def render(self, attn_list=None, mode='human', close=False):
# attn_list = [[teamates_attn, opp_attn] for each team]
self.shot = False
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for agent in self.world.agents:
comm = []
for other in self.agents:
if other is agent: continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
message += (other.name + ' to ' + agent.name + ': ' +
word + ' ')
# print(message)
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
# from gym.envs.classic_control import rendering
from gym_fortattack import rendering
self.viewers[i] = rendering.Viewer(700, 700)
# create rendering geometry and text for the scene
if self.render_geoms is None or True:
# import rendering only if we need it (and don't import for headless machines)
# from gym.envs.classic_control import rendering
from gym_fortattack import rendering
self.render_geoms = []
self.render_geoms_xform = []
self.render_texts = []
self.render_texts_xforms = []
# add black background for active world, border of active region/world
xMin, xMax, yMin, yMax = self.world.wall_pos
borPts = np.array([[xMin, yMin], [xMax, yMin], [xMax, yMax],
[xMin, yMax]])
geom = rendering.make_polygon(borPts)
xform = rendering.Transform()
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
geom = rendering.make_circle(self.world.fortDim)
geom.set_color(*[0, 1, 1], alpha=1)
xform = rendering.Transform()
geom.add_attr(xform)
xform.set_translation(*self.world.doorLoc)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# ---------------- visualize attention ---------------- #
# select reference, show attn wrt this agent
for i, agent in enumerate(self.world.agents):
if agent.alive or i == self.world.numGuards - 1:
k = i
break
if self.world.vizAttn and attn_list is not None:
# will plot attention for dead agents as well, we would know if the agents are able disregard the dead agents based of alive flag = 0
# print('inside attn viz')
for i, agent in enumerate(self.world.agents):
if agent.alive or self.world.vizDead: # alive agents are always visualized, dead are visualized if asked
if i != k:
# if it is in the same team
if i < self.world.numGuards:
attn = attn_list[0][0][k, i]
else:
# if opponent
attn = attn_list[0][1][k, i -
self.world.numGuards]
# print('attacker')
geom = rendering.make_circle(agent.size *
(1 + attn))
xform = rendering.Transform()
geom.add_attr(xform)
xform.set_translation(*agent.state.p_pos)
alpha = 0.9 if agent.alive else 0.3
geom.set_color(*[1, 1, 0], alpha=alpha)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# visualize the dead agents
if self.world.vizDead:
for agent in self.world.agents:
# print(agent.name, agent.alive)
if not agent.alive:
geom = rendering.make_circle(agent.size)
xform = rendering.Transform()
geom.add_attr(xform)
xform.set_translation(*agent.state.p_pos)
geom.set_color(*agent.color, alpha=1)
head = rendering.make_circle(0.5 * agent.size)
head.set_color(*agent.color, alpha=1)
headXform = rendering.Transform()
head.add_attr(headXform)
shift = 0.8 * agent.size * np.array([
np.cos(agent.state.p_ang),
np.sin(agent.state.p_ang)
])
headLoc = agent.state.p_pos + shift
headXform.set_translation(*headLoc)
self.render_geoms.append(head)
self.render_geoms_xform.append(headXform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
self.render_texts.append(agent.name[5:])
self.render_texts_xforms.append(agent.state.p_pos)
# visualize alive agents
for entity in self.world.active_entities: ## won't work with obstacles
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
geom.add_attr(xform)
xform.set_translation(*entity.state.p_pos)
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=1)
head = rendering.make_circle(0.5 * entity.size)
head.set_color(*entity.color, alpha=1)
headXform = rendering.Transform()
head.add_attr(headXform)
shift = 0.8 * entity.size * np.array([
np.cos(entity.state.p_ang),
np.sin(entity.state.p_ang)
])
headLoc = entity.state.p_pos + shift
headXform.set_translation(*headLoc)
self.render_geoms.append(head)
self.render_geoms_xform.append(headXform)
self.render_texts.append(entity.name[5:])
self.render_texts_xforms.append(entity.state.p_pos)
# print(entity.name)
if entity.action.shoot:
self.shot = True
## render the laser shots, maybe add extra delay when there is a laser shot
v = self.world.get_tri_pts_arr(
entity)[:2, :].transpose()
laser = rendering.make_polygon(v)
laser.set_color(*entity.color, alpha=0.3)
laserXform = rendering.Transform()
laser.add_attr(laserXform)
self.render_geoms.append(laser)
self.render_geoms_xform.append(laserXform)
else:
geom.set_color(*entity.color)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# dot for reference agent
if self.world.vizAttn and attn_list is not None:
# will plot attention for dead agents as well, we would know if the agents are able disregard the dead agents based of alive flag = 0
# print('inside attn viz')
for i, agent in enumerate(self.world.agents):
