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Faster animation rendering #3

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Faster animation rendering #3

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549be0e
faster video rendering
ckchow Mar 8, 2015
c8c35dd
remove dead code from simulator
ckchow Mar 8, 2015
316c8d8
moved simulation length to variable
ckchow Mar 8, 2015
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92 changes: 32 additions & 60 deletions Simulator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@
'''

import numpy as np
import matplotlib
matplotlib.use("Agg")
import matplotlib.pyplot as plt
from numpy import *
from World import *
Expand All @@ -15,7 +17,7 @@
from LinearAlegebraUtils import distBetween
from RunAtBallBrain import RunAtBallBrain
from Team import Team

from matplotlib import animation


#Called once for initialization
Expand All @@ -33,17 +35,11 @@ def __init__(self, world, simTime, fps, imageDirName):
self.imageDirName = imageDirName
self.currWP = 0
self.ballWPs = [array([50.0, -100.0, 0.0]), array([0.0, 100.0, -70.0]), array([50.0, 20.0, 100.0]),array([-30.0, 50.0, -100.0]), array([80.0, -50.0, 50.0]), array([80.0, -50.0, -50.0]), array([-65.0, 20.0, 50.0]), array([-50.0, 20.0, -60.0])]
self.fig = plt.figure(figsize=(16,12))

def setup(self):
#setup directory to save the images
self.imageDirName = 'images'
try:
os.mkdir(self.imageDirName)
except:
print self.imageDirName + " subdirectory already exists. OK."


#define teams which the agents can be a part of
def setup(self):
#define teams which the agents can be a part of
teamA = Team("A", '#ff99ff')
teamB = Team("B", '#ffcc99')
#Defining a couple of agents
Expand Down Expand Up @@ -74,7 +70,6 @@ def setup(self):
self.world.agents.append(agent3)
self.world.agents.append(agent4)

#
#define a bunch of obstacles
ob1Pos = array([-50,-50,-50])
ob1 = Obstacle(ob1Pos, 30)
Expand All @@ -83,7 +78,7 @@ def setup(self):
ob2 = Obstacle(ob2Pos, 20)

#add obstacles to the world
self.world.obstacles.append(ob1);
self.world.obstacles.append(ob1)
self.world.obstacles.append(ob2)

#define a ball
Expand All @@ -93,7 +88,8 @@ def setup(self):
#add the ball to the world
self.world.balls.append(ball)

#called at a fixed 30fps always
# called at a fixed 30fps always
# physics simulation
def fixedLoop(self):
for agent in self.world.agents:
agent.moveAgent(self.world)
Expand All @@ -106,60 +102,36 @@ def fixedLoop(self):
self.ballWPs.remove(self.ballWPs[0])


#Called at specifed fps
#Called at specifed fps
def loop(self, ax):
self.world.draw(ax)


def run(self):
#Run setup once
self.setup()

#Setup loop
timeStep = 1/double(30)
frameProb = double(self.fps) / 30
currTime = double(0)
drawIndex = 0
physicsIndex = 0
while(currTime < self.simTime):
self.fixedLoop()
currProb = double(drawIndex)/double(physicsIndex+1)
if currProb < frameProb:
self.drawFrame(drawIndex)
drawIndex+=1
physicsIndex+=1
currTime+=double(timeStep)

print "Physics ran for "+str(physicsIndex)+" steps"
print "Drawing ran for "+str(drawIndex)+" steps"

def drawFrame(self, loopIndex):
fig = plt.figure(figsize=(16,12))
ax = fig.add_subplot(111, projection='3d')

# advances simulation 1 tick, returns the current world state plot
def tick(self):
self.fixedLoop()

self.fig.clf()
ax = self.fig.add_subplot(111, projection='3d')
ax.view_init(elev = 30)
ax.set_xlabel("X")
ax.set_ylabel("Y")
ax.set_zlabel("Z")
fname = self.imageDirName + '/' + str(int(100000000+loopIndex)) + '.png' # name the file
self.loop(ax)
plt.gca().set_ylim(ax.get_ylim()[::-1])
savefig(fname, format='png', bbox_inches='tight')
print 'Written Frame No.'+ str(loopIndex)+' to '+ fname
plt.close()
ax.set_zlabel("Z")

return self.loop(ax), plt.gca().set_ylim(ax.get_ylim()[::-1])

def tick(i):
return sim.tick()

# simulator assumes its physics simulation is running at dt = 1/30 s
# would have to recalculate the true animation framerate (to get physically accurate speeds, etc)
# if you change the raw sample rate of the animator function (which accepts arguments in ms)
FPS = 30 # hardcoded into simulation assumptions
simlen = 10 # sec
frames = FPS * simlen

#Simulation runs here
#set the size of the world
world = World(100, 100)
#specify which world to simulate, total simulation time, and frammerate for video
sim = Simulator(world, 60, 30, "images")
#run the simulation
sim.run()
sim = Simulator(world, simlen, FPS, "images")

'''
To create a video using the image sequence, execute the following command in command line.
>ffmpeg -f image2 -i "1%08d.png" -r 30 outPut.mp4
Make sure to set your current working directory to /images and have ffmpeg in your path.
'''
ani = animation.FuncAnimation(sim.fig, tick, frames=frames, blit=True, init_func=sim.setup)

ani.save('output.mp4', fps=FPS, extra_args=['-vcodec', 'libx264'])