def close_world(self):
self.taskMgr.stop()
# It will report a warning said AsynTaskChain is created when taskMgr.destroy() is called but a new showbase is
# created.
logging.debug(
"Before del taskMgr: task_chain_num={}, all_tasks={}".format(
self.taskMgr.mgr.getNumTaskChains(), self.taskMgr.getAllTasks()
)
)
self.taskMgr.destroy()
logging.debug(
"After del taskMgr: task_chain_num={}, all_tasks={}".format(
self.taskMgr.mgr.getNumTaskChains(), self.taskMgr.getAllTasks()
)
)
# while self.taskMgr.getAllTasks():
# time.sleep(0.1)
self.physics_world.destroy()
self.destroy()
AssetLoader.destroy()
import sys
if sys.version_info >= (3, 0):
import builtins
else:
import __builtin__ as builtins
if hasattr(builtins, 'base'):
del builtins.base
def __init__(self, block_index: int, pre_block_socket: BlockSocket, global_network: RoadNetwork, random_seed):
super(Block, self).__init__(random_seed)
# block information
assert self.ID is not None, "Each Block must has its unique ID When define Block"
assert self.SOCKET_NUM is not None, "The number of Socket should be specified when define a new block"
if block_index == 0:
from pgdrive.scene_creator.blocks import FirstBlock
assert isinstance(self, FirstBlock), "only first block can use block index 0"
elif block_index < 0:
logging.debug("It is recommended that block index should > 1")
self._block_name = str(block_index) + self.ID
self.block_index = block_index
self.number_of_sample_trial = 0
# each block contains its own road network and a global network
self._global_network = global_network
self.block_network = RoadNetwork()
# used to spawn npc
self._reborn_roads = []
# own sockets, one block derives from a socket, but will have more sockets to connect other blocks
self._sockets = []
# used to connect previous blocks, save its info here
self._pre_block_socket = pre_block_socket
self.pre_block_socket_index = pre_block_socket.index
# a bounding box used to improve efficiency x_min, x_max, y_min, y_max
self.bounding_box = None
# used to create this block, but for first block it is nonsense
if block_index != 0:
self.positive_lanes = self._pre_block_socket.positive_road.get_lanes(self._global_network)
self.negative_lanes = self._pre_block_socket.negative_road.get_lanes(self._global_network)
self.positive_lane_num = len(self.positive_lanes)
self.negative_lane_num = len(self.negative_lanes)
self.positive_basic_lane = self.positive_lanes[-1] # most right or outside lane is the basic lane
self.negative_basic_lane = self.negative_lanes[-1] # most right or outside lane is the basic lane
self.lane_width = self.positive_basic_lane.width_at(0)
if self.render:
# render pre-load
self.road_texture = self.loader.loadTexture(AssetLoader.file_path("textures", "sci", "color.jpg"))
self.road_texture.setMinfilter(SamplerState.FT_linear_mipmap_linear)
self.road_texture.setAnisotropicDegree(8)
self.road_normal = self.loader.loadTexture(AssetLoader.file_path("textures", "sci", "normal.jpg"))
self.ts_color = TextureStage("color")
self.ts_normal = TextureStage("normal")
self.side_texture = self.loader.loadTexture(AssetLoader.file_path("textures", "side_walk", "color.png"))
self.side_texture.setMinfilter(SamplerState.FT_linear_mipmap_linear)
self.side_texture.setAnisotropicDegree(8)
self.side_normal = self.loader.loadTexture(AssetLoader.file_path("textures", "side_walk", "normal.png"))
self.side_walk = self.loader.loadModel(AssetLoader.file_path("models", "box.bam"))
def __init__(self, pg_world, show_navi_point: False):
"""
It now only support from first block start to the end node, but can be extended easily
"""
self.map = None
self.final_road = None
self.checkpoints = None
self.final_lane = None
self.target_checkpoints_index = None
self.navi_info = None # navi information res
self.current_ref_lanes = None
# Vis
self.showing = True # store the state of navigation mark
self.show_navi_point = pg_world.mode == RENDER_MODE_ONSCREEN and not pg_world.pg_config[
"debug_physics_world"]
self.goal_node_path = pg_world.render.attachNewNode(
"target") if self.show_navi_point else None
self.arrow_node_path = pg_world.aspect2d.attachNewNode(
"arrow") if self.show_navi_point else None
if self.show_navi_point:
navi_arrow_model = AssetLoader.loader.loadModel(
AssetLoader.file_path("models", "navi_arrow.gltf"))
navi_arrow_model.setScale(0.1, 0.12, 0.2)
navi_arrow_model.setPos(2, 1.15, -0.221)
self.left_arrow = self.arrow_node_path.attachNewNode("left arrow")
self.left_arrow.setP(180)
self.right_arrow = self.arrow_node_path.attachNewNode(
"right arrow")
self.left_arrow.setColor(self.MARK_COLOR)
self.right_arrow.setColor(self.MARK_COLOR)
navi_arrow_model.instanceTo(self.left_arrow)
navi_arrow_model.instanceTo(self.right_arrow)
self.arrow_node_path.setPos(0, 0, 0.08)
self.arrow_node_path.hide(BitMask32.allOn())
self.arrow_node_path.show(CamMask.MainCam)
self.arrow_node_path.setQuat(
LQuaternionf(np.cos(-np.pi / 4), 0, 0, np.sin(-np.pi / 4)))
# the transparency attribute of gltf model is invalid on windows
# self.arrow_node_path.setTransparency(TransparencyAttrib.M_alpha)
if show_navi_point:
