blender/release/scripts/io/import_anim_bvh.py

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#
#  This program is free software; you can redistribute it and/or
#  modify it under the terms of the GNU General Public License
#  as published by the Free Software Foundation; either version 2
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#  but WITHOUT ANY WARRANTY; without even the implied warranty of
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#  Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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# ##### END GPL LICENSE BLOCK #####

# <pep8 compliant>

import math
from math import radians

import bpy
import mathutils
from mathutils import Vector, Euler, Matrix, RotationMatrix, TranslationMatrix


class bvh_node_class(object):
    __slots__ = (
    'name',# bvh joint name
    'parent',# bvh_node_class type or None for no parent
    'children',# a list of children of this type.
    'rest_head_world',# worldspace rest location for the head of this node
    'rest_head_local',# localspace rest location for the head of this node
    'rest_tail_world',# # worldspace rest location for the tail of this node
    'rest_tail_local',# # worldspace rest location for the tail of this node
    'channels',# list of 6 ints, -1 for an unused channel, otherwise an index for the BVH motion data lines, lock triple then rot triple
    'rot_order',# a triple of indicies as to the order rotation is applied. [0,1,2] is x/y/z - [None, None, None] if no rotation.
    'anim_data',# a list one tuple's one for each frame. (locx, locy, locz, rotx, roty, rotz)
    'has_loc',# Conveinience function, bool, same as (channels[0]!=-1 or channels[1]!=-1 channels[2]!=-1)
    'has_rot',# Conveinience function, bool, same as (channels[3]!=-1 or channels[4]!=-1 channels[5]!=-1)
    'temp')# use this for whatever you want

    def __init__(self, name, rest_head_world, rest_head_local, parent, channels, rot_order):
        self.name = name
        self.rest_head_world = rest_head_world
        self.rest_head_local = rest_head_local
        self.rest_tail_world = None
        self.rest_tail_local = None
        self.parent = parent
        self.channels = channels
        self.rot_order = rot_order

        # convenience functions
        self.has_loc = channels[0] != -1 or channels[1] != -1 or channels[2] != -1
        self.has_rot = channels[3] != -1 or channels[4] != -1 or channels[5] != -1


        self.children = []

        # list of 6 length tuples: (lx,ly,lz, rx,ry,rz)
        # even if the channels arnt used they will just be zero
        #
        self.anim_data = [(0, 0, 0, 0, 0, 0)]

    def __repr__(self):
        return 'BVH name:"%s", rest_loc:(%.3f,%.3f,%.3f), rest_tail:(%.3f,%.3f,%.3f)' %\
        (self.name,\
        self.rest_head_world.x, self.rest_head_world.y, self.rest_head_world.z,\
        self.rest_head_world.x, self.rest_head_world.y, self.rest_head_world.z)


# Change the order rotation is applied.
MATRIX_IDENTITY_3x3 = Matrix([1, 0, 0], [0, 1, 0], [0, 0, 1])
MATRIX_IDENTITY_4x4 = Matrix([1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1])


def eulerRotate(x, y, z, rot_order):
    # Clamp all values between 0 and 360, values outside this raise an error.
    mats = [RotationMatrix(x, 3, 'X'), RotationMatrix(y, 3, 'Y'), RotationMatrix(z, 3, 'Z')]
    return (MATRIX_IDENTITY_3x3 * mats[rot_order[0]] * (mats[rot_order[1]] * (mats[rot_order[2]]))).to_euler()

    # Should work but doesnt!
    '''
    eul = Euler((x, y, z))
    eul.order = "XYZ"[rot_order[0]] + "XYZ"[rot_order[1]] + "XYZ"[rot_order[2]]
    return tuple(eul.to_matrix().to_euler())
    '''


def read_bvh(context, file_path, ROT_MODE='XYZ', GLOBAL_SCALE=1.0):
    # File loading stuff
    # Open the file for importing
    file = open(file_path, 'rU')

    # Seperate into a list of lists, each line a list of words.
    file_lines = file.readlines()
    # Non standard carrage returns?
    if len(file_lines) == 1:
        file_lines = file_lines[0].split('\r')

