL.GL_BLEND)
GL.glBlendFunc(GL.GL_SRC_ALPHA, GL.GL_ONE_MINUS_SRC_ALPHA)
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.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)
offset = 0
for shape in shape_list:
if shape.can_cache:
texture_coord_vbo_id = None
GL.glColor4f(1, 1, 1, shape.alpha)
_render_rect_filled(shape, offset,
shape.texture.texture_id, texture_coord_vbo_id)
offset += 4
else:
shape.draw()
def core_draw(self):
super(PointDisplayCanvas, self).core_draw()
points, point_colors, linesegs, lineseg_colors = self.extra_points_linesegs
gl.glColor4f(0.0, 1.0, 0.0, 1.0) # green point
if points is not None:
if point_colors is None:
point_colors = [(0, 1, 0, 1)] * len(points)
gl.glBegin(gl.GL_POINTS)
for color_4tuple, pt in zip(point_colors, points):
gl.glColor4f(*color_4tuple)
gl.glVertex2f(pt[0], pt[1])
gl.glEnd()
if linesegs is not None:
if lineseg_colors is None:
lineseg_colors = [(0, 1, 0, 1)] * len(linesegs)
gl.glBegin(gl.GL_LINES)
for color_4tuple, (x0, y0, x1, y1) in zip(lineseg_colors, linesegs):
gl.glColor4f(*color_4tuple)
gl.glVertex2f(x0, y0)
gl.glVertex2f(x1, y1)
gl.glEnd()
if self.red_points is not None:
gl.glColor4f(1.0, 0.0, 0.0, 1.0)
gl.glBegin(gl.GL_POINTS)
for pt in self.red_points:
gl.glVertex2f(pt[0], pt[1])
gl.glEnd()
gl.glColor4f(1.0, 1.0, 1.0, 1.0) # restore white color
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 draw_circle(cx, cy, r, num_segments=None, mode=gl.GL_POLYGON, color=(1, 1, 1, 1)): if not num_segments: num_segments = get_num_circle_segments(r) theta = 2 * math.pi / float(num_segments) tangetial_factor = math.tan(theta) radial_factor = math.cos(theta) x = float(r) y = 0.0 gl.glColor4f(color[0], color[1], color[2], color[3]) gl.glBegin(mode) for i in xrange(num_segments): gl.glVertex2f(x + cx, y + cy) tx = y * -1 ty = x x += tx * tangetial_factor y += ty * tangetial_factor x *= radial_factor y *= radial_factor gl.glEnd()
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 setupOpenGL(self): gl.glClearColor(0., 0., 0., 1.) gl.glColor4f(1.0, 0.0, 0.0, 0.5) gl.glEnable(gl.GL_DEPTH_TEST) #gl.glEnable(gl.GL_CULL_FACE) gl.glEnable(gl.GL_BLEND) gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
def draw(self):
from miru.context import context
gl.glEnable(gl.GL_LINE_STIPPLE)
gl.glLineStipple(1, 0x51315)
gl.glColor4f(*self.color)
for c in self.metaCamera.cameras:
vp = c.projection
x = vp.x == 0 and 1 or vp.x
width = vp.x == 0 and vp.width - 1 or vp.width
width = (vp.x + vp.width) >= context.window.width and width - 1 or width
y = vp.y == 0 and 1 or vp.y
height = vp.y == 0 and vp.height - 1 or vp.height
height = (vp.y + vp.height) >= context.window.height and height - 1 or height
gl.glBegin(gl.GL_LINE_LOOP)
gl.glVertex2f(x, y)
gl.glVertex2f(x, y + height)
gl.glVertex2f(x + width, y + height)
gl.glVertex2f(x + width, y)
gl.glEnd()
gl.glDisable(gl.GL_LINE_LOOP)
gl.glColor4f(1,1,1,1)
def line(a, b, color=(1.0,1.0,1.0), width=1, aa=False, alpha=1.0):
"""
Draws a line from point *a* to point *b* using GL_LINE_STRIP optionaly with GL_LINE_SMOOTH when *aa=True*
: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 width: The with for glLineWidth()
:param aa: Anti aliasing Flag
:param alpha: the alpha value in [0..1] range
"""
glColor4f(color[0], color[1], color[2], alpha)
glLineWidth(width)
if aa:
glEnable(GL_LINE_SMOOTH)
draw(2, GL_LINES, ('v2f', (a[0], a[1], b[0], b[1])))
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_points(self):
self.points_lock.acquire()
try:
from pyglet.gl import glBegin, glEnd, GL_POINTS, glColor4f, glVertex2f
glBegin(GL_POINTS)
for i in xrange(0, len(self.points)):
p = self.points[i]
parameter_index = self.parameter_indices[0]
state_index = self.state_indices[0]
glColor4f(1, 1, 1, p.age / (self.age_max*2.0))
glVertex2f(p.parameters[parameter_index], p.state[state_index])
p.state = self.system.iterate(p.state, p.parameters)
p.age += 1
#if p.age >= self.age_max:
# self.points[i] = OrbitPoint(tool=self, varying_parameter=p.parameters[parameter_index])
glEnd()
except Exception, detail:
print 'draw_points()', type(detail), detail
def draw(self, offset=(0, 0)):
w, h = offset
r, g, b, a = self.color
pyglet.graphics.draw(len(self.vertices), gl.GL_POLYGON,
('v2f', [int(p) for p in flatten((x+w, y+h) for x, y in self.vertices)]),
('c4B', [int(c) for c in ((r, g, b, a*255) * len(self.vertices))]),
)
gl.glColor4f(1, 1, 1, 1)
def set_state(self):
gl.glPushAttrib(gl.GL_LINE_BIT | gl.GL_CURRENT_BIT)
gl.glLineWidth(2)
if self.facet.is_border_facet:
colour = self.BORDER_FACET_COLOUR
else:
colour = self.INNER_FACET_COLOUR
gl.glColor4f(*colour)
def draw(self):
if not self.should_draw: return
glColor3f(1, 1, 1)
self.texture.blit(0, 100)
glColor4f(1, 1, 1, 0.65)
glRectf(0, 0, self.width, 100)
self.lbls.draw()
self.draw_subcontrols()
def rectangle(x1, y1, x2, y2, color=(1, 0, 0, 1)):
glColor4f(*color)
glBegin(GL_POLYGON)
glVertex2f(x1, y1)
glVertex2f(x1, y2)
glVertex2f(x2, y2)
glVertex2f(x2, y1)
glEnd()
def draw(self):
glPushMatrix()
glRotatef(self.angle, 0., 0., 1.)
glScalef(self.scale, 1., 1.)
glTranslatef(0., -common_res.ray.height/2, 0.)