navi_point_model = AssetLoader.loader.loadModel(
AssetLoader.file_path("models", "box.egg"))
navi_point_model.reparentTo(self.goal_node_path)
self.goal_node_path.setTransparency(TransparencyAttrib.M_alpha)
self.goal_node_path.setColor(0.6, 0.8, 0.5, 0.7)
self.goal_node_path.hide(BitMask32.allOn())
self.goal_node_path.show(CamMask.MainCam)
logging.debug("Load Vehicle Module: {}".format(
self.__class__.__name__))
def _add_wheel(self, pos: Vec3, radius: float, front: bool, left):
wheel_np = self.node_path.attachNewNode("wheel")
if self.render:
# TODO something wrong with the wheel render
model_path = 'models/yugo/yugotireR.egg' if left else 'models/yugo/yugotireL.egg'
wheel_model = self.loader.loadModel(
AssetLoader.file_path(model_path))
wheel_model.reparentTo(wheel_np)
wheel_model.set_scale(1.4, radius / 0.25, radius / 0.25)
wheel = self.system.create_wheel()
wheel.setNode(wheel_np.node())
wheel.setChassisConnectionPointCs(pos)
wheel.setFrontWheel(front)
wheel.setWheelDirectionCs(Vec3(0, 0, -1))
wheel.setWheelAxleCs(Vec3(1, 0, 0))
# TODO add them to PGConfig in the future
wheel.setWheelRadius(radius)
wheel.setMaxSuspensionTravelCm(40)
wheel.setSuspensionStiffness(30)
wheel.setWheelsDampingRelaxation(4.8)
wheel.setWheelsDampingCompression(1.2)
wheel.setFrictionSlip(self.vehicle_config["wheel_friction"])
wheel.setRollInfluence(1.5)
return wheel
def __init__(self, random_seed=None, name=None):
"""
Config is a static conception, which specified the parameters of one element.
There parameters doesn't change, such as length of straight road, max speed of one vehicle, etc.
"""
self.name = random_string() if name is None else name
assert isinstance(
self.PARAMETER_SPACE, PGSpace
) or random_seed is None, "Using PGSpace to define parameter spaces of " + self.class_name
self._config = PGConfig(
{k: None
for k in self.PARAMETER_SPACE.parameters})
self.random_seed = 0 if random_seed is None else random_seed
if self.PARAMETER_SPACE is not None:
self.PARAMETER_SPACE.seed(self.random_seed)
self.render = False if AssetLoader.loader is None else True
# each element has its node_path to render, physics node are child nodes of it
self.node_path = None
# Temporally store bullet nodes that have to place in bullet world (not NodePath)
self.dynamic_nodes = PhysicsNodeList()
# Nodes in this tuple didn't interact with other nodes! they only used to do rayTest or sweepTest
self.static_nodes = PhysicsNodeList()
if self.render:
self.loader = AssetLoader.get_loader()
if not hasattr(self.loader, "loader"):
# It is closed before!
self.loader.__init__()
def _load_shader_str(shaderpath, defines=None):
shader_dir = AssetLoader.file_path("shaders", "pbr_shaders", shaderpath)
with open(shader_dir) as shaderfile:
shaderstr = shaderfile.read()
if defines is not None:
shaderstr = _add_shader_defines(shaderstr, defines)
return shaderstr
def _add_lane_line2bullet(self,
lane_start,
lane_end,
middle,
parent_np: NodePath,
color: Vec4,
line_type: LineType,
straight_stripe=False):
length = norm(lane_end[0] - lane_start[0], lane_end[1] - lane_start[1])
if length <= 0:
return
if LineType.prohibit(line_type):
node_name = BodyName.White_continuous_line if color == LineColor.GREY else BodyName.Yellow_continuous_line
else:
node_name = BodyName.Broken_line
# add bullet body for it
if straight_stripe:
body_np = parent_np.attachNewNode(node_name)
else:
body_node = BulletGhostNode(node_name)
body_node.set_active(False)
body_node.setKinematic(False)
body_node.setStatic(True)
body_np = parent_np.attachNewNode(body_node)
# its scale will change by setScale
body_height = Block.LANE_LINE_GHOST_HEIGHT
shape = BulletBoxShape(
Vec3(length / 2 if line_type != LineType.BROKEN else length,
Block.LANE_LINE_WIDTH / 2, body_height))
body_np.node().addShape(shape)
mask = Block.CONTINUOUS_COLLISION_MASK if line_type != LineType.BROKEN else Block.BROKEN_COLLISION_MASK
body_np.node().setIntoCollideMask(BitMask32.bit(mask))
self.static_nodes.append(body_np.node())
# position and heading
body_np.setPos(panda_position(middle,
Block.LANE_LINE_GHOST_HEIGHT / 2))
direction_v = lane_end - lane_start
theta = -numpy.arctan2(direction_v[1], direction_v[0])
body_np.setQuat(
LQuaternionf(numpy.cos(theta / 2), 0, 0, numpy.sin(theta / 2)))
if self.render:
# For visualization
lane_line = self.loader.loadModel(
AssetLoader.file_path("models", "box.bam"))
lane_line.setScale(length, Block.LANE_LINE_WIDTH,
Block.LANE_LINE_THICKNESS)
lane_line.setPos(Vec3(0, 0 - Block.LANE_LINE_GHOST_HEIGHT / 2))
lane_line.reparentTo(body_np)
body_np.set_color(color)
def test_asset_loader():
default_config = PGDriveEnv.default_config()
world_config = default_config["pg_world_config"]
world_config.update({"use_render": False, "use_image": False, "debug": False})
world = PGWorld(config=world_config)
try:
world.clear_world()
initialize_asset_loader(world)
print(AssetLoader.asset_path)
print(AssetLoader.file_path("aaa"))
# print(AssetLoader.get_loader())
finally:
world.close_world()
def __init__(self,
index: int,
kinematic_model: IDMVehicle,
enable_respawn: bool = False,
np_random=None):
"""
A traffic vehicle class.
