def autoscale(self):
self.cam.lookat[0] = self.model.stat.center[0]
self.cam.lookat[1] = self.model.stat.center[1]
self.cam.lookat[2] = self.model.stat.center[2]
self.cam.distance = 1.0 * self.model.stat.extent
self.cam.camid = -1
self.cam.trackbodyid = -1
if self.window:
width, height = glfw.get_framebuffer_size(self.window)
mjlib.mjv_updateCameraPose(byref(self.cam), width * 1.0 / height)
def autoscale(self):
self.cam.lookat[0] = self.model.stat.center[0]
self.cam.lookat[1] = self.model.stat.center[1]
self.cam.lookat[2] = self.model.stat.center[2]
self.cam.distance = 1.0 * self.model.stat.extent
self.cam.camid = -1
self.cam.trackbodyid = -1
if self.window:
width, height = glfw.get_framebuffer_size(self.window)
mjlib.mjv_updateCameraPose(byref(self.cam), width * 1.0 / height)
def handle_scroll(self, window, x_offset, y_offset):
# require model
if not self.model:
return
# get current window size
width, height = glfw.get_framebuffer_size(window)
# scroll
self.gui_lock.acquire()
mjlib.mjv_moveCamera(C.MOUSE_ZOOM, 0, (-20 * y_offset),
byref(self.cam), width, height)
self.gui_lock.release()
def handle_scroll(self, window, x_offset, y_offset):
# require model
if not self.model:
return
# get current window size
width, height = glfw.get_framebuffer_size(window)
# scroll
self.gui_lock.acquire()
mjlib.mjv_moveCamera(C.MOUSE_ZOOM, 0, (-20 * y_offset),
byref(self.cam), width, height)
self.gui_lock.release()
def handle_mouse_move(self, window, xpos, ypos):
# no buttons down: nothing to do
if not self.button_left_pressed \
and not self.button_middle_pressed \
and not self.button_right_pressed:
return
# compute mouse displacement, save
dx = int(self.scale * xpos) - self.last_mouse_x
dy = int(self.scale * ypos) - self.last_mouse_y
self.last_mouse_x = int(self.scale * xpos)
self.last_mouse_y = int(self.scale * ypos)
# require model
if not self.model:
return
# get current window size
width, height = glfw.get_framebuffer_size(self.window)
# get shift key state
mod_shift = glfw.get_key(window, glfw.KEY_LEFT_SHIFT) == glfw.PRESS \
or glfw.get_key(window, glfw.KEY_RIGHT_SHIFT) == glfw.PRESS
# determine action based on mouse button
action = None
if self.button_right_pressed:
action = C.MOUSE_MOVE_H if mod_shift else C.MOUSE_MOVE_V
elif self.button_left_pressed:
action = C.MOUSE_ROTATE_H if mod_shift else C.MOUSE_ROTATE_V
else:
action = C.MOUSE_ZOOM
self.gui_lock.acquire()
functions.mjv_moveCamera(action, dx, dy, byref(self.cam), width,
height)
self.gui_lock.release()
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
mjlib.mjv_makeObjects(byref(self.objects), 1000)
mjlib.mjv_defaultCamera(byref(self.cam))
mjlib.mjv_defaultOption(byref(self.vopt))
mjlib.mjr_defaultOption(byref(self.ropt))
mjlib.mjr_defaultContext(byref(self.con))
if self.model:
mjlib.mjr_makeContext(self.model.ptr, byref(self.con), 150)
self.autoscale()
else:
mjlib.mjr_makeContext(None, byref(self.con), 150)
def handle_mouse_move(self, window, xpos, ypos):
# no buttons down: nothing to do
if not self.button_left_pressed \
and not self.button_middle_pressed \
and not self.button_right_pressed:
return
# compute mouse displacement, save
dx = int(self.scale * xpos) - self.last_mouse_x
dy = int(self.scale * ypos) - self.last_mouse_y
self.last_mouse_x = int(self.scale * xpos)
self.last_mouse_y = int(self.scale * ypos)
# require model
if not self.model:
return
# get current window size
width, height = glfw.get_framebuffer_size(self.window)
# get shift key state
mod_shift = glfw.get_key(window, glfw.KEY_LEFT_SHIFT) == glfw.PRESS \
or glfw.get_key(window, glfw.KEY_RIGHT_SHIFT) == glfw.PRESS
# determine action based on mouse button
action = None
if self.button_right_pressed:
action = C.MOUSE_MOVE_H if mod_shift else C.MOUSE_MOVE_V
elif self.button_left_pressed:
action = C.MOUSE_ROTATE_H if mod_shift else C.MOUSE_ROTATE_V
else:
action = C.MOUSE_ZOOM
self.gui_lock.acquire()
mjlib.mjv_moveCamera(action, dx, dy, byref(self.cam), width, height)
self.gui_lock.release()
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
mjlib.mjv_makeObjects(byref(self.objects), 1000)
mjlib.mjv_defaultCamera(byref(self.cam))
mjlib.mjv_defaultOption(byref(self.vopt))
mjlib.mjr_defaultOption(byref(self.ropt))
mjlib.mjr_defaultContext(byref(self.con))
if self.model:
mjlib.mjr_makeContext(self.model.ptr, byref(self.con), 150)
self.autoscale()
else:
mjlib.mjr_makeContext(None, byref(self.con), 150)
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)
def get_rect(self):
rect = mjcore.MJRRECT(0, 0, 0, 0)
rect.width, rect.height = glfw.get_framebuffer_size(self.window)
return rect
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)
def get_rect(self):
rect = mjcore.MJRRECT(0, 0, 0, 0)
rect.width, rect.height = glfw.get_framebuffer_size(self.window)
return rect