glColor4f(1., 1., 1., self.alpha)
common_res.ray.blit(0, 0)
glPopMatrix()
def draw_grid(self):
gl.glColor4f(0.23, 0.23, 0.23, 1.0)
#Horizontal lines
for i in range(rows):
graphics.draw(2, gl.GL_LINES, ('v2i', (0, i * cell_size, window_width, i * cell_size)))
#Vertical lines
for j in range(columns):
graphics.draw(2, gl.GL_LINES, ('v2i', (j * cell_size, 0, j * cell_size, window_height)))
def draw(self, win=None):
#set the window to draw to
if win==None: win=self.win
if win.winType=='pyglet': win.winHandle.switch_to()
#work out next default depth
if self.depth==0:
thisDepth = self.win._defDepth
self.win._defDepth += _depthIncrements[self.win.winType]
else:
thisDepth=self.depth
GL.glPushMatrix()
#scale and rotate
prevScale = self.win.setScale(self._winScale)
GL.glTranslatef(self._posRendered[0],self._posRendered[1],thisDepth)#NB depth is set already
GL.glRotatef(self.ori,0.0,0.0,1.0)
self.win.setScale('pix',None, prevScale)
if self._useShaders: #then rgb needs to be set as glColor
#setup color
desiredRGB = (self.rgb*self.contrast+1)/2.0#RGB in range 0:1 and scaled for contrast
if numpy.any(desiredRGB**2.0>1.0):
desiredRGB=[0.6,0.6,0.4]
GL.glColor4f(desiredRGB[0],desiredRGB[1],desiredRGB[2], self.opacity)
else: #color is set in texture, so set glColor to white
GL.glColor4f(1,1,1,1)
GL.glDisable(GL.GL_DEPTH_TEST) #should text have a depth or just on top?
#update list if necss and then call it
if self.win.winType=='pyglet':
#and align based on x anchor
if self.alignHoriz=='right':
GL.glTranslatef(-self.width,0,0)#NB depth is set already
if self.alignHoriz in ['center', 'centre']:
GL.glTranslatef(-self.width/2,0,0)#NB depth is set already
#unbind the mask texture regardless
GL.glActiveTexture(GL.GL_TEXTURE1)
GL.glEnable(GL.GL_TEXTURE_2D)
GL.glBindTexture(GL.GL_TEXTURE_2D, 0)
#unbind the main texture
GL.glActiveTexture(GL.GL_TEXTURE0)
GL.glEnable(GL.GL_TEXTURE_2D)
#then allow pyglet to bind and use texture during drawing
self.glyphStr.draw()
GL.glDisable(GL.GL_TEXTURE_2D)
else:
#for pygame we should (and can) use a drawing list
if self.needUpdate: self._updateList()
GL.glCallList(self._listID)
GL.glEnable(GL.GL_DEPTH_TEST) # Enables Depth Testing
GL.glPopMatrix()
def draw_fan(center, vertices, color):
gl.glPushMatrix()
gl.glColor4f(*color)
gl.glBegin(gl.GL_TRIANGLE_FAN)
gl.glVertex2f(center[0], center[1])
for vertex in vertices:
gl.glVertex2f(vertex[0], vertex[1])
gl.glEnd()
gl.glPopMatrix()
def draw_ui(self):
if DropDownMenu._submenu_count >= self.level:
gl.glColor4f(1, 1, 1, 0.5)
gl.glRectf(self.x, self.y, self.x + self.width, self.y - self.height)
gl.glColor4f(0, 0, 0, 0.5)
gl.glRectf(self.x + 1, self.y - 1, self.x + self.width - 1, self.y - self.height + 1)
super(DropDownMenu, self).draw()
for sm in self.submenus.values():
sm.draw()
def line(x, y, size, angle, color=(1, 0, 0, 1), thickness=1):
x1, y1 = x, y
x2, y2 = x1 + cos(angle) * size, y1 + sin(angle) * size
glColor4f(*color)
glLineWidth(thickness)
glBegin(GL_LINES)
glVertex2f(x1, y1)
glVertex2f(x2, y2)
glEnd()
def draw(self):
ray = L('c-ray')
glPushMatrix()
glRotatef(self.angle, 0., 0., 1.)
glScalef(self.scale, 1., 1.)
glTranslatef(0., -ray.height/2, 0.)
glColor4f(1., 1., 1., self.alpha)
ray.blit(0, 0)
glPopMatrix()
def draw(self):
if self.window.debug and not self.hidden:
gl.glColor4f(*self.color)
graphics.draw(4, gl.GL_QUADS, ('v2f', self.rectangle))
if not self.fg_batch:
for l in self.stat_labels_l:
l.draw()
for l in self.stat_labels_r:
l.draw()
def init_points(self):
self.points_lock.acquire()
try:
from pyglet.gl import (
glGenLists,
glNewList,
GL_COMPILE,
glBegin,
GL_LINE_STRIP,
GL_LINES,
glColor4f,
glVertex2f,
glEnd,
glEndList,
glEnable,
)
self.server.clear_each_frame = False
self.server.iteration = 0
# initial state/parameters
self.point = CobwebPoint(tool=self)
# create display list for first iterate of function
self.iterate_list = glGenLists(1)
glNewList(self.iterate_list, GL_COMPILE)
glBegin(GL_LINE_STRIP)
glColor4f(217 / 255.0, 115 / 255.0, 56 / 255.0, 0.9)
p = CobwebPoint(tool=self)
state_index = self.state_indices[0]
for i in numpy.arange(self.state_ranges[state_index][0], self.state_ranges[state_index][1], 0.001):
p.state[state_index] = i
state_new = self.system.iterate(p.state, p.parameters)
glVertex2f(i, state_new[state_index])
glEnd()
glEndList()
# create display list for axis of reflection
self.reflection_list = glGenLists(1)
glNewList(self.reflection_list, GL_COMPILE)
glBegin(GL_LINES)
glColor4f(217 / 255.0, 88 / 255.0, 41 / 255.0, 0.9)
glVertex2f(self.state_ranges[state_index][0], self.state_ranges[state_index][0])
glVertex2f(self.state_ranges[state_index][1], self.state_ranges[state_index][1])
glEnd()
glEndList()
except Exception, detail:
print "init_points()", type(detail), detail
def draw(self):
#print self.body.postion
s = self.size # just a shorthand
gl.glColor4f(*(self.colour + (self.opacity,)))
with shiftView(Vec2d(self.body.position)):
gl.glRotatef(degrees(self.body.angle), 0.1,0.2,1.0)
gl.glBegin(gl.GL_POLYGON)
for vertex in self.verticies:
gl.glVertex2f(*vertex)
gl.glEnd()
def draw(self):
gl.glColor4f(*self.color)
x, y = director.get_window_size()
gl.glBegin(gl.GL_QUADS)
gl.glVertex2f( 0, 0 )
gl.glVertex2f( 0, y )
gl.glVertex2f( x, y )
gl.glVertex2f( x, 0 )
gl.glEnd()
gl.glColor4f(1,1,1,1)
def _display_movements(self, mode_2d=False):