:param index: Each Traffic vehicle has an unique index, and the name of this vehicle will contain this index
:param kinematic_model: IDM Model or other models
:param enable_respawn: It will be generated at the spawn place again when arriving at the destination
:param np_random: Random Engine
"""
kinematic_model.LENGTH = self.LENGTH
kinematic_model.WIDTH = self.WIDTH
super(PGTrafficVehicle, self).__init__()
self.vehicle_node = TrafficVehicleNode(
BodyName.Traffic_vehicle, IDMVehicle.create_from(kinematic_model))
chassis_shape = BulletBoxShape(
Vec3(self.LENGTH / 2, self.WIDTH / 2, self.HEIGHT / 2))
self.index = index
self.vehicle_node.addShape(
chassis_shape,
TransformState.makePos(Point3(0, 0, self.HEIGHT / 2)))
self.vehicle_node.setMass(800.0)
self.vehicle_node.setIntoCollideMask(BitMask32.bit(
self.COLLISION_MASK))
self.vehicle_node.setKinematic(False)
self.vehicle_node.setStatic(True)
self.enable_respawn = enable_respawn
self._initial_state = kinematic_model if enable_respawn else None
self.dynamic_nodes.append(self.vehicle_node)
self.node_path = NodePath(self.vehicle_node)
self.out_of_road = False
np_random = np_random or get_np_random()
[path, scale, x_y_z_offset,
H] = self.path[np_random.randint(0, len(self.path))]
if self.render:
if path not in PGTrafficVehicle.model_collection:
carNP = self.loader.loadModel(
AssetLoader.file_path("models", path))
PGTrafficVehicle.model_collection[path] = carNP
else:
carNP = PGTrafficVehicle.model_collection[path]
carNP.setScale(scale)
carNP.setH(H)
carNP.setPos(x_y_z_offset)
carNP.instanceTo(self.node_path)
self.step(1e-1)
def _add_chassis(self, pg_physics_world: PGPhysicsWorld):
para = self.get_config()
self.LENGTH = self.vehicle_config["vehicle_length"]
self.WIDTH = self.vehicle_config["vehicle_width"]
chassis = BaseVehicleNode(BodyName.Base_vehicle, self)
chassis.setIntoCollideMask(BitMask32.bit(CollisionGroup.EgoVehicle))
chassis_shape = BulletBoxShape(
Vec3(self.WIDTH / 2, self.LENGTH / 2,
para[Parameter.vehicle_height] / 2))
ts = TransformState.makePos(
Vec3(0, 0, para[Parameter.chassis_height] * 2))
chassis.addShape(chassis_shape, ts)
heading = np.deg2rad(-para[Parameter.heading] - 90)
chassis.setMass(para[Parameter.mass])
self.chassis_np = self.node_path.attachNewNode(chassis)
# not random spawn now
self.chassis_np.setPos(Vec3(*self.spawn_place, 1))
self.chassis_np.setQuat(
LQuaternionf(math.cos(heading / 2), 0, 0, math.sin(heading / 2)))
chassis.setDeactivationEnabled(False)
chassis.notifyCollisions(
True
) # advance collision check, do callback in pg_collision_callback
self.dynamic_nodes.append(chassis)
chassis_beneath = BulletGhostNode(BodyName.Base_vehicle_beneath)
chassis_beneath.setIntoCollideMask(
BitMask32.bit(CollisionGroup.EgoVehicleBeneath))
chassis_beneath.addShape(chassis_shape)
self.chassis_beneath_np = self.chassis_np.attachNewNode(
chassis_beneath)
self.dynamic_nodes.append(chassis_beneath)
self.system = BulletVehicle(pg_physics_world.dynamic_world, chassis)
self.system.setCoordinateSystem(ZUp)
self.dynamic_nodes.append(
self.system
) # detach chassis will also detach system, so a waring will generate
if self.render:
if self.MODEL is None:
model_path = 'models/ferra/scene.gltf'
self.MODEL = self.loader.loadModel(
AssetLoader.file_path(model_path))
self.MODEL.setZ(para[Parameter.vehicle_vis_z])
self.MODEL.setY(para[Parameter.vehicle_vis_y])
self.MODEL.setH(para[Parameter.vehicle_vis_h])
self.MODEL.set_scale(para[Parameter.vehicle_vis_scale])
self.MODEL.instanceTo(self.chassis_np)
def _add_chassis(self, pg_physics_world: PGPhysicsWorld):
para = self.get_config()
chassis = BulletRigidBodyNode(BodyName.Ego_vehicle_top)
chassis.setIntoCollideMask(BitMask32.bit(self.COLLISION_MASK))
chassis_shape = BulletBoxShape(
Vec3(para[Parameter.vehicle_width] / 2,
para[Parameter.vehicle_length] / 2,
para[Parameter.vehicle_height] / 2))
ts = TransformState.makePos(
Vec3(0, 0, para[Parameter.chassis_height] * 2))
chassis.addShape(chassis_shape, ts)
heading = np.deg2rad(-para[Parameter.heading] - 90)
chassis.setMass(para[Parameter.mass])
self.chassis_np = self.node_path.attachNewNode(chassis)
# not random born now
self.chassis_np.setPos(Vec3(*self.born_place, 1))
self.chassis_np.setQuat(
LQuaternionf(np.cos(heading / 2), 0, 0, np.sin(heading / 2)))
chassis.setDeactivationEnabled(False)
chassis.notifyCollisions(True) # advance collision check
self.pg_world.physics_world.dynamic_world.setContactAddedCallback(
PythonCallbackObject(self._collision_check))
self.dynamic_nodes.append(chassis)
chassis_beneath = BulletGhostNode(BodyName.Ego_vehicle)
chassis_beneath.setIntoCollideMask(BitMask32.bit(self.COLLISION_MASK))
chassis_beneath.addShape(chassis_shape)
self.chassis_beneath_np = self.chassis_np.attachNewNode(
chassis_beneath)
self.dynamic_nodes.append(chassis_beneath)
self.system = BulletVehicle(pg_physics_world.dynamic_world, chassis)
self.system.setCoordinateSystem(ZUp)
self.dynamic_nodes.append(
self.system
) # detach chassis will also detach system, so a waring will generate
self.LENGTH = para[Parameter.vehicle_length]
self.WIDTH = para[Parameter.vehicle_width]
if self.render:
model_path = 'models/ferra/scene.gltf'
self.chassis_vis = self.loader.loadModel(
AssetLoader.file_path(model_path))
self.chassis_vis.setZ(para[Parameter.vehicle_vis_z])
self.chassis_vis.setY(para[Parameter.vehicle_vis_y])
self.chassis_vis.setH(para[Parameter.vehicle_vis_h])
self.chassis_vis.set_scale(para[Parameter.vehicle_vis_scale])
self.chassis_vis.reparentTo(self.chassis_np)
def _add_lane_line2bullet(
self,
lane_start,
lane_end,
middle,
parent_np: NodePath,
color: Vec4,
line_type: LineType,
straight_stripe=False
):
length = norm(lane_end[0] - lane_start[0], lane_end[1] - lane_start[1])
if length <= 0:
return
if LineType.prohibit(line_type):
node_name = BodyName.Continuous_line
else:
node_name = BodyName.Stripped_line
# add bullet body for it
if straight_stripe:
body_np = parent_np.attachNewNode(node_name)
else:
scale = 2 if line_type == LineType.STRIPED else 1
body_node = BulletRigidBodyNode(node_name)
body_node.setActive(False)
body_node.setKinematic(False)
body_node.setStatic(True)
body_np = parent_np.attachNewNode(body_node)
shape = BulletBoxShape(Vec3(scale / 2, Block.LANE_LINE_WIDTH / 2, Block.LANE_LINE_THICKNESS))
body_np.node().addShape(shape)
body_np.node().setIntoCollideMask(BitMask32.bit(Block.LANE_LINE_COLLISION_MASK))
self.dynamic_nodes.append(body_np.node())
# position and heading
body_np.setPos(panda_position(middle, 0))
direction_v = lane_end - lane_start
theta = -numpy.arctan2(direction_v[1], direction_v[0])
body_np.setQuat(LQuaternionf(numpy.cos(theta / 2), 0, 0, numpy.sin(theta / 2)))
if self.render:
# For visualization
lane_line = self.loader.loadModel(AssetLoader.file_path("models", "box.bam"))
lane_line.getChildren().reparentTo(body_np)
body_np.setScale(length, Block.LANE_LINE_WIDTH, Block.LANE_LINE_THICKNESS)
body_np.set_color(color)
def __init__(self,
lane,
lane_index: LaneIndex,
position: Sequence[float],
heading: float = 0.):
super(TrafficCone, self).__init__(lane, lane_index, position, heading)
self.body_node = ObjectNode(self.NAME)
self.body_node.addShape(BulletCylinderShape(self.RADIUS, self.HEIGHT))
self.node_path: NodePath = NodePath(self.body_node)
self.node_path.setPos(panda_position(self.position, self.HEIGHT / 2))
self.dynamic_nodes.append(self.body_node)
self.node_path.setH(panda_heading(self.heading))
if self.render:
model = self.loader.loadModel(
AssetLoader.file_path("models", "traffic_cone", "scene.gltf"))
model.setScale(0.02)
model.setPos(0, 0, -self.HEIGHT / 2)
model.reparentTo(self.node_path)
def __init__(self,
parent_node_np: NodePath,
num_lasers: int = 16,
distance: float = 50,
enable_show=False):
# properties
assert num_lasers > 0
show = enable_show and (AssetLoader.loader is not None)
self.dim = num_lasers
self.num_lasers = num_lasers
self.perceive_distance = distance
self.height = self.DEFAULT_HEIGHT
self.radian_unit = 2 * np.pi / num_lasers
self.start_phase_offset = 0
self.node_path = parent_node_np.attachNewNode("Could_points")
self._lidar_range = np.arange(
0, self.num_lasers) * self.radian_unit + self.start_phase_offset
# detection result
self.cloud_points = np.ones((self.num_lasers, ), dtype=float)
self.detected_objects = []
# override these properties to decide which elements to detect and show
self.node_path.hide(CamMask.RgbCam | CamMask.Shadow | CamMask.Shadow
| CamMask.DepthCam)
self.mask = BitMask32.bit(CollisionGroup.BrokenLaneLine)
self.cloud_points_vis = [] if show else None
logging.debug("Load Vehicle Module: {}".format(
self.__class__.__name__))
if show:
for laser_debug in range(self.num_lasers):
ball = AssetLoader.loader.loadModel(
AssetLoader.file_path("models", "box.bam"))
ball.setScale(0.001)
ball.setColor(0., 0.5, 0.5, 1)
shape = BulletSphereShape(0.1)
ghost = BulletGhostNode('Lidar Point')
ghost.setIntoCollideMask(BitMask32.allOff())
ghost.addShape(shape)
laser_np = self.node_path.attachNewNode(ghost)
self.cloud_points_vis.append(laser_np)
ball.getChildren().reparentTo(laser_np)
def __init__(self, pure_background: bool = False):
super(SkyBox, self).__init__()
self._accumulate = 0
self.f = 1
if not self.render or pure_background:
self.node_path = NodePath("pure_background")
return
skybox = self.loader.loadModel(
AssetLoader.file_path("models", "skybox.bam"))
skybox.hide(CamMask.MiniMap | CamMask.RgbCam | CamMask.Shadow
| CamMask.ScreenshotCam)
skybox.set_scale(20000)
skybox_texture = self.loader.loadTexture(
AssetLoader.file_path("textures", "skybox.jpg"))
skybox_texture.set_minfilter(SamplerState.FT_linear)
skybox_texture.set_magfilter(SamplerState.FT_linear)
skybox_texture.set_wrap_u(SamplerState.WM_repeat)
skybox_texture.set_wrap_v(SamplerState.WM_mirror)
skybox_texture.set_anisotropic_degree(16)
skybox.set_texture(skybox_texture)
gles = ConfigVariableString("load-display").getValue()
if gles == "pandagles2":
skybox_shader = Shader.load(
Shader.SL_GLSL,
AssetLoader.file_path("shaders", "skybox_gles.vert.glsl"),
# FIXME a potential bug here?
AssetLoader.file_path("shaders", "skybox_gles.frag.glsl"))
else:
if is_mac():
vert_file = "skybox_mac.vert.glsl"
frag_file = "skybox_mac.frag.glsl"
else:
vert_file = "skybox.vert.glsl"
frag_file = "skybox.frag.glsl"
