from typing import Optional
import genesis as gs
import numpy as np
from .options import Options
from .surfaces import Surface
class RendererOptions(Options):
"""
This is the base class for all `gs.renderers.*` classes.
Note that this is not an actual renderer, but rather a renderer configuration specifying which renderer to use and its parameters.
"""
pass
[docs]
class Rasterizer(RendererOptions):
"""
Rasterizer renderer. This has no parameter to be configured.
Note
----
You can set which renderer to use for cameras, but the interactive viewer always uses the rasterizer rendering backend. If you want to configure properties like shadow, lights, etc., you should use `gs.options.VisOptions` instead.
"""
pass
[docs]
class RayTracer(RendererOptions):
"""
RayTracer renderer.
Note
----
We use a environmental sphere wrapped around the scene to render the environment map (i.e. skybox).
Parameters
----------
device_index : int, optional
Device ID used for the raytracer. Defaults to 0.
logging_level : str, optional
Logging level. Should be one of "debug", "info", "warning". Defaults to "warning".
state_limit : int, optional
State limit for raytracer integrator. Defaults to 2 ** 25.
tracing_depth : int, optional
Tracing depth. Defaults to 32.
rr_depth : int, optional
Russian Roulette depth. Defaults to 0.
rr_threshold : float, optional
Russian Roulette threshold. Defaults to 0.95.
env_surface : Optional[Surface], optional
Environment surface. Defaults to None.
env_radius : float, optional
Environment radius. Defaults to 1000.0.
env_pos : tuple, optional
Environment position. Defaults to (0.0, 0.0, 0.0).
env_euler : tuple, optional
Environment Euler angles. Defaults to (0.0, 0.0, 0.0).
env_quat : Optional[tuple], optional
Environment quaternion. Defaults to None.
lights : list of dict, optional
List of lights. Each light is a dictionary with keys 'pos', 'color', 'intensity', 'radius'. Defaults to [{'pos' : (0.0, 0.0, 10.0), 'color' : (1.0, 1.0, 1.0), 'intensity' : 20.0, 'radius' : 4.0}].
normal_diff_clamp : float, optional
Lower bound for direct face normal vs vertex normal for face normal interpolation. Range is [0, 180]. Defaults to 180.
"""
device_index: int = 0
logging_level: str = "warning"
state_limit: int = 2**25
tracing_depth: int = 32
rr_depth: int = 0
rr_threshold: float = 0.95
# environment texure
env_surface: Optional[Surface] = None
env_radius: float = 1000.0
env_pos: tuple = (0.0, 0.0, 0.0)
env_euler: tuple = (0.0, 0.0, 0.0)
env_quat: Optional[tuple] = None
# sphere lights
lights: list = [{"pos": (0.0, 0.0, 10.0), "color": (1.0, 1.0, 1.0), "intensity": 10.0, "radius": 4.0}]
# lower bound for direct face normal vs vertex normal for face normal interpolation
normal_diff_clamp: float = 180 # [0, 180]
def __init__(self, **data):
super().__init__(**data)
if self.logging_level not in ["debug", "info", "warning"]:
gs.raise_exception("Invalid logging level.")
if self.env_euler is not None:
if self.env_quat is None:
self.env_quat = gs.utils.geom.xyz_to_quat(np.array(self.env_euler), rpy=True, degrees=True)
else:
gs.logger.warning("`env_euler` is ignored when `env_quat` is specified.")
if self.env_surface is not None:
self.env_surface.update_texture()
[docs]
class BatchRenderer(RendererOptions):
"""
BatchRenderer renderer.
Note
----
This renderer is used to render the scene in a batch.
Parameters
----------
use_rasterizer : bool, optional
Whether to use the rasterizer renderer. Defaults to False.
"""
use_rasterizer: bool = False