self.vertex_buffer.bind()
has_vbo = isinstance(self.vertex_buffer, VertexBufferObject)
if has_vbo:
glVertexPointer(3, GL_FLOAT, 0, None)
else:
glVertexPointer(3, GL_FLOAT, 0, self.vertex_buffer.ptr)
self.vertex_color_buffer.bind()
if has_vbo:
glColorPointer(4, GL_FLOAT, 0, None)
else:
glColorPointer(4, GL_FLOAT, 0, self.vertex_color_buffer.ptr)
# Prevent race condition by using the number of currently loaded layers
max_layers = self.layers_loaded
start = 0
if self.num_layers_to_draw <= max_layers:
end_prev_layer = self.layer_stops[self.num_layers_to_draw - 1]
else:
end_prev_layer = -1
end = self.layer_stops[min(self.num_layers_to_draw, max_layers)]
glDisableClientState(GL_COLOR_ARRAY)
glColor4f(*self.color_printed)
# Draw printed stuff until end or end_prev_layer
cur_end = min(self.printed_until, end)
if not self.only_current:
if 0 <= end_prev_layer <= cur_end:
glDrawArrays(GL_LINES, start, end_prev_layer)
elif cur_end >= 0:
glDrawArrays(GL_LINES, start, cur_end)
glEnableClientState(GL_COLOR_ARRAY)
# Draw nonprinted stuff until end_prev_layer
start = max(cur_end, 0)
if end_prev_layer >= start:
if not self.only_current:
glDrawArrays(GL_LINES, start, end_prev_layer - start)
cur_end = end_prev_layer
# Draw current layer
if end_prev_layer >= 0:
glDisableClientState(GL_COLOR_ARRAY)
# Backup & increase line width
orig_linewidth = (GLfloat)()
glGetFloatv(GL_LINE_WIDTH, orig_linewidth)
glLineWidth(2.0)
glColor4f(*self.color_current_printed)
if cur_end > end_prev_layer:
glDrawArrays(GL_LINES, end_prev_layer,
cur_end - end_prev_layer)
glColor4f(*self.color_current)
if end > cur_end:
glDrawArrays(GL_LINES, cur_end, end - cur_end)
# Restore line width
glLineWidth(orig_linewidth)
glEnableClientState(GL_COLOR_ARRAY)
# Draw non printed stuff until end (if not ending at a given layer)
start = max(self.printed_until, 0)
end = end - start
if end_prev_layer < 0 and end > 0 and not self.only_current:
glDrawArrays(GL_LINES, start, end)
self.vertex_buffer.unbind()
self.vertex_color_buffer.unbind()
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 render(self,
mode='human',
close=False,
RENDER_LIDAR=True,
lidar_scan_override=None,
goal_override=None,
save_to_file=False,
show_score=False,
robocentric=False):
if close:
if self.viewer is not None:
self.viewer.close()
return
if self.lidar_scan is None: # check that reset has been called
return
if mode == 'traj':
self.soadrl_sim.render('traj')
elif mode in ['human', 'rings']:
# Window and viewport size
WINDOW_W = 256
WINDOW_H = 256
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.transform = rendering.Transform()
self.transform.set_scale(10, 10)
self.transform.set_translation(128, 128)
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()
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
# Render in pyglet
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])
obstcolor = np.array([0.3, 0.3, 0.3])
goalcolor = np.array([1., 1., 0.3])
goallinecolor = 0.9 * bgcolor
nosecolor = np.array([0.3, 0.3, 0.3])
lidarcolor = np.array([1., 0., 0.])
agentcolor = np.array([0., 1., 1.])
# 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()
# Transform
rx = self.soadrl_sim.robot.px
ry = self.soadrl_sim.robot.py
rth = self.soadrl_sim.robot.theta
if robocentric:
# sets viewport = robocentric a.k.a T_sim_in_viewport = T_sim_in_robocentric
from pose2d import inverse_pose2d
T_sim_in_robot = inverse_pose2d(np.array([rx, ry, rth]))
# T_robot_in_robocentric is trans(128, 128), scale(10), rot(90deg)
# T_sim_in_robocentric = T_sim_in_robot * T_robot_in_robocentric
rot = np.pi / 2.
scale = 20
trans = (WINDOW_W / 2., WINDOW_H / 2.)
T_sim_in_robocentric = [
trans[0] + scale * (T_sim_in_robot[0] * np.cos(rot) -
T_sim_in_robot[1] * np.sin(rot)),
trans[1] + scale * (T_sim_in_robot[0] * np.sin(rot) +
T_sim_in_robot[1] * np.cos(rot)),
T_sim_in_robot[2] + rot,
]
self.transform.set_translation(T_sim_in_robocentric[0],
T_sim_in_robocentric[1])
self.transform.set_rotation(T_sim_in_robocentric[2])
self.transform.set_scale(scale, scale)
# self.transform.set_scale(20, 20)
self.transform.enable(
) # applies T_sim_in_viewport to below coords (all in sim frame)
# Map closed obstacles ---
for poly in self.soadrl_sim.obstacle_vertices:
gl.glBegin(gl.GL_LINE_LOOP)
gl.glColor4f(obstcolor[0], obstcolor[1], obstcolor[2], 1)
for vert in poly:
gl.glVertex3f(vert[0], vert[1], 0)
gl.glEnd()
# LIDAR
if RENDER_LIDAR:
px = self.soadrl_sim.robot.px
py = self.soadrl_sim.robot.py
angle = self.soadrl_sim.robot.theta
# LIDAR rays
scan = lidar_scan_override
if scan is None:
scan = self.lidar_scan
lidar_angles = self.lidar_angles
x_ray_ends = px + scan * np.cos(lidar_angles)
y_ray_ends = py + scan * np.sin(lidar_angles)
is_in_fov = np.cos(lidar_angles - angle) >= 0.78
for ray_idx in range(len(scan)):
end_x = x_ray_ends[ray_idx]
end_y = y_ray_ends[ray_idx]
gl.glBegin(gl.GL_LINE_LOOP)
if is_in_fov[ray_idx]:
gl.glColor4f(1., 1., 0., 0.1)
else:
gl.glColor4f(lidarcolor[0], lidarcolor[1],
lidarcolor[2], 0.1)
gl.glVertex3f(px, py, 0)
gl.glVertex3f(end_x, end_y, 0)
gl.glEnd()
# Agent body
for n, agent in enumerate([self.soadrl_sim.robot] +
self.soadrl_sim.humans):
px = agent.px
py = agent.py
angle = agent.theta
r = agent.radius
# Agent as Circle
poly = make_circle((px, py), r)
gl.glBegin(gl.GL_POLYGON)
if n == 0:
color = np.array([1., 1., 1.])