if agent.alive or self.world.vizDead: # alive agents are always visualized, dead are visualized if asked
# select reference agent for attention viz
if i == k:
# simply put a black dot at the center of this agent
geom = rendering.make_circle(0.5 * agent.size)
xform = rendering.Transform()
geom.add_attr(xform)
xform.set_translation(*agent.state.p_pos)
geom.set_color(*0.5 * agent.color, alpha=1)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add grey strips, corners of visualization window
corPtsArr = [
np.array([[xMin, yMax], [xMax, yMax], [xMax, 1], [xMin, 1]]),
np.array([[xMin, -1], [xMax, -1], [xMax, yMin], [xMin, yMin]])
]
for corPts in corPtsArr:
geom = rendering.make_polygon(corPts)
geom.set_color(*[0.5, 0.5, 0.5], alpha=1)
xform = rendering.Transform()
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add geoms to viewer ## viewer is object of class Viewer defined in rendering.py file inside gym_fortattack
for viewer in self.viewers:
viewer.geoms = []
viewer.texts = []
viewer.text_poses = []
for geom in self.render_geoms:
viewer.add_geom(geom)
for text, xform in zip(self.render_texts,
self.render_texts_xforms):
viewer.add_text(text, xform)
results = []
for i in range(len(self.viewers)):
from gym_fortattack import rendering
# update bounds to center around agent
cam_range = 1
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
self.viewers[i].set_bounds(pos[0] - cam_range, pos[0] + cam_range,
pos[1] - cam_range, pos[1] + cam_range)
self.viewers[i].render(return_rgb_array=False)
self.prevShot = self.shot
return results ## this thing is really doing nothing
def render(self, mode='human', close=False):
self.shot = False
if mode == 'human':
alphabet = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
message = ''
for agent in self.world.agents:
comm = []
for other in self.agents:
if other is agent: continue
if np.all(other.state.c == 0):
word = '_'
else:
word = alphabet[np.argmax(other.state.c)]
message += (other.name + ' to ' + agent.name + ': ' + word + ' ')
# print(message)
for i in range(len(self.viewers)):
# create viewers (if necessary)
if self.viewers[i] is None:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from gym_fortattack import rendering
self.viewers[i] = rendering.Viewer(700,700)
# create rendering geometry
if self.render_geoms is None or True:
# import rendering only if we need it (and don't import for headless machines)
#from gym.envs.classic_control import rendering
from gym_fortattack import rendering
self.render_geoms = []
self.render_geoms_xform = []
# add black background
doorPts = np.array([[-1,1],
[1,1],
[1,-1],
[-1,-1]])
geom = rendering.make_polygon(doorPts)
# geom.set_color(*[0.35,0.35,0.85], alpha=0.5)
xform = rendering.Transform()
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
## add the fort door
doorPts = np.array([[-0.2,1],
[0.2,1],
[0.2,0.9],
[-0.2,0.9]])
geom = rendering.make_polygon(doorPts)
geom.set_color(*[0,1,1], alpha=1)
xform = rendering.Transform()
geom.add_attr(xform)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
for entity in self.world.entities: ## won't work with obstacles
geom = rendering.make_circle(entity.size)
xform = rendering.Transform()
geom.add_attr(xform)
xform.set_translation(*entity.state.p_pos)
if 'agent' in entity.name:
geom.set_color(*entity.color, alpha=1)
head = rendering.make_circle(0.5*entity.size)
head.set_color(*entity.color, alpha=1)
headXform = rendering.Transform()
head.add_attr(headXform)
shift = 0.8*entity.size*np.array([np.cos(entity.state.p_ang), np.sin(entity.state.p_ang)])
headLoc = entity.state.p_pos+shift
headXform.set_translation(*headLoc)
self.render_geoms.append(head)
self.render_geoms_xform.append(headXform)
if entity.action.shoot:
self.shot = True
## render the laser shots, maybe add extra delay when there is a laser shot
v = self.world.get_tri_pts_arr(entity)[:2,:].transpose()
laser = rendering.make_polygon(v)
laser.set_color(*entity.color, alpha=0.3)
laserXform = rendering.Transform()
laser.add_attr(laserXform)
self.render_geoms.append(laser)
self.render_geoms_xform.append(laserXform)
else:
geom.set_color(*entity.color)
self.render_geoms.append(geom)
self.render_geoms_xform.append(xform)
# add geoms to viewer
for viewer in self.viewers:
viewer.geoms = []
for geom in self.render_geoms:
viewer.add_geom(geom)
results = []
for i in range(len(self.viewers)):
from gym_fortattack import rendering
# update bounds to center around agent
cam_range = 1
if self.shared_viewer:
pos = np.zeros(self.world.dim_p)
else:
pos = self.agents[i].state.p_pos
self.viewers[i].set_bounds(pos[0]-cam_range,pos[0]+cam_range,pos[1]-cam_range,pos[1]+cam_range)
results.append(self.viewers[i].render(return_rgb_array = mode=='rgb_array'))
if self.shot and not self.prevShot:
mixer.music.play()
self.prevShot = self.shot
return results