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);
}
