public override byte[] Render(bool toRgbArray = false)
{
if (Viewer == null)
{
Viewer = new Rendering.Viewer(500, 500);
Viewer.SetBounds(-2.2f, 2.2f, -2.2f, 2.2f);
var rod = Rendering.MakeCapsule(1, .2f);
rod.SetColor(.8f, .3f, .3f);
pole_transform = new Rendering.Transform();
rod.AddAttr(pole_transform);
Viewer.AddGeom(rod);
var axle = Rendering.MakeCircle(.05f);
axle.SetColor(0, 0, 0);
Viewer.AddGeom(axle);
//img = new Rendering.Image("assets/clockwise.png", 1.0, 1.0);
//imgtrans = new Rendering.Transform();
//img.AddAttr(imgtrans);
}
pole_transform.SetRotation(State[0] + (float)Math.PI / 2);
//Viewer.AddOneTime(img);
//if (!float.IsNaN(last_u))
// imgtrans.SetScale(-last_u / 2, Math.Abs(last_u) / 2 );
Viewer.Render();
return(null);
}
public override byte[] Render(bool toRgbArray = false)
{
if (Viewer == null)
{
Viewer = new Rendering.Viewer(ObservationSpace.Shape.Width, ObservationSpace.Shape.Height);
}
var img = new Rendering.Image(GetScreenPixelData(), ObservationSpace.Shape.Width, ObservationSpace.Shape.Height);
Viewer.AddOneTime(img);
Viewer.Render();
return(null);
}
public override byte[] Render(bool toRgbArray = false)
{
var s = State;
if (Viewer == null)
{
Viewer = new Rendering.Viewer(500, 500);
var bound = LINK_LENGTH_1 + LINK_LENGTH_2 + 0.2f; // 2.2 for default
Viewer.SetBounds(-bound, bound, -bound, bound);
}
if (s == null)
{
return(null);
}
var p1 = new [] { LINK_LENGTH_1 *(float)Math.Sin(s[0]), -LINK_LENGTH_1 * (float)Math.Cos(s[0]) };
//var p2 = new [] { p1[0] - LINK_LENGTH_2 * Math.Cos(s[0] + s[1]), p1[1] + LINK_LENGTH_2 * Math.Sin(s[0] + s[1]) };
var xys = new List <float[]> {
new float[] { 0, 0 }, p1
};
var thetas = new [] { s[0] - (float)Math.PI / 2, s[0] + s[1] - (float)Math.PI / 2 };
var linkLengths = new[] { LINK_LENGTH_1, LINK_LENGTH_2 };
Viewer.DrawLine(new [] { -2.2f, 1 }, new [] { 2.2f, 1 });
for (int i = 0; i < linkLengths.Length; ++i)
{
float x = xys[i][0], y = xys[i][1], th = thetas[i], llen = linkLengths[i];
float l = 0, r = llen, t = .1f, b = -.1f;
var jTransform = new Rendering.Transform(new [] { x, y }, th);
var link = Viewer.DrawPolygon(new List <float[]> {
new[] { l, b }, new[] { l, t }, new[] { r, t }, new[] { r, b }
});
link.AddAttr(jTransform);
link.SetColor(0, .8f, .8f);
var circ = Viewer.DrawCircle(.1f);
circ.SetColor(.8f, .8f, 0);
circ.AddAttr(jTransform);
}
Viewer.Render();
return(null);
}
public override byte[] Render(bool toRgbArray = false)
{
const int SCREEN_WIDTH = 600;
const int SCREEN_HEIGHT = 400;
float worldWidth = X_THRESHOLD * 2;
float scale = SCREEN_WIDTH / worldWidth;
float cartY = 100; // TOP OF CART
float poleWidth = 10.0f;
float poleLen = scale * (2 * LENGTH);
float cartWidth = 50.0f;
float cartHeight = 30.0f;
if (Viewer == null)
{
Viewer = new Rendering.Viewer(SCREEN_WIDTH, SCREEN_HEIGHT);
float l = -cartWidth / 2;
float r = cartWidth / 2;
float t = cartHeight / 2;
