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import gym
from gym.envs.classic_control import rendering
import math
from pyglet.gl import *
import pyglet
class Attr(object):
def enable(self):
raise NotImplementedError
def disable(self):
pass
class Color(Attr):
def __init__(self, vec4):
self.vec4 = vec4
def enable(self):
glColor4f(*self.vec4)
p
class Geom(object):
def __init__(self):
self._color=Color((0, 0, 0, 1.0))
self.attrs = [self._color]
def render(self):
for attr in reversed(self.attrs):
attr.enable()
self.render1()
for attr in self.attrs:
attr.disable()
def render1(self):
raise NotImplementedError
def add_attr(self, attr):
self.attrs.append(attr)
def set_color(self, r, g, b, alpha=1):
self._color.vec4 = (r, g, b, alpha)
class FilledPolygon(Geom):
def __init__(self, v):
Geom.__init__(self)
self.v = v
def render1(self):
if len(self.v) == 4 : glBegin(GL_QUADS)
elif len(self.v) > 4 : glBegin(GL_POLYGON)
else: glBegin(GL_TRIANGLES)
for p in self.v:
glVertex3f(p[0], p[1],0) # draw each vertex
glEnd()
color = (self._color.vec4[0] * 0.5, self._color.vec4[1] * 0.5, self._color.vec4[2] * 0.5, self._color.vec4[3] * 0.5)
glColor4f(*color)
glBegin(GL_LINE_LOOP)
for p in self.v:
glVertex3f(p[0], p[1],0) # draw each vertex
glEnd()
class MyEnv(gym.Env):
metadata = {
'render.modes': ['human', 'rgb_array'],
'videos.frames_per_second': 2
}
def __init__(self):
self.viewer = rendering.Viewer(800, 600)
# def render(self, mode='human', close=False):
# line1 = rendering.Line((100, 300), (500, 300))
# line2 = rendering.Line((100, 200), (500, 200))
# line1.set_color(0, 0, 0)
# line2.set_color(0, 0, 0)
# self.viewer.add_geom(line1)
# self.viewer.add_geom(line2)
# return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def make_agent(self):
radius = 10
res = 30
WORLD_WIDTH = 10
visual_distance = 100
points = []
for i in range(res):
ang = 2*math.pi*i/res
points.append([math.cos(ang)*radius, math.sin(ang)*radius])
for i in range(9):
ang = 2 * math.pi * (i - 4) / res
points.append((math.cos(ang) * visual_distance + radius, math.sin(ang) * visual_distance))
return points
# def render(self, mode='human', close=False):
# circle = rendering.make_circle(30)
# circle_transform = rendering.Transform(translation=(100, 100))
# circle.add_attr(circle_transform)
# self.viewer.add_geom(circle)
# return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def render(self, mode='human'):
agent_points = self.make_agent()
agent = FilledPolygon(agent_points)
trans = rendering.Transform(translation=(200, 200))
agent.add_attr(trans)
self.viewer.add_geom(agent)
return self.viewer.render(return_rgb_array=mode == 'rgb_array')
if __name__ == '__main__':
env = MyEnv()
while True:
env.render()
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