9497b6dfb6
* Modified to use Mathutils for matrix math, * Fixed possible joint naming bug, * Imports BVH's with bad EOF gracefully * Fixed duplicate joint names, make them unique * Use \r as well as \n for newlines * Added suppot for nodes with 0 motion channels * Rotation IPOs never cross more then 180d fixes sub frame tweening and time scaling * 5x overall speedup.
497 lines
18 KiB
Python
497 lines
18 KiB
Python
#!BPY
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"""
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Name: 'Motion Capture (.bvh)...'
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Blender: 239
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Group: 'Import'
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Tip: 'Import a (.bvh) motion capture file'
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"""
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__author__ = "Campbell Barton"
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__url__ = ("blender", "elysiun")
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__version__ = "1.0.4 05/12/04"
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__bpydoc__ = """\
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This script imports BVH motion capture data to Blender.
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Supported: Poser 3.01<br>
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Missing:<br>
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Known issues:<br>
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Notes:<br>
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Jean-Michel Soler improved importer to support Poser 3.01 files;<br>
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Jean-Baptiste Perin wrote a script to create an armature out of the
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Empties created by this importer, it's in the Scripts window -> Scripts -> Animation menu.
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"""
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# $Id$
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#
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#===============================================#
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# BVH Import script 1.05 patched by Campbell #
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# Modified to use Mathutils for matrix math, #
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# Fixed possible joint naming bug, #
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# Imports BVH's with bad EOF gracefully #
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# Fixed duplicate joint names, make them unique #
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# Use \r as well as \n for newlines #
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# Added suppot for nodes with 0 motion channels #
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# Rotation IPOs never cross more then 180d #
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# fixes sub frame tweening and time scaling #
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# 5x overall speedup. #
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# 06/12/2005, #
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#===============================================#
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#===============================================#
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# BVH Import script 1.04 patched by jms #
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# Small modif for blender 2.40 #
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# 04/12/2005, #
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#===============================================#
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#===============================================#
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# BVH Import script 1.03 patched by Campbell #
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# Small optimizations and scale input #
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# 01/01/2005, #
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#===============================================#
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#===============================================#
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# BVH Import script 1.02 patched by Jm Soler #
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# to the Poser 3.01 bvh file #
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# 28/12/2004, #
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#===============================================#
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#===============================================#
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# BVH Import script 1.0 by Campbell Barton #
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# 25/03/2004, euler rotation code taken from #
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# Reevan Mckay's BVH import script v1.1 #
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# if you have any questions about this scrip. #
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# email me cbarton@metavr.com #
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#===============================================#
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#===============================================#
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# TODO: #
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# * Create bones when importing #
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# * Make an IPO jitter removal script #
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# * Work out a better naming system #
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#===============================================#
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# --------------------------------------------------------------------------
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# BVH Import v1.05 by Campbell Barton (AKA Ideasman)
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# --------------------------------------------------------------------------
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# ***** BEGIN GPL LICENSE BLOCK *****
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#
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# This program is free software; you can redistribute it and/or
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# modify it under the terms of the GNU General Public License
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# as published by the Free Software Foundation; either version 2
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# of the License, or (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program; if not, write to the Free Software Foundation,
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# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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#
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# ***** END GPL LICENCE BLOCK *****
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# --------------------------------------------------------------------------
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import Blender
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from Blender import Window, Object, Scene, Ipo, Draw
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from Blender.Scene import Render
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# Attempt to load psyco, speed things up
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try:
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import psyco
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psyco.full()
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print 'using psyco to speed up BVH importing'
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except:
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#print 'psyco is not present on this system'
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pass
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def main():
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global scale
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scale = None
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# Update as we load?
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debug = 0
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def getScale():
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return Draw.PupFloatInput('BVH Scale: ', 0.01, 0.001, 10.0, 0.1, 3)
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#===============================================#
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# MAIN FUNCTION - All things are done from here #
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#===============================================#
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def loadBVH(filename):
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global scale
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print '\nBVH Importer 1.05 by Campbell Barton (Ideasman) - cbarton@metavr.com'
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objectCurveMapping = {}
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objectNameMapping = {}
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objectMotiondataMapping = {}
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# Here we store the Ipo curves in the order they load.
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channelCurves = []
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# Object list
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# We need this so we can loop through the objects and edit there IPO's
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# Chenging there rotation to EULER rotation
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objectList = []
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if scale == None:
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tempscale = getScale()
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if tempscale:
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scale = tempscale
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else:
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scale = 0.01
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Window.WaitCursor(1)
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# Unique names, dont reuse any of these names.