float b = -cartHeight / 2;
float axleOffset = cartHeight / 4.0f;
var cart = new Rendering.FilledPolygon(new List <float[]> {
new[] { l, b }, new[] { l, t }, new[] { r, t }, new[] { r, b }
});
CartTrans = new Rendering.Transform();
cart.AddAttr(CartTrans);
Viewer.AddGeom(cart);
l = -poleWidth / 2;
r = poleWidth / 2;
t = poleLen - poleWidth / 2;
b = -poleWidth / 2;
Pole = new Rendering.FilledPolygon(new List <float[]> {
new[] { l, b }, new[] { l, t }, new[] { r, t }, new[] { r, b }
});
Pole.SetColor(.8f, .6f, .4f);
PoleTrans = new Rendering.Transform(new[] { 0, axleOffset });
Pole.AddAttr(PoleTrans);
Pole.AddAttr(CartTrans);
Viewer.AddGeom(Pole);
Axle = Rendering.MakeCircle(poleWidth / 2);
Axle.AddAttr(PoleTrans);
Axle.AddAttr(CartTrans);
Axle.SetColor(.5f, .5f, .8f);
Viewer.AddGeom(Axle);
Track = new Rendering.Line(new [] { 0, cartY }, new [] { SCREEN_WIDTH, cartY });
Track.SetColor(0, 0, 0);
Viewer.AddGeom(Track);
}
if (State == null)
{
return(null);
}
{
// Edit the pole polygon vertex
float l = -poleWidth / 2, r = poleWidth / 2, t = poleLen - poleWidth / 2, b = poleWidth / 2;
Pole.Vertices = new List <float[]> {
new[] { l, b }, new[] { l, t }, new[] { r, t }, new[] { r, b }
};
}
var cartX = State[0] * scale + SCREEN_WIDTH / 2.0f; // MIDDLE OF CART
CartTrans.SetTranslation(cartX, cartY);
PoleTrans.SetRotation(-State[2]);
byte[] rgbArray = toRgbArray ? new byte[SCREEN_WIDTH * SCREEN_HEIGHT * 3] : null;
Viewer.Render(rgbArray);
return(rgbArray);
}
public override byte[] Render(bool toRgbArray = false)
{
const int SCREEN_WIDTH = 600;
const int SCREEN_HEIGHT = 400;
float world_width = max_position - min_position;
float scale = SCREEN_WIDTH / world_width;
const int carwidth = 40;
const int carheight = 20;
if (Viewer == null)
{
Viewer = new Rendering.Viewer(SCREEN_WIDTH, SCREEN_HEIGHT);
var xs = Neuro.Tools.LinSpace(min_position, max_position, 100);
var ys = xs.Select(x => Height(x)).ToList();
var xys = xs.Zip(ys, (x, y) => new[] { (x - min_position) * scale, y * scale }).ToList();
Rendering.Polyline track = Rendering.MakePolyLine(xys) as Rendering.Polyline;
track.SetLineWidth(4);
Viewer.AddGeom(track);
float clearance = 10;
float l = -carwidth / 2, r = carwidth / 2, t = carheight, b = 0;
var car = new Rendering.FilledPolygon(new List <float[]> {
new[] { l, b }, new[] { l, t }, new[] { r, t }, new[] { r, b }
});
car.AddAttr(new Rendering.Transform(new[] { 0, clearance }));
CarTrans = new Rendering.Transform();
car.AddAttr(CarTrans);
Viewer.AddGeom(car);
var frontwheel = Rendering.MakeCircle(carheight / 2.5f);
frontwheel.SetColor(.5f, .5f, .5f);
frontwheel.AddAttr(new Rendering.Transform(new[] { carwidth / 4, clearance }));
frontwheel.AddAttr(CarTrans);
Viewer.AddGeom(frontwheel);
var backwheel = Rendering.MakeCircle(carheight / 2.5f);
backwheel.AddAttr(new Rendering.Transform(new[] { -carwidth / 4, clearance }));
backwheel.AddAttr(CarTrans);
