def __init__(self):
self.last_render_time = 0
self.objects = mjcore.MJVOBJECTS()
self.cam = mjcore.MJVCAMERA()
self.vopt = mjcore.MJVOPTION()
self.ropt = mjcore.MJROPTION()
self.con = mjcore.MJRCONTEXT()
self.running = False
self.speedtype = 1
self.window = None
self.model = None
self.gui_lock = Lock()
self.last_button = 0
self.last_click_time = 0
self.button_left_pressed = False
self.button_middle_pressed = False
self.button_right_pressed = False
self.last_mouse_x = 0
self.last_mouse_y = 0
self.frames = []
def render(self):
super(GatherViewer, self).render()
tmpobjects = mjcore.MJVOBJECTS()
mjlib.mjlib.mjv_makeObjects(byref(tmpobjects), 1000)
for obj in self.env.objects:
x, y, typ = obj
# print x, y
qpos = np.zeros_like(self.green_ball_model.data.qpos)
qpos[0, 0] = x
qpos[1, 0] = y
if typ == APPLE:
self.green_ball_model.data.qpos = qpos
self.green_ball_model.forward()
self.green_ball_renderer.render()
mjextra.append_objects(tmpobjects,
self.green_ball_renderer.objects)
else:
self.red_ball_model.data.qpos = qpos
self.red_ball_model.forward()
self.red_ball_renderer.render()
mjextra.append_objects(tmpobjects,
self.red_ball_renderer.objects)
mjextra.append_objects(tmpobjects, self.objects)
mjlib.mjlib.mjv_makeLights(self.model.ptr, self.data.ptr,
byref(tmpobjects))
mjlib.mjlib.mjr_render(0, self.get_rect(), byref(tmpobjects),
byref(self.ropt), byref(self.cam.pose),
byref(self.con))
try:
import OpenGL.GL as GL
except:
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)
GL.glEnd()
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.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)