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Rendering.swift
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Rendering.swift
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// Copyright 2019, Emmanouil Antonios Platanios. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License"); you may not
// use this file except in compliance with the License. You may obtain a copy of
// the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
// WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
// License for the specific language governing permissions and limitations under
// the License.
import CGLFW
import Foundation
import TensorFlow
public class ImageRenderer {
public let framesPerSecond: Double?
@usableFromInline internal let initialMaxWidth: Int32
@usableFromInline internal var window: OpaquePointer?
@usableFromInline internal var frameBuffer: GLuint = 0
@usableFromInline internal var texture: GLuint = 0
@usableFromInline internal var isOpen: Bool = true
@inlinable
public init(initialMaxWidth: Int32 = 800, framesPerSecond: Double? = nil) {
self.initialMaxWidth = initialMaxWidth
self.framesPerSecond = framesPerSecond
}
@inlinable
deinit {
closeWindow()
}
@inlinable
public func render(_ data: ShapedArray<UInt8>) throws {
if !isOpen { return }
if let fps = framesPerSecond { Thread.sleep(forTimeInterval: 1 / fps) }
if self.window == nil {
var width = Int32(data.shape[1])
var height = Int32(data.shape[0])
if width > initialMaxWidth {
let scale = Float(initialMaxWidth) / Float(width)
width = Int32(scale * Float(width))
height = Int32(scale * Float(height))
}
try createWindow(width: width, height: height)
}
if let window = self.window {
if glfwWindowShouldClose(window) > 0 { closeWindow(); exit(0) }
glfwMakeContextCurrent(window)
glClear(UInt32(GL_COLOR_BUFFER_BIT))
// Generate the image texture.
try ImageRenderer.preprocessData(data).withUnsafeBufferPointer {
glTexImage2D(
GLenum(GL_TEXTURE_2D), 0, GL_RGB8, GLsizei(data.shape[1]), GLsizei(data.shape[0]),
0, GLenum(GL_RGB), GLenum(GL_UNSIGNED_BYTE), $0.baseAddress)
}
// Resize and render the texture.
var width: GLsizei = 0
var height: GLsizei = 0
glfwGetFramebufferSize(window, &width, &height)
glBlitFramebuffer(
0, 0, GLsizei(data.shape[1]), GLsizei(data.shape[0]), 0, 0,
width, height, GLenum(GL_COLOR_BUFFER_BIT), GLenum(GL_LINEAR))
// Swap the OpenGL front and back buffers to show the image.
glfwSwapBuffers(window)
glfwPollEvents()
}
}
@inlinable
public func createWindow(width: Int32, height: Int32) throws {
// Initialize GLFW.
if glfwInit() == 0 {
throw ReinforcementLearningError.renderingError("Failed to initialize GLFW.")
}
// Open a new window.
guard let window = glfwCreateWindow(width, height, "Gym Retro", nil, nil) else {
glfwTerminate()
throw ReinforcementLearningError.renderingError("Failed to open a GLFW window.")
}
self.window = window
glfwMakeContextCurrent(window)
// Generate a frame buffer.
glGenFramebuffers(1, &frameBuffer)
glBindFramebuffer(GLenum(GL_READ_FRAMEBUFFER), frameBuffer)
// Generate a texture.
glGenTextures(1, &texture)
glBindTexture(GLenum(GL_TEXTURE_2D), texture)
glTexParameteri(GLenum(GL_TEXTURE_2D), GLenum(GL_TEXTURE_MAG_FILTER), GL_NEAREST)
glTexParameteri(GLenum(GL_TEXTURE_2D), GLenum(GL_TEXTURE_MIN_FILTER), GL_NEAREST)
// Bind the texture to the frame buffer.
glFramebufferTexture2D(
GLenum(GL_READ_FRAMEBUFFER), GLenum(GL_COLOR_ATTACHMENT0),
GLenum(GL_TEXTURE_2D), texture, 0)
}
@inlinable
public func closeWindow() {
if let window = self.window {
glDeleteTextures(1, &texture)
glDeleteFramebuffers(1, &frameBuffer)
glfwDestroyWindow(window)
glfwPollEvents()
glfwTerminate()
self.isOpen = false
self.window = nil
}
}
@inlinable
internal static func preprocessData(_ data: ShapedArray<UInt8>) throws -> [UInt8] {
precondition(data.rank == 3 && data.shape[2] == 3, "Data must have shape '[Height, Width, 3]'.")