    # Split by whitespace.
    file_lines = [ll for ll in [l.split() for l in file_lines] if ll]


    # Create Hirachy as empties

    if file_lines[0][0].lower() == 'hierarchy':
        #print 'Importing the BVH Hierarchy for:', file_path
        pass
    else:
        raise 'ERROR: This is not a BVH file'

    bvh_nodes = {None: None}
    bvh_nodes_serial = [None]

    channelIndex = -1


    lineIdx = 0 # An index for the file.
    while lineIdx < len(file_lines) -1:
        #...
        if file_lines[lineIdx][0].lower() == 'root' or file_lines[lineIdx][0].lower() == 'joint':

            # Join spaces into 1 word with underscores joining it.
            if len(file_lines[lineIdx]) > 2:
                file_lines[lineIdx][1] = '_'.join(file_lines[lineIdx][1:])
                file_lines[lineIdx] = file_lines[lineIdx][:2]

            # MAY NEED TO SUPPORT MULTIPLE ROOT's HERE!!!, Still unsure weather multiple roots are possible.??

            # Make sure the names are unique- Object names will match joint names exactly and both will be unique.
            name = file_lines[lineIdx][1]

            #print '%snode: %s, parent: %s' % (len(bvh_nodes_serial) * '  ', name,  bvh_nodes_serial[-1])

            lineIdx += 2 # Incriment to the next line (Offset)
            rest_head_local = Vector((float(file_lines[lineIdx][1]), float(file_lines[lineIdx][2]), float(file_lines[lineIdx][3]))) * GLOBAL_SCALE
            lineIdx += 1 # Incriment to the next line (Channels)

            # newChannel[Xposition, Yposition, Zposition, Xrotation, Yrotation, Zrotation]
            # newChannel references indecies to the motiondata,
            # if not assigned then -1 refers to the last value that will be added on loading at a value of zero, this is appended
            # We'll add a zero value onto the end of the MotionDATA so this is always refers to a value.
            my_channel = [-1, -1, -1, -1, -1, -1]
            my_rot_order = [None, None, None]
            rot_count = 0
            for channel in file_lines[lineIdx][2:]:
                channel = channel.lower()
                channelIndex += 1 # So the index points to the right channel
                if channel == 'xposition':
                    my_channel[0] = channelIndex
                elif channel == 'yposition':
                    my_channel[1] = channelIndex
                elif channel == 'zposition':
                    my_channel[2] = channelIndex

                elif channel == 'xrotation':
                    my_channel[3] = channelIndex
                    my_rot_order[rot_count] = 0
                    rot_count += 1
                elif channel == 'yrotation':
                    my_channel[4] = channelIndex
                    my_rot_order[rot_count] = 1
                    rot_count += 1
                elif channel == 'zrotation':
                    my_channel[5] = channelIndex
                    my_rot_order[rot_count] = 2
                    rot_count += 1

            channels = file_lines[lineIdx][2:]

            my_parent = bvh_nodes_serial[-1] # account for none


            # Apply the parents offset accumletivly
            if my_parent == None:
                rest_head_world = Vector(rest_head_local)
            else:
                rest_head_world = my_parent.rest_head_world + rest_head_local

            bvh_node = bvh_nodes[name] = bvh_node_class(name, rest_head_world, rest_head_local, my_parent, my_channel, my_rot_order)

            # If we have another child then we can call ourselves a parent, else
            bvh_nodes_serial.append(bvh_node)

        # Account for an end node
        if file_lines[lineIdx][0].lower() == 'end' and file_lines[lineIdx][1].lower() == 'site': # There is somtimes a name after 'End Site' but we will ignore it.
            lineIdx += 2 # Incriment to the next line (Offset)
            rest_tail = Vector((float(file_lines[lineIdx][1]), float(file_lines[lineIdx][2]), float(file_lines[lineIdx][3]))) * GLOBAL_SCALE

            bvh_nodes_serial[-1].rest_tail_world = bvh_nodes_serial[-1].rest_head_world + rest_tail
            bvh_nodes_serial[-1].rest_tail_local = bvh_nodes_serial[-1].rest_head_local + rest_tail