else:
color = agentcolor
gl.glColor4f(color[0], color[1], color[2], 1)
for vert in poly:
gl.glVertex3f(vert[0], vert[1], 0)
gl.glEnd()
# Direction triangle
xnose = px + r * np.cos(angle)
ynose = py + r * np.sin(angle)
xright = px + 0.3 * r * -np.sin(angle)
yright = py + 0.3 * r * np.cos(angle)
xleft = px - 0.3 * r * -np.sin(angle)
yleft = py - 0.3 * r * np.cos(angle)
gl.glBegin(gl.GL_TRIANGLES)
gl.glColor4f(nosecolor[0], nosecolor[1], nosecolor[2], 1)
gl.glVertex3f(xnose, ynose, 0)
gl.glVertex3f(xright, yright, 0)
gl.glVertex3f(xleft, yleft, 0)
gl.glEnd()
# Goal
xgoal = self.soadrl_sim.robot.gx
ygoal = self.soadrl_sim.robot.gy
r = self.soadrl_sim.robot.radius
if goal_override is not None:
xgoal, ygoal = goal_override
# Goal markers
gl.glBegin(gl.GL_TRIANGLES)
gl.glColor4f(goalcolor[0], goalcolor[1], goalcolor[2], 1)
triangle = make_circle((xgoal, ygoal), r, res=3)
for vert in triangle:
gl.glVertex3f(vert[0], vert[1], 0)
gl.glEnd()
# Goal line
gl.glBegin(gl.GL_LINE_LOOP)
gl.glColor4f(goallinecolor[0], goallinecolor[1],
goallinecolor[2], 1)
gl.glVertex3f(rx, ry, 0)
gl.glVertex3f(xgoal, ygoal, 0)
gl.glEnd()
# --
self.transform.disable()
# Text
self.score_label.text = ""
if show_score:
self.score_label.text = "R {}".format(self.episode_reward)
self.score_label.draw()
win.flip()
if save_to_file:
pyglet.image.get_buffer_manager().get_color_buffer().save(
"/tmp/navreptrainenv{:05}.png".format(
self.total_steps))
return self.viewer.isopen
else:
raise NotImplementedError
def draw_cartpole(cartpole, screen_width, screen_height):
world_width = cartpole.x_threshold*2
scale = screen_width/world_width
carty = 100 # TOP OF CART
polewidth = 10.0
polelen = scale * cartpole._pole_length
# target pole position is relative to the center of the screen
targetpos = scale * (cartpole._target_pole_position + world_width/2)
cartwidth = 50.0
cartheight = 30.0
# Draw track
glColor4f(0,0,0,1.0)
glLineWidth(1.0)
glBegin(gl.GL_LINES)
glVertex2f(0, carty)
glVertex2f(screen_width, carty)
glEnd()
# Draw target position
gray = 0.4
glColor4f(gray,gray,gray,1.0)
glLineWidth(1.0)
glBegin(gl.GL_LINES)
glVertex2f(targetpos, 0)
glVertex2f(targetpos, screen_height)
glEnd()
# Draw Cart
l, r, t, b = -cartwidth/2, cartwidth/2, cartheight/2, -cartheight/2
cartx = cartpole._cart_position*scale+screen_width/2.0 # MIDDLE OF CART
glColor4f(0.,0.,0.,1.0)
glPushMatrix() # Push Translation
glTranslatef(cartx, carty, 0)
glBegin(gl.GL_QUADS)
glVertex3f(l, b, 0)
glVertex3f(l, t, 0)
glVertex3f(r, t, 0)
glVertex3f(r, b, 0)
glEnd()
# Draw Pole
l, r, t, b = (
-polewidth/2,
polewidth/2,
polelen-polewidth/2,
-polewidth/2)
glColor4f(.8, .6, .4, 1.0)
glPushMatrix() # Push Rotation
glRotatef(RAD2DEG * -cartpole._pole_angle, 0, 0, 1.0)
glBegin(gl.GL_QUADS)
glVertex3f(l, b, 0)
glVertex3f(l, t, 0)
glVertex3f(r, t, 0)
glVertex3f(r, b, 0)
glEnd()
glPopMatrix() # Pop Rotation
# Draw Axle
radius = polewidth/2
glColor4f(0.5, 0.5, 0.8, 1.0)
glBegin(gl.GL_POLYGON)
for i in range(12):
ang = 2 * math.pi * i / 12
x=math.cos(ang)*radius
y=math.sin(ang)*radius
glVertex3f(x, y, 0)
glEnd()
glPopMatrix() # Pop Translation
def draw_board(self):
# Draw the green background.
gl.glBegin(gl.GL_QUADS)
gl.glColor4f(0.4, 0.8, 0.4, 1.0)
gl.glVertex3f(-BOARDFIELD, +BOARDFIELD, 0)
gl.glVertex3f(+BOARDFIELD, +BOARDFIELD, 0)
gl.glVertex3f(+BOARDFIELD, -BOARDFIELD, 0)
gl.glVertex3f(-BOARDFIELD, -BOARDFIELD, 0)
gl.glEnd()
# Draw the grid.
gl.glBegin(gl.GL_LINES)
gl.glColor4f(0, 0, 0, 1.0)
grid_width = BOARDFIELD / self.board_size
for i in range(1, self.board_size):
offset = grid_width * i
gl.glVertex2f(offset, 0)
gl.glVertex2f(offset, BOARDFIELD)
gl.glVertex2f(0, offset)
gl.glVertex2f(BOARDFIELD, offset)
gl.glEnd()
# Draw disks.
half_grid_width = grid_width / 2
for i in range(self.board_size):
for j in range(self.board_size):
if self.board_state[i][j] == WHITE_DISK:
gl.glColor4f(1, 1, 1, 1.)
elif self.board_state[i][j] == BLACK_DISK:
gl.glColor4f(0, 0, 0, 1.)
if self.board_state[i][j] != NO_DISK:
disk = make_disk_at(
x=i * grid_width + half_grid_width,
y=j * grid_width + half_grid_width,
radius=half_grid_width - 3)
disk.render1()
# Draw possible positions.
if self.player_turn == WHITE_DISK:
gl.glColor4f(1, 1, 1, 1.)
font_color = (255, 255, 255, 255)
else:
gl.glColor4f(0, 0, 0, 1.)