skybox_shader = Shader.load(
Shader.SL_GLSL,
AssetLoader.file_path("shaders", vert_file),
# FIXME a potential bug here?
AssetLoader.file_path("shaders", frag_file))
skybox.set_shader(skybox_shader)
self.node_path = skybox
skybox.setZ(-4400)
skybox.setH(30)
def __init__(self, parent_node_np: NodePath, laser_num: int = 240, distance: float = 50):
show = self.enable_show and (AssetLoader.loader is not None)
self.Lidar_point_cloud_obs_dim = laser_num
self.laser_num = laser_num
self.perceive_distance = distance
self.radian_unit = 2 * np.pi / laser_num
self.detection_results = []
self.node_path = parent_node_np.attachNewNode("cloudPoints")
self.node_path.hide(CamMask.RgbCam | CamMask.Shadow)
self.cloud_points = [] if show else None
logging.debug("Load Vehicle Module: {}".format(self.__class__.__name__))
if show:
for laser_debug in range(self.laser_num):
ball = AssetLoader.loader.loadModel(AssetLoader.file_path("models", "box.egg"))
ball.setScale(0.001)
ball.setColor(0., 0.5, 0.5, 1)
shape = BulletSphereShape(0.1)
ghost = BulletGhostNode('Lidar Point')
ghost.setIntoCollideMask(BitMask32.allOff())
ghost.addShape(shape)
laser_np = self.node_path.attachNewNode(ghost)
self.cloud_points.append(laser_np)
ball.getChildren().reparentTo(laser_np)
def __init__(self):
super(Terrain, self).__init__()
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
node = BulletRigidBodyNode(BodyName.Ground)
node.setFriction(.9)
node.addShape(shape)
node.setIntoCollideMask(BitMask32.bit(self.COLLISION_MASK))
self.dynamic_nodes.append(node)
self.node_path = NodePath(node)
if self.render:
self.node_path.hide(CamMask.MiniMap | CamMask.Shadow | CamMask.DepthCam | CamMask.ScreenshotCam)
# self.terrain_normal = self.loader.loadTexture(
# AssetLoader.file_path( "textures", "grass2", "normal.jpg")
# )
self.terrain_texture = self.loader.loadTexture(AssetLoader.file_path("textures", "ground.png"))
self.terrain_texture.setWrapU(Texture.WM_repeat)
self.terrain_texture.setWrapV(Texture.WM_repeat)
self.ts_color = TextureStage("color")
self.ts_normal = TextureStage("normal")
self.ts_normal.set_mode(TextureStage.M_normal)
self.node_path.setPos(0, 0, self.HEIGHT)
cm = CardMaker('card')
scale = 20000
cm.setUvRange((0, 0), (scale / 10, scale / 10))
card = self.node_path.attachNewNode(cm.generate())
# scale = 1 if self.use_hollow else 20000
card.set_scale(scale)
card.setPos(-scale / 2, -scale / 2, -0.1)
card.setZ(-.05)
card.setTexture(self.ts_color, self.terrain_texture)
# card.setTexture(self.ts_normal, self.terrain_normal)
self.terrain_texture.setMinfilter(SamplerState.FT_linear_mipmap_linear)
self.terrain_texture.setAnisotropicDegree(8)
card.setQuat(LQuaternionf(numpy.cos(-numpy.pi / 4), numpy.sin(-numpy.pi / 4), 0, 0))
def __init__(self, config: dict = None):
# Setup config and Panda3d
self.pg_config = self.default_config()
if config is not None:
self.pg_config.update(config)
if self.pg_config["pstats"]:
# pstats debug provided by panda3d
loadPrcFileData("", "want-pstats 1")
loadPrcFileData("", "win-size {} {}".format(*self.pg_config["window_size"]))
# Setup onscreen render
if self.pg_config["use_render"]:
self.mode = RENDER_MODE_ONSCREEN