            # Just so we can remove the Parents in a uniform way- End end never has kids
            # so this is a placeholder
            bvh_nodes_serial.append(None)

        if len(file_lines[lineIdx]) == 1 and file_lines[lineIdx][0] == '}': # == ['}']
            bvh_nodes_serial.pop() # Remove the last item

        if len(file_lines[lineIdx]) == 1 and file_lines[lineIdx][0].lower() == 'motion':
            #print '\nImporting motion data'
            lineIdx += 3 # Set the cursor to the first frame
            break

        lineIdx += 1


    # Remove the None value used for easy parent reference
    del bvh_nodes[None]
    # Dont use anymore
    del bvh_nodes_serial

    bvh_nodes_list = bvh_nodes.values()

    while lineIdx < len(file_lines):
        line = file_lines[lineIdx]
        for bvh_node in bvh_nodes_list:
            #for bvh_node in bvh_nodes_serial:
            lx = ly = lz = rx = ry = rz = 0.0
            channels = bvh_node.channels
            anim_data = bvh_node.anim_data
            if channels[0] != -1:
                lx = GLOBAL_SCALE * float(line[channels[0]])

            if channels[1] != -1:
                ly = GLOBAL_SCALE * float(line[channels[1]])

            if channels[2] != -1:
                lz = GLOBAL_SCALE * float(line[channels[2]])

            if channels[3] != -1 or channels[4] != -1 or channels[5] != -1:
                rx, ry, rz = float(line[channels[3]]), float(line[channels[4]]), float(line[channels[5]])

                if ROT_MODE != 'NATIVE':
                    rx, ry, rz = eulerRotate(radians(rx), radians(ry), radians(rz), bvh_node.rot_order)
                else:
                    rx, ry, rz = radians(rx), radians(ry), radians(rz)

            # Done importing motion data #
            anim_data.append((lx, ly, lz, rx, ry, rz))
        lineIdx += 1

    # Assign children
    for bvh_node in bvh_nodes.values():
        bvh_node_parent = bvh_node.parent
        if bvh_node_parent:
            bvh_node_parent.children.append(bvh_node)

    # Now set the tip of each bvh_node
    for bvh_node in bvh_nodes.values():

        if not bvh_node.rest_tail_world:
            if len(bvh_node.children) == 0:
                # could just fail here, but rare BVH files have childless nodes
                bvh_node.rest_tail_world = Vector(bvh_node.rest_head_world)
                bvh_node.rest_tail_local = Vector(bvh_node.rest_head_local)
            elif len(bvh_node.children) == 1:
                bvh_node.rest_tail_world = Vector(bvh_node.children[0].rest_head_world)
                bvh_node.rest_tail_local = bvh_node.rest_head_local + bvh_node.children[0].rest_head_local
            else:
                # allow this, see above
                #if not bvh_node.children:
                #	raise 'error, bvh node has no end and no children. bad file'

                # Removed temp for now
                rest_tail_world = Vector((0.0, 0.0, 0.0))
                rest_tail_local = Vector((0.0, 0.0, 0.0))
                for bvh_node_child in bvh_node.children:
                    rest_tail_world += bvh_node_child.rest_head_world
                    rest_tail_local += bvh_node_child.rest_head_local

                bvh_node.rest_tail_world = rest_tail_world * (1.0 / len(bvh_node.children))
                bvh_node.rest_tail_local = rest_tail_local * (1.0 / len(bvh_node.children))

        # Make sure tail isnt the same location as the head.
        if (bvh_node.rest_tail_local - bvh_node.rest_head_local).length <= 0.001 * GLOBAL_SCALE:
            bvh_node.rest_tail_local.y = bvh_node.rest_tail_local.y + GLOBAL_SCALE / 10
            bvh_node.rest_tail_world.y = bvh_node.rest_tail_world.y + GLOBAL_SCALE / 10

    return bvh_nodes


def bvh_node_dict2objects(context, bvh_nodes, IMPORT_START_FRAME=1, IMPORT_LOOP=False):

    if IMPORT_START_FRAME < 1:
        IMPORT_START_FRAME = 1

    scn = context.scene
    scn.objects.selected = []

    objects = []

    def add_ob(name):
        ob = scn.objects.new('Empty', None)
        objects.append(ob)
        return ob

    # Add objects
    for name, bvh_node in bvh_nodes.items():
        bvh_node.temp = add_ob(name)

    # Parent the objects
    for bvh_node in bvh_nodes.values():
        bvh_node.temp.makeParent([bvh_node_child.temp for bvh_node_child in bvh_node.children], 1, 0) # ojbs, noninverse, 1 = not fast.