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uniqueObNames = [ob.name for ob in Object.Get()]
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# FUNCTIONS ====================================#
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def getUniqueObName(name):
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i = 0
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newname = name[:min(len(name), 12)] # Concatinate to 12 chars
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while newname in uniqueObNames:
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newname = name + str(i)
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i+=1
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return newname
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# Change the order rotation is applied.
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RotationMatrix = Blender.Mathutils.RotationMatrix
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MATRIX_IDENTITY_3x3 = Blender.Mathutils.Matrix([1.0,0.0,0.0],[0.0,1.0,0.0],[0.0,0.0,1.0])
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def eulerRotate(x,y,z):
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x,y,z = x%360,y%360,z%360 # Clamp all values between 0 and 360, values outside this raise an error.
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xmat = RotationMatrix(x,3,'x')
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ymat = RotationMatrix(y,3,'y')
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zmat = RotationMatrix(z,3,'z')
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# Standard BVH multiplication order, apply the rotation in the order Z,X,Y
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return (ymat*(xmat * (zmat * MATRIX_IDENTITY_3x3))).toEuler()
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currentFrame = 1 # Set the initial frame to import all data to.
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#===============================================#
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# makeJoint: Here we use the node data #
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# from the BVA file to create an empty #
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#===============================================#
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BVH2BLEND_TX_NAME = {'Xposition':'LocX','Yposition':'LocY','Zposition':'LocZ','Xrotation':'RotX','Yrotation':'RotY','Zrotation':'RotZ'}
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def makeJoint(name, parent, offset, channels):
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ob = Object.New('Empty', name) # New object, ob is shorter and nicer to use.
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objectNameMapping[name] = ob
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scn.link(ob) # place the object in the current scene
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ob.sel = 1
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# Make me a child of another empty.
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# Vale of None will make the empty a root node (no parent)
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if parent[-1]: # != None
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obParent = objectNameMapping[parent[-1]] # We use this a bit so refrence it here.
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obParent.makeParent([ob], 1, 0) #ojbs, noninverse, 1 = not fast.
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# Offset Empty from BVH's initial joint location.
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ob.setLocation(offset[0]*scale, offset[1]*scale, offset[2]*scale)
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# Add Ipo's for necessary channels
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newIpo = Ipo.New('Object', name)
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ob.setIpo(newIpo)
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obname = ob.name
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for channelType in channels:
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channelType = BVH2BLEND_TX_NAME[channelType]
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curve = newIpo.addCurve(channelType)
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curve.setInterpolation('Linear')
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objectCurveMapping[(obname, channelType)] = curve
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# Add to object list
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objectList.append(ob)
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# Redraw if debugging
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if debug: Blender.Redraw()
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#===============================================#
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# makeEnd: Here we make an end node #
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# This is needed when adding the last bone #
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#===============================================#
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def makeEnd(parent, offset):
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new_name = parent[-1] + '_end'
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ob = Object.New('Empty', new_name) # New object, ob is shorter and nicer to use.
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objectNameMapping[new_name] = ob
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scn.link(ob)
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ob.sel = 1
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# Dont check for a parent, an end node MUST have a parent
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obParent = objectNameMapping[parent[-1]] # We use this a bit so refrence it here.
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obParent.makeParent([ob], 1, 0) #ojbs, noninverse, 1 = not fast.
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# Offset Empty
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ob.setLocation(offset[0]*scale, offset[1]*scale, offset[2]*scale)
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# Redraw if debugging
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if debug: Blender.Redraw()
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# END FUNCTION DEFINITIONS ====================================#
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time1 = Blender.sys.time()
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# Get the current scene.
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scn = Scene.GetCurrent()
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#context = scn.getRenderingContext()
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# DeSelect All
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for ob in scn.getChildren():
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ob.sel = 0
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# File loading stuff
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# Open the file for importing
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file = open(filename, 'r')
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# Seperate into a list of lists, each line a list of words.
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lines = file.readlines()
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# Non standard carrage returns?
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if len(lines) == 1:
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lines = lines[0].split('\r')
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# Split by whitespace.
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lines =[ll for ll in [ [w for w in l.split() if w != '\n' ] for l in lines] if ll]
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# End file loading code
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# Create Hirachy as empties
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if lines[0][0] == 'HIERARCHY':
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print 'Importing the BVH Hierarchy for:', filename
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else:
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return 'ERROR: This is not a BVH file'
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# A liniar list of ancestors to keep track of a single objects heratage
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# at any one time, this is appended and removed, dosent store tree- just a liniar list.
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# ZERO is a place holder that means we are a root node. (no parents)
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parent = [None]
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#channelList, sync with objectList: [[channelType1, channelType2...], [channelType1, channelType2...)]
