474 lines
15 KiB
Python
474 lines
15 KiB
Python
"""Headless first-person renderer for the testbed room.
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A small raycaster (Pillow-only, no GPU, no display) that produces an honest
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frame: it derives every pixel from the actual world state in ``Room``. Used by
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the ``vision`` and ``depth`` sensor tools.
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Camera model: yaw = heading around Y, pitch = camera tilt. 90° horizontal FOV.
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"""
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from __future__ import annotations
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import math
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from PIL import Image, ImageDraw
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from testbed.room.world import ROOM_HEIGHT, ROOM_SIZE, Room
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# Palette
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FOG = (14, 14, 20)
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FLOOR_A = (56, 56, 62)
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FLOOR_B = (64, 64, 70)
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FLOOR_LINE = (42, 42, 48)
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CEIL = (40, 40, 46)
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SKY = (12, 16, 30)
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WALL = (96, 96, 106)
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WALL_TOP_BAND = (70, 70, 78)
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BEACON_OFF = ((0.85, 1.0, 1.0), (0.42, 0.82, 0.92), (0.10, 0.45, 0.62))
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BEACON_ON = ((1.0, 0.98, 0.78), (1.0, 0.75, 0.35), (0.78, 0.43, 0.0))
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MAX_VIEW = 20.0
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_EPS = 1e-9
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class Raycaster:
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"""Renders the room from the capsule's camera. Stateless per frame."""
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def __init__(self, width: int = 160, height: int = 120):
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self.width = width
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self.height = height
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self.tan_fx = 1.0 # 90° horizontal FOV
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self.tan_fy = self.tan_fx * height / width
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def render(
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self, room: Room, max_depth: float = 10.0
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) -> tuple[Image.Image, list[list[float]]]:
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"""Render the current view. Returns (RGB image, aligned depth grid)."""
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w, h = self.width, self.height
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cap = room.capsule
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px = cap.x
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pz = cap.z
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eye = cap.eye_height
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yaw = math.radians(cap.yaw_deg)
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pitch = math.radians(cap.pitch_deg)
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tan_pitch = math.tan(pitch)
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fx = math.sin(yaw)
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fz = math.cos(yaw)
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rx = math.cos(yaw)
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rz = -math.sin(yaw)
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pixels = bytearray(w * h * 3)
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depth = [[MAX_VIEW] * w for _ in range(h)]
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slabs = self._slabs(room)
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for c in range(w):
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u = (2.0 * (c + 0.5) / w - 1.0) * self.tan_fx
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dx = fx + rx * u
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dz = fz + rz * u
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inv = 1.0 / math.hypot(dx, dz)
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dx *= inv
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dz *= inv
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dist, surf = self._cast(px, pz, dx, dz, slabs)
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if surf is None:
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t_wall = math.inf
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s_coord = 0.0
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else:
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t_wall = dist
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s_coord = surf["s"]
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row_top = self._row_of(ROOM_HEIGHT, t_wall, eye, tan_pitch)
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row_bot = self._row_of(0.0, t_wall, eye, tan_pitch)
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r_top = max(0, math.ceil(min(row_top, row_bot)))
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r_bot = min(h, math.floor(max(row_top, row_bot)))
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c * 3
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for r in range(h):
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v = self.tan_fy * (1.0 - 2.0 * (r + 0.5) / h)
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down = v + tan_pitch
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o = (r * w + c) * 3
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if r_top <= r < r_bot and t_wall < MAX_VIEW:
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col = self._shade_wall(surf, dist, s_coord)
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if r == r_top:
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col = _lerp(col, WALL_TOP_BAND, 0.55)
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t = dist
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elif down < -_EPS:
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t = eye / -down
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col = self._shade_floor(px + dx * t, pz + dz * t, t)
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elif down > _EPS:
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t = (ROOM_HEIGHT - eye) / down
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col = _fog(CEIL, t)
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else:
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col = SKY
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t = math.inf
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if t < MAX_VIEW:
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depth[r][c] = t
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pixels[o] = col[0]
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pixels[o + 1] = col[1]
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pixels[o + 2] = col[2]
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self._draw_beacon(room, pixels, depth, fx, fz, rx, rz, eye, tan_pitch)
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img = Image.frombuffer("RGB", (w, h), bytes(pixels), "raw", "RGB", 0, 1)
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grid = self._depth_grid(depth, max_depth)
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return img, grid
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# ---------- helpers ----------
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def _slabs(self, room: Room) -> list[dict]:
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"""Room walls as thin slabs + the obstacle boxes, all axis-aligned."""