    # Offset
    for bvh_node in bvh_nodes.values():
        # Make relative to parents offset
        bvh_node.temp.loc = bvh_node.rest_head_local

    # Add tail objects
    for name, bvh_node in bvh_nodes.items():
        if not bvh_node.children:
            ob_end = add_ob(name + '_end')
            bvh_node.temp.makeParent([ob_end], 1, 0) # ojbs, noninverse, 1 = not fast.
            ob_end.loc = bvh_node.rest_tail_local


    # Animate the data, the last used bvh_node will do since they all have the same number of frames
    for frame_current in range(len(bvh_node.anim_data)):
        Blender.Set('curframe', frame_current + IMPORT_START_FRAME)

        for bvh_node in bvh_nodes.values():
            lx, ly, lz, rx, ry, rz = bvh_node.anim_data[frame_current]

            rest_head_local = bvh_node.rest_head_local
            bvh_node.temp.loc = rest_head_local + Vector((lx, ly, lz))

            bvh_node.temp.rot = rx, ry, rz

            bvh_node.temp.insertIpoKey(Blender.Object.IpoKeyTypes.LOCROT) # XXX invalid

    scn.update(1)
    return objects


def bvh_node_dict2armature(context, bvh_nodes, ROT_MODE='XYZ', IMPORT_START_FRAME=1, IMPORT_LOOP=False):

    if IMPORT_START_FRAME < 1:
        IMPORT_START_FRAME = 1

    # Add the new armature,
    scn = context.scene
#XXX	scn.objects.selected = []
    for ob in scn.objects:
        ob.select = False

    scn.set_frame(IMPORT_START_FRAME)

    arm_data = bpy.data.armatures.new("MyBVH")
    arm_ob = bpy.data.objects.new("MyBVH", arm_data)

    scn.objects.link(arm_ob)

    arm_ob.select = True
    scn.objects.active = arm_ob
    print(scn.objects.active)

    bpy.ops.object.mode_set(mode='OBJECT', toggle=False)
    bpy.ops.object.mode_set(mode='EDIT', toggle=False)


    # Get the average bone length for zero length bones, we may not use this.
    average_bone_length = 0.0
    nonzero_count = 0
    for bvh_node in bvh_nodes.values():
        l = (bvh_node.rest_head_local - bvh_node.rest_tail_local).length
        if l:
            average_bone_length += l
            nonzero_count += 1

    # Very rare cases all bones couldbe zero length???
    if not average_bone_length:
        average_bone_length = 0.1
    else:
        # Normal operation
        average_bone_length = average_bone_length / nonzero_count


#XXX - sloppy operator code

    bpy.ops.armature.delete()
    bpy.ops.armature.select_all()
    bpy.ops.armature.delete()

    ZERO_AREA_BONES = []
    for name, bvh_node in bvh_nodes.items():
        # New editbone
        bpy.ops.armature.bone_primitive_add(name="Bone")

        bone = bvh_node.temp = arm_data.edit_bones[-1]

        bone.name = name
#		arm_data.bones[name]= bone

        bone.head = bvh_node.rest_head_world
        bone.tail = bvh_node.rest_tail_world

        # ZERO AREA BONES.
        if (bone.head - bone.tail).length < 0.001:
            if bvh_node.parent:
                ofs = bvh_node.parent.rest_head_local - bvh_node.parent.rest_tail_local
                if ofs.length: # is our parent zero length also?? unlikely
                    bone.tail = bone.tail + ofs
                else:
                    bone.tail.y = bone.tail.y + average_bone_length
            else:
                bone.tail.y = bone.tail.y + average_bone_length