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channelList = []
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channelIndex = -1
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lineIdx = 0 # An index for the file.
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while lineIdx < len(lines) -1:
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#...
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if lines[lineIdx][0] == 'ROOT' or lines[lineIdx][0] == 'JOINT':
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# Join spaces into 1 word with underscores joining it.
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if len(lines[lineIdx]) > 2:
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lines[lineIdx][1] = '_'.join(lines[lineIdx][1:])
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lines[lineIdx] = lines[lineIdx][:2]
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# MAY NEED TO SUPPORT MULTIPLE ROOT's HERE!!!, Still unsure weather multiple roots are possible.??
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# Make sure the names are unique- Object names will match joint names exactly and both will be unique.
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name = getUniqueObName(lines[lineIdx][1])
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uniqueObNames.append(name)
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print '%snode: %s, parent: %s' % (len(parent) * ' ', name, parent[-1])
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lineIdx += 2 # Incriment to the next line (Offset)
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offset = ( float(lines[lineIdx][1]), float(lines[lineIdx][2]), float(lines[lineIdx][3]) )
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lineIdx += 1 # Incriment to the next line (Channels)
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# newChannel[Xposition, Yposition, Zposition, Xrotation, Yrotation, Zrotation]
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# newChannel references indecies to the motiondata,
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# if not assigned then -1 refers to the last value that will be added on loading at a value of zero, this is appended
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# We'll add a zero value onto the end of the MotionDATA so this is always refers to a value.
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newChannel = [-1, -1, -1, -1, -1, -1]
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for channel in lines[lineIdx][2:]:
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channelIndex += 1 # So the index points to the right channel
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if channel == 'Xposition':
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newChannel[0] = channelIndex
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elif channel == 'Yposition':
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newChannel[1] = channelIndex
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elif channel == 'Zposition':
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newChannel[2] = channelIndex
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elif channel == 'Xrotation':
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newChannel[3] = channelIndex
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elif channel == 'Yrotation':
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newChannel[4] = channelIndex
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elif channel == 'Zrotation':
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newChannel[5] = channelIndex
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channelList.append(newChannel)
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channels = lines[lineIdx][2:]
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# Call funtion that uses the gatrhered data to make an empty.
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makeJoint(name, parent, offset, channels)
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# If we have another child then we can call ourselves a parent, else
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parent.append(name)
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# Account for an end node
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if lines[lineIdx][0] == 'End' and lines[lineIdx][1] == 'Site': # There is somtimes a name after 'End Site' but we will ignore it.
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lineIdx += 2 # Incriment to the next line (Offset)
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offset = ( float(lines[lineIdx][1]), float(lines[lineIdx][2]), float(lines[lineIdx][3]) )
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makeEnd(parent, offset)
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# Just so we can remove the Parents in a uniform way- End end never has kids
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# so this is a placeholder
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parent.append(None)
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if len(lines[lineIdx]) == 1 and lines[lineIdx][0] == '}': # == ['}']
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parent.pop() # Remove the last item
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#=============================================#
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# BVH Structure loaded, Now import motion #
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#=============================================#
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if len(lines[lineIdx]) == 1 and lines[lineIdx][0] == 'MOTION':
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print '\nImporting motion data'
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lineIdx += 3 # Set the cursor to the first frame
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#=============================================#
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# Add a ZERO keyframe, this keeps the rig #
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# so when we export we know where all the #
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# joints start from #
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#=============================================#
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for obIdx, ob in enumerate(objectList):
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obname = ob.name
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if channelList[obIdx][0] != -1:
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objectCurveMapping[obname, 'LocX'].addBezier((currentFrame,0))
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objectMotiondataMapping[obname, 'LocX'] = []
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if channelList[obIdx][1] != -1:
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objectCurveMapping[obname, 'LocY'].addBezier((currentFrame,0))
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objectMotiondataMapping[obname, 'LocY'] = []
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if channelList[obIdx][2] != -1:
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objectCurveMapping[obname, 'LocZ'].addBezier((currentFrame,0))
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objectMotiondataMapping[obname, 'LocZ'] = []
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if\
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channelList[obIdx][3] != -1 or\
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channelList[obIdx][4] != -1 or\
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channelList[obIdx][5] != -1:
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objectMotiondataMapping[obname, 'RotX'] = []
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objectMotiondataMapping[obname, 'RotY'] = []
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objectMotiondataMapping[obname, 'RotZ'] = []
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#=============================================#
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# Loop through frames, each line a frame #
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#=============================================#
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MOTION_DATA_LINE_LEN = len(lines[lineIdx])
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while lineIdx < len(lines):
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line = lines[lineIdx]
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if MOTION_DATA_LINE_LEN != len(line):
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print 'ERROR: Incomplete motion data on line %i, finishing import.' % lineIdx
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break
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# Exit loop if we are past the motiondata.