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e = 0.01
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slabs: list[dict] = []
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slabs.append(
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{
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"x0": -e,
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"x1": ROOM_SIZE + e,
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"z0": -e,
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"z1": e,
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"kind": "wall",
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"id": "wall_north",
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"top": ROOM_HEIGHT,
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"color": WALL,
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"face": "z0",
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}
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)
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slabs.append(
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{
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"x0": -e,
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"x1": ROOM_SIZE + e,
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"z0": ROOM_SIZE - e,
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"z1": ROOM_SIZE + e,
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"kind": "wall",
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"id": "wall_south",
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"top": ROOM_HEIGHT,
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"color": WALL,
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"face": "z1",
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}
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)
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slabs.append(
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{
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"x0": -e,
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"x1": e,
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"z0": -e,
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"z1": ROOM_SIZE + e,
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"kind": "wall",
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"id": "wall_west",
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"top": ROOM_HEIGHT,
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"color": WALL,
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"face": "x0",
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}
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)
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slabs.append(
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{
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"x0": ROOM_SIZE - e,
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"x1": ROOM_SIZE + e,
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"z0": -e,
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"z1": ROOM_SIZE + e,
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"kind": "wall",
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"id": "wall_east",
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"top": ROOM_HEIGHT,
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"color": WALL,
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"face": "x1",
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}
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)
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for box in room.boxes:
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slabs.append(
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{
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"x0": box.x_min(),
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"x1": box.x_max(),
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"z0": box.z_min(),
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"z1": box.z_max(),
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"kind": "box",
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"id": box.id,
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"top": box.height,
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"color": box.color,
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"face": "box",
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"box": box,
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}
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)
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return slabs
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def _cast(self, ox: float, oz: float, dx: float, dz: float, slabs: list[dict]):
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"""Nearest 2D hit of the ray against all slabs. Returns (dist, surface)."""
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best = math.inf
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best_surf = None
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for s in slabs:
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t = _ray_aabb(ox, oz, dx, dz, s["x0"], s["x1"], s["z0"], s["z1"])
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if t is not None and t < best:
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best = t
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best_surf = s
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if best_surf is None:
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return best, None
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hit_x = ox + dx * best
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hit_z = oz + dz * best
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face = best_surf["face"]
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if face == "z0" or face == "z1":
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s_coord = hit_x
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elif face == "x0" or face == "x1":
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s_coord = hit_z
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else:
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# Box: pick the face by comparing t to each plane.
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s_coord = (
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hit_x if best_surf["box"].half_w <= best_surf["box"].half_d else hit_z
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)
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return best, {"surf": best_surf, "s": s_coord, "hit_x": hit_x, "hit_z": hit_z}
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def _row_of(self, world_h: float, t: float, eye: float, tan_pitch: float) -> float:
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"""Screen row (float) where a height `world_h` at distance `t` lands."""
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if math.isinf(t):
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return 0.0 if world_h > eye else float(self.height)
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vv = (world_h - eye) / t - tan_pitch
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return (1.0 - vv / self.tan_fy) / 2.0 * self.height
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def _shade_wall(
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self, surf: dict | None, dist: float, s: float
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) -> tuple[int, int, int]:
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if surf is None:
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return SKY
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s_def = surf["surf"]
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color = s_def["color"]
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face = s_def["face"]
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shade = 1.0
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if face == "x0":
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shade = 0.9
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elif face == "x1":
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shade = 1.08
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elif face == "z1":
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shade = 1.0
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elif face == "z0":
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shade = 0.95
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# Concrete panel grid: subtle stripes every 1 m.