            ZERO_AREA_BONES.append(bone.name)


    for bvh_node in bvh_nodes.values():
        if bvh_node.parent:
            # bvh_node.temp is the Editbone

            # Set the bone parent
            bvh_node.temp.parent = bvh_node.parent.temp

            # Set the connection state
            if not bvh_node.has_loc and\
            bvh_node.parent and\
            bvh_node.parent.temp.name not in ZERO_AREA_BONES and\
            bvh_node.parent.rest_tail_local == bvh_node.rest_head_local:
                bvh_node.temp.connected = True

    # Replace the editbone with the editbone name,
    # to avoid memory errors accessing the editbone outside editmode
    for bvh_node in bvh_nodes.values():
        bvh_node.temp = bvh_node.temp.name

#XXX	arm_data.update()

    # Now Apply the animation to the armature

    # Get armature animation data
    bpy.ops.object.mode_set(mode='OBJECT', toggle=False)
    bpy.ops.object.mode_set(mode='POSE', toggle=False)

    pose = arm_ob.pose
    pose_bones = pose.bones

    if ROT_MODE == 'NATIVE':
        eul_order_lookup = {\
            (0, 1, 2): 'XYZ',
            (0, 2, 1): 'XZY',
            (1, 0, 2): 'YXZ',
            (1, 2, 0): 'YZX',
            (2, 0, 1): 'ZXY',
            (2, 1, 0): 'ZYX'}

        for bvh_node in bvh_nodes.values():
            bone_name = bvh_node.temp # may not be the same name as the bvh_node, could have been shortened.
            pose_bone = pose_bones[bone_name]
            pose_bone.rotation_mode = eul_order_lookup[tuple(bvh_node.rot_order)]

    elif ROT_MODE != 'QUATERNION':
        for pose_bone in pose_bones:
            pose_bone.rotation_mode = ROT_MODE
    else:
        # Quats default
        pass

    context.scene.update()

    bpy.ops.pose.select_all() # set
    bpy.ops.anim.keyframe_insert_menu(type=-4) # XXX -     -4 ???


#XXX	action = Blender.Armature.NLA.NewAction("Action")
#XXX	action.setActive(arm_ob)

    #bpy.ops.action.new()
    #action = bpy.data.actions[-1]

    # arm_ob.animation_data.action = action
    action = arm_ob.animation_data.action

    # Replace the bvh_node.temp (currently an editbone)
    # With a tuple  (pose_bone, armature_bone, bone_rest_matrix, bone_rest_matrix_inv)
    for bvh_node in bvh_nodes.values():
        bone_name = bvh_node.temp # may not be the same name as the bvh_node, could have been shortened.
        pose_bone = pose_bones[bone_name]
        rest_bone = arm_data.bones[bone_name]
        bone_rest_matrix = rest_bone.matrix_local.rotation_part()


        bone_rest_matrix_inv = Matrix(bone_rest_matrix)
        bone_rest_matrix_inv.invert()

        bone_rest_matrix_inv.resize4x4()
        bone_rest_matrix.resize4x4()
        bvh_node.temp = (pose_bone, bone, bone_rest_matrix, bone_rest_matrix_inv)


    # Make a dict for fast access without rebuilding a list all the time.

    # KEYFRAME METHOD, SLOW, USE IPOS DIRECT
    # TODO: use f-point samples instead (Aligorith)

    if ROT_MODE != 'QUATERNION':
        prev_euler = [Euler() for i in range(len(bvh_nodes))]

    # Animate the data, the last used bvh_node will do since they all have the same number of frames
    for frame_current in range(len(bvh_node.anim_data)-1): # skip the first frame (rest frame)
        # print frame_current