# Warning it may cause memory leak, Pand3d Official has fixed this in their master branch.
# You can enable it if your panda version is latest.
loadPrcFileData("", "threading-model Cull/Draw") # multi-thread render, accelerate simulation when evaluate
else:
if self.pg_config["use_image"]:
self.mode = RENDER_MODE_OFFSCREEN
else:
self.mode = RENDER_MODE_NONE
if is_mac() and (self.mode == RENDER_MODE_OFFSCREEN): # Mac don't support offscreen rendering
self.mode = RENDER_MODE_ONSCREEN
# Setup some debug options
if self.pg_config["headless_image"]:
# headless machine support
loadPrcFileData("", "load-display pandagles2")
if self.pg_config["debug"]:
# debug setting
PGWorld.DEBUG = True
_free_warning()
setup_logger(debug=True)
self.accept('1', self.toggleDebug)
self.accept('2', self.toggleWireframe)
self.accept('3', self.toggleTexture)
self.accept('4', self.toggleAnalyze)
else:
# only report fatal error when debug is False
_suppress_warning()
# a special debug mode
if self.pg_config["debug_physics_world"]:
self.accept('1', self.toggleDebug)
super(PGWorld, self).__init__(windowType=self.mode)
# Change window size at runtime if screen too small
assert int(self.pg_config["use_topdown"]) + int(self.pg_config["use_image"]) <= 1, (
"Only one of use_topdown and use_image options can be selected."
)
main_window_position = (0, 0)
if self.mode == RENDER_MODE_ONSCREEN:
loadPrcFileData("", "compressed-textures 1") # Default to compress
h = self.pipe.getDisplayHeight()
w = self.pipe.getDisplayWidth()
if self.pg_config["window_size"][0] > 0.9 * w or self.pg_config["window_size"][1] > 0.9 * h:
old_scale = self.pg_config["window_size"][0] / self.pg_config["window_size"][1]
new_w = int(min(0.9 * w, 0.9 * h * old_scale))
new_h = int(min(0.9 * h, 0.9 * w / old_scale))
self.pg_config["window_size"] = tuple([new_w, new_h])
from panda3d.core import WindowProperties
props = WindowProperties()
props.setSize(self.pg_config["window_size"][0], self.pg_config["window_size"][1])
self.win.requestProperties(props)
logging.warning(
"Since your screen is too small ({}, {}), we resize the window to {}.".format(
w, h, self.pg_config["window_size"]
)
)
main_window_position = (
(w - self.pg_config["window_size"][0]) / 2, (h - self.pg_config["window_size"][1]) / 2
)
self.highway_render = None
if self.pg_config["use_topdown"]:
self.highway_render = HighwayRender(self.pg_config["use_render"], main_window_position)
# screen scale factor
self.w_scale = max(self.pg_config["window_size"][0] / self.pg_config["window_size"][1], 1)
self.h_scale = max(self.pg_config["window_size"][1] / self.pg_config["window_size"][0], 1)
if self.mode == RENDER_MODE_ONSCREEN:
self.disableMouse()
if not self.pg_config["debug_physics_world"] and (self.mode in [RENDER_MODE_ONSCREEN, RENDER_MODE_OFFSCREEN]):
initialize_asset_loader(self)
gltf.patch_loader(self.loader)
# Display logo
if self.mode == RENDER_MODE_ONSCREEN:
self._loading_logo = OnscreenImage(
image=AssetLoader.file_path("PGDrive-large.png"),
pos=(0, 0, 0),
scale=(self.w_scale, 1, self.h_scale)
)
self._loading_logo.setTransparency(True)
for i in range(20):
self.graphicsEngine.renderFrame()
self.taskMgr.add(self.remove_logo, "remove _loading_logo in first frame")