let rowSize = data.shape[1] * data.shape[2]
let scalars = data.scalars
var preprocessed = [UInt8]()
preprocessed.reserveCapacity(scalars.count)
for row in 1...data.shape[0] {
let index = (data.shape[0] - row) * rowSize
preprocessed.append(contentsOf: scalars[index..<(index + rowSize)])
}
return preprocessed
}
}
public protocol GLFWScene {
func draw()
}
extension GLFWScene {
@inlinable
public func render(in window: GLFWWindow) {
if !window.isOpen { return }
if let fps = window.framesPerSecond { Thread.sleep(forTimeInterval: 1 / fps) }
if let w = window.window {
// TODO: Should the following be exiting the running problem?
if glfwWindowShouldClose(w) > 0 { window.close(); exit(0) }
glfwMakeContextCurrent(w)
glClearColor(1, 1, 1, 1)
glClear(GLbitfield(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT))
draw()
glfwSwapBuffers(w)
glfwPollEvents()
}
}
}
public class GLFWWindow {
public let name: String
@usableFromInline internal let width: Int
@usableFromInline internal let height: Int
@usableFromInline internal let framesPerSecond: Double?
@usableFromInline internal var window: OpaquePointer?
@usableFromInline internal var isOpen: Bool = true
@inlinable
public init(name: String, width: Int, height: Int, framesPerSecond: Double? = nil) throws {
self.name = name
self.width = width
self.height = height
self.framesPerSecond = framesPerSecond
// Initialize GLFW.
if glfwInit() == 0 {
throw ReinforcementLearningError.renderingError("Failed to initialize GLFW.")
}
// Open a new window.
guard let window = glfwCreateWindow(Int32(width), Int32(height), name, nil, nil) else {
glfwTerminate()
throw ReinforcementLearningError.renderingError("Failed to open a GLFW window.")
}
self.window = window
glfwMakeContextCurrent(window)
glEnable(GLenum(GL_BLEND))
glBlendFunc(GLenum(GL_SRC_ALPHA), GLenum(GL_ONE_MINUS_SRC_ALPHA))
glViewport(0, 0, Int32(width), Int32(height))
glMatrixMode(GLenum(GL_PROJECTION))
glLoadIdentity()
glOrtho(0, GLdouble(width), 0, GLdouble(height), 0, 1)
}
@inlinable
deinit {
close()
}
@inlinable
public func close() {
if let window = self.window {
glfwDestroyWindow(window)
glfwPollEvents()
glfwTerminate()
self.isOpen = false
self.window = nil
}
}
}
public protocol GLFWAttribute: AnyObject {
func enable()
func disable()
}
public class GLFWTransform: GLFWAttribute {
public var translation: (Float, Float)
public var rotation: Float
public var scale: (Float, Float)
@inlinable
public init(
translation: (Float, Float) = (0.0, 0.0),
rotation: Float = 0.0,
scale: (Float, Float) = (1.0, 1.0)
) {
self.translation = translation
self.rotation = rotation
self.scale = scale
}
@inlinable
public func enable() {
glPushMatrix()
glTranslatef(translation.0, translation.1, 0)
glRotatef(rotation * 180 / Float.pi, 0, 0, 1)
glScalef(scale.0, scale.1, 1)
}
@inlinable
public func disable() {
glPopMatrix()
}
}
public class GLFWColor: GLFWAttribute {
public let red: Float
public let green: Float
public let blue: Float
@inlinable
public init(red: Float, green: Float, blue: Float) {
self.red = red
self.green = green
self.blue = blue
}
@inlinable
public func enable() {
glColor3f(red, green, blue)
}
@inlinable
public func disable() { }
}
public class GLFWLineStyle: GLFWAttribute {
public let pattern: UInt16
@inlinable
public init(_ pattern: UInt16) {
self.pattern = pattern
}
@inlinable
public func enable() {
glEnable(GLenum(GL_LINE_STIPPLE))
glLineStipple(1, pattern)
}
@inlinable
public func disable() {
glDisable(GLenum(GL_LINE_STIPPLE))
}
}
public class GLFWLineWidth: GLFWAttribute {
public let width: Float
@inlinable
public init(_ width: Float) {
self.width = width
}
@inlinable
public func enable() {
glLineWidth(width)
}
@inlinable
public func disable() { }
}
public protocol GLFWGeometry: AnyObject {
var attributes: [GLFWAttribute] { get set }
func render()
}
extension GLFWGeometry {
@inlinable
