render_module.py

# Copyright (c) Facebook, Inc. and its affiliates.

import numpy as np

viewer = None
camera = None
gl_render = None
bullet_render = None
gl = None
glu = None
glut = None

flag = {}
flag['follow_cam'] = True
flag['ground'] = True
flag['origin'] = False
flag['shadow'] = True
flag['sim_model'] = True
flag['kin_model'] = True
flag['joint'] = False
flag['com_vel'] = False
flag['collision'] = True
flag['overlay'] = True
flag['target_pose'] = False
flag['auto_play'] = False
flag['fog'] = False
flag['facing_frame'] = False
flag['obstacle'] = True

toggle = {}
toggle[b'0'] = 'follow_cam'
toggle[b'1'] = 'ground'
toggle[b'2'] = 'origin'
toggle[b'3'] = 'shadow'
toggle[b'4'] = 'sim_model'
toggle[b'5'] = 'kin_model'
toggle[b'6'] = 'joint'
toggle[b'7'] = 'com_vel'
toggle[b'8'] = 'collision'
toggle[b'9'] = 'overlay'
toggle[b't'] = 'target_pose'
toggle[b'a'] = 'auto_play'
toggle[b'f'] = 'fog'
toggle[b'F'] = 'facing_frame'
toggle[b'o'] = 'obstacle'

tex_id_ground = None
file_tex_ground = "data/image/grid2.png"

COLORS_FOR_AGENTS = [
    np.array([30,  120, 180, 255])/255,
    np.array([215, 40,  40,  255])/255,
    np.array([225, 120, 190, 255])/255,
    np.array([150, 100, 190, 255])/255,
    np.array([140, 90,  80,  255])/255,
    np.array([50,  160, 50,  255])/255,
    np.array([255, 125, 15,  255])/255,
    np.array([125, 125, 125, 255])/255,
    np.array([255, 0,   255, 255])/255,
    np.array([0,   255, 125, 255])/255,
    ]

COLOR_AGENT = np.array([85, 160, 173, 255])/255.0

COLORS_FOR_EXPERTS = [
    np.array([30,  120, 180, 255])/255,
    np.array([215, 40,  40,  255])/255,
    np.array([225, 120, 190, 255])/255,
    np.array([150, 100, 190, 255])/255,
    np.array([140, 90,  80,  255])/255,
    np.array([50,  160, 50,  255])/255,
    np.array([255, 125, 15,  255])/255,
    np.array([125, 125, 125, 255])/255,
    np.array([255, 0,   255, 255])/255,
    np.array([0,   255, 125, 255])/255,
    ]

initialized = False

def initialize():
    global initialized
    if initialized: return
    global viewer, gl_render, camera, bullet_render, gl, glu, glut
    from fairmotion.viz import glut_viewer as viewer
    from fairmotion.viz import camera
    from fairmotion.viz import gl_render
    from bullet import bullet_render
    import OpenGL.GL as gl
    import OpenGL.GLU as glu
    import OpenGL.GLUT as glut
    initialized = True