add feature to render specific static frame (#43)

* feat(animation): add fram_idx support

* feat(frame): add funciton

* fixed(frame):fixed unasync frame render bug due to is_active function


remove unrelated changes from the pull request

---------

Co-authored-by: Alexey Skrynnik <Tviskaron@gmail.com>

Author: Jiaxi-Huang

pogema/svg_animation/animation_drawer.py

@@ -12,6 +12,7 @@ class AnimationConfig:
     static: bool = False
     show_agents: bool = True
     egocentric_idx: typing.Optional[int] = None
+    frame_idx: typing.Optional[int] = None
     uid: typing.Optional[str] = None
     save_every_idx_episode: typing.Optional[int] = 1
     show_grid_lines: bool = True
@@ -116,10 +117,15 @@ def create_animation(self, grid_holder: GridHolder):
         if gh.config.show_agents:
             agents = self.create_agents(gh)
             targets = self.create_targets(gh)
-
-            if not gh.config.static:
+            if gh.config.static:
+                agents = self.create_static_agents(gh)
+                if gh.config.egocentric_idx is not None:
+                    obstacles = self.create_static_obstacles(obstacles= obstacles, grid_holder=gh)
+                self.create_frame_view(gh)
+            else:
                 self.animate_agents(agents, gh)
                 self.animate_targets(targets, gh)
+
         if gh.config.show_grid_lines:
             grid_lines = self.create_grid_lines(gh, render_width, render_height)
             for line in grid_lines:
@@ -143,7 +149,7 @@ def fix_point(x, y, length):
     @staticmethod
     def check_in_radius(x1, y1, x2, y2, r) -> bool:
         return x2 - r <= x1 <= x2 + r and y2 - r <= y1 <= y2 + r
-
+    
     @staticmethod
     def create_grid_lines(grid_holder: GridHolder, render_width, render_height):
         gh = grid_holder
@@ -177,6 +183,11 @@ def create_field_of_view(grid_holder):
         )
 
         return result
+        
+    def create_frame_view(self, grid_holder):
+        gh: GridHolder = grid_holder
+        frame_idx = gh.config.frame_idx
+        gh.history = [[agent_states[gh.config.frame_idx]] for agent_states in gh.history]
 
     def animate_field_of_view(self, view, grid_holder):
         gh: GridHolder = grid_holder
@@ -316,6 +327,39 @@ def create_obstacles(self, grid_holder):
 
         return result
 
+    def create_static_obstacles(self, obstacles, grid_holder):
+        gh: GridHolder = grid_holder
+        frame_idx = gh.config.frame_idx
+        result = []
+        seen = set()
+
+        for step_idx, agent_state in enumerate(gh.history[gh.config.egocentric_idx][:frame_idx + 1]):
+            ego_x, ego_y = agent_state.get_xy()
+            for i in range(gh.height):
+                for j in range(gh.width):
+                    x, y = self.fix_point(i, j, gh.width)
+                    if gh.obstacles[x][y]:
+                        if self.check_in_radius(x, y, ego_x, ego_y, gh.obs_radius):
+                            seen.add((x, y))
+        for i in range(gh.height):
+            for j in range(gh.width):
+                x, y = self.fix_point(i, j, gh.width)
+
+                if gh.obstacles[x][y]:
+                    obs_settings = {
+                        'x': gh.svg_settings.draw_start + i * gh.svg_settings.scale_size - gh.svg_settings.r,
+                        'y': gh.svg_settings.draw_start + j * gh.svg_settings.scale_size - gh.svg_settings.r,
+                        'height': gh.svg_settings.r * 2,
+                    }
+                    if (x, y) in seen:
+                        obs_settings.update(opacity=1.0)
+                    else:
+                        obs_settings.update(opacity=gh.svg_settings.shaded_opacity)
+
+                    result.append(RectangleHref(**obs_settings))
+
+        return result
+                        
     def animate_obstacles(self, obstacles, grid_holder):
         gh: GridHolder = grid_holder
         obstacle_idx = 0
@@ -367,6 +411,33 @@ def create_agents(self, grid_holder):
 
         return agents
 
+    def create_static_agents(self, grid_holder):
+        agents = []
+        gh: GridHolder = grid_holder
+        ego_idx = grid_holder.config.egocentric_idx
+        frame_idx = grid_holder.config.frame_idx
+        
+        static_positions = [state[frame_idx].get_xy() for state in grid_holder.history]
+        for idx, (x, y) in enumerate(static_positions):
+            circle_settings = {
+                'cx': gh.svg_settings.draw_start + y * gh.svg_settings.scale_size,
+                'cy': gh.svg_settings.draw_start + (grid_holder.width - x - 1) * gh.svg_settings.scale_size,
+                'r': gh.svg_settings.r, 'fill': grid_holder.colors[idx], 'class': 'agent',
+            }
+
+            if ego_idx is not None:
+                ego_x, ego_y = static_positions[ego_idx]
+                is_out_of_radius = not self.check_in_radius(x, y, ego_x, ego_y, grid_holder.obs_radius)
+                circle_settings['fill'] = gh.svg_settings.ego_other_color
+                if idx == ego_idx:
+                    circle_settings['fill'] = gh.svg_settings.ego_color
+                elif is_out_of_radius and gh.svg_settings.egocentric_shaded:
+                    circle_settings['opacity'] = gh.svg_settings.shaded_opacity
+
+            agents.append(Circle(**circle_settings))
+
+        return agents
+
     @staticmethod
     def create_targets(grid_holder):
         gh: GridHolder = grid_holder