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414 lines
12 KiB
Python
414 lines
12 KiB
Python
# MIT License
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# Copyright (c) 2018 OpenAI
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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# The above copyright notice and this permission notice shall be included in all
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# copies or substantial portions of the Software.
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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# SOFTWARE.
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"""
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2D rendering framework
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"""
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from __future__ import division
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import os
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import six
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import sys
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from gym import error
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import math
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import numpy as np
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import pyglet
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from pyglet.gl import glEnable, glHint, glLineWidth, glBlendFunc, glClearColor, glPushMatrix, \
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glTranslatef, glRotatef, glScalef, glPopMatrix, glColor4f, glBegin, glVertex3f, glEnd, glLineStipple, \
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glDisable, glVertex2f, GL_BLEND, GL_LINE_SMOOTH, GL_LINE_SMOOTH_HINT, GL_NICEST, GL_SRC_ALPHA, \
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GL_ONE_MINUS_SRC_ALPHA, GL_LINE_STIPPLE, GL_POINTS, GL_QUADS, GL_TRIANGLES, GL_POLYGON, GL_LINE_LOOP, \
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GL_LINE_STRIP, GL_LINES
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if "Apple" in sys.version:
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if 'DYLD_FALLBACK_LIBRARY_PATH' in os.environ:
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os.environ['DYLD_FALLBACK_LIBRARY_PATH'] += ':/usr/lib'
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# (JDS 2016/04/15): avoid bug on Anaconda 2.3.0 / Yosemite
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RAD2DEG = 57.29577951308232
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def get_display(spec):
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"""Convert a display specification (such as :0) into an actual Display
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object.
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Pyglet only supports multiple Displays on Linux.
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"""
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if spec is None:
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return None
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elif isinstance(spec, six.string_types):
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return pyglet.canvas.Display(spec)
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else:
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raise error.Error('Invalid display specification: {}. (Must be a string like :0 or None.)'.format(spec))
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class Viewer(object):
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def __init__(self, width, height, display=None):
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display = get_display(display)
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self.width = width
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self.height = height
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self.window = pyglet.window.Window(width=width, height=height, display=display)
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self.window.on_close = self.window_closed_by_user
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self.geoms = []
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self.onetime_geoms = []
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self.transform = Transform()
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glEnable(GL_BLEND)
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# glEnable(GL_MULTISAMPLE)
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glEnable(GL_LINE_SMOOTH)
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# glHint(GL_LINE_SMOOTH_HINT, GL_DONT_CARE)
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glHint(GL_LINE_SMOOTH_HINT, GL_NICEST)
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glLineWidth(2.0)
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glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
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def close(self):
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self.window.close()
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def window_closed_by_user(self):
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self.close()
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def set_bounds(self, left, right, bottom, top):
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assert right > left and top > bottom
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scalex = self.width / (right - left)
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scaley = self.height / (top - bottom)
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self.transform = Transform(
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translation=(-left * scalex, -bottom * scaley),
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scale=(scalex, scaley))
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def add_geom(self, geom):
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self.geoms.append(geom)
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def add_onetime(self, geom):
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self.onetime_geoms.append(geom)
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def render(self, return_rgb_array=False):
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glClearColor(1, 1, 1, 1)
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self.window.clear()
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self.window.switch_to()
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self.window.dispatch_events()
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self.transform.enable()
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for geom in self.geoms:
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geom.render()
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for geom in self.onetime_geoms:
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geom.render()
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self.transform.disable()
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arr = None
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if return_rgb_array:
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buffer = pyglet.image.get_buffer_manager().get_color_buffer()
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image_data = buffer.get_image_data()
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arr = np.fromstring(image_data.data, dtype=np.uint8, sep='')
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# In https://github.com/openai/gym-http-api/issues/2, we
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# discovered that someone using Xmonad on Arch was having
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# a window of size 598 x 398, though a 600 x 400 window
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# was requested. (Guess Xmonad was preserving a pixel for
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# the boundary.) So we use the buffer height/width rather
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# than the requested one.