font_color = (0, 0, 0, 255)
for p in self.possible_moves:
i = p // self.board_size
j = p % self.board_size
x = i * grid_width + half_grid_width
y = j * grid_width + half_grid_width
disk = make_disk_at(
x=x, y=y, radius=half_grid_width - 3, filled=False)
disk.render1()
label = pyglet.text.Label('{}'.format(i * self.board_size + j),
font_name='Times New Roman', font_size=10,
color=font_color,
x=x, y=y, anchor_x='center',
anchor_y='center')
label.draw()
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_road(self):
# Painting entire field in white:
gl.glBegin(gl.GL_QUADS)
gl.glColor4f(0, 0.5, 0, 1.0) #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)
# Drawing road:
gl.glColor4f(*ROAD_COLOR, 1)
for poly in self.road_poly:
gl.glVertex3f(*poly, 0)
gl.glEnd()
# # Drawing tiles:
# def draw_circle(x, y, r):
# gl.glColor4f(0, 0, 1, 1)
# gl.glBegin(gl.GL_LINE_LOOP)
# theta = 2*np.pi/10
# for i in range(10):
# gl.glVertex3f(x+np.cos(theta*i)*r, y+np.sin(theta*i)*r, 0)
# gl.glEnd()
#
# gl.glColor4f(0, 0, 0, 1)
# for tile in self.tiles_poly:
# draw_circle(*tile, 0.5)
# Drawing a sidewalk:
gl.glColor4f(0.66, 0.66, 0.66, 1)
for sw in self.all_sidewalks:
gl.glBegin(gl.GL_POLYGON)
for v in sw:
gl.glVertex3f(*v, 0)
gl.glEnd()
# Drawing road crossings:
gl.glColor4f(1, 1, 1, 1)
for cros in crossings:
for temp in cros:
gl.glBegin(gl.GL_QUADS)
for v in temp:
gl.glVertex3f(*v, 0)
gl.glEnd()
for line in cross_line:
gl.glBegin(gl.GL_LINES)
for v in line:
gl.glVertex3f(*v, 0)
gl.glEnd()
# # Drawing a rock:
# gl.glBegin(gl.GL_QUADS)
# gl.glColor4f(0,0,0,1)
# gl.glVertex3f(10, 30, 0)
# gl.glVertex3f(10, 10, 0)
# gl.glVertex3f(30, 10, 0)
# gl.glVertex3f(30, 30, 0)
# gl.glEnd()
# Drawing target destination for car:
gl.glBegin(gl.GL_QUADS)
gl.glColor4f(*self.car.hull.color, 1)
for v in self.car_goal_poly:
gl.glVertex3f(*v, 0)
gl.glEnd()
def enable(self) -> None:
glColor4f(*self.vec4)
def draw(self):
gl.glColor4f(*self.color)
self.image.blit(self.x, self.y)
def enable(self):
glColor4f(*self.vec4)
def render(self, mode="human", close=False):
if close:
if self.viewer is not None:
self.viewer.close()
return
# get last z decoding
rings_pred = (
self.vae.decode(self.prev_z.reshape(1, _Z + _G)[:, :_Z]) *
self.rings_def["rings_to_bool"])
predicted_ranges = self.rings_def["rings_to_lidar"](rings_pred, 1080)
goal_pred = self.prev_z.reshape((_Z + _G, ))[_Z:] * MAX_GOAL_DIST
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]
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(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()
# 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 / 3., res=3)
for vert in triangle:
gl.glVertex3f(vert[0], vert[1], 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 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 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 draw(self, win=None):
"""Draw the current frame to a particular visual.Window (or to the
default win for this object if not specified). The current
position in the movie will be determined automatically.
This method should be called on every frame that the movie is
meant to appear.
"""
if (self.status == NOT_STARTED
or (self.status == FINISHED and self.loop)):
self.play()
elif self.status == FINISHED and not self.loop:
return
if win is None:
win = self.win
self._selectWindow(win)
self._updateFrameTexture() # will check if it's needed
# scale the drawing frame and get to centre of field
GL.glPushMatrix() # push before drawing, pop after
# push the data for client attributes
GL.glPushClientAttrib(GL.GL_CLIENT_ALL_ATTRIB_BITS)
self.win.setScale('pix')
# move to centre of stimulus and rotate
vertsPix = self.verticesPix
# bind textures
GL.glActiveTexture(GL.GL_TEXTURE1)
GL.glBindTexture(GL.GL_TEXTURE_2D, 0)
GL.glEnable(GL.GL_TEXTURE_2D)
GL.glActiveTexture(GL.GL_TEXTURE0)
GL.glBindTexture(GL.GL_TEXTURE_2D, self._texID)
GL.glEnable(GL.GL_TEXTURE_2D)
# sets opacity (1,1,1 = RGB placeholder)
GL.glColor4f(1, 1, 1, self.opacity)
array = (GL.GLfloat * 32)(
1,
1, # texture coords
vertsPix[0, 0],
vertsPix[0, 1],
0., # vertex
0,
1,
vertsPix[1, 0],
vertsPix[1, 1],
0.,
0,
0,
vertsPix[2, 0],
vertsPix[2, 1],
0.,
1,
0,
vertsPix[3, 0],
vertsPix[3, 1],
0.,
)
# 2D texture array, 3D vertex array
GL.glInterleavedArrays(GL.GL_T2F_V3F, 0, array)
GL.glDrawArrays(GL.GL_QUADS, 0, 4)
GL.glPopClientAttrib()
GL.glPopAttrib()
GL.glPopMatrix()
# unbind the textures
GL.glActiveTexture(GL.GL_TEXTURE0)
GL.glBindTexture(GL.GL_TEXTURE_2D, 0)
GL.glEnable(GL.GL_TEXTURE_2D) # implicitly disables 1D
def _render_indicators(self, W, H):
s = W / 40.0
h = H / 40.0
boatw = 1.3 * 25
gl.glBegin(gl.GL_QUADS)
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)
gl.glEnd()
def vertical_ind(place, val, color):
gl.glBegin(gl.GL_QUADS)
gl.glColor3f(*color)
gl.glVertex3f((place + 0) * s, 2 * h + h * val, 0)
gl.glVertex3f((place + 1) * s, 2 * h + h * val, 0)
gl.glVertex3f((place + 1) * s, 2 * h, 0)
gl.glVertex3f((place + 0) * s, 2 * h, 0)
gl.glEnd()
def horiz_ind(place, val, color):
gl.glBegin(gl.GL_QUADS)
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)
gl.glEnd()
def gl_boat(x, y):
# Draw boat shape
gl.glBegin(gl.GL_LINES)
gl.glColor3f(0.9, 0.9, 0.9)
gl.glVertex2f(x, y)
gl.glVertex2f(x + boatw, y)
gl.glVertex2f(x + boatw, y)
gl.glVertex2f(x + boatw, y + 2 * h)
gl.glVertex2f(x + boatw, y + 2 * h)
gl.glVertex2f(x + boatw / 2, y + 2.5 * h)
gl.glVertex2f(x + boatw / 2, y + 2.5 * h)
gl.glVertex2f(x, y + 2 * h)
gl.glVertex2f(x, y + 2 * h)
gl.glVertex2f(x, y)
gl.glEnd()
def gl_arrow(x, y, angle, length, color=(0.9, 0.9, 0.9)):
L = 50
T = np.clip(7 * length, 0, 7)
hx, hy = x + length * L * cos(angle), y + length * L * sin(angle)
gl.glEnable(gl.GL_LINE_SMOOTH)
gl.glLineWidth(2)
gl.glBegin(gl.GL_LINES)
gl.glColor3f(*color)
gl.glVertex2f(x, y)
gl.glVertex2f(hx, hy)
gl.glEnd()
gl.glBegin(gl.GL_TRIANGLES)
gl.glVertex2f(hx + T * cos(angle), hy + T * sin(angle))
gl.glVertex2f(hx + T * cos(angle + 2 * pi / 3),
hy + T * sin(angle + 2 * pi / 3))
gl.glVertex2f(hx + T * cos(angle + 4 * pi / 3),
hy + T * sin(angle + 4 * pi / 3))
gl.glEnd()
def obst_ind(place):
gl_boat(place * s, h)
static_obstacle_obs = self.last_obs[NS + NR:NS + NR +
2 * STATIC_OBST_SLOTS]
dynamic_obstacle_obs = self.last_obs[NS + NR +
2 * STATIC_OBST_SLOTS:NS +
NR + 2 * STATIC_OBST_SLOTS +
4 * DYNAMIC_OBST_SLOTS]
for i in range(STATIC_OBST_SLOTS):
heading = pi * static_obstacle_obs[2 * i]
closeness = static_obstacle_obs[2 * i + 1]
gl_arrow(place * s + boatw / 2,
2 * h,
angle=heading + pi / 2,
length=np.clip(closeness, 0.1, 1),
color=(np.clip(1.2 * closeness, 0, 1), 0.5, 0.1))
for i in range(DYNAMIC_OBST_SLOTS):
heading = pi * dynamic_obstacle_obs[4 * i]
closeness = dynamic_obstacle_obs[4 * i + 1]
gl_arrow(place * s + boatw / 2,
2 * h,
angle=heading + pi / 2,
length=np.clip(closeness, 0.1, 1),
color=(np.clip(1.2 * closeness, 0, 1), 0.5, 0.1))
scale = 3
R = self.ship.ref[0]
true_speed = np.sqrt(
np.square(self.ship.linearVelocity[0]) +
np.square(self.ship.linearVelocity[1]))
if NR == 2:
ref_speed_error = self.last_obs[0]
vertical_ind(6,
-scale * ref_speed_error,
color=(np.clip(R / MAX_SURGE, 0, 1), 0.5, 0.1))
state_speed_error = self.last_obs[NR + 0]
vertical_ind(7,
-scale * state_speed_error,
color=(np.clip(true_speed / MAX_SURGE, 0, 1), 0.6, 0.1))
# Visualise the obstacles as seen by the ship
obst_ind(place=20)
self.score_label.text = "{:2.2f}".format(self.reward)
self.score_label.draw()
def _set_gl_color(color):
"""Convenience function for setting the GL color to a 3- or 4-tuple."""