backwheel.SetColor(.5f, .5f, .5f);
Viewer.AddGeom(backwheel);
float flagx = (goal_position - min_position) * scale;
float flagy1 = Height(goal_position) * scale;
float flagy2 = flagy1 + 50;
var flagpole = new Rendering.Line(new[] { flagx, flagy1 }, new[] { flagx, flagy2 });
Viewer.AddGeom(flagpole);
var flag = new Rendering.FilledPolygon(new List <float[]>()
{
new[] { flagx, flagy2 }, new[] { flagx, flagy2 - 10 }, new[] { flagx + 25, flagy2 - 5 }
});
flag.SetColor(.8f, .8f, 0);
Viewer.AddGeom(flag);
}
float pos = State[0];
CarTrans.SetTranslation((pos - min_position) * scale, Height(pos) * scale);
CarTrans.SetRotation((float)Math.Cos(3 * pos));
Viewer.Render();
return(null);
}
public override byte[] Render(bool toRgbArray = false)
{
if (Viewer == null)
{
Viewer = new Rendering.Viewer(VIEWPORT_W, VIEWPORT_H);
}
Viewer.SetBounds(scroll, VIEWPORT_W / SCALE + scroll, 0, VIEWPORT_H / SCALE);
Viewer.DrawPolygon(new List <float[]> {
new float[] { scroll, 0 },
new float[] { scroll + VIEWPORT_W / SCALE, 0 },
new float[] { scroll + VIEWPORT_W / SCALE, VIEWPORT_H / SCALE },
new float[] { scroll, VIEWPORT_H / SCALE }
}).SetColor(0.9f, 0.9f, 1.0f);
foreach (var cloud_data in cloud_poly)
{
var poly = cloud_data.Item1;
var pos_data = cloud_data.Item2;
if (pos_data.y < scroll / 2)
{
continue;
}
if (pos_data.x > scroll / 2 + VIEWPORT_W / SCALE)
{
continue;
}
Viewer.DrawPolygon(poly.Select(p => new[] { p[0] + scroll / 2, p[1] }).ToList()).SetColor(1, 1, 1);
}
foreach (var terrain_data in terrain_poly)
{
var poly = terrain_data.Item1;
var color = terrain_data.Item2;
if (poly[1][0] < scroll)
{
continue;
}
if (poly[0][0] > scroll + VIEWPORT_W / SCALE)
{
continue;
}
Viewer.DrawPolygon(poly).SetColor(color.x, color.y, color.z);
}
lidar_render = (lidar_render + 1) % 100;
int i = lidar_render;
if (i < 2 * lidar.Length)
{
var l = i < lidar.Length ? lidar[i] : lidar[2 * lidar.Length - i - 1];
Viewer.DrawPolyline(new List <float[]> {
new float[] { l.P1.x, l.P1.y }, new float[] { l.P2.x, l.P2.y }
}).SetColor(1, 0, 0).SetLineWidth(1);
}
foreach (var obj in drawlist)
{
for (b2Fixture f = obj.GetFixtureList(); f != null; f = f.GetNext())
{
var xform = f.GetBody().GetTransform();
if (f.GetShape() is b2CircleShape)
{
var shape = (f.GetShape() as b2CircleShape);
var customData = (obj.GetUserData() as CustomBodyData);
var trans = Utils.b2Mul(xform, shape.m_p);
var t = new Rendering.Transform(new float[] { trans[0], trans[1] });
Viewer.DrawCircle(shape.m_radius, 30).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z).AddAttr(t);
Viewer.DrawCircle(shape.m_radius, 30, false).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2).AddAttr(t);
}
else
{
var shape = f.GetShape();
var customData = (obj.GetUserData() as CustomBodyData);
var path = shape.GetVertices().Select(v => { var trans = Utils.b2Mul(xform, v); return(new float[] { trans[0], trans[1] }); }).ToList();