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arr = arr.reshape(buffer.height, buffer.width, 4)
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arr = arr[::-1, :, 0:3]
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self.window.flip()
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self.onetime_geoms = []
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return arr
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# Convenience
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def draw_circle(self, radius=10, res=30, filled=True, **attrs):
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geom = make_circle(radius=radius, res=res, filled=filled)
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_add_attrs(geom, attrs)
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self.add_onetime(geom)
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return geom
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def draw_polygon(self, v, filled=True, **attrs):
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geom = make_polygon(v=v, filled=filled)
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_add_attrs(geom, attrs)
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self.add_onetime(geom)
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return geom
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def draw_polyline(self, v, **attrs):
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geom = make_polyline(v=v)
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_add_attrs(geom, attrs)
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self.add_onetime(geom)
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return geom
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def draw_line(self, start, end, **attrs):
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geom = Line(start, end)
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_add_attrs(geom, attrs)
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self.add_onetime(geom)
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return geom
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def get_array(self):
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self.window.flip()
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image_data = pyglet.image.get_buffer_manager().get_color_buffer().get_image_data()
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self.window.flip()
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arr = np.fromstring(image_data.data, dtype=np.uint8, sep='')
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arr = arr.reshape(self.height, self.width, 4)
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return arr[::-1, :, 0:3]
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def _add_attrs(geom, attrs):
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if "color" in attrs:
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geom.set_color(*attrs["color"])
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if "linewidth" in attrs:
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geom.set_linewidth(attrs["linewidth"])
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class Geom(object):
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def __init__(self):
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self._color = Color((0, 0, 0, 1.0))
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self.attrs = [self._color]
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def render(self):
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for attr in reversed(self.attrs):
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attr.enable()
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self.render1()
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for attr in self.attrs:
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attr.disable()
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def render1(self):
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raise NotImplementedError
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def add_attr(self, attr):
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self.attrs.append(attr)
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def set_color(self, r, g, b, alpha=1):
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self._color.vec4 = (r, g, b, alpha)
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class Attr(object):
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def enable(self):
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raise NotImplementedError
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def disable(self):
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pass
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class Transform(Attr):
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def __init__(self, translation=(0.0, 0.0), rotation=0.0, scale=(1, 1)):
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self.set_translation(*translation)
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self.set_rotation(rotation)
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self.set_scale(*scale)
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def enable(self):
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glPushMatrix()
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glTranslatef(self.translation[0], self.translation[1], 0) # translate to GL loc ppint
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glRotatef(RAD2DEG * self.rotation, 0, 0, 1.0)
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glScalef(self.scale[0], self.scale[1], 1)
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def disable(self):
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glPopMatrix()
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def set_translation(self, newx, newy):
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self.translation = (float(newx), float(newy))
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def set_rotation(self, new):
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self.rotation = float(new)
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def set_scale(self, newx, newy):
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self.scale = (float(newx), float(newy))
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class Color(Attr):
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def __init__(self, vec4):
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self.vec4 = vec4
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def enable(self):
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glColor4f(*self.vec4)
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class LineStyle(Attr):
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def __init__(self, style):
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self.style = style
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def enable(self):
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glEnable(GL_LINE_STIPPLE)
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glLineStipple(1, self.style)
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def disable(self):
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glDisable(GL_LINE_STIPPLE)
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class LineWidth(Attr):
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def __init__(self, stroke):
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self.stroke = stroke
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def enable(self):
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glLineWidth(self.stroke)
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class Point(Geom):
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def __init__(self):
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Geom.__init__(self)
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def render1(self):
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glBegin(GL_POINTS) # draw point
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glVertex3f(0.0, 0.0, 0.0)
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glEnd()
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class FilledPolygon(Geom):
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def __init__(self, v):
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Geom.__init__(self)
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self.v = v
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def render1(self):
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if len(self.v) == 4:
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glBegin(GL_QUADS)
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elif len(self.v) > 4:
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glBegin(GL_POLYGON)
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else:
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glBegin(GL_TRIANGLES)
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for p in self.v:
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glVertex3f(p[0], p[1], 0) # draw each vertex
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glEnd()
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color = (
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self._color.vec4[0] * 0.5,
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self._color.vec4[1] * 0.5,
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self._color.vec4[2] * 0.5,
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self._color.vec4[3] * 0.5)
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glColor4f(*color)
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glBegin(GL_LINE_LOOP)
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for p in self.v:
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glVertex3f(p[0], p[1], 0) # draw each vertex
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glEnd()
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def make_circle(radius=10, res=30, filled=True):
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points = []
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for i in range(res):
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ang = 2 * math.pi * i / res
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points.append((math.cos(ang) * radius, math.sin(ang) * radius))
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if filled:
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return FilledPolygon(points)
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else:
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return PolyLine(points, True)
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def make_polygon(v, filled=True):
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if filled:
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return FilledPolygon(v)
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else:
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return PolyLine(v, True)
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def make_polyline(v):
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return PolyLine(v, False)
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def make_capsule(length, width):
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l, r, t, b = 0, length, width / 2, -width / 2
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box = make_polygon([(l, b), (l, t), (r, t), (r, b)])
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circ0 = make_circle(width / 2)
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circ1 = make_circle(width / 2)
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circ1.add_attr(Transform(translation=(length, 0)))
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geom = Compound([box, circ0, circ1])
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return geom
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class Compound(Geom):
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def __init__(self, gs):
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Geom.__init__(self)
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self.gs = gs
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for g in self.gs:
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g.attrs = [a for a in g.attrs if not isinstance(a, Color)]
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def render1(self):
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for g in self.gs:
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g.render()
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class PolyLine(Geom):
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def __init__(self, v, close):
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Geom.__init__(self)
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self.v = v
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self.close = close
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self.linewidth = LineWidth(1)
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self.add_attr(self.linewidth)
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def render1(self):
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glBegin(GL_LINE_LOOP if self.close else GL_LINE_STRIP)
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for p in self.v:
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glVertex3f(p[0], p[1], 0) # draw each vertex
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glEnd()
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def set_linewidth(self, x):
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self.linewidth.stroke = x
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class Line(Geom):
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def __init__(self, start=(0.0, 0.0), end=(0.0, 0.0)):
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Geom.__init__(self)
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self.start = start
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self.end = end
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self.linewidth = LineWidth(1)
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self.add_attr(self.linewidth)
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def render1(self):
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glBegin(GL_LINES)
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glVertex2f(*self.start)
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glVertex2f(*self.end)
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glEnd()
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class Image(Geom):
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def __init__(self, fname, width, height):
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Geom.__init__(self)
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self.width = width
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self.height = height
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img = pyglet.image.load(fname)
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self.img = img
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self.flip = False
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def render1(self):
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self.img.blit(-self.width / 2, -self.height / 2, width=self.width, height=self.height)
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class SimpleImageViewer(object):
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def __init__(self, display=None):
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self.window = None
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self.isopen = False
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self.display = display
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def imshow(self, arr):
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if self.window is None:
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height, width, channels = arr.shape
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self.window = pyglet.window.Window(width=width, height=height, display=self.display)
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self.width = width
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self.height = height
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self.isopen = True
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assert arr.shape == (self.height, self.width, 3), "You passed in an image with the wrong number shape"
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image = pyglet.image.ImageData(self.width, self.height, 'RGB', arr.tobytes(), pitch=self.width * -3)
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self.window.clear()
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self.window.switch_to()
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self.window.dispatch_events()
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image.blit(0, 0)
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self.window.flip()
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def close(self):
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if self.isopen:
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self.window.close()
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self.isopen = False
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def __del__(self):
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self.close()
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