def start(self, window):
self.running = True
width, height = glfw.get_framebuffer_size(window)
width1, height = glfw.get_window_size(window)
self.scale = width * 1.0 / width1
self.window = window
functions.mjv_defaultCamera(self.cam)
functions.mjv_defaultOption(self.vopt)
functions.mjr_defaultContext(self.con)
functions.mjv_makeScene(self.scn, 1000)
if self.model:
functions.mjr_makeContext(self.model, self.con, 150)
self.autoscale()
else:
functions.mjr_makeContext(None, self.con, 150)
def render(self):
super(GatherViewer, self).render()
ctx = MjRenderContext(self.env.wrapped_env.sim)
scn = ctx.scn
con = ctx.con
functions.mjv_makeScene(scn, 1000)
scn.camera[0].frustum_near = 0.05
scn.camera[1].frustum_near = 0.05
for obj in self.env.objects:
x, y, typ = obj
qpos = np.zeros_like(self.green_ball_sim.data.qpos)
qpos[0] = x
qpos[1] = y
if typ == APPLE:
self.green_ball_sim.data.qpos[:] = qpos
self.green_ball_sim.forward()
self.green_ball_renderer.render()
self.green_ball_ctx = MjRenderContext(self.green_ball_sim)
functions.mjv_addGeoms(self.green_ball_sim.model,
self.green_ball_sim.data,
self.green_ball_ctx.vopt,
self.green_ball_ctx.pert, CAT_ALL, scn)
else:
self.red_ball_sim.data.qpos[:] = qpos
self.red_ball_sim.forward()
self.red_ball_renderer.render()
self.red_ball_ctx = MjRenderContext(self.red_ball_sim)
functions.mjv_addGeoms(self.red_ball_sim.model,
self.red_ball_sim.data,
self.red_ball_ctx.vopt,
self.red_ball_ctx.pert, CAT_ALL, scn)
functions.mjv_addGeoms(self.env.wrapped_env.sim.model,
self.env.wrapped_env.sim.data, ctx.vopt,
ctx.pert, CAT_ALL, scn)
functions.mjr_render(self.green_ball_renderer.get_rect(), scn, con)
try:
import OpenGL.GL as GL
except ImportError:
return
def draw_rect(x, y, width, height):
# start drawing a rectangle
GL.glBegin(GL.GL_QUADS)
# bottom left point
GL.glVertex2f(x, y)
# bottom right point
GL.glVertex2f(x + width, y)
# top right point
GL.glVertex2f(x + width, y + height)
# top left point
GL.glVertex2f(x, y + height)
def refresh2d(width, height):
GL.glViewport(0, 0, width, height)
GL.glMatrixMode(GL.GL_PROJECTION)
GL.glLoadIdentity()
GL.glOrtho(0.0, width, 0.0, height, 0.0, 1.0)
GL.glMatrixMode(GL.GL_MODELVIEW)
GL.glLoadIdentity()
GL.glBegin(GL.GL_QUADS)
GL.glLoadIdentity()
width, height = glfw.get_framebuffer_size(self.window)
refresh2d(width, height)
GL.glDisable(GL.GL_LIGHTING)
GL.glEnable(GL.GL_BLEND)
GL.glColor4f(0.0, 0.0, 0.0, 0.8)
draw_rect(10, 10, 300, 100)
apple_readings, bomb_readings = self.env.get_readings()
for idx, reading in enumerate(apple_readings):
if reading > 0:
GL.glColor4f(0.0, 1.0, 0.0, reading)
draw_rect(20 * (idx + 1), 10, 5, 50)
for idx, reading in enumerate(bomb_readings):
if reading > 0:
GL.glColor4f(1.0, 0.0, 0.0, reading)
draw_rect(20 * (idx + 1), 60, 5, 50)