self.closed = False
# add element to render and pbr render, if is exists all the time.
# these element will not be removed when clear_world() is called
self.pbr_render = self.render.attachNewNode("pbrNP")
# attach node to this root root whose children nodes will be clear after calling clear_world()
self.worldNP = self.render.attachNewNode("world_np")
# same as worldNP, but this node is only used for render gltf model with pbr material
self.pbr_worldNP = self.pbr_render.attachNewNode("pbrNP")
self.debug_node = None
# some render attr
self.pbrpipe = None
self.light = None
self.collision_info_np = None
# physics world
self.physics_world = PGPhysicsWorld()
# for real time simulation
self.force_fps = ForceFPS(self, start=False)
# init terrain
self.terrain = Terrain()
self.terrain.attach_to_pg_world(self.render, self.physics_world)
# init other world elements
if self.mode != RENDER_MODE_NONE:
from pgdrive.world.our_pbr import OurPipeline
self.pbrpipe = OurPipeline(
render_node=None,
window=None,
camera_node=None,
msaa_samples=4,
max_lights=8,
use_normal_maps=False,
use_emission_maps=True,
exposure=1.0,
enable_shadows=False,
enable_fog=False,
use_occlusion_maps=False
)
self.pbrpipe.render_node = self.pbr_render
self.pbrpipe.render_node.set_antialias(AntialiasAttrib.M_auto)
self.pbrpipe._recompile_pbr()
self.pbrpipe.manager.cleanup()
# set main cam
self.cam.node().setCameraMask(CamMask.MainCam)
self.cam.node().getDisplayRegion(0).setClearColorActive(True)
self.cam.node().getDisplayRegion(0).setClearColor(ImageBuffer.BKG_COLOR)
lens = self.cam.node().getLens()
lens.setFov(70)
lens.setAspectRatio(1.2)
self.sky_box = SkyBox()
self.sky_box.attach_to_pg_world(self.render, self.physics_world)
self.light = Light(self.pg_config)
self.light.attach_to_pg_world(self.render, self.physics_world)
self.render.setLight(self.light.direction_np)
self.render.setLight(self.light.ambient_np)
self.render.setShaderAuto()
self.render.setAntialias(AntialiasAttrib.MAuto)
# ui and render property
if self.pg_config["show_fps"]:
self.setFrameRateMeter(True)
# onscreen message
self.on_screen_message = PGOnScreenMessage(
debug=self.DEBUG
) if self.mode == RENDER_MODE_ONSCREEN and self.pg_config["onscreen_message"] else None
self._show_help_message = False
self._episode_start_time = time.time()
self.accept("h", self.toggle_help_message)
self.accept("f", self.force_fps.toggle)
else:
self.on_screen_message = None
# task manager
self.taskMgr.remove('audioLoop')
def __init__(self,
pg_world,
show_navi_mark: bool = False,
random_navi_mark_color=False,
show_dest_mark=False,
show_line_to_dest=False):
"""
This class define a helper for localizing vehicles and retrieving navigation information.
It now only support from first block start to the end node, but can be extended easily.
