Rendering Engine

This is the rendering engine using pyglet to visualize the running environment.

module rendering

Variables

ZOOM_IN_FACTOR = 1.2

ZOOM_OUT_FACTOR = 1/ZOOM_IN_FACTOR

CAR_LENGTH = 0.58

CAR_WIDTH = 0.31

EnvRenderer : public Window

A window class inherited from pyglet.window.Window, handles the camera/projection interaction, resizing window, and rendering the environment

Public Functions

__init__(self, width, height, *args, **kwargs)

Class constructor

Args:
    width (int): width of the window
    height (int): height of the window

Returns:
    None

update_map(self, map_path, map_ext)

Update the map being drawn by the renderer. Converts image to a list of 3D points representing each obstacle pixel in the map.

Args:
    map_path (str): absolute path to the map without extensions
    map_ext (str): extension for the map image file

Returns:
    None

on_resize(self, width, height)

Callback function on window resize, overrides inherited method, and updates camera values on top of the inherited on_resize() method.

Potential improvements on current behavior: zoom/pan resets on window resize.

Args:
    width (int): new width of window
    height (int): new height of window

Returns:
    None

on_mouse_drag(self, x, y, dx, dy, buttons, modifiers)

Callback function on mouse drag, overrides inherited method.

Args:
    x (int): Distance in pixels from the left edge of the window.
    y (int): Distance in pixels from the bottom edge of the window.
    dx (int): Relative X position from the previous mouse position.
    dy (int): Relative Y position from the previous mouse position.
    buttons (int): Bitwise combination of the mouse buttons currently pressed.
    modifiers (int): Bitwise combination of any keyboard modifiers currently active.

Returns:
    None

on_mouse_scroll(self, x, y, dx, dy)

Callback function on mouse scroll, overrides inherited method.

Args:
    x (int): Distance in pixels from the left edge of the window.
    y (int): Distance in pixels from the bottom edge of the window.
    scroll_x (float): Amount of movement on the horizontal axis.
    scroll_y (float): Amount of movement on the vertical axis.

Returns:
    None

on_close(self)

Callback function when the 'x' is clicked on the window, overrides inherited method. Also throws exception to end the python program when in a loop.

Args:
    None

Returns:
    None

Raises:
    Exception: with a message that indicates the rendering window was closed

on_draw(self)

Function when the pyglet is drawing. The function draws the batch created that includes the map points, the agent polygons, and the information text, and the fps display.

Args:
    None

Returns:
    None

update_obs(self, obs)

Updates the renderer with the latest observation from the gym environment, including the agent poses, and the information text.

Args:
    obs (dict): observation dict from the gym env

Returns:
    None

Public Members

left

right

bottom

top

zoom_level

zoomed_width

zoomed_height

batch

map_points

poses

vertices

score_label

fps_display

ego_idx

cars

module gl