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if int(abs(s) * 1.0) % 2 == 0:
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shade *= 1.06
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col = (
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min(255, int(color[0] * shade)),
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min(255, int(color[1] * shade)),
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min(255, int(color[2] * shade)),
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)
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return _fog(col, dist)
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def _shade_floor(self, wx: float, wz: float, t: float) -> tuple[int, int, int]:
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cell = math.floor(wx) + math.floor(wz)
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col = FLOOR_A if cell % 2 == 0 else FLOOR_B
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fx = wx - math.floor(wx)
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fz = wz - math.floor(wz)
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if min(fx, 1.0 - fx, fz, 1.0 - fz) < 0.07:
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col = FLOOR_LINE
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return _fog(col, t)
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def _draw_beacon(
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self,
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room: Room,
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pixels: bytearray,
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depth: list[list[float]],
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fx: float,
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fz: float,
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rx: float,
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rz: float,
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eye: float,
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tan_pitch: float,
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) -> None:
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"""Billboard the beacon with a soft glow, occluded by the depth buffer."""
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w, h = self.width, self.height
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b = room.beacon
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rel_x = b.x - room.capsule.x
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rel_z = b.z - room.capsule.z
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along = rel_x * fx + rel_z * fz
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if along < 0.25:
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return
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right = rel_x * rx + rel_z * rz
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col_c = (right / along / self.tan_fx + 1.0) / 2.0 * w
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vv = (b.height - eye) / along - tan_pitch
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row_c = (1.0 - vv / self.tan_fy) / 2.0 * h
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r_px = b.radius / along / self.tan_fx * w / 2.0
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r_px = max(r_px, 1.2)
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glow = r_px * 3.4
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pulse = 1.0
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if b.active:
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pulse = 0.9 + 0.1 * math.sin(room.tick * 0.6)
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core, mid, outer = BEACON_ON if b.active else BEACON_OFF
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core = tuple(pulse * v for v in core)
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mid = tuple(pulse * v for v in mid)
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outer = tuple(pulse * v for v in outer)
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c0 = max(0, int(col_c - glow))
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c1 = min(w, int(col_c + glow) + 1)
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r0 = max(0, int(row_c - glow))
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r1 = min(h, int(row_c + glow) + 1)
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inv_r2 = 1.0 / (r_px * r_px)
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for r in range(r0, r1):
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for c in range(c0, c1):
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if depth[r][c] <= along - 0.06:
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continue # occluded by a nearer surface
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dc = c - col_c
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dr = r - row_c
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d2 = (dc * dc + dr * dr) * inv_r2
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if d2 > glow * glow * inv_r2:
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continue
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if d2 <= 1.0:
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a = 1.0 - d2 * 0.55
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col = core
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elif d2 <= 4.0:
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f = (d2 - 1.0) / 3.0
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a = 0.85 * (1.0 - f)
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col = tuple(core[i] + (mid[i] - core[i]) * f for i in range(3))
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else:
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f = (d2 - 4.0) / (glow * glow * inv_r2 - 4.0)
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a = 0.5 * (1.0 - f)
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col = tuple(mid[i] + (outer[i] - mid[i]) * f for i in range(3))
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o = (r * w + c) * 3
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base = (pixels[o], pixels[o + 1], pixels[o + 2])
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out = (
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int(base[0] * (1 - a) + col[0] * 255 * a),
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int(base[1] * (1 - a) + col[1] * 255 * a),
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int(base[2] * (1 - a) + col[2] * 255 * a),
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)
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pixels[o] = min(255, out[0])
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pixels[o + 1] = min(255, out[1])
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pixels[o + 2] = min(255, out[2])
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def _depth_grid(
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self, depth: list[list[float]], max_depth: float
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) -> list[list[float]]:
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"""Downsample the per-pixel depth to 1/4 resolution (40x30 at 160x120)."""
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w, h = self.width, self.height
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gw, gh = w // 4, h // 4
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grid = [[0.0] * gw for _ in range(gh)]
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for r in range(gh):
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for c in range(gw):
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total = 0.0
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n = 0
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for rr in range(r * 4, r * 4 + 4):
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row = depth[rr]
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for cc in range(c * 4, c * 4 + 4):
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t = row[cc]
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if t >= MAX_VIEW or t > max_depth:
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continue
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total += t
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n += 1
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grid[r][c] = round(total / n, 2) if n else 0.0
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return grid
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def render_topdown(room: Room, size: int = 400) -> Image.Image:
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"""Bird's-eye view of the whole room (debug helper; uses world state).