"""
self.map = None
self.final_road = None
self.checkpoints = None
self.final_lane = None
self.current_ref_lanes = None
self.current_road = None
self._target_checkpoints_index = None
self._navi_info = np.zeros(
(self.navigation_info_dim, )) # navi information res
self.navi_mark_color = (
0.6, 0.8,
0.5) if not random_navi_mark_color else get_np_random().rand(3)
# Vis
self._is_showing = True # store the state of navigation mark
self._show_navi_info = (
pg_world.mode == RENDER_MODE_ONSCREEN
and not pg_world.world_config["debug_physics_world"])
self._dest_node_path = None
self._goal_node_path = None
self._arrow_node_path = None
self._line_to_dest = None
self._show_line_to_dest = show_line_to_dest
if self._show_navi_info:
# nodepath
self._line_to_dest = pg_world.render.attachNewNode("line")
self._goal_node_path = pg_world.render.attachNewNode("target")
self._dest_node_path = pg_world.render.attachNewNode("dest")
self._arrow_node_path = pg_world.aspect2d.attachNewNode("arrow")
navi_arrow_model = AssetLoader.loader.loadModel(
AssetLoader.file_path("models", "navi_arrow.gltf"))
navi_arrow_model.setScale(0.1, 0.12, 0.2)
navi_arrow_model.setPos(2, 1.15, -0.221)
self._left_arrow = self._arrow_node_path.attachNewNode(
"left arrow")
self._left_arrow.setP(180)
self._right_arrow = self._arrow_node_path.attachNewNode(
"right arrow")
self._left_arrow.setColor(self.MARK_COLOR)
self._right_arrow.setColor(self.MARK_COLOR)
navi_arrow_model.instanceTo(self._left_arrow)
navi_arrow_model.instanceTo(self._right_arrow)
self._arrow_node_path.setPos(0, 0, 0.08)
self._arrow_node_path.hide(BitMask32.allOn())
self._arrow_node_path.show(CamMask.MainCam)
self._arrow_node_path.setQuat(
LQuaternionf(np.cos(-np.pi / 4), 0, 0, np.sin(-np.pi / 4)))
# the transparency attribute of gltf model is invalid on windows
# self._arrow_node_path.setTransparency(TransparencyAttrib.M_alpha)
if show_navi_mark:
navi_point_model = AssetLoader.loader.loadModel(
AssetLoader.file_path("models", "box.bam"))
navi_point_model.reparentTo(self._goal_node_path)
if show_dest_mark:
dest_point_model = AssetLoader.loader.loadModel(
AssetLoader.file_path("models", "box.bam"))
dest_point_model.reparentTo(self._dest_node_path)
if show_line_to_dest:
line_seg = LineSegs("line_to_dest")
line_seg.setColor(self.navi_mark_color[0],
self.navi_mark_color[1],
self.navi_mark_color[2], 0.7)
line_seg.setThickness(2)
self._dynamic_line_np = NodePath(line_seg.create(True))
self._dynamic_line_np.reparentTo(pg_world.render)
self._line_to_dest = line_seg
self._goal_node_path.setTransparency(TransparencyAttrib.M_alpha)
self._dest_node_path.setTransparency(TransparencyAttrib.M_alpha)
self._goal_node_path.setColor(self.navi_mark_color[0],
self.navi_mark_color[1],
self.navi_mark_color[2], 0.7)
self._dest_node_path.setColor(self.navi_mark_color[0],
self.navi_mark_color[1],
self.navi_mark_color[2], 0.7)
self._goal_node_path.hide(BitMask32.allOn())
self._dest_node_path.hide(BitMask32.allOn())
self._goal_node_path.show(CamMask.MainCam)
self._dest_node_path.show(CamMask.MainCam)
logging.debug("Load Vehicle Module: {}".format(
self.__class__.__name__))
def __init__(self, length: int, width: int, view_ground: bool,
chassis_np: NodePath, pg_world: PGWorld):
"""
:param length: Control resolution of this sensor
:param width: Control resolution of this sensor
:param view_ground: Lane line will be invisible when set to True
:param chassis_np: The vehicle chassis to place this sensor
:param pg_world: PG-World
"""
self.view_ground = view_ground
self.BUFFER_W = length
self.BUFFER_H = width
super(DepthCamera, self).__init__(self.BUFFER_W,
self.BUFFER_H,
Vec3(0.0, 0.8, 1.5),
self.BKG_COLOR,
pg_world=pg_world,
parent_node=chassis_np)
self.add_to_display(pg_world, self.default_region)
self.cam.lookAt(0, 2.4, 1.3)
self.lens.setFov(60)
self.lens.setAspectRatio(2.0)
# add shader for it
if pg_world.world_config["headless_image"]:
vert_path = AssetLoader.file_path("shaders",
"depth_cam_gles.vert.glsl")
frag_path = AssetLoader.file_path("shaders",
"depth_cam_gles.frag.glsl")
else:
if is_mac():
vert_path = AssetLoader.file_path("shaders",
"depth_cam_mac.vert.glsl")
frag_path = AssetLoader.file_path("shaders",
"depth_cam_mac.frag.glsl")
else:
vert_path = AssetLoader.file_path("shaders",
"depth_cam.vert.glsl")
frag_path = AssetLoader.file_path("shaders",
"depth_cam.frag.glsl")
custom_shader = Shader.load(Shader.SL_GLSL,
vertex=vert_path,
fragment=frag_path)
self.cam.node().setInitialState(
RenderState.make(ShaderAttrib.make(custom_shader, 1)))
if self.view_ground:
self.ground = GeoMipTerrain("mySimpleTerrain")
self.ground.setHeightfield(
AssetLoader.file_path("textures", "height_map.png"))
# terrain.setBruteforce(True)
# # Since the terrain is a texture, shader will not calculate the depth information, we add a moving terrain
# # model to enable the depth information of terrain
self.ground_model = self.ground.getRoot()
self.ground_model.reparentTo(chassis_np)
self.ground_model.setPos(-128, 0, self.GROUND)
self.ground_model.hide(BitMask32.allOn())
self.ground_model.show(CamMask.DepthCam)
self.ground.generate()
pg_world.taskMgr.add(self.renew_pos_of_ground_mode,
self.TASK_NAME,
extraArgs=[chassis_np],
appendTask=True)