if len(color) == 3:
gl.glColor3f(*color)
if len(color) == 4:
gl.glColor4f(*color)
def set_state(self):
gl.glPushAttrib(gl.GL_CURRENT_BIT)
gl.glColor4f(*self.hotspot.colour)
def draw(self):
glClearColor(1.0, 1.0, 1.0, 1.0)
glClear(GL_COLOR_BUFFER_BIT)
glColor4f(1, 1, 1, self.bg_alpha.value)
self.bg.blit(0, 0)
self.draw_subcontrols()
def on_draw(self):
gl.glClearColor(1,1,1,1)
self.window.clear()
gl.glColor4f(1,1,1,1)
w,h = self.image.width, self.image.height
self.image.blit(x=0,y=0,width=w,height=h)
def training_status(self, mode='human'):
if self.viewer is None:
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(WINDOW_W, WINDOW_H)
self.transform = rendering.Transform()
if "t" not in self.__dict__: return # reset() not called yet
zoom = ZOOM * SCALE #0.1*SCALE*max(1-self.t, 0) + ZOOM*SCALE*min(self.t, 1) # Animate zoom first second
zoom_state = ZOOM * SCALE * STATE_W / WINDOW_W
zoom_video = ZOOM * SCALE * VIDEO_W / WINDOW_W
scroll_x = 0 #self.car.hull.position[0] #0
scroll_y = 0 #self.car.hull.position[1] #-30
angle = 0 #-self.car.hull.angle #0
vel = 0 #self.car.hull.linearVelocity #0
self.transform.set_scale(zoom, zoom)
self.transform.set_translation(WINDOW_W / 2, WINDOW_H / 2)
# self.transform.set_translation(
# WINDOW_W/2 - (scroll_x*zoom*math.cos(angle) - scroll_y*zoom*math.sin(angle)),
# WINDOW_H/4 - (scroll_x*zoom*math.sin(angle) + scroll_y*zoom*math.cos(angle)) )
# self.transform.set_rotation(angle)
arr = None
win = self.viewer.window
if mode != 'state_pixels' and mode != 'rgb_array':
win.switch_to()
win.dispatch_events()
if mode == "rgb_array" or mode == "state_pixels":
win.clear()
t = self.transform
self.transform.set_translation(0, 0)
self.transform.set_scale(0.0167, 0.0167)
if mode == 'rgb_array':
VP_W = VIDEO_W
VP_H = VIDEO_H
else:
VP_W = WINDOW_W // 2 #STATE_W
VP_H = WINDOW_H // 2 #STATE_H
gl.glViewport(0, 0, VP_W, VP_H)
t.enable()
self.render_road()
for geom in self.viewer.onetime_geoms:
geom.render()
t.disable()
# self.render_indicators(WINDOW_W, WINDOW_H) # TODO: find why 2x needed, wtf
image_data = pyglet.image.get_buffer_manager().get_color_buffer(
).get_image_data()
arr = np.fromstring(image_data.data, dtype=np.uint8, sep='')
arr = arr.reshape(VP_H, VP_W, 4)
arr = arr[::-1, :, 0:3]
if mode == "rgb_array" and not self.human_render: # agent can call or not call env.render() itself when recording video.
