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"""
KAPS Visualization Engine Interface
=====================================
Pluggable renderer abstraction.
Swap between engines without touching physics or AI.
Supported engines:
- ModernGL (default) - Clean OpenGL 3.3+, proper shaders
- Panda3D (legacy) - If you really want cartoons
- Headless - No rendering, just state logging
Usage:
from visualization.engine_interface import create_renderer
renderer = create_renderer('moderngl') # or 'panda3d', 'headless'
renderer.set_simulation(sim)
renderer.run()
"""
from abc import ABC, abstractmethod
from typing import Dict, Optional, Tuple, Any
import numpy as np
from dataclasses import dataclass
@dataclass
class RenderState:
"""Common state representation for all renderers."""
# Buzzard (mother drone)
buzzard_position: np.ndarray
buzzard_velocity: np.ndarray
buzzard_rotation: Optional[np.ndarray] = None
# TABs
tab_states: Dict[str, Dict] = None # {id: {pos, vel, attached, color}}
# Cables
cables: list = None # [(start, end, tension), ...]
# Threats
threats: list = None # [{pos, vel, type, active}, ...]
# Bola/slingshot mode
bola_active: bool = False
bola_position: Optional[np.ndarray] = None
bola_rotation: float = 0.0
# Camera
camera_mode: str = "CHASE"
camera_position: Optional[np.ndarray] = None
camera_target: Optional[np.ndarray] = None
# HUD
hud_text: Dict[str, str] = None
class RendererInterface(ABC):
"""Abstract base for all KAPS renderers."""
@abstractmethod
def initialize(self):
"""Initialize the rendering engine."""
pass
@abstractmethod
def set_simulation(self, sim, env=None):
"""Connect to KAPS simulation."""
pass
@abstractmethod
def update_state(self, state: RenderState):
"""Push new state to renderer."""
pass
@abstractmethod
def render_frame(self, dt: float):
"""Render one frame."""
pass
@abstractmethod
def run(self):
"""Run the render loop (blocking)."""
pass
@abstractmethod
def is_running(self) -> bool:
"""Check if renderer is still active."""
pass
@abstractmethod
def shutdown(self):
"""Clean up resources."""
pass
# Camera controls
@abstractmethod
def set_camera_mode(self, mode: str):
"""Set camera mode: CHASE, ORBIT, FREE, TOP_DOWN, etc."""
pass
@abstractmethod
def set_camera_position(self, position: np.ndarray, target: np.ndarray):
"""Manually set camera position and target."""
pass
class HeadlessRenderer(RendererInterface):
"""No-op renderer for training without display."""
def __init__(self):
self._running = False
self._frame_count = 0
self.sim = None
def initialize(self):
self._running = True
print("[Headless] Renderer initialized (no display)")
def set_simulation(self, sim, env=None):
self.sim = sim
def update_state(self, state: RenderState):
pass # No-op
def render_frame(self, dt: float):
self._frame_count += 1
def run(self):
self._running = True
print("[Headless] Running (no visual output)")
def is_running(self) -> bool:
return self._running
def shutdown(self):
self._running = False
print(f"[Headless] Shutdown after {self._frame_count} frames")
def set_camera_mode(self, mode: str):
pass
def set_camera_position(self, position: np.ndarray, target: np.ndarray):
pass
class ModernGLRenderer(RendererInterface):
"""ModernGL-based renderer with proper shaders."""
def __init__(self):
self._window = None
self._running = False
self.sim = None
self.env = None
def initialize(self):
# Lazy import to avoid requiring moderngl if not used
from visualization.modern_renderer import KAPSModernRenderer
import moderngl_window as mglw
self._renderer_class = KAPSModernRenderer
self._running = True
print("[ModernGL] Renderer initialized")
def set_simulation(self, sim, env=None):
self.sim = sim
self.env = env
def update_state(self, state: RenderState):
if self._window:
# Push state to window
pass
def render_frame(self, dt: float):
# Handled by moderngl_window event loop
pass
def run(self):
import moderngl_window as mglw
# Configure window with simulation
class ConfiguredRenderer(self._renderer_class):
pass
ConfiguredRenderer.sim_instance = self.sim
ConfiguredRenderer.env_instance = self.env
# Inject simulation in __init__
original_init = ConfiguredRenderer.__init__
sim = self.sim
env = self.env
def new_init(self, **kwargs):
original_init(self, **kwargs)
self.set_simulation(sim, env)
ConfiguredRenderer.__init__ = new_init
mglw.run_window_config(ConfiguredRenderer)
def is_running(self) -> bool:
return self._running
def shutdown(self):
self._running = False
def set_camera_mode(self, mode: str):
pass
def set_camera_position(self, position: np.ndarray, target: np.ndarray):
pass
class Panda3DRenderer(RendererInterface):
"""Legacy Panda3D renderer (cartoonish but functional)."""
def __init__(self):
self._app = None
self._running = False
def initialize(self):
print("[Panda3D] Use visual_trainer.py for Panda3D rendering")
self._running = True
def set_simulation(self, sim, env=None):
pass
def update_state(self, state: RenderState):
pass
def render_frame(self, dt: float):
pass
def run(self):
# Delegate to existing trainer
from training.visual_trainer import VisualTrainer
trainer = VisualTrainer()
trainer.run()
def is_running(self) -> bool:
return self._running
def shutdown(self):
self._running = False
def set_camera_mode(self, mode: str):
pass
def set_camera_position(self, position: np.ndarray, target: np.ndarray):
pass
# Registry of available engines
RENDERERS = {
'moderngl': ModernGLRenderer,
'opengl': ModernGLRenderer, # Alias
'panda3d': Panda3DRenderer,
'panda': Panda3DRenderer, # Alias
'headless': HeadlessRenderer,
'none': HeadlessRenderer,
}
def create_renderer(engine: str = 'moderngl') -> RendererInterface:
"""
Create a renderer instance.
Args:
engine: One of 'moderngl', 'panda3d', 'headless'
Returns:
Initialized renderer
"""
engine = engine.lower()
if engine not in RENDERERS:
available = ', '.join(RENDERERS.keys())
raise ValueError(f"Unknown engine '{engine}'. Available: {available}")
renderer = RENDERERS[engine]()
renderer.initialize()
return renderer
def list_available_engines() -> list:
"""List available rendering engines."""
return list(set(RENDERERS.values()))
def get_recommended_engine() -> str:
"""Get the recommended engine for this system."""
try:
import moderngl
return 'moderngl'
except ImportError:
pass
try:
from panda3d.core import PandaSystem
return 'panda3d'
except ImportError:
pass
return 'headless'
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