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Floor grid, crates, beacon (cyan / warm yellow when active) and the
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capsule as a circle with a heading arrow.
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"""
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scale = size / ROOM_SIZE
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img = Image.new("RGB", (size, size), (52, 52, 58))
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draw = ImageDraw.Draw(img)
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def xy(x: float, z: float) -> tuple[float, float]:
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return (x * scale, size - z * scale)
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for i in range(int(ROOM_SIZE) + 1):
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c = 60 if i % 2 == 0 else 54
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draw.line([xy(i, 0), xy(i, ROOM_SIZE)], fill=(c, c, c + 6), width=1)
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draw.line([xy(0, i), xy(ROOM_SIZE, i)], fill=(c, c, c + 6), width=1)
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for box in room.boxes:
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xa, za = xy(box.x_min(), box.z_min())
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xb, zb = xy(box.x_max(), box.z_max())
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draw.rectangle(
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[min(xa, xb), min(za, zb), max(xa, xb), max(za, zb)],
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fill=box.color,
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outline=(20, 20, 26),
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width=2,
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)
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b = room.beacon
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bx, bz = xy(b.x, b.z)
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color = (255, 200, 90) if b.active else (120, 210, 235)
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glow = (255, 240, 180) if b.active else (160, 235, 250)
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r = b.radius * scale * 2.2
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draw.ellipse([bx - r * 2.4, bz - r * 2.4, bx + r * 2.4, bz + r * 2.4], fill=glow)
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draw.ellipse(
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[bx - r, bz - r, bx + r, bz + r], fill=color, outline=(20, 20, 26), width=2
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)
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c = room.capsule
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cx, cz = xy(c.x, c.z)
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rad = c.radius * scale
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draw.ellipse(
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[cx - rad, cz - rad, cx + rad, cz + rad],
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fill=(240, 240, 250),
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outline=(20, 20, 26),
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width=2,
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)
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fx, fz = c.forward()
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tip = xy(c.x + fx * 0.7, c.z + fz * 0.7)
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draw.line([(cx, cz), tip], fill=(30, 30, 40), width=3)
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return img
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def _ray_aabb(
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ox: float,
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oz: float,
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dx: float,
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dz: float,
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x0: float,
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x1: float,
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z0: float,
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z1: float,
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) -> float | None:
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"""Slab test in 2D. Returns entry distance or None."""
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if abs(dx) < _EPS:
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if ox < x0 - _EPS or ox > x1 + _EPS:
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return None
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tx0, tx1 = -math.inf, math.inf
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else:
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tx0, tx1 = (x0 - ox) / dx, (x1 - ox) / dx
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if tx0 > tx1:
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tx0, tx1 = tx1, tx0
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if abs(dz) < _EPS:
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if oz < z0 - _EPS or oz > z1 + _EPS:
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return None
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tz0, tz1 = -math.inf, math.inf
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else:
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tz0, tz1 = (z0 - oz) / dz, (z1 - oz) / dz
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if tz0 > tz1:
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tz0, tz1 = tz1, tz0
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tin = max(tx0, tz0)
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tout = min(tx1, tz1)
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if tout < 0.0 or tin > tout:
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return None
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if tin > _EPS:
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return tin
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return None if tout <= _EPS else tout
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def _fog(color: tuple[int, int, int], t: float) -> tuple[int, int, int]:
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k = min(1.0, t / MAX_VIEW)
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k = k**1.4
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return (
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int(color[0] + (FOG[0] - color[0]) * k),
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int(color[1] + (FOG[1] - color[1]) * k),
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int(color[2] + (FOG[2] - color[2]) * k),
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)
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def _lerp(
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a: tuple[int, int, int], b: tuple[int, int, int], k: float
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) -> tuple[int, int, int]:
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return (
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int(a[0] + (b[0] - a[0]) * k),
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int(a[1] + (b[1] - a[1]) * k),
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int(a[2] + (b[2] - a[2]) * k),
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)
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def render_preview(
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room: Room, path: str, width: int = 320, height: int = 240
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) -> Image.Image:
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|
"""Debug helper: render the current view and save it to a PNG file."""
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|
img, _ = Raycaster(width, height).render(room)
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|
img.save(path)
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|
return img
|