win.flip()
if mode == 'human':
self.human_render = True
win.clear()
t = self.transform
gl.glViewport(0, 0, WINDOW_W, WINDOW_H)
t.enable()
self.render_road()
for geom in self.viewer.onetime_geoms:
geom.render()
with open("training_positions.csv", 'r') as fin:
line_number = sum(1 for _ in fin)
with open("training_positions.csv", 'r') as fin:
gl.glPointSize(10)
for i, line in enumerate(fin):
epoch, angle, coord_x, coord_y = list(
map(float,
line.strip().split(",")))
new_coord = (angle, coord_x, coord_y)
gl.glBegin(gl.GL_POINTS)
alpha = (i + 1) / line_number
gl.glColor4f(alpha, 0, 1 - alpha, 0.8)
gl.glVertex3f(coord_x, coord_y, 0)
gl.glEnd()
t.disable()
# self.render_indicators(WINDOW_W, WINDOW_H)
win.flip()
# # Drawing a rock:
# gl.glBegin(gl.GL_QUADS)
# gl.glColor4f(0,0,0,1)
# gl.glVertex3f(10, 30, 0)
# gl.glVertex3f(10, 10, 0)
# gl.glVertex3f(30, 10, 0)
# gl.glVertex3f(30, 30, 0)
# gl.glEnd()
self.viewer.onetime_geoms = []
return arr
def enable(self):
"""Apply color"""
gl.glColor4f(self.red, self.green, self.blue, self.alpha)
def draw(self):
self.bar.draw()
self.frame.draw()
self.update_viewport()
gl.glColor4f(*self.border_color)
gu.draw_rect(1, 0, self.width - 1, self.height - 1, gl.GL_LINE_LOOP)
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 render_lidar_batch(batch_ranges,
min_angle,
max_angle,
min_range=0.3,
mode="human",
viewer=None):
if mode == "human":
N_COL_WINDOWS = 10
N_ROW_WINDOWS = 10
N_WINDOWS = N_COL_WINDOWS * N_ROW_WINDOWS
# Window and viewport size
WINDOW_W = 64
WINDOW_H = 64
WINDOW_H_METERS = 10.0
RESOLUTION_M_PER_PX = WINDOW_H_METERS / WINDOW_H
VP_W = WINDOW_W * N_COL_WINDOWS
VP_H = WINDOW_H * N_ROW_WINDOWS
# Create viewer
if viewer is None:
viewer = rendering.Viewer(VP_W, VP_H)
viewer.score_label = pyglet.text.Label(
"0000",
font_size=36,
x=20,
y=WINDOW_H * 2.5 / 40.00,
anchor_x="left",
anchor_y="center",
color=(255, 255, 255, 255),
)
viewer.draw_circle(r=10, color=(0.3, 0.3, 0.3))
win = viewer.window
win.switch_to()
win.dispatch_events()
win.clear()
gl.glViewport(0, 0, VP_W, VP_H)
# colors
bgcolor = np.array([0.9, 0.9, 1.0])
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
assert len(batch_ranges) == 100
for n, ranges in enumerate(batch_ranges):
col = n % N_COL_WINDOWS
row = n // N_COL_WINDOWS
window_offset_i = row * WINDOW_W
window_offset_j = col * WINDOW_H
sensor_i = window_offset_i + WINDOW_W / 2.0
sensor_j = window_offset_j + WINDOW_H / 2.0
angles = np.linspace(min_angle, max_angle, len(ranges))
ijranges = np.array(ranges) / RESOLUTION_M_PER_PX
for th, r in zip(angles, ijranges):
ray_start_i = np.clip(
sensor_i + min_range * np.cos(th),
window_offset_i,
window_offset_i + WINDOW_H - 1,
)
ray_start_j = np.clip(
sensor_j + min_range * np.sin(th),
window_offset_j,
window_offset_j + WINDOW_W - 1,
)
ray_end_i = np.clip(
sensor_i + r * np.cos(th),
window_offset_i,
window_offset_i + WINDOW_H - 1,
)
ray_end_j = np.clip(
sensor_j + r * np.sin(th),
window_offset_j,
window_offset_j + WINDOW_W - 1,
)
gl.glBegin(gl.GL_LINE_LOOP)
gl.glColor4f(lidarcolor[0], lidarcolor[1], lidarcolor[2], 0.1)
gl.glVertex3f(ray_start_i, ray_start_j, 0)
gl.glVertex3f(ray_end_i, ray_end_j, 0)
gl.glEnd()
# Text
# viewer.score_label.text = "{}m".format(WINDOW_H_METERS)
# viewer.score_label.draw()
win.flip()
return viewer
def draw(self):
gl.glLineWidth(1.5)
phys_comp_list = self.manager.comps[phys.PhysicsEcsComponent.name()]
grav_comp_list = self.manager.comps[phys.GravityEcsComponent.name()]
coll_comp_list = self.manager.comps[coll.CollisionEcsComponent.name()]
planet_comp_list = self.manager.comps[planet.PlanetEcsComponent.name()]
ship_comp_list = self.manager.comps[ship.ShipEcsComponent.name()]
base_comp_list = self.manager.comps[base.BaseEcsComponent.name()]
aster_comp_list = self.manager.comps[
asteroid.AsteroidEcsComponent.name()]
rend_plan_comp_list = self.manager.comps[
planet.RenderPlanetEcsComponent.name()]
rend_ship_comp_list = self.manager.comps[
ship.RenderShipEcsComponent.name()]
rend_base_comp_list = self.manager.comps[
base.RenderBaseEcsComponent.name()]
rend_aster_comp_list = self.manager.comps[
asteroid.RenderAsteroidEcsComponent.name()]
rend_anim_comp_list = self.manager.comps[
RenderAnimationEcsComponent.name()]
entities = self.manager.entities
player_alive = False
if self.player_entity_id in entities:
player_alive = True
ppc = self.manager.get_entity_comp(self.player_entity_id,
phys.PhysicsEcsComponent.name())
psc = self.manager.get_entity_comp(self.player_entity_id,
ship.ShipEcsComponent.name())
if ppc:
self.tx = ppc.pos.x - const.WIDTH / 2
self.ty = ppc.pos.y - const.HEIGHT / 2
tx = self.tx
ty = self.ty
area = (tx, ty, const.WIDTH, const.HEIGHT)
#img.get(img.IMG_BG).blit(0, 0)
gl.glPointSize(1)
self.starfield.draw(tx, ty)
gl.glPushMatrix()
gl.glLoadIdentity()
gl.glTranslatef(-tx, -ty, 0.0)
# predraw (lines, areas etc)
for idx, eid in enumerate(entities):
basec = base_comp_list[idx]
physc = phys_comp_list[idx]
if basec:
rbc = rend_base_comp_list[idx]
if basec.crew_load > 0:
draw_circle(physc.pos.x, physc.pos.y, basec.radius, None,
gl.GL_LINES, (1, 0, 0, 1))
for idx, eid in enumerate(entities):
shipc = ship_comp_list[idx]
basec = base_comp_list[idx]
asterc = aster_comp_list[idx]
planetc = planet_comp_list[idx]
physc = phys_comp_list[idx]
collc = coll_comp_list[idx]
if not physc:
continue
#if eid == self.player_entity_id:
# print physc.pos.x, physc.pos.y, collc.radius, tx, tx
# print circle_rect_intersect(physc.pos.x, physc.pos.y, collc.radius, tx, tx, const.WIDTH, const.HEIGHT)
#clipping
if not circle_rect_intersect(physc.pos.x, physc.pos.y,
collc.radius, tx, ty, const.WIDTH,
const.HEIGHT):
continue
if shipc:
rsc = rend_ship_comp_list[idx]
rsc.process()
ship_sprite = rsc.spr
ship_sprite.x = physc.pos.x
ship_sprite.y = physc.pos.y
ship_sprite.rotation = -shipc.rotation
ship_sprite.draw()
if rsc.thrust_cooldown:
thrust_sprite = rsc.thrust_spr
thrust_sprite.x = physc.pos.x
thrust_sprite.y = physc.pos.y
thrust_sprite.rotation = -shipc.rotation
thrust_sprite.draw()
#draw_circle(physc.pos.x, physc.pos.y, collc.radius, None, gl.GL_POLYGON, (1, 1, 0, 1))
#dir_radians = math.radians(shipc.rotation)
#dirv = vec2d.vec2d(math.cos(dir_radians), math.sin(dir_radians))
#dirv.length = collc.radius
#gl.glColor3f(1, 0, 0, 1)
#gl.glBegin(gl.GL_LINES)
#gl.glVertex2f(physc.pos.x, physc.pos.y)
#gl.glVertex2f(physc.pos.x + dirv.x, physc.pos.y + dirv.y)
#gl.glEnd()
elif basec:
rbc = rend_base_comp_list[idx]
base_sprite = rbc.spr
if base_sprite:
base_sprite.x = physc.pos.x
base_sprite.y = physc.pos.y
base_sprite.draw()
else:
draw_circle(physc.pos.x, physc.pos.y, collc.radius, None,
gl.GL_POLYGON, (1, 0, 0, 1))
elif asterc:
rac = rend_aster_comp_list[idx]
aster_sprite = rac.spr
if aster_sprite:
aster_sprite.x = physc.pos.x
aster_sprite.y = physc.pos.y
aster_sprite.draw()
else:
draw_circle(physc.pos.x, physc.pos.y, collc.radius, None,
gl.GL_POLYGON, (0, 1, 0, 1))
elif planetc:
rpc = rend_plan_comp_list[idx]
planet_sprite = rpc.spr
if planet_sprite:
planet_sprite.x = physc.pos.x
planet_sprite.y = physc.pos.y
planet_sprite.draw()
else:
draw_circle(physc.pos.x, physc.pos.y, collc.radius)
if planetc.pname:
label = pyglet.text.Label(
planetc.pname,
font_name=font.FONT_MONO.name,
font_size=12,
x=physc.pos.x,
y=physc.pos.y, # + collc.radius + 5
anchor_x='center',
anchor_y='center',
color=(0, 0, 255, 255))
label.draw()
#gc = grav_comp_list[idx]
#if gc and gc.gravity_radius:
# draw_circle(physc.pos.x, physc.pos.y, gc.gravity_radius, None, gl.GL_LINE_LOOP)
for anim in rend_anim_comp_list:
if not anim:
continue
#print 'we have an anim to show!'