        # if frame_current==40: # debugging
        # 	break

        # Dont neet to set the current frame
        for i, bvh_node in enumerate(bvh_nodes.values()):
            pose_bone, bone, bone_rest_matrix, bone_rest_matrix_inv = bvh_node.temp
            lx, ly, lz, rx, ry, rz = bvh_node.anim_data[frame_current + 1]

            if bvh_node.has_rot:
                bone_rotation_matrix = Euler((rx, ry, rz)).to_matrix().resize4x4()
                bone_rotation_matrix = bone_rest_matrix_inv * bone_rotation_matrix * bone_rest_matrix

                if ROT_MODE == 'QUATERNION':
                    pose_bone.rotation_quaternion = bone_rotation_matrix.to_quat()
                else:
                    euler = bone_rotation_matrix.to_euler(pose_bone.rotation_mode, prev_euler[i])
                    pose_bone.rotation_euler = euler
                    prev_euler[i] = euler

            if bvh_node.has_loc:
                pose_bone.location = (bone_rest_matrix_inv * TranslationMatrix(Vector((lx, ly, lz)) - bvh_node.rest_head_local)).translation_part()

            if bvh_node.has_loc:
                pose_bone.keyframe_insert("location")
            if bvh_node.has_rot:
                if ROT_MODE == 'QUATERNION':
                    pose_bone.keyframe_insert("rotation_quaternion")
                else:
                    pose_bone.keyframe_insert("rotation_euler")


        # bpy.ops.anim.keyframe_insert_menu(type=-4) # XXX -     -4 ???
        bpy.ops.screen.frame_offset(delta=1)

    for cu in action.fcurves:
        if IMPORT_LOOP:
            pass # 2.5 doenst have cyclic now?

        for bez in cu.keyframe_points:
            bez.interpolation = 'LINEAR'

    return arm_ob


from bpy.props import *


class BvhImporter(bpy.types.Operator):
    '''Load a OBJ Motion Capture File'''
    bl_idname = "import_anim.bvh"
    bl_label = "Import BVH"

    filepath = StringProperty(name="File Path", description="Filepath used for importing the OBJ file", maxlen=1024, default="")
    scale = FloatProperty(name="Scale", description="Scale the BVH by this value", min=0.0001, max=1000000.0, soft_min=0.001, soft_max=100.0, default=0.1)
    frame_start = IntProperty(name="Start Frame", description="Starting frame for the animation", default=1)
    loop = BoolProperty(name="Loop", description="Loop the animation playback", default=False)
    rotate_mode = EnumProperty(items=(
            ('QUATERNION', "Quaternion", "Convert rotations to quaternions"),
            ('NATIVE', "Euler (Native)", "Use the rotation order defined in the BVH file"),
            ('XYZ', "Euler (XYZ)", "Convert rotations to euler XYZ"),
            ('XZY', "Euler (XZY)", "Convert rotations to euler XZY"),
            ('YXZ', "Euler (YXZ)", "Convert rotations to euler YXZ"),
            ('YZX', "Euler (YZX)", "Convert rotations to euler YZX"),
            ('ZXY', "Euler (ZXY)", "Convert rotations to euler ZXY"),
            ('ZYX', "Euler (ZYX)", "Convert rotations to euler ZYX"),
            ),
                name="Rotation",
                description="Rotation conversion.",
                default='NATIVE')

    def execute(self, context):
        # print("Selected: " + context.active_object.name)
        import time
        t1 = time.time()
        print('\tparsing bvh...', end="")

        bvh_nodes = read_bvh(context, self.properties.filepath,
                ROT_MODE=self.properties.rotate_mode,
                GLOBAL_SCALE=self.properties.scale)

        print('%.4f' % (time.time() - t1))
        t1 = time.time()
        print('\timporting to blender...', end="")

        bvh_node_dict2armature(context, bvh_nodes,
                ROT_MODE=self.properties.rotate_mode,
                IMPORT_START_FRAME=self.properties.frame_start,
                IMPORT_LOOP=self.properties.loop)

        print('Done in %.4f\n' % (time.time() - t1))
        return {'FINISHED'}

    def invoke(self, context, event):
        wm = context.manager
        wm.add_fileselect(self)
        return {'RUNNING_MODAL'}


def menu_func(self, context):
    self.layout.operator(BvhImporter.bl_idname, text="Motion Capture (.bvh)")


def register():
    bpy.types.INFO_MT_file_import.append(menu_func)


def unregister():
    bpy.types.INFO_MT_file_import.remove(menu_func)

if __name__ == "__main__":
    register()