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# Some BVH's have extra tags like 'CONSTRAINTS and MOTIONTAGS'
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# I dont know what they do and I dont care, they'll be ignored here.
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if len(line) < len(objectList):
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print '...ending on unknown tags'
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break
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currentFrame += 1 # Incriment to next frame
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#=============================================#
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# Import motion data and assign it to an IPO #
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#=============================================#
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line.append(0.0) # Use this as a dummy var for objects that dont have a loc/rotate channel.
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if debug: Blender.Redraw()
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for obIdx, ob in enumerate(objectList):
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obname = ob.name
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obChannel = channelList[obIdx]
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if channelList[obIdx][0] != -1:
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objectMotiondataMapping[obname, 'LocX'].append((currentFrame, scale * float( line[obChannel[0]] )))
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if channelList[obIdx][1] != -1:
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objectMotiondataMapping[obname, 'LocY'].append((currentFrame, scale * float( line[obChannel[1]] )))
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if channelList[obIdx][2] != -1:
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objectMotiondataMapping[obname, 'LocZ'].append((currentFrame, scale * float( line[obChannel[2]] )))
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if obChannel[3] != -1 or obChannel[4] != -1 or obChannel[5] != -1:
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x, y, z = eulerRotate(float( line[obChannel[3]] ), float( line[obChannel[4]] ), float( line[obChannel[5]] ))
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x,y,z = x/10.0, y/10.0, z/10.0 # For IPO's 36 is 360d
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motionMappingRotX = objectMotiondataMapping[obname, 'RotX']
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motionMappingRotY = objectMotiondataMapping[obname, 'RotY']
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motionMappingRotZ = objectMotiondataMapping[obname, 'RotZ']
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# Make interpolation not cross between 180d, thjis fixes sub frame interpolation and time scaling.
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# Will go from (355d to 365d) rather then to (355d to 5d) - inbetween these 2 there will now be a correct interpolation.
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if len(motionMappingRotX) > 1:
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while (motionMappingRotX[-1][1] - x) > 18: x+=36
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while (motionMappingRotX[-1][1] - x) < -18: x-=36
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while (motionMappingRotY[-1][1] - y) > 18: y+=36
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while (motionMappingRotY[-1][1] - y) < -18: y-=36
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while (motionMappingRotZ[-1][1] - z) > 18: z+=36
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while (motionMappingRotZ[-1][1] - z) < -18: z-=36
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motionMappingRotX.append((currentFrame, x))
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motionMappingRotY.append((currentFrame, y))
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motionMappingRotZ.append((currentFrame, z))
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# Done importing motion data #
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lineIdx += 1
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#=======================================#
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# Now Write the motion to the IPO's #
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#=======================================#
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for key, motion_data in objectMotiondataMapping.iteritems():
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# Strip the motion data where all the points have the same falue.
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i = len(motion_data) -2
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while i > 0 and len(motion_data) > 2:
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if motion_data[i][1] == motion_data[i-1][1] == motion_data[i+1][1]:
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motion_data.pop(i)
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i-=1
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# Done stripping.
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obname, tx_type = key
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curve = objectCurveMapping[obname, tx_type]
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for point_data in motion_data:
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curve.addBezier( point_data )
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# Imported motion to an IPO
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# No point in looking further, when this loop is done
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# There is nothine else left to do
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break
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# Main file loop
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lineIdx += 1
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print 'bvh import time for %i frames: %.6f' % (currentFrame, Blender.sys.time() - time1)
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Window.RedrawAll()
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Window.WaitCursor(0)
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Blender.Window.FileSelector(loadBVH, "Import BVH")
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#=============#
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# TESTING #
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#=============#
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'''
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#loadBVH('/metavr/mocap/bvh/boxer.bvh')
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#loadBVH('/metavr/mocap/bvh/dg-306-g.bvh') # Incompleate EOF
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#loadBVH('/metavr/mocap/bvh/wa8lk.bvh') # duplicate joint names, \r line endings.
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#loadBVH('/metavr/mocap/bvh/walk4.bvh') # 0 channels
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scale = 0.01
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import os
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DIR = '/metavr/mocap/bvh/'
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for f in os.listdir(DIR):
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if f.endswith('.bvh'):
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s = Scene.New(f)
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s.makeCurrent()
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loadBVH(DIR + f)
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'''
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if __name__ == '__main__':
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main() |