a = anim.anim
a.draw()
if player_alive and not self.manager.victory:
for idx, eid in enumerate(entities):
shipc = ship_comp_list[idx]
if shipc:
if shipc.messages:
pos_mod = 0.0
for message in shipc.messages:
label = message[5]
if not label:
label = pyglet.text.Label(
message[0],
font_name=font.FONT_MONO.name,
font_size=12,
x=message[2],
y=message[3] + pos_mod,
anchor_x='left',
anchor_y='bottom',
color=message[4])
message[5] = label
label.draw()
pos_mod += 25
gl.glPopMatrix()
# interface
if player_alive and not self.manager.victory:
if self.manager._navigation:
gl.glLineWidth(1)
nav_circle_radius = (const.HEIGHT - 100) // 2
draw_circle(const.WIDTH // 2, const.HEIGHT // 2,
nav_circle_radius, None, gl.GL_LINE_LOOP,
(1, 1, 0, 0.4))
for idx, eid in enumerate(entities):
basec = base_comp_list[idx]
physc = phys_comp_list[idx]
if not physc:
continue
distance = ppc.pos.get_distance(physc.pos) / 50
if distance > 3 and distance < nav_circle_radius:
gl.glEnable(gl.GL_BLEND)
gl.glColor4f(1, 1, 0, 0.4)
if basec and basec.crew_load > 0:
cpo = get_circle_closest_point(
physc.pos, ppc.pos, nav_circle_radius)
cpi = get_circle_closest_point(
physc.pos, ppc.pos,
nav_circle_radius - distance)
gl.glBegin(gl.GL_LINES)
gl.glVertex2f(cpi.x - self.tx, cpi.y - self.ty)
gl.glVertex2f(cpo.x - self.tx, cpo.y - self.ty)
gl.glEnd()
show_bar(130,
const.HEIGHT - 32,
psc.fuel,
psc.fuel_max,
width=100.,
height=15.,
border_color=(255, 255, 255),
progress=False)
show_bar(485,
const.HEIGHT - 32,
psc.health,
psc.health_max,
width=100.,
height=15.,
border_color=(255, 255, 255),
progress=False)
show_bar(730,
const.HEIGHT - 32,
psc.passengers,
self.manager.crew_to_rescue,
width=100.,
height=15.,
border_color=(255, 255, 255),
progress=False)
seconds_remaining = self.manager.get_system(
player.PlayerEscSystem.name(
)).time_limit / director.director.fps
self.time_label.text = 'TIME %.2f' % seconds_remaining
self.speed_label.text = 'SPEED %.2f' % ppc.vel.length
self.fuel_label.draw()
self.health_label.draw()
self.rescued_label.draw()
self.time_label.draw()
self.speed_label.draw()
self.controls_label.draw()
def draw(self):
hla = self.hl_alpha
if hla and not self.disable_click:
x, y, tex = self.hldraw
glColor4f(1, 1, 1, hla)
tex.blit(x, y)
def _render_obstacles(self):
#Can only be called inside a glBegin!!!
for poly, color in self.obstacles_poly: # drawing road old way
gl.glColor4f(color[0], color[1], color[2], 1)
for p in poly:
gl.glVertex3f(p[0], p[1], 0)
def draw(self, win=None):
#set the window to draw to
if win == None: win = self.win
if win.winType == 'pyglet': win.winHandle.switch_to()
#work out next default depth
if self.depth == 0:
thisDepth = self.win._defDepth
self.win._defDepth += _depthIncrements[self.win.winType]
else:
thisDepth = self.depth
GL.glPushMatrix()
#scale and rotate
prevScale = self.win.setScale(self._winScale)
GL.glTranslatef(self._posRendered[0], self._posRendered[1],
thisDepth) #NB depth is set already
GL.glRotatef(self.ori, 0.0, 0.0, 1.0)
self.win.setScale('pix', None, prevScale)
if self._useShaders: #then rgb needs to be set as glColor
#setup color
desiredRGB = (self.rgb * self.contrast +
1) / 2.0 #RGB in range 0:1 and scaled for contrast
if numpy.any(desiredRGB**2.0 > 1.0):
desiredRGB = [0.6, 0.6, 0.4]
GL.glColor4f(desiredRGB[0], desiredRGB[1], desiredRGB[2],
self.opacity)
else: #color is set in texture, so set glColor to white
GL.glColor4f(1, 1, 1, 1)
GL.glDisable(
GL.GL_DEPTH_TEST) #should text have a depth or just on top?
#update list if necss and then call it
if self.win.winType == 'pyglet':
#and align based on x anchor
if self.alignHoriz == 'right':
GL.glTranslatef(-self.width, 0, 0) #NB depth is set already
if self.alignHoriz in ['center', 'centre']:
GL.glTranslatef(-self.width / 2, 0,
0) #NB depth is set already
#unbind the mask texture regardless
GL.glActiveTexture(GL.GL_TEXTURE1)
GL.glEnable(GL.GL_TEXTURE_2D)
GL.glBindTexture(GL.GL_TEXTURE_2D, 0)
#unbind the main texture
GL.glActiveTexture(GL.GL_TEXTURE0)
GL.glEnable(GL.GL_TEXTURE_2D)
#then allow pyglet to bind and use texture during drawing
self.glyphStr.draw()
GL.glDisable(GL.GL_TEXTURE_2D)
else:
#for pygame we should (and can) use a drawing list
if self.needUpdate: self._updateList()
GL.glCallList(self._listID)
GL.glEnable(GL.GL_DEPTH_TEST) # Enables Depth Testing
GL.glPopMatrix()