public func renderWithAttributes() {
attributes.reversed().forEach { $0.enable() }
render()
attributes.forEach { $0.disable() }
}
}
public class GLFWCompoundGeometry: GLFWGeometry {
public var attributes: [GLFWAttribute] = []
public var components: [GLFWGeometry]
@inlinable
public init(_ components: GLFWGeometry...) {
self.components = components
attributes = components.flatMap { $0.attributes }
}
@inlinable
public func render() {
components.forEach { $0.render() }
}
@inlinable
public func renderWithAttributes() {
components.forEach { $0.renderWithAttributes() }
}
}
public class GLFWPoint: GLFWGeometry {
public var attributes: [GLFWAttribute] = []
public var coordinates: (Float, Float, Float)
@inlinable
public init(coordinates: (Float, Float, Float) = (0, 0, 0)) {
self.coordinates = coordinates
}
@inlinable
public func render() {
glBegin(GLenum(GL_POINTS))
glVertex3f(0, 0, 0)
glEnd()
}
}
public class GLFWLine: GLFWGeometry {
public var attributes: [GLFWAttribute] = []
public var start: (Float, Float)
public var end: (Float, Float)
@inlinable
public init(start: (Float, Float), end: (Float, Float)) {
self.start = start
self.end = end
}
@inlinable
public func render() {
glBegin(GLenum(GL_LINES))
glVertex2f(start.0, start.1)
glVertex2f(end.0, end.1)
glEnd()
}
}
public class GLFWPolygon: GLFWGeometry {
public var attributes: [GLFWAttribute] = []
public var vertices: [(Float, Float)]
@inlinable
public init(vertices: [(Float, Float)]) {
self.vertices = vertices
}
@inlinable
public func render() {
switch vertices.count {
case 4: glBegin(GLenum(GL_QUADS))
case 4...: glBegin(GLenum(GL_POLYGON))
case _: glBegin(GLenum(GL_TRIANGLES))
}
vertices.forEach { glVertex3f($0.0, $0.1, 0) }
glEnd()
}
}
public class GLFWPolyLine: GLFWGeometry {
public var attributes: [GLFWAttribute] = []
public var vertices: [(Float, Float)]
public var closed: Bool
@inlinable
public init(vertices: [(Float, Float)], closed: Bool) {
self.vertices = vertices
self.closed = closed
}
@inlinable
public func render() {
glBegin(GLenum(closed ? GL_LINE_LOOP : GL_LINE_STRIP))
vertices.forEach { glVertex3f($0.0, $0.1, 0) }
glEnd()
}
}
public class GLFWCircle: GLFWGeometry {
public var attributes: [GLFWAttribute] = []
public var radius: Float = 10
public var resolution: Int = 30
public var filled: Bool = true
@inlinable
public func render() {
let vertices = (0..<resolution).map { i -> (Float, Float) in
let angle = 2 * Float.pi * Float(i) / Float(resolution)
return (cos(angle) * radius, sin(angle) * radius)
}
if filled {
GLFWPolygon(vertices: vertices).render()
} else {
GLFWPolyLine(vertices: vertices, closed: true).render()
}
}
}
// public class GLFWImage: GLFWGeometry {
// public var attributes: [GLFWAttribute] = []
// public var image: ShapedArray<UInt8>
// public init(_ image: ShapedArray<UInt8>) {
// precondition(
// image.rank == 3 && image.shape[2] == 3,
// "The image array must have shape '[Height, Width, 3]'.")
// self.image = image
// }
// public func render(in window: OpaquePointer?) {
// // Generate the image texture.
// let rowSize = image.shape[1] * image.shape[2]
// let scalars = image.scalars
// var preprocessed = [UInt8]()
// preprocessed.reserveCapacity(scalars.count)
// for row in 1...image.shape[0] {
// let index = (image.shape[0] - row) * rowSize
// preprocessed.append(contentsOf: scalars[index..<(index + rowSize)])
// }
// preprocessed.withUnsafeBufferPointer {
// glTexImage2D(
// GLenum(GL_TEXTURE_2D), 0, GL_RGB8, GLsizei(image.shape[1]), GLsizei(image.shape[0]),
// 0, GLenum(GL_RGB), GLenum(GL_UNSIGNED_BYTE), $0.baseAddress)
// }
// // Resize and render the texture.
// var width: GLsizei = 0
// var height: GLsizei = 0
// glfwGetFramebufferSize(window, &width, &height)
// glBlitFramebuffer(
// 0, 0, GLsizei(image.shape[1]), GLsizei(image.shape[0]), 0, 0,
// width, height, GLenum(GL_COLOR_BUFFER_BIT), GLenum(GL_LINEAR))
// }
// }