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);
}
