def drawLabel(text, pos=(0,0),center=True):
_standard_label = Label(text='standard Label', font_size=200,bold=True, color=(255,255,255,75))
_standard_label.anchor_x = 'left'
_standard_label.anchor_y = 'bottom'
_standard_label.x = 0
_standard_label.y = 0
_standard_label.text = text
glPushMatrix()
glTranslated(pos[0], pos[1], 0.0)
glScaled(0.3,0.3,1)
_standard_label.draw()
glPopMatrix()
def drawLabel(text, pos=(0, 0), center=True, textcolor=(255, 255, 255, 75)):
_standard_label = Label(text="standard Label", font_size=200, bold=True, color=textcolor)
_standard_label.anchor_x = "center"
_standard_label.anchor_y = "center"
_standard_label.x = 0
_standard_label.y = 0
_standard_label.text = text
glPushMatrix()
glTranslated(pos[0], pos[1], 0.0)
glScaled(0.3, 0.3, 1)
_standard_label.draw()
glPopMatrix()
def drawLabel(text, pos=(0,0),center=True,alpha = 75,scale=0.3,red=255,green=255,blue=255):
_standard_label = Label(text='standard Label', font_size=200,bold=True, color=(red,green,blue,alpha))
_standard_label.anchor_x = 'left'
_standard_label.anchor_y = 'bottom'
_standard_label.x = 0
_standard_label.y = 0
_standard_label.text = text
glPushMatrix()
glTranslated(pos[0], pos[1], 0.0)
glScaled(scale,scale,1)
_standard_label.draw()
glPopMatrix()
def drawLabel(text, pos=(0, 0), center=True):
_standard_label = Label(text='standard Label',
font_size=200,
bold=True,
color=(255, 255, 255, 75))
_standard_label.anchor_x = 'left'
_standard_label.anchor_y = 'bottom'
_standard_label.x = 0
_standard_label.y = 0
_standard_label.text = text
glPushMatrix()
glTranslated(pos[0], pos[1], 0.0)
glScaled(0.3, 0.3, 1)
_standard_label.draw()
glPopMatrix()
def run(self):
self.window.set_visible()
self.window.set_mouse_visible(False)
self.window.set_exclusive_mouse(True)
clock = pyglet.clock.Clock()
fps_display = Label(x=0, y=0, anchor_y="top", font_size=14)
while not self.window.has_exit:
self.window.dispatch_events()
self.updateFrame()
fps_display.text = f"FPS: {pyglet.clock.get_fps()}"
fps_display.draw()
self.draw()
self.window.flip()
dt = clock.tick()
print("fps: %d" % clock.get_fps())
def render(self, mode='human', show_sensors=False, show_trajectory=True):
# Helper class for showing radar as cardinal direction
class _DrawText:
def __init__(self, label):
self.label = label
def render(self):
self.label.draw()
if self.viewer is None:
from gym.envs.classic_control import rendering
from gym.envs.classic_control.rendering import Transform
self.viewer = rendering.Viewer(*self.maze_size)
# Set up drawing for robot
self.robot_circle = rendering.make_circle(self.ROBOT_RADIUS,
filled=False)
self.robot_line = self.viewer.draw_line((0, 0),
(self.ROBOT_RADIUS, 0))
self.robot_transform = Transform(translation=(0, 0), rotation=0)
self.robot_circle.add_attr(self.robot_transform)
self.robot_line.add_attr(self.robot_transform)
self.viewer.add_geom(self.robot_circle)
self.viewer.add_geom(self.robot_line)
# Draw exit location
self.exit = rendering.make_circle(self.EXIT_RADIUS, filled=False)
xfrm = Transform(translation=self._reshape(self.exit_location))
self.exit.add_attr(xfrm)
self.viewer.add_geom(self.exit)
# Set up for showing trajectory
self.trajectory = []
# Draw walls
for wall in self.WALLS:
self._draw_line(wall, (0, 0, 0))
# Show sensors if indicated
if show_sensors:
from pyglet.text import Label
# Show rangefinders as line segments
for i, line in enumerate(self.rangefinder_lines):
self._draw_line(line, (0, 1, 0) if i == 2 else (1, 0, 0))
# Show radar as cardinal direction
x, y = self._reshape(self.location)
label = Label(font_size=12,
x=x - 5,
y=y,
anchor_x='left',
anchor_y='center',
color=(0, 0, 0, 255))
label.text = 'FRBL'[np.argmax(self.radar)]
self.viewer.add_onetime(_DrawText(label))
else:
# Draw robot
self.robot_transform.set_translation(*self._reshape(self.location))
self.robot_transform.set_rotation(-np.radians(self.heading))
# Show trajectory if indicated
if show_trajectory:
self.trajectory.append(self.location)
for i in range(len(self.trajectory) - 1):
self._draw_line((self.trajectory[i], self.trajectory[i + 1]),
(0, 0, 1))
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