Viewer.DrawPolygon(path).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z);
path.Add(path[0]);
Viewer.DrawPolyline(path).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2);
}
}
}
var flagy1 = TERRAIN_HEIGHT;
var flagy2 = flagy1 + 50 / SCALE;
var x = TERRAIN_STEP * 3;
Viewer.DrawPolyline(new List <float[]> {
new float[] { x, flagy1 }, new float[] { x, flagy2 }
}).SetColor(0, 0, 0).SetLineWidth(2);
var flagVert = new List <float[]> {
new float[] { x, flagy2 }, new float[] { x, flagy2 - 10 / SCALE }, new float[] { x + 25 / SCALE, flagy2 - 5 / SCALE }
};
Viewer.DrawPolygon(flagVert).SetColor(0.9f, 0.2f, 0);
flagVert.Add(flagVert[0]);
Viewer.DrawPolyline(flagVert).SetColor(0, 0, 0).SetLineWidth(2);
Viewer.Render();
return(null);
}
public override byte[] Render(bool toRgbArray = false)
{
if (Viewer == null)
{
Viewer = new Rendering.Viewer(VIEWPORT_W, VIEWPORT_H);
Viewer.SetBounds(0, VIEWPORT_W / SCALE, 0, VIEWPORT_H / SCALE);
}
foreach (var obj in particles)
{
var data = obj.GetUserData() as CustomBodyData;
data.TimeToLive -= 0.15f;
data.Color1 = new b2Vec3((float)Math.Max(0.2, 0.2 + data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive));
data.Color2 = new b2Vec3((float)Math.Max(0.2, 0.2 + data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive));
}
CleanParticles(false);
foreach (var p in sky_polys)
{
Viewer.DrawPolygon(p).SetColor(0, 0, 0);
}
foreach (var obj in particles.Concat(drawlist))
{
for (b2Fixture f = obj.GetFixtureList(); f != null; f = f.GetNext())
{
var xform = f.GetBody().GetTransform();
if (f.GetShape() is b2CircleShape)
{
var shape = (f.GetShape() as b2CircleShape);
var customData = (obj.GetUserData() as CustomBodyData);
var trans = Utils.b2Mul(xform, shape.m_p);
var t = new Rendering.Transform(new float[] { trans[0], trans[1] });
Viewer.DrawCircle(shape.m_radius, 20).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z).AddAttr(t);
Viewer.DrawCircle(shape.m_radius, 20, false).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2).AddAttr(t);
}
else
{
var shape = f.GetShape();
var customData = (obj.GetUserData() as CustomBodyData);
var path = shape.GetVertices().Select(v => { var trans = Utils.b2Mul(xform, v); return(new float[] { trans[0], trans[1] }); }).ToList();
Viewer.DrawPolygon(path).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z);
path.Add(path[0]);
Viewer.DrawPolyline(path).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2);
}
}
}
foreach (var x in new[] { helipad_x1, helipad_x2 })
{
var flagy1 = helipad_y;
var flagy2 = flagy1 + 50 / SCALE;
Viewer.DrawPolyline(new List <float[]> {
new float[] { x, flagy1 }, new float[] { x, flagy2 }
}).SetColor(1, 1, 1);
Viewer.DrawPolygon(new List <float[]> {
new float[] { x, flagy2 }, new float[] { x, flagy2 - 10 / SCALE }, new float[] { x + 25 / SCALE, flagy2 - 5 / SCALE }
}).SetColor(0.8f, 0.8f, 0);
}
Viewer.Render();
return(null);
}
